Intelligent robot integrated joint module

Abstract

The application provides a kind of intelligent robot integrated joint module, including shell, input shaft, output shaft, drive assembly, encoder and harmonic reducer, installation cavity is formed in the shell, input shaft is cylindrical and is rotatably installed in the installation cavity, output shaft is rotatably installed in the input shaft, drive assembly includes stator fixed in the installation cavity inner wall and rotor fixed in the input shaft outer wall, stator and rotor are located on the same radial surface and can generate radial driving force;Harmonic reducer is installed at the head of the shell, the input end of harmonic reducer is connected with the input shaft, the output end of harmonic reducer is connected with the output shaft;Encoder includes outer encoder arranged on the input shaft and inner encoder arranged on the output shaft.The intelligent robot integrated joint module of the application has compact structure, small volume, high precision, and is easy to assemble, labor-saving.

Description

Technical Field

[0001] This invention relates to an intelligent robot, and more particularly to an integrated joint module for an intelligent robot. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation, able to perform tasks such as work or movement through programming and automatic control. With societal development and technological advancements, robots are increasingly being applied across various fields, including home robots and industrial robots. Among these, collaborative robots, as lightweight industrial robots, can assist people in completing tasks efficiently and can perform work in hazardous environments with high precision and efficiency, thus gaining widespread popularity.

[0003] As an important component of robots, joint components play a crucial role. However, existing joint components are complex in structure, large in size and weight, have high manufacturing costs, are inconvenient to assemble, and are not conducive to daily maintenance and upkeep, thus affecting safety and lifespan. Summary of the Invention

[0004] Technical problems to be solved

[0005] The technical problem to be solved by the present invention is to provide an integrated joint module for intelligent robots that is compact in structure, small in size, light in weight, low in manufacturing cost, easy to assemble and has good performance.

[0006] Technical solutions to the problem

[0007] This invention provides an integrated joint module for an intelligent robot, comprising:

[0008] The housing 1 serves as a support and mounting carrier, and the housing 1 has a mounting cavity 10 formed therein;

[0009] The input shaft 5 is cylindrical and is coaxial with the housing 1 and rotatably mounted in the mounting cavity 10;

[0010] The output shaft 6 is coaxial with the input shaft 5 and rotatably mounted within the input shaft 5;

[0011] The drive assembly includes a stator 2 fixed to the inner wall of the mounting cavity 10 and a rotor 3 fixed to the outer wall of the input shaft 5. The stator 2 and the rotor 3 are located on the same radial plane and can generate radial driving force.

[0012] Harmonic reducer 7 is installed at the head of the housing 1. The input end of the harmonic reducer 7 is connected to the input shaft 5, and the output end of the harmonic reducer 7 is connected to the output shaft 6.

[0013] The encoder 9 includes an external encoder 91 disposed on the input shaft 5 and an internal encoder 92 disposed on the output shaft 6;

[0014] The rotor 3 includes a rotor shaft 31 and a rotor body 32 mounted outside the rotor shaft 31. The rotor shaft 31 is cylindrical and rotatably mounted on the tail end of the housing 1 via bearings. The rotor shaft 31 includes a first annular body 311, a second annular body 312, and a third annular body 313 connected in sequence with decreasing diameters. The third annular body 313 is keyed to the tail end of the input shaft 5, and a first limiting step at the end of the third annular body 313 contacts and limits the movement of the second limiting step on the side wall of the input shaft 5. The inner walls of the second annular body 312 and the third annular body 313 are connected... A first support surface 313a is formed. A pressure ring 43 is sleeved inside the second annular body 312. The head of the pressure ring 43 contacts the first support surface 313a. The tail of the pressure ring 43 extends into the first annular body 311 and is higher than the end face of the input shaft 5. A locking ring 41 with an L-shaped cross-section is threaded onto the inner wall of the first annular body 311. The end of the locking ring 41 contacts the tail end of the pressure ring 43 and achieves compression. A dynamic seal 42 is provided between the locking ring 41 and the outer wall of the output shaft 6. A mounting hole for installing an external encoder 91 is opened at the end of the first annular body 311.

[0015] Furthermore, the tail of the input shaft 5 is fitted inside the rotor shaft 31 and achieves a rotatable connection with the housing 1.

[0016] Furthermore, the lower edge of the first annular body 311 extends radially outward to form a support portion 3111. The external encoder 91 includes an external encoder bracket ring fixed to the end of the first annular body 311 and an external encoder body fixed to the end of the external encoder bracket ring. A bearing mounting area is formed between the support portion 3111 and the external encoder bracket ring.

[0017] Furthermore, the internal encoder 92 includes an internal encoder bracket and an internal encoder body 922 mounted on the internal encoder bracket. The internal encoder bracket includes a cylindrical internal bracket body 921. The inner wall of the internal bracket body 921 is provided with an internal thread and is threaded to the tail of the output shaft 6. A dynamic seal is provided between the outer wall of the internal bracket body 921 and the input shaft 5. The top of the internal bracket body 921 extends radially inward and forms a limiting part. The bottom surface of the limiting part forms a limiting surface and contacts the end of the output shaft 6. The inner wall of the limiting part has at least two recessed holes evenly distributed around its circumference and forms a tightening part 9211. The top of the internal bracket body 921 extends radially outward and forms an annular mounting part 9213. The internal encoder body 922 is mounted on the mounting part 9213.

[0018] Furthermore, the housing 1 is cylindrical, and the mounting cavity 10 has a circular cross-section that extends through both ends of the housing 1. The inner wall of the mounting cavity 10 is provided with an annular protrusion 11. The head of the annular protrusion 11 forms a first limiting surface for mounting the bearing, and the tail of the annular protrusion 11 forms a second limiting surface for mounting the stator 2. The tail end face of the housing 1 is provided with a mounting groove 12 that communicates with the mounting cavity 10. There are at least two mounting grooves 12 that are evenly distributed circumferentially. The tail end face of the housing 1 and the bottom surface of the mounting groove 12 are both provided with a first mounting hole. The head end face of the housing 1 is provided with a limiting groove 15 that communicates with the mounting cavity 10. There are at least two limiting grooves 15 that are evenly distributed circumferentially. The bottom surface of the limiting groove 15 is provided with a shaft hole 16. The axis of the shaft hole 16 is parallel to the axis of the mounting cavity 10. The bottom surface of the shaft hole is provided with a screw hole. The head end face of the housing 1 and the bottom surface of the limiting groove 15 are both provided with a second mounting hole.

[0019] Furthermore, at least two strip-shaped recesses 13 are evenly distributed around the outer wall of the housing 1. The length direction of the strip-shaped recesses 13 is parallel to the axis of the housing 1. The end of the strip-shaped recesses 13 extends axially and penetrates the tail of the housing 1. A second mounting hole is provided on the end face of the strip-shaped recesses 13. The second mounting hole penetrates to the outside of the housing 1 and is used to connect the harmonic reducer 7.

[0020] Furthermore, the housing 1 is provided with a brake 8 for contacting the end of the rotor 3 and braking it.

[0021] Furthermore, a sealed cavity is formed between the lower end of the brake 8 and the harmonic reducer 7, and the sealed cavity is filled with oil that can achieve lubrication and cooling.

[0022] Furthermore, the brake 8 includes a brake seat 81 and a brake disc 82. The brake seat 81 is circular, and both ends of the brake seat 81 have central holes through which the output shaft 6 passes. The sidewall of the brake seat 81 has protrusions that form guide blocks 811. There are at least two guide blocks 811, which are evenly distributed circumferentially. The inner wall of the housing 1 has guide grooves that allow the guide blocks 811 to be inserted and slide. The brake disc 82 is annular and fixed on the brake seat 81. The end face of the brake disc 82 forms a first braking surface 821. The end of the rotor 3 has a second braking surface corresponding to the first braking surface. The housing 1 has an elastic component that causes the brake 8 to have a tendency to move away from the rotor 3 and a brake actuator for pushing the brake 8 to move towards the rotor 3 and achieving braking.

[0023] Beneficial effects

[0024] This invention relates to an integrated joint module for intelligent robots. It features a split structure, resulting in high manufacturing precision, low production costs, and convenient, labor-saving assembly and maintenance. The rotor shaft structure is optimized for high precision, ease of processing and assembly, and excellent performance. The inclusion of a pressure ring and a locking ring enables rapid clamping and fixation, facilitating easy and labor-saving installation and removal, significantly improving the coaxiality of the input shaft and ensuring its operational stability and reliability. The locking ring employs an L-shaped structure, reducing material usage and overall weight while providing installation space for seals, resulting in a more compact structure. The internal encoder bracket is also structurally optimized. The optimized design ensures convenient installation and high assembly precision, guaranteeing accurate angle monitoring. The centrally located braking structure is compact and small in size, effectively braking the input shaft with fast response and good braking effect. The brake experiences low torque during braking, resulting in a long service life. A sealed cavity structure provides cooling and lubrication, ensuring the reliability and stability of the joint module and extending its service life. The use of a harmonic reducer results in a small footprint, low material consumption, low weight, high reduction ratio, and good precision. This invention's integrated intelligent robot joint module is compact, small in size, highly precise, and easy and labor-saving to assemble. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the integrated joint module of the intelligent robot of the present invention;

[0026] Figure 2 This is another structural schematic diagram of the integrated joint module of the intelligent robot of the present invention;

[0027] Figure 3 This is a cross-sectional view of the integrated joint module of the intelligent robot of the present invention;

[0028] Figure 4 for Figure 3 Enlarged view of section A in the middle;

[0029] Figure 5 for Figure 3 Enlarged view of section B in the middle;

[0030] Figure 6 This is an exploded structural diagram of the integrated joint module of the intelligent robot of the present invention;

[0031] Figure 7 This is a schematic diagram of the housing of the integrated joint module for the intelligent robot of the present invention;

[0032] Figure 8 This is a schematic diagram of the housing of the integrated joint module of the intelligent robot of the present invention from another angle;

[0033] Figure 9 This is a schematic diagram of the rotor shaft of the integrated joint module for the intelligent robot of the present invention;

[0034] Figure 10 This is a schematic diagram of the internal encoder of the integrated joint module of the intelligent robot of the present invention;

[0035] Figure 11 This is a cross-sectional view of the internal encoder of the integrated joint module of the intelligent robot of the present invention.

[0036] Figure 12 This is a schematic diagram of the actuator of the integrated joint module of the intelligent robot of the present invention;

[0037] Figure descriptions: 1-Housing, 10-Mounting cavity, 11-Annular protrusion, 12-Mounting groove, 13-Strip-shaped recess, 14-Cover, 15-Limiting groove, 16-Shaft hole, 2-Stator, 3-Rotor, 31-Rotor shaft, 311-First annular body, 3111-Support part, 312-Second annular body, 313-Third annular body, 313a-First support surface, 32-Rotor body, 41-Locking ring, 42-Dynamic seal, 43-Pressure ring, 5-Input shaft, 6-Output shaft, 7-Harmonic reducer, 8-Brake, 81-Brake seat, 811-Guide block, 82-Brake disc, 821-First braking surface, 9-Encoder, 91-External encoder, 92-Internal encoder, 921-Internal bracket body, 922-Internal encoder body, 9211-Tightening part, 9213-Mounting part. Detailed Implementation

[0038] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0039] See Figures 1-12 The present invention provides an integrated joint module for an intelligent robot, including a housing 1, an input shaft 5, an output shaft 6, a drive assembly, a harmonic reducer 7, and an encoder 9.

[0040] The housing 1 serves as a support and mounting carrier, housing the input shaft 5, output shaft 6, drive assembly, harmonic reducer 7, and encoder 9. The input shaft 5, a cylindrical cylindrical shaft coaxial with the housing 1, is rotatably mounted within the mounting cavity 10, acting as the power input end. The output shaft 6, coaxial with the input shaft 5, is rotatably mounted within it. The drive assembly provides radial driving force to the input shaft and includes a stator 2 and a rotor 3. The stator 2 is fixed to the inner wall of the mounting cavity 10, and the rotor 3 is fixed to the outer wall of the input shaft 5. The stator 2 and rotor 3 are located on the same radial plane, generating induced electromotive force and electromagnetic torque, thus forming radial driving force and achieving rotation. The harmonic reducer 7, used for speed reduction, includes a rigid wheel, a flexible wheel, and a wave generator. Teeth are provided on the inner wall of the rigid wheel, and the flexible wheel is flexible and capable of deformation. The outer wall of the flexible wheel is provided with teeth, and the number of teeth is less than that of the steel wheel. The wave generator can cause the flexible wheel to undergo radial deformation. The flexible gear generates a controllable elastic deformation wave, which causes the teeth of the rigid wheel and the flexible wheel to be misaligned to transmit power and motion. It is small in size, consumes less material, and has a large load-bearing capacity. The harmonic reducer 7 is installed at the head of the housing 1. The input end of the harmonic reducer 7 is connected to the input shaft 5, and the output end of the harmonic reducer 7 is connected to the output shaft 6. Specifically, the steel wheel is fixedly connected to the housing 1, the wave generator is connected to the input shaft 5 for power input, and the flexible wheel is connected to the output shaft 6 for power output. The encoder 9 is used for precise angle monitoring. It includes an external encoder 91 and an internal encoder 92. The external encoder 91 is set on the input shaft 5, and the internal encoder 92 is set on the output shaft 6. They are used to precisely control the rotation angle of the input shaft 5 and the output shaft 6, respectively.

[0041] The following explanation is provided in conjunction with the accompanying drawings:

[0042] See Figures 7-8The housing 1 is cylindrical in shape, with mounting cavities 10 extending through both ends, forming a cylindrical structure. The mounting cavity 10 has a circular cross-section and is coaxial with the housing 1. An annular protrusion 11 is provided on the inner wall of the mounting cavity 10, located at the tail end of the mounting cavity 10 (in the attached diagram, the upper end is the tail and the lower end is the head). The tail (upper) end face of the annular protrusion 11 forms a first limiting surface, which is used to install a bearing to achieve a rotatable connection with the input shaft 5. The head (lower) end face of the annular protrusion 11 forms a second limiting surface. Two limiting surfaces are used to install the stator 2, i.e., to axially limit the stator 2; a mounting groove 12 is provided on the rear end face of the housing 1, the side wall of which extends inward and connects to the mounting cavity 10 for mounting a circuit board (PCB board). There are at least two mounting grooves 12, evenly distributed circumferentially. Mounting holes are provided on both the rear end face of the housing 1 and the bottom surface of the mounting grooves 12 for fixing the circuit board. A cover 14 is fixed to the rear of the housing 1; a limiting groove 15 is provided on the head (lower) end face of the housing 1. The inner wall of the limiting groove 15 extends radially inward and connects to the mounting cavity 10. There are at least two limiting grooves 15, evenly distributed circumferentially. A shaft hole 16 is formed on the bottom surface of the limiting groove 15, with its axis parallel to the axis of the mounting cavity 10. A screw hole is provided on the bottom surface of the shaft hole 16. The limiting groove 15 is used to install the brake 8, and the shaft hole 16 is used to install the guide rod and spring, enabling the brake 8 to return to its downward position. First mounting holes are formed on both the head end face of the housing 1 and the bottom surface of the limiting groove 15, respectively for connecting the brake 8 and the harmonic reducer. In this embodiment, at least two strip-shaped recesses 13 are evenly distributed around the outer wall of the housing 1, the number of which is the same as the number of the first mounting holes on the lower end face of the housing 1. The length direction of the strip-shaped recesses 13 is parallel to the axis of the housing 1, and its cross-section is U-shaped. The end of the strip-shaped recesses 13 extends axially upward and penetrates the tail of the housing 1. A second mounting hole is provided on the end face of the strip-shaped recesses 13. The second mounting hole penetrates to the outside of the housing 1 and is used to install the harmonic reducer 7. This enables the bolt to be installed in a concealed manner, reducing the overall volume and facilitating the assembly of the joint module.

[0043] See Figures 3-4 and Figure 9The rotor 3 includes a rotor shaft 31 and a rotor body 32. The rotor shaft 31 is cylindrical and is rotatably mounted on the tail end of the mounting cavity 10 via bearings. The tail end of the input shaft 5 is sleeved inside the rotor shaft 31, thereby realizing the rotatable connection between the input shaft 5 and the housing 1. The rotor body 32 is fixed outside the rotor shaft 31, and the external encoder 91 is fixed to the tail end of the rotor shaft 31. Specifically, the rotor shaft 31 includes a first annular body 311, a second annular body 312, and a third annular body 313 connected sequentially from top to bottom. The first annular body 311, the second annular body 312, and the third annular body 313 are all annular and coaxially arranged. The diameters of the rings decrease sequentially. The third annular body 313 is mounted on the tail end of the input shaft 5 via a key, thereby achieving a radial connection with the input shaft 5 and enabling synchronous rotation. Simultaneously, a first limiting step is formed at the lower end of the third annular body 313, and a second limiting step facing upwards is provided on the side wall of the input shaft 5. The first and second limiting steps contact each other to achieve axial limiting. A first support surface 313a is formed between the inner walls of the second annular body 312 and the third annular body 313, and this first support surface 313a faces upwards. A pressure ring 43 is fitted inside the second annular body 312. This pressure ring 43 is circular, and its inner wall is flush with... The outer wall of the input shaft 5 contacts the inner wall of the second annular body 312. The head of the pressure ring 43 contacts the first support surface 313a, and the tail of the pressure ring 43 extends into the first annular body 311. Simultaneously, its end face is higher than the end face of the input shaft 5; that is, the upper end face of the pressure ring 43 is located at the upper end of the end of the input shaft 5 and the upper end of the stepped surface between the first and second annular bodies. An internal thread is provided on the inner wall of the first annular body 311, and a locking ring 41 is threaded onto this internal thread. The locking ring 41 has an L-shaped cross-section, and its lower end contacts the tail (upper end) of the pressure ring 43, thereby achieving compression. A dynamic seal 42 is provided between the outer walls of the output shaft 6. The dynamic seal 42 is an oil seal or a mechanical seal. A mounting hole is provided at the end of the first annular body 311 for mounting an external encoder. The lower edge of the first annular body 311 extends radially outward to form a support part 3111. The support part 3111 is annular. The external encoder 91 includes an external encoder bracket ring and an external encoder body fixed at the end of the external encoder bracket ring. The external encoder bracket ring is fixed at the end of the first annular body 311. A bearing mounting area is formed between the support part 3111 and the external encoder bracket ring for mounting a bearing to realize the rotational connection between the input shaft 5 and the housing 1.

[0044] The lower end of the output shaft 6 passes through the input shaft 5 and extends to the outer end, and extends radially outward to form a connecting flange, which is connected to the harmonic reducer 7 by bolts. Specifically, it is connected to the flex wheel of the harmonic reducer 7.

[0045] See Figures 10-11The internal encoder 92 includes an internal encoder bracket and an internal encoder body 922 mounted on the internal encoder bracket. The internal encoder bracket includes an internal bracket body 921, which is cylindrical. An internal thread is provided on the inner wall of the internal bracket body 921, which is threaded to the tail of the output shaft 6. A dynamic seal is provided between the outer wall of the internal bracket body 921 and the input shaft 5 (locking ring) to achieve sealing. The top of the internal bracket body 921 extends radially inward to form a limiting part, and the bottom surface of this limiting part forms a limiting surface. It contacts the end of the output shaft 6 to achieve axial positioning. At least two recessed holes are evenly distributed on the inner wall of the positioning part to form a tightening part 9211, which is used to fix the inner encoder bracket to the end of the output shaft 6 by means of a tool. The top of the inner bracket body 921 extends radially outward to form an annular mounting part 9213. The inner encoder body 922 is mounted on the mounting part 9213. In this embodiment, an annular groove coaxial with it is opened on the mounting part 9213. The inner encoder 92 is annular and is locked in the annular groove to achieve installation.

[0046] In this application, a brake 8 is provided inside the housing 1 for contacting the end of the rotor 3 and achieving braking, see reference. Figure 3 and Figure 12 The brake 8 includes a brake seat 81 and a brake disc 82. The brake seat 81 is circular and can slide along the axial direction. A central hole is formed at both ends of the center of the brake seat 81, allowing the output shaft 6 to pass through. A protrusion forming guide blocks 811 is provided on the side wall of the brake seat 81. There are at least two guide blocks 811, evenly distributed circumferentially. The inner wall of the housing 1 has guide grooves (limiting grooves) for inserting and sliding the guide blocks 811, which can withstand the radial force transmitted to the brake seat 81 during braking. The brake disc 82 is annular and fixed to the brake seat 81. The upper end face of the brake disc 82 forms a first braking surface 821. A [missing information - likely a design feature] is provided at the end of the rotor 3. The annular braking part has a second braking surface formed on its lower end, which corresponds to the first braking surface 821. When in contact, it can achieve friction braking. At the same time, an elastic component and a brake actuator are provided in the housing 1. A guide rod is threadedly connected in the shaft hole 16. A guide hole is provided on the brake seat 81. The guide rod is sleeved in the guide hole to achieve precise sliding fit. An elastic component, which is a compression spring, is sleeved on the guide rod. The elastic component causes the brake 8 to have a tendency to move away from the rotor 3. At the same time, the brake actuator is used to push the brake 8 to move in the direction of the rotor 3 to achieve braking. The brake actuator can be hydraulic or electromagnetic.

[0047] In this embodiment, a sealed cavity is formed between the lower end of the brake 8 and the harmonic reducer 7. The sealed cavity is filled with oil, which can achieve lubrication and cooling.

[0048] In this application, a partition is provided in the sealed cavity, which divides the sealed cavity into an upper cavity and a lower cavity. The lower cavity is a low-pressure cavity and the upper cavity is a high-pressure cavity. The side wall of the high-pressure cavity is provided with an oil inlet, which is connected to an oil pump, which can be filled with hydraulic oil and realize the driving of the brake.

[0049] This invention relates to an integrated joint module for intelligent robots. It features a split structure, resulting in high manufacturing precision, low production costs, and convenient, labor-saving assembly and maintenance. The rotor shaft structure is optimized for high precision, ease of processing and assembly, and excellent performance. The inclusion of a pressure ring and a locking ring enables rapid clamping and fixation, facilitating easy and labor-saving installation and removal, significantly improving the coaxiality of the input shaft and ensuring its operational stability and reliability. The locking ring employs an L-shaped structure, reducing material usage and overall weight while providing installation space for seals, resulting in a more compact structure. The internal encoder bracket is also structurally optimized. The optimized design ensures convenient installation and high assembly precision, guaranteeing accurate angle monitoring. The centrally located braking structure is compact and small in size, effectively braking the input shaft with fast response and good braking effect. The brake experiences low torque during braking, resulting in a long service life. A sealed cavity structure provides cooling and lubrication, ensuring the reliability and stability of the joint module and extending its service life. The use of a harmonic reducer results in a small footprint, low material consumption, low weight, high reduction ratio, and good precision. This invention's integrated intelligent robot joint module is compact, small in size, highly precise, and easy and labor-saving to assemble.

[0050] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An integrated joint module for an intelligent robot, characterized in that, include: The housing (1) serves as a support and mounting carrier, and the housing (1) has a mounting cavity (10) formed inside it; The input shaft (5) is cylindrical and is coaxial with the housing (1) and rotatably mounted in the mounting cavity (10); The output shaft (6) is coaxial with the input shaft (5) and rotatably mounted inside the input shaft (5); The drive assembly includes a stator (2) fixed to the inner wall of the mounting cavity (10) and a rotor (3) fixed to the outer wall of the input shaft (5). The stator (2) and the rotor (3) are located on the same radial plane and can generate radial driving force. A harmonic reducer (7) is installed at the head of the housing (1). The input end of the harmonic reducer (7) is connected to the input shaft (5), and the output end of the harmonic reducer (7) is connected to the output shaft (6). The encoder (9) includes an external encoder (91) disposed on the input shaft (5) and an internal encoder (92) disposed on the output shaft (6); The rotor (3) includes a rotor shaft (31) and a rotor body (32) mounted outside the rotor shaft (31). The rotor shaft (31) is cylindrical and rotatably mounted on the tail end of the housing (1) via bearings. The rotor shaft (31) includes a first annular body (311), a second annular body (312), and a third annular body (313) connected in sequence with decreasing diameters. The third annular body (313) is mounted on the tail end of the input shaft (5) via a key, and a first limiting step at the end of the third annular body (313) contacts and limits the second limiting step on the side wall of the input shaft (5). The inner walls of the second annular body (312) and the third annular body (313) form a... The first support surface (313a) is formed, and the second annular body (312) is fitted with a pressure ring (43). The head of the pressure ring (43) contacts the first support surface (313a), and the tail of the pressure ring (43) extends into the first annular body (311) and is higher than the end face of the input shaft (5). The inner wall of the first annular body (311) is threaded with a locking ring (41) with an L-shaped cross section. The end of the locking ring (41) contacts the tail end of the pressure ring (43) and achieves compression. A dynamic seal (42) is provided between the locking ring (41) and the outer wall of the output shaft (6). The end of the first annular body (311) is provided with a mounting hole for installing an external encoder (91).

2. The integrated joint module for intelligent robots as described in claim 1, characterized in that: The tail of the input shaft (5) is fitted inside the rotor shaft (31) and achieves a rotatable connection with the housing (1).

3. The integrated joint module for intelligent robots as described in claim 1, characterized in that: The lower edge of the first annular body (311) extends radially outward to form a support portion (3111). The external encoder (91) includes an external encoder bracket ring fixed to the end of the first annular body (311) and an external encoder body fixed to the end of the external encoder bracket ring. A bearing mounting area is formed between the support portion (3111) and the external encoder bracket ring.

4. The integrated joint module for intelligent robots as described in claim 1, characterized in that: The internal encoder (92) includes an internal encoder bracket and an internal encoder body (922) mounted on the internal encoder bracket. The internal encoder bracket includes a cylindrical internal bracket body (921). The inner wall of the internal bracket body (921) is provided with an internal thread and is threaded to the tail of the output shaft (6). A dynamic seal is provided between the outer wall of the internal bracket body (921) and the input shaft (5). The top of the internal bracket body (921) extends radially inward and forms a limiting part. The bottom surface of the limiting part forms a limiting surface and contacts the end of the output shaft (6). The inner wall of the limiting part is circumferentially distributed with at least two recessed holes and forms a tightening part (9211). The top of the internal bracket body (921) extends radially outward and forms an annular mounting part (9213). The internal encoder body (922) is mounted on the mounting part (9213).

5. The integrated joint module for intelligent robots as described in claim 1, characterized in that: The housing (1) is cylindrical, and the mounting cavity (10) has a circular cross-section that extends through both ends of the housing (1). The inner wall of the mounting cavity (10) is provided with an annular protrusion (11). The tail of the annular protrusion (11) forms a first limiting surface for mounting a bearing, and the head of the annular protrusion (11) forms a second limiting surface for mounting a stator (2). The tail end face of the housing (1) is provided with a mounting groove (12) communicating with the mounting cavity (10). There are at least two mounting grooves (12) and they are evenly distributed circumferentially. The tail end face of the housing (1) and the bottom surface of the mounting groove (12) are provided with a first mounting hole; the head end face of the housing (1) is provided with a limiting groove (15) that connects to the mounting cavity (10), there are at least two limiting grooves (15) and they are evenly distributed in the circumference, the bottom surface of the limiting groove (15) is provided with a shaft hole (16), the axis of the shaft hole (16) is parallel to the axis of the mounting cavity (10), the bottom surface of the shaft hole (16) is provided with a screw hole, and the head end face of the housing (1) and the bottom surface of the limiting groove (15) are provided with a second mounting hole.

6. The integrated joint module for intelligent robots as described in claim 5, characterized in that: At least two strip-shaped recesses (13) are evenly distributed around the outer wall of the housing (1). The length direction of the strip-shaped recesses (13) is parallel to the axis of the housing (1). The end of the strip-shaped recesses (13) extends axially and penetrates the tail of the housing (1). The end face of the strip-shaped recesses (13) is provided with a second mounting hole. The second mounting hole penetrates to the outside of the housing (1) and is used to connect the harmonic reducer (7).

7. The integrated joint module for intelligent robots as described in claim 1, characterized in that: The housing (1) is provided with a brake (8) for contacting the end of the rotor (3) and braking it.

8. The integrated joint module for intelligent robots as described in claim 7, characterized in that: A sealed cavity is formed between the lower end of the brake (8) and the harmonic reducer (7), and the sealed cavity is filled with oil that can achieve lubrication and cooling.

9. The integrated joint module for intelligent robots as described in claim 7, characterized in that: The brake (8) includes a brake seat (81) and a brake disc (82). The brake seat (81) is circular. Both ends of the brake seat (81) have central holes through which the output shaft (6) passes. The side wall of the brake seat (81) is provided with protrusions and forms guide blocks (811). There are at least two guide blocks (811) and they are evenly distributed around the circumference. The inner wall of the housing (1) is provided with guide grooves that allow the guide blocks (811) to be inserted and slide. The brake disc (82) is annular and fixed on the brake seat (81). The end face of the brake disc (82) forms a first braking surface (821). The end of the rotor (3) is provided with a second braking surface corresponding to the first braking surface. The housing (1) is provided with an elastic component that makes the brake (8) have a tendency to move away from the rotor (3) and a brake actuator for pushing the brake (8) to move towards the rotor (3) and achieving braking.

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