Robot joint modules and robots

Abstract

This application provides a robot joint module and a robot. The robot joint module includes a joint output end, a torque sensor, a harmonic reducer, an oil seal, and a sealing sliding ring. The torque sensor includes a first flange coaxially arranged and a second flange surrounded by the first flange. The first flange is fixedly connected to the joint output end. The harmonic reducer includes a flexure and a crossed roller bearing. The fixed flange of the flexure is fixedly connected to the second flange, and the outer ring of the crossed roller bearing is fixedly connected to the first flange. The sealing sliding ring is fixedly fitted onto the second flange. The oil seal sleeve includes a first end and a second end arranged opposite to each other. The first end is fixed inside the inner ring of the crossed roller bearing, and the flexure is housed in the first end. The sealing sliding ring is housed in the second end, and the inner wall of the second end slides in contact with the sealing sliding ring. The oil seal and sealing sliding ring placed between the flexure and the crossed roller bearing effectively increase the sensing accuracy of the torque sensor.

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] Collaborative robots need to interact with humans, and for safe interaction, they require torque sensing capabilities. The power unit of a collaborative robot typically uses an integrated joint, and its torque sensing capability usually relies on feedback from the motor current of the integrated joint or the installation of an additional torque sensor. Because torque sensors often have higher torque sensing accuracy than current feedback, collaborative robots currently widely use torque sensors to detect torque.

[0003] Specifically, collaborative robot joints typically use harmonic reducers for transmission, with the torque sensor installed between the output flange of the harmonic reducer's flexspline and the joint's output end. To seal the grease in the harmonic reducer, the inner and outer rings of the crossed roller bearings used in the reducer generally have a high-friction oil seal. This oil seal contacts the torque sensor, thus the torque sensor is affected by the friction of the oil seal, reducing its sensing accuracy. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a robot joint module and a robot that can effectively improve the sensing accuracy of torque sensors.

[0005] One aspect of this application provides a robot joint module, including a joint output end, a torque sensor, and a harmonic reducer. The torque sensor includes a first flange and a second flange coaxially arranged, wherein the first flange surrounds the second flange and is fixedly connected to the joint output end. The harmonic reducer includes a flexible wheel and a crossed roller bearing. The flexible wheel includes a fixed flange, and the crossed roller bearing includes an inner ring and an outer ring. The fixed flange is fixedly connected to the second flange, and the outer ring is fixedly connected to the first flange. The robot joint module further includes an oil seal and a sealing sliding ring. The sealing sliding ring is fixedly fitted onto the second flange. The oil seal includes an oil seal sleeve, which includes a first end and a second end disposed opposite to each other. The first end is fixed within the inner ring, and the flexible wheel is accommodated within the first end. The sealing sliding ring is accommodated within the second end, and the inner wall of the second end slides in contact with the sealing sliding ring.

[0006] Furthermore, it also includes a seal disposed within the flexure; the seal includes a connecting flange and an annular sealing tooth, the annular sealing tooth being connected to one side of the connecting flange; the harmonic reducer also includes a wave generator connected to the flexure, the wave generator including an annular retaining tooth, wherein the connecting flange is fixed to the fixed flange, the annular retaining tooth and the annular sealing tooth cooperate with each other, and the gap between the annular retaining tooth and the annular sealing tooth forms a labyrinth channel.

[0007] Furthermore, the annular toothed portion includes an annular end face and a tooth groove, the tooth groove being disposed on the annular end face; the annular locking tooth portion includes a tooth root and a locking tooth protruding from the tooth root, wherein the locking tooth is accommodated in the tooth groove; wherein a first gap is formed between the tooth root and the annular end face, a second gap is formed between the tooth groove and the locking tooth, and the first gap and the second gap are interconnected to form the labyrinth passage.

[0008] Furthermore, the width of the maze passage is 0.2–1 mm.

[0009] Furthermore, the harmonic reducer also includes a fastening gasket and a fastener; wherein, the fastening gasket is disposed on the side of the connecting flange away from the fixed flange; the fastener includes a fastening head, the fastener fixing the fixed flange, the connecting flange and the second flange, and the fastening head abutting against the fastening gasket.

[0010] Furthermore, it also includes a low-speed shaft and a sealing ring; the wave generator also includes an inner hole, the connecting flange is provided with a fixing hole, wherein one end of the low-speed shaft is fixed in the fixing hole, and the other end of the low-speed shaft passes through the inner hole; the sealing ring is sleeved on the low-speed shaft, and the sealing ring abuts against the end face of the fastening gasket and the low-speed shaft.

[0011] Furthermore, the low-speed shaft is provided with a groove, and the sealing ring is installed in the groove.

[0012] Furthermore, it also includes a low-speed shaft and a sealing ring, the sealing ring being fitted onto the low-speed shaft; the connecting flange is provided with a fixing hole, the low-speed shaft is fixed in the fixing hole, and the sealing ring abuts against the inner wall of the low-speed shaft and the fixing hole.

[0013] Furthermore, it also includes a motor and a low-speed shaft; the harmonic reducer also includes a steel wheel, the steel wheel is connected to one end of the inner ring facing away from the oil seal sleeve, and the motor is connected to the steel wheel; the connecting flange is provided with a fixing hole, the wave generator also includes an inner hole, one end of the low-speed shaft is fixed in the fixing hole, and the other end of the low-speed shaft passes through the inner hole; the motor includes a motor output shaft sleeved on the low-speed shaft; wherein, an oil-receiving channel is formed between the outer wall of the low-speed shaft, the inner wall of the motor output shaft, and the inner wall of the inner hole, and the oil-receiving channel is connected to the labyrinth channel.

[0014] Furthermore, a receiving groove is formed on either the inner wall of the motor output shaft or the outer wall of the low-speed shaft; the installation gap between the low-speed shaft, the inner hole, and the motor output shaft, together with the receiving groove, forms the oil-receiving channel.

[0015] Furthermore, the width of the oil-containing channel is 0.2–0.8 mm.

[0016] Furthermore, the sealing element also includes a connecting shaft, which is connected to the connecting flange, and the connecting shaft and the annular sealing teeth are respectively disposed on opposite sides of the connecting flange; the fixed flange includes a through hole, wherein the connecting shaft is disposed in the through hole and connected to the second flange.

[0017] Furthermore, a sealing gasket is provided between the first end and the inner ring.

[0018] Furthermore, an oil seal ring is provided at the first end, and the oil seal ring abuts against the end face of the inner ring.

[0019] Furthermore, the oil seal also includes an oil seal skeleton, which is fixed inside the second end and abuts against the sealing sliding ring.

[0020] Furthermore, it also includes a friction pad; the friction pad is disposed between the opposite end faces of the fixed flange and the second flange.

[0021] Furthermore, the oil seal also includes an elastic sealing ring; the elastic sealing ring is disposed inside the second end, and the elastic sealing ring abuts against the end face of the sealing sliding ring and the flexible wheel.

[0022] Furthermore, the torque sensor also includes a fixed end plate, and both the first flange and the second flange extend from the first end face of the fixed end plate; wherein, the torque sensor also includes a connecting journal and a strain reinforcing beam, the connecting journal connecting the first flange and the fixed end plate; the strain reinforcing beam connecting the fixed end plate and the second flange.

[0023] Furthermore, a protective retaining ring is provided on the second end face of the fixed end plate opposite to the first end face, and a signal processing board is also fixed on the second end face.

[0024] In another aspect of this application, a robot is provided, the robot comprising the aforementioned robot joint module.

[0025] The beneficial effects of this application are as follows: Compared with existing robot joint modules, the robot joint module proposed in this application includes a joint output end, a torque sensor, and a harmonic reducer. The torque sensor includes a first flange and a second flange arranged coaxially, wherein the first flange surrounds the second flange and is fixedly connected to the joint output end; the harmonic reducer includes a flexible wheel and a crossed roller bearing, the flexible wheel includes a fixed flange, the crossed roller bearing includes an inner ring and an outer ring, the fixed flange is fixedly connected to the second flange, and the outer ring is fixedly connected to the first flange; the robot joint module also includes an oil seal and a sealing sliding ring; wherein the sealing sliding ring is fixedly fitted on the second flange, the oil seal includes an oil seal sleeve, the oil seal sleeve includes a first end and a second end arranged opposite to each other, wherein the first end is fixed inside the inner ring, the flexible wheel is accommodated inside the first end; the sealing sliding ring is accommodated inside the second end, and the inner wall of the second end slides in contact with the sealing sliding ring. Because the sealing sliding ring is fixedly fitted on the second flange, and the first end of the oil seal sleeve is fixed inside the inner ring of the crossed roller bearing, the sealing sliding ring is accommodated inside the second end, and the inner wall of the second end slides in contact with the sealing sliding ring. Therefore, the oil seal sleeve slides in contact with the sealing sliding ring of the fixedly connected torque sensor, thereby reducing the friction between the oil seal sleeve and the torque sensor and improving the sensing accuracy of the torque sensor. Furthermore, the sealing sliding ring on the torque sensor also forms a protective seal, preventing grease from contaminating the torque sensor and thus avoiding temperature drift in the torque sensor signal caused by grease temperature changes, which would significantly impact the accuracy of the torque sensor. Additionally, an oil seal sleeve is also installed between the harmonic reducer and the crossed roller bearing. The oil seal sleeve isolates the grease from the harmonic reducer from the torque sensor, further reducing the influence of the harmonic reducer's lubricating oil on the torque sensor. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0027] Figure 1 This is a three-dimensional structural diagram of a robot joint module provided in this application; the robot joint module includes a seal and a torque sensor;

[0028] Figure 2 yes Figure 1 A schematic diagram of the right-side view structure;

[0029] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure along the BB direction;

[0030] Figure 4 yes Figure 3 A magnified schematic diagram of the local structure;

[0031] Figure 5 yes Figure 1 A three-dimensional structural diagram of the central sealing component;

[0032] Figure 6 yes Figure 1 A three-dimensional structural diagram of a medium torque sensor. Detailed Implementation

[0033] 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 a part of the embodiments of this application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0034] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0035] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0036] One aspect of this application provides a robot joint module 100, with reference to... Figures 1-2 , Figure 1This is a three-dimensional structural diagram of a robot joint module provided in this application; the robot joint module includes a seal and a torque sensor; Figure 2 yes Figure 1 A schematic diagram of the right-side view structure; Figure 3 yes Figure 2 A cross-sectional view of the structure along the BB direction is shown. Specifically, the robot joint module 100 includes a joint output end (not shown), a torque sensor 11, and a harmonic reducer 12. The joint output end is used to connect to the load and transmit the power from the reducer; the torque sensor 11 can detect the torsional torque on various rotating or non-rotating mechanical parts and convert the physical change of torque into a precise electrical signal, which can be used to sense and measure the torque at the joint output end; the harmonic reducer 12 is a reducer made using the harmonic principle, used to reduce the power from the input end before transmitting it to the joint output end.

[0037] The torque sensor 11 includes a first flange 111 and a second flange 112 arranged coaxially. The first flange 111 surrounds the second flange 112. The first flange 111 is fixedly connected to the joint output end 10, thereby sensing and measuring the torque at the joint output end.

[0038] The harmonic reducer 12 includes a flexure 121 and a crossed roller bearing 122. The flexure 121 is a thin-walled gear capable of large elastic deformation and includes a fixed flange 1211. The crossed roller bearing 122 is a special type of bearing with a segmented inner ring 1221 and a rotating outer ring 1222; that is, the crossed roller bearing 122 includes an inner ring 1221 and an outer ring 1222. The fixed flange 1211 is fixedly connected to a second flange 112; preferably, the fixed flange 1211 and the second flange 112 are coaxially fixedly connected. The outer ring 1222 is fixedly connected to a first flange 111; preferably, the outer ring 1222 and the first flange 111 are coaxially fixedly connected. In other words, the torque sensor 11 is connected between the flexure 121 and the crossed roller bearing 122. Understandably, because the rollers of the crossed roller bearing 122 are arranged in a crossed pattern, the crossed roller bearing 122 can withstand loads in all directions, and the first flange 111 of the torque sensor 11 is fixedly connected to the outer ring 1222 of the crossed roller bearing 122. Therefore, when the power output from the flexspline 121 is supplied to the joint output end, the torque sensor 11, supported by the crossed roller bearing 122, only bears the transmitted torque between the harmonic reducer 12 and the joint output end, and does not bear bending moment. This avoids the bending moment affecting the sensing signal of the torque sensor 11, thus enabling accurate measurement of the joint module's output torque, and preventing the bending deformation of the output flange of the conventional torque sensor 11 (i.e., the first flange 111) from reducing the positioning accuracy of the joint output end.

[0039] The robot joint module 100 also includes an oil seal 13 and a sealing sliding ring 14. Both the oil seal 13 and the sealing sliding ring 14 have a sealing function and prevent the grease in the harmonic reducer 12 from contacting the torque sensor 11. Understandably, the harmonic reducer 12 requires grease lubrication during transmission to ensure stable operation and extend its service life.

[0040] The oil seal 13 includes an oil seal sleeve 131, which has a first end 1311 and a second end 1312 disposed opposite to each other. The first end 1311 is fixed inside the inner ring 1221, and the flexible wheel 121 is housed inside the first end 1311. That is, the oil seal sleeve 131 is disposed between the torque sensor 11 and the harmonic reducer 12, which can isolate the grease in the torque sensor 11 from that in the harmonic reducer 12.

[0041] The sealing sliding ring 14 is fixedly fitted onto the second flange 112, and is housed in the second end 1312. The sealing sliding ring 14 and the second flange 112 can be connected and fixed together by interference fit, adhesive bonding, O-ring sealing, etc. That is, the second flange 112 is fixedly connected to the fixed flange 1211, and the sealing sliding ring 14 is fixedly fitted onto the second flange 112. The first end 1311 of the oil seal sleeve 131 is fixed to the inner ring 1221, and the inner wall of the second end 1312 is in sliding contact with the sealing sliding ring 14, which is fixedly connected to the torque sensor 11. Sliding contact means that there is relative movement between the first end 1311 of the oil seal sleeve 131 connected to the torque sensor 11 and the torque sensor 11. Thus, the sealing sliding ring 14 works together with the oil seal sleeve 131 to seal the grease in the harmonic reducer 12, isolating the grease on the side of the oil seal sleeve 131 away from the torque sensor 11. This prevents direct contact between the torque sensor 11 and the grease in the harmonic reducer 12, effectively reducing the sealing and corrosion resistance requirements of the torque sensor 11. Furthermore, it prevents temperature drift in the torque sensor 11 signal caused by grease temperature changes, thus affecting the accuracy of the torque sensor 11. Additionally, since the inner wall of the second end 1312 slides in contact with the sealing sliding ring 14, the sealing performance of the oil seal sleeve 131 and the sealing sliding ring 14 is ensured during relative rotation, while reducing the friction between the oil seal sleeve 131 and the torque sensor 11. This further improves the sensing accuracy of the torque sensor 11 when sensing the torque at the joint output end, increasing the integrated joint torque sensing capability. Moreover, by reducing the friction between the oil seal sleeve 131 and the torque sensor 11, the transmission efficiency of the robot joint module 100 can be improved, thereby effectively increasing the robot's load capacity.

[0042] Therefore, in the robot joint module 100 of this application, since the first end 1311 of the oil seal sleeve 131 is fixed inside the inner ring 1221, and the flexible wheel 121 is housed inside the first end 1311, the oil seal sleeve 131 is positioned between the torque sensor 11 and the harmonic reducer 12, thus isolating the torque sensor 11 from the grease in the harmonic reducer 12. The sealing sliding ring 14 is fixedly fitted onto the second flange 112 and positioned inside the second end 1312, and can work together with the oil seal sleeve 131 to seal the grease in the harmonic reducer 12, isolating the grease on the side of the oil seal sleeve 131 away from the torque sensor 11, thus preventing direct contact between the torque sensor 11 and the grease in the harmonic reducer 12. In addition, since the oil seal sleeve 131 of the oil seal 13 is in sliding contact with the sealing sliding ring 14 of the fixedly connected torque sensor 11, the sealing performance between the sealing sliding ring 14 and the oil seal sleeve 131 can be effectively guaranteed during the relative rotation of the sealing sliding ring 14 and the oil seal sleeve 131. It can also effectively avoid the friction caused by the oil seal 13 directly contacting the torque sensor 11, improve the sensing accuracy of the torque sensor 11, and the transmission efficiency of the robot joint module 100, thereby effectively improving the robot's load capacity.

[0043] Please see Figure 3 and Figure 4 , Figure 4 yes Figure 3 The diagram shows a partially enlarged structural view. In some embodiments, the robot joint module 100 further includes a seal 15 disposed within the flexible wheel 121. The seal 15 is used to seal grease within the flexible wheel 121. The seal 15 includes a connecting flange 151 and an annular sealing tooth portion 152. Both the connecting flange 151 and the annular sealing tooth portion 152 are housed within the flexible wheel 121. The connecting flange 151 is fixed to the fixed flange 1211 and rotates with the fixed flange 1211, and the annular sealing tooth portion 152 is connected to one end of the connecting flange 151.

[0044] The harmonic reducer 12 also includes a wave generator 123 connected to the flex wheel 121. The wave generator 123 is a component that causes controllable elastic deformation of the flex wheel 121 and can be installed inside the flex wheel 121. The inner diameter of the flex wheel 121 is slightly smaller than the total length of the wave generator 123. When the wave generator 123 is installed in the flex wheel 121, it forces the cross-section of the flex wheel 121 to change from a circle to an ellipse. The teeth near the ends of its major axis are fully engaged, while the teeth near the ends of its minor axis are completely disengaged, thereby reducing the power at the input end and transmitting it to the joint output end through the flex wheel 121. The wave generator 123 includes an annular retaining tooth portion 1231, which cooperates with an annular sealing tooth portion 152 to form a labyrinthine channel through the gap between the annular retaining tooth portion 1231 and the annular sealing tooth portion 152. The labyrinth channel refers to a situation where the annular retaining tooth portion 1231 and the annular sealing tooth portion 152 are not in abutting or contact engagement, but rather have a gap between them that allows a small amount of grease to pass through. Furthermore, this gap changes direction at least once in the radially outward direction. Thus, the flexible wheel 121 is fixedly connected to the flange 151 and the fixed flange 1211, forming a seal at the fixed flange 1211. The labyrinth channel also seals within the flexible wheel 121 of the wave generator 123, effectively sealing the grease between the flexible wheel 121 and the wave generator 123. The annular retaining tooth portion 1231 can be configured according to actual conditions, as long as it prevents leakage of grease lubricating both the flexible wheel 121 and the wave generator 123. It is understandable that the flexible wheel 121 needs to interact with the wave generator 123. Therefore, there is lubricating grease inside the flexible wheel 121. The seal 15 inside the flexible wheel 121 can effectively seal the grease required by the flexible wheel 121 and the wave generator 123, ensuring that the flexible wheel 121 and the wave generator 123 are always in a lubricated state.

[0045] It's also understandable that to ensure the sealing effect of the maze passage, which is a curved passage, multiple changes of direction are required. This increases the path length of the maze and effectively slows down the speed of the grease traveling through it in the direction of the maze's extension. Specifically, the maze passage needs to change direction at least three times to achieve a good seal. It should be noted that a curved maze passage provides a better seal than a smooth curved passage.

[0046] In some specific embodiments, the annular sealing tooth portion 152 includes an annular end face 1521 and a tooth groove 1522, the tooth groove 1522 being disposed on the annular end face 1521. The tooth groove 1522 may be an annular groove, and the sidewall of the annular groove or the portion between each two adjacent tooth grooves 1522 is an annular tooth. The annular locking tooth portion 1231 includes a tooth root portion 1232 and locking teeth 1233 protruding from the tooth root portion 1232, the locking teeth 1233 being annular protrusions, wherein there may be multiple locking teeth 1233, and a locking groove is formed between two locking teeth 1233, the locking groove also being annular. The locking teeth 1233 are accommodated in the tooth groove 1522, and the annular teeth are accommodated in the locking groove. A first gap is formed between the tooth root portion 1232 and the annular end face 1521, a second gap is formed between the tooth groove 1522 and the locking teeth 1233, and a third gap is formed between the sidewall of the annular teeth and the opposite sidewall of the locking teeth 1233. Furthermore, the first and second gaps are interconnected through the third gap to form a maze passage. It can be understood that when the annular locking tooth portion 1231 has one locking tooth 1233 and the annular sealing tooth wheel portion 152 has one annular tooth, the interlaced arrangement of the locking tooth 1233 and the annular tooth can form two corners. Preferably, there are two locking teeth 1233 and two annular teeth, thus forming a maze passage with five corners, each corner being a right angle. Of course, there can be more than two locking teeth 1233 and two annular teeth; the specific selection can be made according to the actual situation, and no specific limitation is made here.

[0047] It is understandable that the widths of the first, second, and third gaps can all affect the sealing performance of the maze passage. When the widths of the first, second, and third gaps are too large, even if the corner maze passage has more than three corners, its sealing performance will be poor. Therefore, in some embodiments, the width of the maze passage is set to 0.2–1 mm. Specifically, the width can be 0.3 mm, 0.4 mm, 0.5 mm, 0.6 mm, 0.7 mm, 0.8 mm, or 0.9 mm. The widths of the first, second, and third gaps can be the same or different. Alternatively, the width of the maze passage can gradually increase, gradually decrease, increase first and then decrease, or decrease first and then increase in the direction radially outward along the seal 15; or the width of each of the first, second, and third gaps can gradually increase, gradually decrease, increase first and then decrease, or decrease first and then increase.

[0048] To facilitate the fixed connection between the connecting flange 151, the second flange 112, and the fixed flange 1211, the connecting flange 151, the fixed flange 1211, and the second flange 112 can be connected and fixed together. In some embodiments, the harmonic reducer 12 also includes fasteners (not shown), which include fastening heads. The fasteners fix the fixed flange 1211, the connecting flange 151, and the second flange 112, and the fastening heads abut against the connecting flange 151. The fasteners can be bolts, and the fastening heads can be nuts, which abut against the end face of the connecting flange 151 facing away from the fixed flange 1211. Of course, the fasteners can also be screws, pins, etc., as long as they can fasten the fixed flange 1211, the connecting flange 151, and the second flange 112 together.

[0049] To prevent the fastening head from directly contacting and damaging the connecting flange 151, the harmonic reducer 12 also includes a fastening gasket 16, which is disposed on the side of the connecting flange 151 opposite to the fixed flange 1211. That is, the fastening gasket 16 is disposed between the fastening head and the connecting flange 151, with the fastening head abutting against the fastening gasket 16. This avoids direct contact between the fastening head and the connecting flange 151. Furthermore, the area of ​​the fastening gasket 16 is larger than that of the fastening head, increasing the contact surface and thus increasing the friction between the fastening gasket 16 and the connecting flange 151, thereby increasing the tightness of the connection.

[0050] In some embodiments, the robot joint module 100 further includes a low-speed shaft 17 and a sealing ring 18. The low-speed shaft 17 is partially housed within the harmonic reducer 12 and connected to the flexible wheel 121, and can rotate with the flexible wheel 121. The sealing ring 18 may be an O-ring and is fitted onto the low-speed shaft 17 to prevent grease within the harmonic reducer 12 from affecting the tightness of the connection of the low-speed shaft 17.

[0051] Specifically, the wave generator 123 also includes an inner hole 1234, and the connecting flange 151 is provided with a fixing hole 153. One end of the low-speed shaft 17 is fixed in the fixing hole 153, and the other end of the low-speed shaft 17 passes through the inner hole 1234. That is to say, the inner hole 1234 of the wave generator 123 is connected to the fixing hole 153, one end of the low-speed shaft 17 passes through the inner hole 1234, and can be fixed and accommodated in the fixing hole 153 by interference fit, adhesive bonding or elastic structural parts, and rotates with the seal 15, thereby facilitating the installation of an additional encoder on the low-speed shaft 17 for positioning. It is understandable that the low-speed shaft 17 can be a hollow cylinder, and the inner hole 1234 and the fixing hole 153 can be circular holes. Since the low-speed shaft 17, the second flange 112, and the connecting flange 151 all rotate with the fixing flange 1211 of the flexible wheel 121, the low-speed shaft 17, the second flange 112, the fixing hole 153, and the inner hole 1234 can have a certain degree of coaxiality.

[0052] The sealing ring 18 abuts against the end face of the fastening gasket 16 and the low-speed shaft 17. That is, the side of the sealing ring 18 furthest from the low-speed shaft 17 abuts against the fastening gasket 16, and the side of the sealing ring 18 closest to the low-speed shaft 17 abuts against the fastening gasket 16. It can be understood that the fastening gasket 16 not only protects the seal 15 and secures the connection, but also provides a seal. Because the fastening gasket 16 and the sealing ring 18 abut against each other on the same cross-section, it effectively prevents a small amount of grease leaking from the labyrinth channel from entering the fixing hole 153, thereby affecting the connection between the low-speed shaft 17 and the fixing hole 153 and causing the low-speed shaft 17 to slide.

[0053] Optionally, the sealing ring 18 is fitted onto the low-speed shaft 17, and the sealing ring 18 abuts against the inner wall of the low-speed shaft 17 and the fixing hole 153. In this case, the sealing ring 18 acts as abutment within the fixing hole 153, sealing the side of the fixing hole 153 closest to the torque sensor 11. This prevents small amounts of grease leaking from the labyrinth channel from entering and affecting the connection between the low-speed shaft 17 and the fixing hole 153, thus preventing the low-speed shaft 17 from sliding. It is understood that at this time, the fastening gasket 16 does not engage with the sealing ring 18, and therefore only serves to protect the seal 15 and secure the connection.

[0054] To facilitate the installation and positioning of the sealing ring 18, in some specific embodiments, a groove 171 can be provided on the low-speed shaft 17. The groove 171 can be an annular groove, and the sealing ring 18 is installed in the groove 171. This allows the sealing ring 18 to be positioned during installation and prevents it from slipping, ensuring that the sealing ring 18 remains in its mounting position.

[0055] Please see Figures 3-5 , Figure 5 yes Figure 1A three-dimensional structural diagram of the sealing element. In some embodiments, the robot joint module 100 further includes a motor 19 and a low-speed shaft 17. The harmonic reducer 12 also includes a steel wheel 124, which serves to fix the harmonic reducer 12. That is, the steel wheel 124 supports the flexible wheel 121 and the wave generator 123. The wave generator 123 is active, and the flexible wheel 121 outputs power. It can be understood that the flexible wheel 121 can be a circular, thin-walled, barrel-shaped structure, with external teeth on the outer wall of the barrel-shaped open end that mesh with the steel wheel 124. A fixing flange 1211 protrudes from the barrel-shaped closed end face. The wave generator 123 is housed within the flexible wheel 121 and located at the barrel-shaped open end. Therefore, when the wave generator 123 is installed into the flexible wheel 121, the wave generator 123 forces the cross-section of the flexible wheel 121 to change from the original circle to an ellipse. The teeth near both ends of its major axis fully mesh with the teeth of the rigid wheel, while the teeth near both ends of its minor axis completely disengage from the rigid wheel. This allows the power at the input end to be decelerated and transmitted to the joint output end through the flexible wheel 121. It can be understood that the outer side of the flexible wheel 121 meshes with the steel wheel 124. Therefore, the oil seal 13 and the sealing sliding ring 14 between the flexible wheel 121 and the torque sensor 11 isolate and seal the lubricating grease between the flexible wheel 121 and the steel wheel 124.

[0056] The steel wheel 124 is connected to the end of the inner ring 1221 facing away from the oil seal sleeve 131, and the motor 19 is connected to the steel wheel 124. The steel wheel 124 may include a connecting hole 1241 and a mounting flange 1242. The inner wall of the connecting hole 1241 is provided with internal teeth that mesh with the flexible wheel 121, and the mounting flange 1242 is connected to the housing of the motor 19. It can be understood that the outer ring 1222 of the crossed roller bearing 122 is connected to the torque sensor 11 and can rotate with the torque sensor 11, while the inner ring 1221 of the crossed roller bearing 122 is connected to the steel wheel 124; therefore, relative rotation also occurs between the inner ring 1221 and the outer ring 1222. It can also be understood that, in order to facilitate the connection and positioning of the inner ring 1221 and the steel wheel 124, the steel wheel 124 is also provided with a positioning protrusion 1243, which is located on the side of the mounting flange 1242 near the flexible wheel 121. When the steel wheel 124 is connected to the end of the inner ring 1221 facing away from the oil seal sleeve 131, the end face of that end abuts against the positioning protrusion 1243, thereby limiting the crossed roller bearing 122 between the first flange 111 and the mounting flange 1242 of the steel wheel 124.

[0057] The connecting flange 151 is provided with a fixing hole 153, and the wave generator 123 also includes an inner hole 1234. One end of the low-speed shaft 17 is fixed in the fixing hole 153, and the other end of the low-speed shaft 17 passes through the inner hole 1234. That is to say, the inner hole 1234 of the wave generator 123 is connected to the fixing hole 153, one end of the low-speed shaft 17 passes through the inner hole 1234, and can be fixed and accommodated in the fixing hole 153 by interference fit, adhesive bonding or elastic structural parts, and rotates with the seal 15, the flexible wheel 121 and the sealing sliding ring 14.

[0058] The motor 19 can be installed on the side of the harmonic reducer 12 away from the torque sensor 11. The motor 19 can serve as an input terminal, and it includes a motor output shaft 191 sleeved on the low-speed shaft 17. The motor output shaft 191 can be connected to the wave generator 123, thereby transmitting power from the motor 19 to the joint output terminal through the wave generator 123, the flexible wheel 121, and the torque sensor 11. The other end of the low-speed shaft 17 passes through the inner hole 1234 and is partially housed within the motor output shaft 191. To prevent grease leaking from the labyrinth channel from accumulating inside the harmonic reducer 12, it is positioned on one side of the sealing ring 18. Since the rotational speeds of the motor output shaft 191 and the low-speed shaft 17 are different, a certain gap can exist between them. Therefore, an oil-receiving channel can be formed between the outer wall of the low-speed shaft 17, the inner wall of the motor output shaft 191, and the inner wall of the inner hole 1234, and this channel communicates with the labyrinth channel. In other words, the grease leaking from the labyrinth channel can enter the oil-receiving channel, further preventing grease from entering the fixing hole 153 and thus affecting the stability of the connection between the fixing hole 153 and the low-speed shaft 17. Furthermore, when the grease enters between the motor output shaft 191 and the low-speed shaft 17 through the oil-receiving channel, it can also lubricate both.

[0059] To effectively increase the volume of the receiving groove 23, in some embodiments, a receiving groove 23 is formed on either the inner wall of the motor output shaft 191 or the outer wall of the low-speed shaft 17. The installation gap between the low-speed shaft 17, the inner hole 1234, and the motor output shaft 191 forms an oil-receiving channel with the receiving groove 23. Preferably, the receiving groove 23 is located at the location opposite to the motor output shaft 191 and the low-speed shaft 17, that is, the receiving groove 23 is located between the motor output shaft 191 and the low-speed shaft 17. This effectively prevents grease leaking from the labyrinth channel from entering the gap between the motor output shaft 191 and the low-speed shaft 17 and leaking out from there.

[0060] Furthermore, guide grooves are spirally provided on the inner wall of the motor output shaft 191 and the outer wall of the low-speed shaft 17. The spiral arrangement of the guide grooves greatly increases the path of the grease, making it less likely for the grease to leak out through the oil reservoir.

[0061] In some embodiments, the width of the oil-containing channel is 0.2 to 0.8 mm. Specifically, it can be 0.3 mm, 0.4 mm, 0.5 mm, 0.6 mm, or 0.7 mm. Of course, when a receiving groove 23 is formed on either the inner wall of the motor output shaft 191 or the outer wall of the low-speed shaft 17, the width at the receiving groove 23 can be greater than 0.8 mm.

[0062] To facilitate the installation and positioning of the torque sensor 11 when it is fixedly connected to the flexible wheel 121, in some embodiments, the seal 15 also includes a connecting shaft 154. The torque sensor 11 can be fitted onto the connecting shaft 154 during installation.

[0063] The connecting shaft 154 is connected to the connecting flange 151, and the connecting shaft 154 and the annular sealing teeth 152 are respectively located on opposite sides of the connecting flange 151. The fixed flange 1211 includes a through hole 1212, the connecting shaft 154 is disposed in the through hole 1212, and is connected to the second flange 112. Specifically, the connecting shaft 154 is disposed in the through hole 1212 and extends outward to the outside of the fixed flange 1211 of the flexible wheel 121, that is, the connecting shaft 154 is fitted inside the fixed flange 1211. The torque sensor 11 may be provided with a positioning hole 113, and the torque sensor 11 can be fitted onto the connecting shaft 154 through the positioning hole 113, and after fitting, one end of the connecting shaft 154 is accommodated in the positioning hole 113. Understandably, in order to prevent the grease in the flexible wheel 121 from leaking out of the through hole 1212 and contacting the second flange 112, the connecting shaft 154 abuts against the inner hole 1234 and the positioning hole 113, and the seal 15 and the torque sensor 11 rotate under the drive of the flexible wheel 121. Preferably, the seal 15 uses the connecting shaft 154 to maintain a coaxial relationship with the flexible wheel 121 and the second flange 112, that is, the second flange 112 and the connecting shaft 154 are coaxial, and the inner hole 1234, the positioning hole 113 and the connecting shaft 154 have a certain degree of coaxiality.

[0064] It is understood that a portion of the inner ring 1221 of the crossed roller bearing is connected to the steel wheel 124 of the harmonic reducer 12, and the other portion of the inner ring 1221 is connected to the first end 1311 of the oil seal sleeve 131. That is, the inner ring 1221 of the crossed roller bearing is simultaneously fitted onto both the steel wheel 124 and the first end 1311. Furthermore, the flexible wheel 121 is cylindrical and fitted inside the steel wheel 124. The end of the flexible wheel 121 furthest from the fixed flange 1211 engages with the steel wheel 124, and one end of the fixed flange 1211 protrudes from the steel wheel 124. However, grease is also required between the steel wheel 124 and the flexible wheel 121. Therefore, if grease leaks from this part, it can contact the torque sensor 11 along the oil seal sleeve 131, thus affecting its measurement accuracy. Therefore, in some embodiments, a sealing gasket 22 is also provided between the first end 1311 and the inner ring 1221. The first end 1311 and the second end 1312 of the oil seal sleeve 131 can both be annular sleeves. The first end 1311 is fitted inside the inner ring 1221 and outside the flexible wheel 121, that is, the first end 1311 is located between the inner ring 1221 and the flexible wheel 121. The sealing gasket 22 can be an O-ring, and the sealing gasket 22 abuts against the inner wall of the inner ring 1221 and the outer wall of the first end 1311 respectively. This can effectively prevent the grease between the steel wheel 124 and the flexible wheel 121 from affecting the measurement accuracy of the torque sensor 11. Furthermore, the sealing gasket 22 can also fix the oil seal sleeve 131 to the inner ring 1221, thereby connecting the oil seal sleeve 131 to the steel wheel 124 and keeping its movement consistent with that of the steel wheel 124. It is understood that the first end 1311 and the second end 1312 have different diameters, that is, the connection between the first end 1311 and the second end 1312 forms a step shape so that the second end 1312 can slide in contact with the sealing sliding ring 14.

[0065] In some more specific embodiments, the first end 1311 is also provided with a sealing gasket groove, and the sealing gasket 22 is partially accommodated in the sealing gasket groove. When the first end 1311 is fitted into the inner ring 1221, the inner wall of the sealing gasket 22 abuts against the bottom of the sealing gasket groove, and the outer wall of the sealing gasket 22 abuts against the inner wall of the inner ring 1221.

[0066] To facilitate the installation and positioning of the oil seal sleeve 131, in some embodiments, an oil seal retainer ring 1313 protrudes from the first end 1311, and the oil seal retainer ring 1313 abuts against the end face of the inner ring 1221. Preferably, the oil seal retainer ring 1313 is disposed on the outer side wall of the first end 1311 and surrounds the first end 1311. After the inner ring 1221 of the crossed roller bearing 122 is first fitted onto the steel wheel 124, the first end 1311 is then fitted into the inner ring 1221. The end face of the oil seal retainer ring 1313 near the crossed roller bearing 122 abuts against the end face of the inner ring 1221 of the crossed roller bearing 122 facing the positioning edge 1111, and the oil seal sleeve 131 is stopped and positioned by the positioning edge 1111. It is understandable that after the first end 1311 is wrapped around the inner ring 1221 and stopped and positioned by the oil seal retainer 1313, the projection of the oil seal retainer 1313 onto the inner ring 1221 does not exceed the inner ring 1221, thereby effectively avoiding interference between the oil seal retainer 1313 and the outer ring 1222.

[0067] Because the inner ring 1221 and outer ring 1222 of the crossed roller bearing 122 rotate relative to each other, grease is required between them for lubrication. Therefore, in some embodiments, a felt gasket is provided between the inner ring 1221 and outer ring 1222 of the crossed roller bearing 122 to form a low-friction sealing structure for sealing the grease within the bearing itself. This prevents grease leakage between the inner ring 1221 and outer ring 1222 from flowing along the oil seal 131 to contact the torque sensor 11.

[0068] In some embodiments, the oil seal 13 further includes an oil seal skeleton 132, which is fixed inside the second end 1312 and abuts against the sealing sliding ring 14. Preferably, the oil seal skeleton 132 is made of rubber and is an annular body with a U-shaped cross-section. It is understood that the sealing sliding ring 14 is an annular body, and its inner wall is coaxially fixedly connected to the second flange 112. The upper wall of the oil seal skeleton 132 is coaxially fixedly connected to the inner wall of the second end 1312 and moves in unison with the oil seal sleeve 131. The lower wall of the oil seal skeleton 132 abuts against the sealing sliding ring 14 and remains coaxial with the outer wall of the sealing sliding ring 14. This effectively seals the grease, preventing leakage of grease from between the oil seal skeleton 132 and the sealing sliding ring 14 to the torque sensor 11.

[0069] To prevent slippage between the torque sensor 11 and the flexure wheel 121 under high torque impact, i.e., relative rotation between them, in some embodiments, the robot joint module 100 further includes a friction pad 20. The friction pad 20 is made of a high-friction material. By placing the friction pad 20 between the opposing end faces of the fixed flange 1211 and the second flange 112, the friction between them can be increased, and the power transmitted by the flexure wheel 121 can be stably and effectively transmitted to the second flange 112.

[0070] In some embodiments, the robot joint module 100 further includes an elastic sealing ring 21, which is disposed within the second end 1312 and abuts against the end face of the sealing sliding ring 14 and the flexible wheel 121. That is, the sealing sliding ring 14 and the elastic sealing ring 21 work together to seal the grease between the flexible wheel 121 and the oil seal 13, thereby preventing grease from contacting the torque sensor 11 from the sealing sliding ring 14 and affecting the measurement accuracy of the torque sensor 11, and / or entering the connection between the second flange 112 and the fixed flange 1211, reducing the friction between the two. Preferably, the second flange 112 and the fixed flange 1211 are coaxially connected, and the second flange 112 and the fixed flange 1211 have the same dimensions; that is, after coaxial connection, the projection of the second flange 112 onto the fixed flange 1211 coincides with the fixed flange 1211. The sealing sliding ring 14 is fixedly fitted onto the second flange 112 and covers the connection between the second flange 112 and the fixed flange 1211. This prevents grease between the flexure 121 and the oil seal 13 from entering the connection between the second flange 112 and the fixed flange 1211, and reduces the friction at the connection, thereby allowing the second flange 112 and the fixed flange 1211 to rotate relative to each other. It is understood that the elastic sealing ring 21 needs to have a suitable compression ratio to ensure that the flexure 121 of the harmonic reducer 12 maintains good contact with the elastic sealing ring 21 throughout the harmonic drive deformation process.

[0071] Of course, in other embodiments, the dimensions of the second flange 112 and the fixed flange 1211 are different. For example, the size of the fixed flange 1211 is larger than that of the second flange 112, and the two ends of the elastic sealing ring 21 can respectively abut against the end face of the sealing sliding ring 14 and the end face of the fixed flange 1211 to achieve a seal. It can also be understood that sealing can also be achieved solely through the sealing sliding ring 14, that is, one end of the sealing sliding ring 14 is fixed to the second flange 112, and the end face of the other end abuts against the end face of the fixed flange 1211 or the flexible wheel 121, so that the grease between the flexible wheel 121 and the oil seal 13 can contact the torque sensor 11, and even enter the connection between the second flange 112 and the fixed flange 1211, solely through the sealing sliding ring 14.

[0072] Please see Figure 1 , Figure 2 and Figure 6 , Figure 6 yes Figure 1 A three-dimensional structural diagram of the torque sensor 11. In some embodiments, the torque sensor 11 further includes a fixed end plate 114. Both the first flange 111 and the second flange 112 extend from one end face of the fixed end plate 114. Since the first flange 111 surrounds the second flange 112, in some applications, the diameter of the first flange 111 is larger than the diameter of the second flange 112. Therefore, the first flange 111 surrounds the second flange 112. The extension length of the first flange 111 is greater than the extension length of the second flange 112, thus the torque sensor 11 generally exhibits a C-shaped structure.

[0073] The torque sensor 11 also includes a connecting journal 115 and a strain-reinforcing beam 116. The connecting journal 115 connects the second flange 112 and the fixed end plate 114. The strain-reinforcing beam 116 connects the fixed end plate 114 and the first flange 111. Preferably, the connecting journal 115 and the second flange 112 are the same size and integrally formed. Multiple strain-reinforcing beams 116 are spaced apart and form a ring, with the first flange 111 connected to the multiple strain-reinforcing beams 116. Thus, when the robot joint module 100 moves, the motor output shaft 191 transmits power to the wave generator 123, which in turn transmits power to the flexible wheel 121. The flexible wheel 121 then transmits power to the joint output end via the torque sensor 11. The torque sensor 11 measures the joint output torque after being subjected to force at the joint output end.

[0074] In some more specific embodiments, the fixed end plate 114 and the strain beam can be configured as thin-walled structures with a wall thickness not exceeding 4 mm. It should be noted that the second flange 112 of the torque sensor 11 is fixedly connected to the flexure 121 and transmits power to the second flange 112. Since the first flange 111 is fixedly connected to the outer ring 1222 of the crossed roller bearing 122, the crossed roller bearing provides support to the second flange 112, preventing the torque sensor 11 from being subjected to bending moments. In other words, the thin-walled structure of the fixed end plate 114 and the strain reinforcement beam 116 will not cause bending deformation, thus preventing a reduction in the positioning accuracy of the joint output end, and also allows for a smaller size and lighter weight for the torque sensor 11.

[0075] Understandably, strain gauges are installed on the torque sensor 11. A strain gauge, also called a strain meter, is a metallic electrical measuring element that accurately measures force, load, torque, etc., in a static region. The joint output torque is measured by measuring the proportional change in wire resistance with the stretching or compression of the strain gauge.

[0076] In some embodiments, a signal processing board 117 protrudes from the second end face 1142 of the fixed end plate 114, which is opposite to the first end face 1141. It is understood that the signal processing board 117 can process the signals on the strain gauge and can accept signals from the robot controller, thereby ensuring the normal operation of the robot joint module 100.

[0077] A protective retaining ring 1143 is also provided on the second end face 1142. The protective retaining ring 1143 is used to protect the signal processing board 117. Specifically, the protective retaining ring 1143 is an annular body protruding from the second end face 1142. The signal processing board 117 is located inside the protective retaining ring 1143, and the projection of the signal processing board 117 onto the protective retaining ring 1143 is inside the protective retaining ring 1143. That is, the protrusion height of the protective retaining ring 1143 is higher than the height of the signal processing board 117, thereby preventing the signal processing board 117 from being damaged by pressure.

[0078] To facilitate the installation and positioning of the first flange 111, in some embodiments, a positioning edge 1111 is protruding from the first flange 111, which mates with the outer ring 1222. Specifically, the positioning edge 1111 is annular and is located on the side of the first flange 111 away from the strain reinforcing beam 116, that is, the strain reinforcing beam 116 and the positioning edge 1111 are located on opposite sides of the first flange 111. When the first flange 111 is coaxially and fixedly connected to the outer ring 1222 of the crossed roller bearing 122, the outer wall of the positioning edge 1111 abuts against the inner wall of the outer ring 1222, and the end face of the first flange 111 away from the strain reinforcing beam abuts against the end face of the outer ring 1222 near the torque sensor 11.

[0079] Another aspect of this application provides a robot, which includes the robot joint module 100 in any of the above embodiments. It is understood that the robot described in this application can be a collaborative robot, or it can also be an industrial robot, etc., and the corresponding robot joint module can be a collaborative robot joint module or an industrial robot joint module, etc. The specific structure of the robot joint module 100 has been described in detail above and will not be repeated here.

[0080] In the description of this application, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is 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.

[0081] The above are merely embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A robot joint module, comprising a joint output end, a torque sensor, and a harmonic reducer, characterized in that, The torque sensor includes a first flange and a second flange arranged coaxially, wherein the first flange surrounds the second flange and the first flange is fixedly connected to the joint output end; The harmonic reducer includes a flexible wheel and a crossed roller bearing. The flexible wheel includes a fixed flange, and the crossed roller bearing includes an inner ring and an outer ring. The fixed flange is fixedly connected to the second flange, and the outer ring is fixedly connected to the first flange. The robot joint module also includes an oil seal and a sealing sliding ring; wherein, the sealing sliding ring is fixedly fitted on the second flange, the oil seal includes an oil seal sleeve, the oil seal sleeve includes a first end and a second end disposed opposite to each other, wherein, the first end is fixed inside the inner ring, and the flexible wheel is accommodated inside the first end; The sealing sliding ring is housed within the second end, and the inner wall of the second end slides in contact with the sealing sliding ring; The robot joint module also includes a seal disposed within the flexible wheel; The sealing element includes a connecting flange and an annular sealing teeth, the annular sealing teeth being connected to one side of the connecting flange; The harmonic reducer further includes a wave generator connected to the flexspline, the wave generator including an annular toothed portion, wherein... The connecting flange is fixed to the fixed flange, the annular retaining teeth and the annular sealing teeth cooperate with each other, and the gap between the annular retaining teeth and the annular sealing teeth forms a labyrinth channel; The sealing element further includes a connecting shaft, which is connected to the connecting flange, and the connecting shaft and the annular sealing teeth are respectively disposed on opposite sides of the connecting flange; The fixed flange includes a through hole, wherein the connecting shaft is disposed within the through hole and is connected to the second flange.

2. The robot joint module according to claim 1, characterized in that, The annular sealing tooth includes an annular end face and a tooth groove, wherein the tooth groove is disposed on the annular end face; The annular retaining tooth portion includes a tooth root portion and retaining teeth protruding from the tooth root portion, wherein the retaining teeth are accommodated within the tooth groove; wherein, A first gap is formed between the tooth root and the annular end face, and a second gap is formed between the tooth groove and the locking tooth. The first gap and the second gap are interconnected to form the maze passage.

3. The robot joint module according to claim 1 or 2, characterized in that, The width of the maze passage is 0.2~1mm.

4. The robot joint module according to claim 1, characterized in that, The harmonic reducer also includes fastening shims and fasteners; wherein... The fastening gasket is disposed on the side of the connecting flange away from the fixed flange; The fastener includes a fastening head, which secures the fixed flange, the connecting flange, and the second flange, and the fastening head abuts against the fastening gasket.

5. The robot joint module according to claim 4, characterized in that, It also includes a low-speed shaft and a sealing ring; The wave generator also includes an inner hole, and the connecting flange is provided with a fixing hole, wherein one end of the low-speed shaft is fixed in the fixing hole, and the other end of the low-speed shaft passes through the inner hole. The sealing ring is fitted onto the low-speed shaft, and the sealing ring abuts against the end face of the fastening gasket and the low-speed shaft.

6. The robot joint module according to claim 5, characterized in that, The low-speed shaft has a groove, and the sealing ring is installed in the groove.

7. The robot joint module according to claim 1, characterized in that, It also includes a low-speed shaft and a sealing ring, wherein the sealing ring is fitted onto the low-speed shaft; The connecting flange is provided with a fixing hole, the low-speed shaft is fixed in the fixing hole, and the sealing ring abuts against the low-speed shaft and the inner wall of the fixing hole.

8. The robot joint module according to claim 1, characterized in that, It also includes the motor and low-speed shaft; The harmonic reducer also includes a steel wheel, which is connected to the end of the inner ring facing away from the oil seal sleeve, and the motor is connected to the steel wheel; The connecting flange is provided with a fixing hole, the wave generator also includes an inner hole, one end of the low-speed shaft is fixed in the fixing hole, and the other end of the low-speed shaft passes through the inner hole; The motor includes a motor output shaft sleeved on the low-speed shaft; wherein... An oil-receiving channel is formed between the outer wall of the low-speed shaft, the inner wall of the motor output shaft, and the inner wall of the inner hole, and the oil-receiving channel is connected to the labyrinth channel.

9. The robot joint module according to claim 8, characterized in that, A receiving groove is formed on either the inner wall of the motor output shaft or the outer wall of the low-speed shaft. The mounting gap between the low-speed shaft, the inner hole, and the motor output shaft, together with the receiving groove, forms the oil-receiving channel.

10. The robot joint module according to claim 8 or 9, characterized in that, The width of the oil-containing channel is 0.2~0.8mm.

11. The joint module according to any one of claims 1-2 and 4-9, characterized in that, A sealing gasket is also provided between the first end and the inner ring.

12. The robot joint module according to any one of claims 1-2 and 4-9, characterized in that, An oil seal ring is provided at the first end, and the oil seal ring abuts against the end face of the inner ring.

13. The robot joint module according to any one of claims 1-2 and 4-9, characterized in that; The oil seal also includes an oil seal skeleton, which is fixed inside the second end and abuts against the sealing sliding ring.

14. The robot joint module according to any one of claims 1-2 and 4-9, characterized in that, It also includes friction pads; The friction pad is disposed between the opposite end faces of the fixed flange and the second flange.

15. The robot joint module according to any one of claims 1-2 and 4-9, characterized in that, The oil seal also includes an elastic sealing ring; The elastic sealing ring is disposed inside the second end, and the elastic sealing ring abuts against the end face of the sealing sliding ring and the flexible wheel.

16. The robot joint module according to any one of claims 1-2 and 4-9, characterized in that, The torque sensor further includes a fixed end plate, wherein both the first flange and the second flange extend from the first end face of the fixed end plate; wherein... The torque sensor also includes a connecting journal and a strain reinforcing beam, wherein the connecting journal connects the first flange and the fixed end plate; The strain-strengthened beam connects the fixed end plate and the second flange.

17. The robot joint module according to claim 16, characterized in that, The fixed end plate has a protective retaining ring protruding from its second end face opposite to the first end face, and a signal processing board is also fixed on the second end face.

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

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