Robot joint module and robot

Abstract

The application relates to the technical field of robots, in particular to a robot joint module and a robot. The robot joint module comprises a first joint main body, an input shaft, an output shaft and an encoder assembly. The first joint main body comprises a fixed shell for accommodating a motor, the input shaft is arranged in the fixed shell and is used for connecting the motor, and the output shaft is rotatably arranged in the input shaft. The encoder assembly comprises a first mounting seat, a first magnetic ring, a second mounting seat, a first bearing and a second magnetic ring. The first mounting seat is connected to the output shaft, and the first magnetic ring is arranged on the first mounting seat. The second mounting seat is connected to the input shaft and is also rotatably connected to the fixed shell. The first bearing is arranged between the first mounting seat and the second mounting seat, and the second magnetic ring is arranged on the second mounting seat. The robot joint module has a compact structure, the axial size is reduced, and the integration degree is improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a robot joint module and a robot. Background Technology

[0002] At present, with the continuous progress and improvement of robot technology, collaborative robots, as a type of robot that is completely different from traditional industrial robots in terms of design and application concepts, are widely used in many fields such as automotive parts, metal processing, medical devices, consumer catering, scientific research and education, thanks to their human-machine safety, thereby improving labor efficiency and improving consumer lifestyles.

[0003] Collaborative robot joints typically have two encoders, one for detecting the input rotation angle and the other for detecting the output rotation angle. Currently, the dual encoders in robot joints are usually designed to be stacked along the axis and are located separately and independently from other structures. As a result, they occupy a large space and have a long axial length, which is not conducive to the high integration of robot joints. Summary of the Invention

[0004] This application provides a robot joint module, and this application also provides a robot having the above-mentioned robot joint module.

[0005] In a first aspect, this application provides a robot joint module, including a first joint body, an input shaft, an output shaft, and an encoder assembly. The first joint body includes a fixed housing for accommodating a motor, the input shaft passes through the fixed housing and is used to connect to the motor, and the output shaft rotatably passes through the input shaft. The encoder assembly includes a first mounting base, a first magnetic ring, a second mounting base, a first bearing, and a second magnetic ring. The first mounting base is connected to the output shaft, and the first magnetic ring is disposed on the first mounting base. The second mounting base is connected to the input shaft and is also rotatably connected to the fixed housing. The first bearing is disposed between the first and second mounting bases, and the second magnetic ring is disposed on the second mounting base.

[0006] Secondly, this application also provides a robot, including a body and the aforementioned robot joint module, the robot joint module being connected to the body.

[0007] Compared to existing technologies, the modular design of the encoder assembly in the robot joint module provided in this application allows it to be connected to the output shaft via a first mounting base, and / or to the input shaft via a second mounting base and the first joint body. This improves the efficiency of assembly and disassembly between components and facilitates subsequent debugging and maintenance. The connection between the second mounting base, the first mounting base, and the fixed housing is compact, resulting in a highly concentrated structure and reducing the axial dimension of the robot joint. Attached Figure Description

[0008] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0009] Figure 1 This is a block diagram of a robot provided in one embodiment of this application.

[0010] Figure 2 This is a simplified structural diagram of a robot joint module provided in one embodiment of this application.

[0011] Figure 3 yes Figure 2 The diagram shows a cross-sectional view of the encoder assembly and the mounting housing of the robot joint module.

[0012] Figure 4 yes Figure 3 A magnified view of region A in the middle.

[0013] Figure 5 yes Figure 2 A three-dimensional structural diagram of the second mounting base of the encoder assembly shown.

[0014] Figure 6 yes Figure 2 A three-dimensional structural diagram of the elastic connector of the encoder assembly shown.

[0015] Labeling Explanation: 100, Joint Module; 10, First Joint Body; 11, Braking Assembly; 112, Fixing Housing; 1121, Bearing Mounting Part; 1123, Clearance Opening; 1125, Support Part; 114, Brake; 1141, Second Mounting Slot; 116, Mounting Cavity; 12, Motor; 123, Rotor; 125, Stator; 14, Rotating Shaft; 141, Input Shaft; 1412, Slot; 143, Output Shaft; 1432, Mounting End; 30, Second Joint Body; 32, Mounting Plate; 34, Drive Plate; 361, First Reader Head; 363, Second Reader Head; 50, Encoder Assembly; 51. First mounting base; 511. First inner hole; 512. First mounting part; 514. Second mounting part; 5141. Limiting block; 52. First magnetic ring; 53. Second mounting base; 531. Connecting part; 5312. Second inner hole; 5314. Limiting plate; 5316. First mounting groove; 533. Storage part; 5332. Storage cavity; 54. Second magnetic ring; 55. Elastic element; 56. First bearing; 57. Second bearing; 58. Elastic connecting element; 581. Elastic body; 583. Elastic limiting block; 59. Snap ring; 200. Robot; 201. Body; 203. Actuating end. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0017] In the description of this invention, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0018] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediate medium, or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] Please see Figure 1 This application provides a robot joint module 100 and a robot 200 configured with the robot joint module 100.

[0020] This specification does not limit the specific type of robot 200. For example, robot 200 can be an industrial robotic arm robot, a crane robot, or a collaborative robot. In this embodiment, robot 200 is a collaborative robot. Robot 200 may include a body 201, an actuator 203, and a robot joint module 100. The robot joint module 100 is connected between the actuator 203 and the body 201, and is used to drive the actuator 203 to move relative to the body 201. In some embodiments, robot 200 may include multiple actuators 203, and correspondingly, robot 200 also includes robot joint modules 100 corresponding one-to-one with the multiple actuators 203. Each actuator 203 is connected to the body 201 through a corresponding robot joint module 100.

[0021] Please also refer to Figure 2 and Figure 3The robot joint module 100 may include a first joint body 10, a pivot 14, an encoder assembly 50, and a second joint body 30. The pivot 14 passes through the first joint body 10 and the encoder assembly 50, and the second joint body 30 is arranged side-by-side with the first joint body 10 along the axial direction of the pivot 14. The encoder assembly 50 is connected to the pivot 14 and is located between the first joint body 10 and the second joint body 30.

[0022] This specification does not limit the specific structure of the first joint body 10. For example, the first joint body 10 may include a braking assembly 11 and a motor 12, etc. The motor 12, the braking assembly 11, the encoder assembly 50 and the second joint body 30 are arranged in parallel along the axial direction of the rotating shaft 14. The braking assembly 11 is connected to the rotating shaft 14 and is located between the encoder assembly 50 and the motor 12.

[0023] In this embodiment, the motor 12 includes a rotor 123 and a stator 125, with the rotor 123 rotatably housed within the stator 125. The rotating shaft 14 includes an input shaft 141 and an output shaft 143. The input shaft 141 passes through the rotor 123 and is anti-rotatingly connected to it. The "anti-rotating connection" between the input shaft 141 and the rotor 123 should be understood as meaning that the input shaft 141 and the rotor 123 are relatively fixed, but the input shaft 141 can rotate with the rotation of the rotor 123. This specification does not limit the connection method between the input shaft 141 and the rotor 123; for example, the input shaft 141 and the rotor 123 can be connected by a spline.

[0024] Output shaft 143 is used to drive actuator 203 (e.g. Figure 1 (As shown) moves relative to the body 201. The output shaft 143 can be connected to the motor 12 via the input shaft 141 to rotate under the drive of the motor 12, thereby realizing the movement of some joints of the robot 200. In this embodiment, the output shaft 143 is coaxially inserted through the input shaft 141, and one end of the output shaft 143 extends outside the input shaft 141 to form a mounting end 1432, which is used to mount the encoder assembly 50. The output shaft 143 is driven (e.g., rotatably) connected to the input shaft 141. For example, the output shaft 143 can be connected to the input shaft 141 via a reduction mechanism or other transmission mechanism, and connected to the motor 12 via the input shaft 141 to rotate under the drive of the motor 12, thereby realizing the movement of some joints of the robot 200.

[0025] In some embodiments, the braking assembly 11 may include a fixed housing 112 and a brake 114 connected to the fixed housing 112. The fixed housing 112 has a mounting cavity 116, and the fixed housing 112 is sleeved on the input shaft 141. The brake 114 is rotatably disposed in the mounting cavity 116, sleeved on the input shaft 141, and anti-rotationally connected to the input shaft 141. This specification does not limit the specific structure of the braking assembly 11. For example, the braking assembly 11 may be an electromagnetic brake mechanism, in which case the brake 114 may include a brake electromagnet and a brake rotor hub. When the motor 12 is running, the brake electromagnet is energized, and the brake rotor hub relaxes. When the motor 12 is de-energized, the brake rotor hub grips the input shaft 141, forcing the motor 12 to stop or decelerate as quickly as possible.

[0026] Please also refer to Figure 3 and Figure 4 An encoder assembly 50 is fitted onto the rotating shaft 14 and is used to cooperate with the read head of the second joint body 30 to collect the motion parameters of the rotating shaft 14. In this embodiment, the encoder assembly 50 includes a first mounting base 51, a first magnetic ring 52, a second mounting base 53, and a second magnetic ring 54. The first mounting base 51 is fitted onto the rotating shaft 14, and the second mounting base 53 is connected to the first mounting base 51. The first magnetic ring 52 is disposed on the first mounting base 51, and the second magnetic ring 54 is disposed on the second mounting base 53.

[0027] In this embodiment, the first mounting base 51 is connected to the mounting end 1432 of the output shaft 143. The first mounting base 51 includes a first mounting portion 512 and a second mounting portion 514 connected sequentially along the axial direction of the output shaft 143. Further, the first mounting base 51 has a first inner hole 511 through which the mounting end 1432 passes. The first inner hole 511 is substantially coaxial with the output shaft 143 and extends through the first mounting portion 512 and the second mounting portion 514 along the axial direction. The first mounting base 51 is connected to the mounting end 1432 through the first inner hole 511. The cross-section of the first mounting portion 512 and the second mounting portion 514 in the plane perpendicular to the output shaft 143 is substantially annular. The outer diameter of the first mounting portion 512 is smaller than the outer diameter of the second mounting portion 514, making the first mounting base 51 have a stepped structure.

[0028] The first mounting portion 512 is used to mount the first magnetic ring 52. The first mounting portion 512 is located on the side of the second mounting portion 514 opposite to the fixed housing 112. The outer diameter of the second mounting portion 514 is larger than the outer diameter of the first mounting portion 512. The side of the second mounting portion 514 facing the first mounting portion 512 is provided with a limiting block 5141 for supporting the first magnetic ring 52. The limiting block 5141 protrudes radially from the first mounting portion 512 and from the second mounting portion 514 in the output shaft 143, so as to limit the axial displacement of the first magnetic ring 52 and reduce the possibility of the first magnetic ring 52 shifting and affecting accuracy.

[0029] A first magnetic ring 52 is disposed on the first mounting portion 512 and is used to provide feedback on the rotational speed and / or angle information of the output shaft 143. Further, the first magnetic ring 52 is mounted on the end of the first mounting portion 512 opposite to the second mounting portion 514, with the side of the first magnetic ring 52 facing the second mounting portion 514 stacked on the limiting block 5141. This specification does not limit the specific connection method between the first magnetic ring 52 and the first mounting portion 512. For example, the first magnetic ring 52 can be fixed to the first mounting portion 512 by adhesive bonding, or it can be fixed by providing a limiting structure on the first mounting portion 512. In this embodiment, the first magnetic ring 52 is fixed to the first mounting portion 512 by adhesive bonding.

[0030] In this embodiment, the encoder assembly 50 further includes an elastic element 55. The second mounting portion 514 of the first mounting base 51 is sleeved on the mounting end 1432 of the output shaft 143 via the elastic element 55. The output shaft 143 transmits motion to the first mounting base 51 by utilizing the static friction generated between the elastic element 55 after deformation and the first mounting base 51 and the output shaft 143. This specification does not limit the specific shape of the elastic element 55. For example, the elastic element 55 can be a ring-shaped, sleeve-shaped, or other elastic elements that can transmit motion by forming static friction through extrusion deformation. The elastic element 55 can also be a plurality of discrete elastic elements, which are distributed circumferentially in the mounting groove 316 along the first inner hole 511; or, the elastic element 55 can be a notched ring-shaped elastic element, etc. In this embodiment, the elastic element 55 is a closed ring-shaped elastic element (e.g., an O-ring) to increase the contact area between the elastic element 55 and the output shaft 143 and the inner wall of the second mounting portion 514, thereby increasing the static friction and improving the stability of the connection. The encoder assembly 50 is connected to the output shaft 143 via the elastic element 55, which effectively reduces the possibility of the encoder assembly 50 failing due to the vibration of the output shaft 143.

[0031] In this embodiment, the second mounting base 53 is rotatably connected between the second mounting portion 514 and the first joint body 10. The second mounting base 53 includes a connecting portion 531 and a receiving portion 533. The connecting portion 531 has a second inner hole 5312 for the input shaft 141 to pass through. The second inner hole 5312 is substantially coaxial with the input shaft 141 and extends through the connecting portion 531 along the axial direction. The connecting portion 531 is sleeved on the outside of the input shaft 141 through the second inner hole 5312. The receiving portion 533 is connected to one side of the connecting portion 531 and extends in a direction away from the mounting cavity 116. The end of the receiving portion 533 connected to the connecting portion 531 and the connecting portion 531 are embedded in the fixing shell 114. The receiving part 533 surrounds the outer periphery of the input shaft 141 to form a receiving cavity 5332 between the receiving part 5332 and the input shaft 141. The inner diameter of the receiving cavity 5332 is larger than the inner diameter of the second inner hole 5312, thereby forming a cup-shaped structure for the second mounting base 53. The connecting part 531 is the bottom wall of the cup-shaped structure.

[0032] The first mounting base 51 is located inside the receiving cavity 5332, and the receiving part 533 is sleeved on the outside of the first mounting base 51 through the receiving cavity 5332 and is rotatably connected to the first mounting base 51. The second mounting base 53 is nested with the first mounting base 51 through the receiving part 533, which improves the compactness of the axial structure of the encoder assembly 50, shortens its assembly dimension chain, and helps to improve installation accuracy.

[0033] In some embodiments, the encoder assembly 50 may further include a first bearing 56, and a second mounting base 53 is rotatably connected to a second mounting portion 514 via the first bearing 56, allowing the second mounting base 53 and the first mounting base 51 to move freely relative to each other. Further, a limiting block 5141 protrudes radially from the second mounting portion 514 on the output shaft 143, and one side of the inner ring of the first bearing 56 abuts against the limiting block 5141. A receiving portion 533 protrudes towards the side of the receiving cavity 5332 to form a limiting flange (not shown in the figure), which abuts against the side of the outer ring of the first bearing 56 away from the limiting block 5141. The limiting block 5141 and the limiting flange together axially limit the first bearing 56 without hindering the relative rotation of the inner and outer rings of the first bearing 56, thus improving the stability of the first bearing 56 installation and ensuring the accuracy of the first bearing 56 to a certain extent. The first bearing 56 ensures the coaxiality of the first magnetic ring 52 and the second magnetic ring 54 as much as possible, and improves the rotational smoothness of the encoder assembly 50.

[0034] The second magnetic ring 54 is disposed in the receiving portion 533 and sleeved on the outer periphery of the receiving portion 533. Further, the outer periphery of the receiving portion 533 may also be provided with a limiting plate 5334 for axially limiting the second magnetic ring 54. The limiting plate 5334 protrudes radially from the receiving portion 533, and the side of the second magnetic ring 54 facing the receiving portion 533 is stacked on the limiting plate 5334. The first magnetic ring 52 is located within the receiving cavity 5332, and the side of the second magnetic ring 54 facing away from the second mounting base 53 is coplanar with the side of the first magnetic ring 52 facing away from the first mounting base 51, which can improve the stability of information acquisition. This specification does not limit the specific connection method of the second magnetic ring 54 and the second mounting base 53. For example, the second magnetic ring 54 can be fixed to the second mounting base 53 by adhesive, or the second magnetic ring 54 can be fixed by setting a limiting structure on the second mounting base 53. In this embodiment, the first magnetic ring 52 is fixed to the second mounting base 53 by adhesive through a shaft hole.

[0035] In this embodiment, the encoder assembly 50 further includes a second bearing 57, and the second mounting base 53 is rotatably connected to the fixed housing 112 via the second bearing 57. To facilitate the installation of the second bearing 57, the fixed housing 112 has a bearing mounting portion 1121 on the side facing the encoder assembly 50. The bearing mounting portion 1121 protrudes relative to the side of the fixed housing 112 facing the second mounting base 53, and is radially spaced from the receiving portion 533 along the input shaft 141. The second bearing 57 is disposed between the receiving portion 533 and the bearing mounting portion 1121. The first bearing 56 and the second bearing 57 are arranged radially along the input shaft 141, improving the compactness of the installation between the encoder assembly 50 and the first joint body 10. The two bearings, the first bearing 56 and the second bearing 57, improve the support rigidity and rotational accuracy of the input shaft 141. The encoder assembly 50 has a compact axial structure and a short assembly dimension chain, which is beneficial for improving installation accuracy.

[0036] Please also refer to Figure 4 and Figure 5 In order to effectively and stably transmit the movement of the input shaft 141 to the second mounting base 53, in this embodiment, the encoder assembly 50 further includes an elastic connector 58, which is disposed between the second mounting base 53 and the brake rotor hub of the brake 114. The connecting portion 531 has a first mounting groove 5316 on the side facing the fixed housing 112, and the brake rotor hub of the brake 114 has a second mounting groove 1141 on the side facing the fixed housing 112. The first mounting groove 5316 and the second mounting groove 1141 are arranged opposite each other along the axial direction of the input shaft 141. One side of the elastic connector 58 is accommodated in the first mounting groove 5316 and is press-fitted with the first mounting groove 5316, while the other side is accommodated in the second mounting groove 1141 and is press-fitted with the second mounting groove 1141.

[0037] This specification does not limit the specific structure of the elastic connector 58. For example, the elastic connector 58 can be a notched annular elastic element or a closed annular elastic element. In this embodiment, please refer to... Figure 6 The elastic connector 58 is a closed-loop elastic element. The elastic connector 58 includes an elastic body 581 and elastic limiting blocks 583. The elastic body 581 is a closed-loop element (e.g., an O-ring). The elastic limiting blocks 583 are connected to the elastic body 581, with both sides of the elastic limiting blocks 583 protruding from the sidewalls of the elastic body 581 along its axial direction. The elastic limiting blocks 583 can be integrally formed into the elastic body 581 or can be attached to the elastic body 581 by adhesive bonding. Multiple elastic limiting blocks 583 are provided, and the multiple elastic limiting blocks 583 are distributed approximately at equal intervals along the circumference of the elastic body 581.

[0038] The elastic body 581 is placed between the connecting part 531 and the brake 114, and the two sides of the elastic limiting block 583 are respectively embedded and held in the first mounting groove 5316 and the second mounting groove 1141. Under the compression of the inner wall of the first mounting groove 5316 and the inner wall of the second mounting groove 1141, the elastic connector 58 undergoes elastic deformation, so that the surface of the elastic connector 58 generates a large static friction force between the connecting part 531 and the brake 114 respectively. Through the static friction force between them, the indirect connection between the second mounting seat 53 and the input shaft 141 is realized, thereby enabling the rotation of the input shaft 141 to be transmitted to the second mounting seat 53.

[0039] To facilitate the installation of the flexible connector 58, the fixed housing 112 is provided with a clearance opening 1123. The clearance opening 1123 extends through the fixed housing 112 along the axial direction of the input shaft 141 on the side near the second mounting base 53. At least a portion of the brake 114 is exposed through the clearance opening 1123 and is positioned opposite the connecting portion 531, thereby facilitating the connection of the flexible connector 58 between the connecting portion 531 and the brake 114. The connecting portion 531 and the second bearing 57 together cover the opening of the clearance opening 1123 facing the connecting portion 531, effectively preventing dust generated by the brake rotor hub of the brake 114 and oil from other mechanisms from entering the encoder assembly 50, thus improving the stability of the encoder assembly 50.

[0040] To pre-compress the elastic connector 58, in this embodiment, the encoder assembly 50 further includes a retaining spring 59. A groove 1412 is provided on the peripheral wall of the input shaft 141, located on the side of the connecting portion 531 facing the receiving portion 533. One end of the retaining spring 59 is inserted into the groove 1412, and the other end abuts against the side of the connecting portion 531 away from the elastic connector 58. The sidewalls of the connecting portion 531 and the groove 1412 compress the retaining spring 59. Under the action of elastic potential energy, the retaining spring 59 compresses the connecting portion 531, causing it to compress the elastic connector 58, further ensuring that the elastic connector 58 is in a compressed state, thereby enabling effective motion transmission.

[0041] Please refer to it again. Figure 3 and Figure 4 The second joint body 30 is connected to the fixed housing 112 and is located on the side of the encoder assembly 50 opposite to the first joint body 10. This specification does not limit the specific structure of the second joint body 30. In this embodiment, the second joint body 30 is a drive control board. The second joint body 30 includes a mounting plate 32 and a drive plate (not shown in the figure). The drive plate and the mounting plate 32 are arranged side by side and spaced apart along the axial direction of the output shaft 143. The mounting plate 32 is located between the drive plate and the encoder assembly 50. The drive plate can be a control circuit board. The mounting plate 32 is coaxially arranged with the fixed housing 112. The side of the mounting plate 32 facing the encoder assembly 50 is provided with a first reading head 361 for cooperating with the first magnetic ring 52 and a second reading head 363 for cooperating with the second magnetic ring 54. The first reading head 361 and the first magnetic ring 52 are arranged relatively spaced apart along the axial direction of the output shaft 143, and the second reading head 363 and the second magnetic ring 54 are arranged relatively spaced apart along the axial direction of the output shaft 143.

[0042] The first reading head 361 is used to read the rotational speed and / or angle information of the output shaft 143 fed back by the first magnetic ring 52. The second reading head 363 is used to read the rotational speed and / or angle information of the input shaft 141 fed back by the second magnetic ring 54. The first reading head 361 and the first magnetic ring 52, and the second reading head 363 and the second magnetic ring 54 need to be installed relative to each other and maintain a theoretical detection distance of about 0.4 mm. The detection is valid within the theoretical tolerance range of 0.4 mm. In order to ensure the above detection distance, in this embodiment, the fixed shell 112 is provided with a support part 1125. The support part 1125 extends along the axial direction of the output shaft 143, one end of which is integrally formed in the fixed shell 112, and the other end is connected to the mounting plate 32. The support part 1125 is supported between the second joint body 30 and the fixed shell 112, and is used to install the second joint body 30 on the one hand, and to ensure the detection distance between the first reading head 361 and the first magnetic ring 52, and between the second reading head 363 and the second magnetic ring 54 on the other hand.

[0043] In the robot joint module 100 provided in this application embodiment, the modular design of the encoder assembly 50 allows it to be connected to the output shaft 143 via the first mounting base 51, and / or to the input shaft 141 via the second mounting base 53 and the brake 114. This improves the efficiency of assembly and disassembly between components and facilitates subsequent debugging and maintenance. The encoder assembly 50 can be positioned by a single connection between the first mounting base 51 and the output shaft 143, improving connection accuracy. Direct connection to the output shaft 143 also enhances the stability of the encoder assembly 50 itself through the stable output shaft 143. The first mounting base 51 is connected to the output shaft 143 via an elastic element 55. The elastic compensation of the elastic element 55 can compensate for the reduction in accuracy or failure of the encoder assembly 50 caused by vibration of the output shaft 143. The connection between the second mounting base 53, the first mounting base 51, and the fixed housing 112 is compact, resulting in a highly concentrated structure and reduced axial dimensions.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A robot joint module, characterized in that, include: The first joint body includes a fixed housing for accommodating a motor and a brake. The fixed housing is provided with a mounting cavity, and the brake is rotatably disposed in the mounting cavity. An input shaft passes through the fixed housing and is used to connect the motor; An output shaft is rotatably mounted on the input shaft, and the brake is sleeved on the output shaft; and an encoder assembly, the encoder assembly comprising: The first mounting base is connected to the output shaft; A first magnetic ring is disposed on the first mounting base; The second mounting base is connected to the input shaft, and the second mounting base is also rotatably connected to the fixed housing; A first bearing is disposed between the first mounting base and the second mounting base; A second magnetic ring is disposed on the second mounting base; A second bearing is disposed between the fixed housing and the second mounting base, and the first bearing and the second bearing are arranged radially along the input shaft; The device includes an elastic connector, a fixed housing with a clearance opening, at least a portion of the brake structure being exposed via the clearance opening and disposed opposite to the second mounting base, the elastic connector connecting the second mounting base and the brake; the second bearing and the second mounting base together cover the clearance opening.

2. The robot joint module as described in claim 1, characterized in that, The second mounting base includes a connecting portion and a receiving portion. The connecting portion is sleeved and connected to the input shaft. The receiving portion is connected to one end of the connecting portion. The receiving portion surrounds the outer periphery of the output shaft to form a receiving cavity with the output shaft. The first mounting base is located inside the receiving cavity. The first bearing is disposed between the inner wall of the first mounting base and the receiving portion.

3. The robot joint module as described in claim 2, characterized in that, The storage part is embedded in the fixed shell, and the second bearing is disposed between the fixed shell and the storage part.

4. The robot joint module as described in claim 1, characterized in that, The output shaft is rotatably inserted through the input shaft and protrudes relative to the end of the input shaft to form a mounting end, and the first mounting base is connected to the mounting end of the output shaft.

5. The robot joint module as described in claim 4, characterized in that, The first mounting base is sleeved on the mounting end. The encoder assembly also includes an elastic element, which is disposed between the first mounting base and the mounting end. The elastic element is in a state of elastic potential energy so that the first mounting base can rotate with the output shaft.

6. The robot joint module as described in claim 1, characterized in that, The second mounting base has a first mounting groove on the side facing the brake, and the brake has a second mounting groove on the side facing the second mounting base. The two sides of the elastic connector are respectively embedded in the first mounting groove and the second mounting groove, and are interference-fitted with the first mounting groove and the second mounting groove.

7. The robot joint module as described in claim 2, characterized in that, The second bearing and the connecting portion together cover the clearance opening.

8. The robot joint module as described in claim 1, characterized in that, The encoder assembly also includes a retaining ring, the output shaft has a retaining groove located on the side of the second mounting base facing the first mounting base, one end of the retaining ring is inserted into the retaining groove, and the other end abuts against the side of the second mounting base facing the first mounting base.

9. The robot joint module as described in claim 1, characterized in that, The first magnetic ring is disposed on the first mounting base, and the second magnetic ring is disposed on the second mounting base. The side of the second magnetic ring facing away from the fixed shell is coplanar with the side of the first magnetic ring facing away from the fixed shell.

10. The robot joint module as described in any one of claims 1 to 9, characterized in that, The robot joint module further includes a second joint body, which is disposed on the side of the encoder assembly away from the first joint body. The side of the second joint body facing the encoder assembly is provided with a first reading head and a second reading head. The first reading head and the first magnetic ring are arranged relatively spaced apart along the axial direction of the output shaft, and the second reading head and the second magnetic ring are arranged relatively spaced apart along the axial direction of the output shaft.

11. The robot joint module as described in claim 10, characterized in that, The fixed housing is provided with a support portion, which is supported between the fixed housing and the second joint body, so that there is a gap between the first reading head and the second reading head and the encoder assembly.

12. A robot, characterized in that, include: Organism; And a robot joint module as described in any one of claims 1 to 11, wherein the robot joint module is connected to the body.

Images