Joint module and robot

Abstract

The invention discloses a joint module and a robot, and relates to the technical field of robotics.The joint module comprises a motor, a speed reducer and an elastic connecting piece, the motor is provided with an output shaft, and the speed reducer is arranged on the output shaft; the elastic connecting piece is annularly arranged on the output shaft and located between the output shaft and the speed reduction device. When the load borne by the speed reduction device is larger than a first preset value, the elastic connecting piece can elastically deform so that the speed reduction device can rotate relative to the output shaft. According to the technical scheme, the elastic connecting pieces are arranged on the speed reduction device and the output shaft of the motor, the deformation effect of the elastic connecting pieces is equivalent to an overload protection device, and impact of overload on the speed reduction device can be relieved under the condition that the speed reduction device is not damaged; therefore, the problem that the speed reducer is easy to damage under the condition that the joint module is subjected to external overload impact load is relieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a joint module and a robot. Background Art

[0002] In the related prior art, when the joint module of the robot is subjected to external overload impact load, there is a problem that the reducer is easily damaged. Summary of the invention

[0003] The main purpose of the present invention is to provide a joint module and a robot, aiming to alleviate the problem that the reducer of the joint module is easily damaged when it is subjected to external overload impact load.

[0004] To achieve the above object, the joint module proposed by the present invention includes:

[0005] an electric motor having an output shaft;

[0006] a speed reduction device, arranged on the output shaft; and

[0007] An elastic connecting member is arranged around the output shaft and is located between the output shaft and the reduction device; when the load applied to the reduction device is greater than a first preset value, the elastic connecting member can undergo elastic deformation so that the reduction device can rotate relative to the output shaft.

[0008] In one embodiment, the elastic connector includes a connecting body arranged in an annular shape and a protruding portion protruding from the connecting body, and the protruding portion is extended along the circumference of the connecting body.

[0009] In one embodiment, the protrusion is arranged in a ring shape along the circumference of the connection body; or there are multiple protrusions, and the multiple protrusions are evenly spaced along the circumference of the connection body.

[0010] In one embodiment, the connecting body has an inner side wall and an outer side wall;

[0011] The inner wall is provided with a plurality of the protrusions, and the protrusions on the inner wall abut against the output shaft; and / or the outer wall is provided with a plurality of the protrusions, and the protrusions on the outer wall abut against the reduction device.

[0012] In one embodiment, a plurality of the protrusions are provided on the inner side wall, the protrusions on the inner side wall abut against the output shaft, and a recess is formed at the abutment between the output shaft and the inner side wall.

[0013] In one embodiment, a first groove is formed on a surface of the connection body away from the protrusion and corresponding to a position of the protrusion.

[0014] In one embodiment, a groove width of the first groove is reduced from the connecting body toward the protruding direction of the protruding portion.

[0015] In one embodiment, there are multiple protrusions, and the multiple protrusions are evenly spaced and arranged along the circumference of the connecting body.

[0016] In one embodiment, the elastic connecting member is provided with a break.

[0017] In one embodiment, the deceleration device includes a device body and a cam disposed on the device body; the cam ring is disposed on the output shaft, and the elastic connecting member is located between the cam and the output shaft.

[0018] In one embodiment, a second groove is provided on the inner side of the cam, and the elastic connecting member is confined in the second groove.

[0019] In one embodiment, the reduction device is a harmonic reducer, a cycloid pinwheel reducer or an RV reducer.

[0020] In one embodiment, the elastic connecting member is made of spring steel.

[0021] The present invention also provides a robot, which includes the joint module described in any of the aforementioned embodiments.

[0022] The technical solution of the present invention is to arrange elastic connecting parts on the output shafts of the reduction device and the motor; when the load borne by the reduction device is within a preset range, the output shafts of the reduction device and the motor can be connected in transmission so that the joint module can operate, and when the load exceeds the maximum load that the joint module can withstand, the outputs of the reduction device and the motor can slide relatively, thereby releasing the impact load; in this way, when the joint module encounters an overload, the deformation effect of the elastic connecting part is equivalent to an overload protection device, which can alleviate the impact of the overload on the reduction device without damaging the reduction device, thereby alleviating the problem that the reducer is easily damaged when the joint module is subjected to an external overload impact load. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0024] Figure 1 A structural schematic diagram of an embodiment of a joint module provided by the present invention;

[0025] Figure 2 for Figure 1 In the embodiment of the present invention, a schematic structural diagram of an embodiment of an elastic connecting member;

[0026] Figure 3 for Figure 1 In the embodiment of the present invention, a schematic structural diagram of another embodiment of the elastic connecting member;

[0027] Figure 4 for Figure 1 In the embodiment of the present invention, a structural schematic diagram of another embodiment of the elastic connecting member;

[0028] Figure 5 for Figure 1 In the embodiment of the present invention, a schematic structural diagram of another embodiment of the elastic connecting member;

[0029] Figure 6 for Figure 1 In the embodiment of the present invention, a schematic structural diagram of a cam embodiment is provided.

[0030] Description of Figure Numbers:

[0031] 10. Joint module; 100. Motor; 110. Output shaft; 120. Stator; 130. Rotor; 200. Speed ​​reducer; 210. Cam; 211. Second groove; 220. Flexible bearing; 230. Steel wheel; 240. Cross roller bearing; 250. Flexible wheel; 260. Housing; 300. Elastic connector; 310. Connecting body; 320. Raised portion; 301. First groove; 302. Fracture.

[0032] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0036] A robotic arm is a mechatronic automation device with a simulated structure, high-speed operation, repetitive operation and high precision. It can imitate the movements of human hands and realize automatic grasping, handling and other functions according to given procedures, trajectories and requirements. The mechanical structure of a robotic arm usually includes a large arm, a small arm, a joint module and an end effector. These parts are similar to the structure of a human arm, allowing the robotic arm to imitate various movements of the human hand.

[0037] Among them, the joint module is responsible for driving the movement of each joint of the robotic arm, mainly by driving the motor, reduction device, sensor and other systems to complete the rotational movement of each joint; when the robot joint module is subjected to external overload impact load, there is a problem that the reduction device is easily damaged.

[0038] The present invention proposes a joint module, which aims to reduce the problem of easy damage to the deceleration device caused by overload; for ease of understanding and description, the specification of the present invention is attached. Figures 1 to 6 In the figure, the solid arrow indicates the slot.

[0039] See also Figures 1 to 6 In one embodiment of the present invention, the joint module 10 includes a motor 100, a reduction gear 200 and an elastic connecting member 300; the motor 100 has an output shaft 110; the reduction gear 200 is arranged on the output shaft 110; the elastic connecting member 300 is arranged around the output shaft 110 and is located between the output shaft 110 and the reduction gear 200; when the load applied to the reduction gear 200 is greater than a first preset value, the elastic connecting member 300 can undergo elastic deformation so that the reduction gear 200 can rotate relative to the output shaft 110.

[0040] Among them, the motor 100 is the power source in the joint module 10, and the output shaft 110 of the motor 100 rotates, thereby generating joint motion. Exemplarily, the motor 100 includes a stator 120, a rotor 130 and an output shaft 110, and the stator 120 generates a rotating magnetic field through its winding, and the rotor 130 is subjected to the action of the magnetic field and rotates. The conversion process of electrical energy to mechanical energy is completed by the interaction of the magnetic field between the stator 120 and the rotor 130; the rotor 130 transmits its rotational motion to the output shaft 110 through a mechanical connection (such as a keyway, a flange, etc.); when the output shaft 110 rotates, the rotational energy of the rotor 130 is transmitted to the external load; that is, the output shaft 110 serves as a bridge for transmitting power, and transmits the rotational motion of the motor 100 to the subsequent reduction device 200, and is also the connection part between the elastic connector 300 and the reduction device 200.

[0041] The reduction gear 200 is a mechanical transmission component located behind the output shaft 110. The reduction gear 200 enables the robot arm joint to move at a lower speed and higher torque to meet the requirements of precision control and load. There are many types of reduction gears 200, such as harmonic reducers, cycloid reducers, or RV reducers, etc. The harmonic reducer will be used as an example for introduction below.

[0042] The harmonic reducer generally includes a cam 210, a flexible bearing 220, a steel wheel 230, a cross roller bearing 240, a flexible wheel 250 and a housing 260. The harmonic reducer converts the input rotational motion into high-precision reduction and torque output by using the principle of harmonic transmission through the coordinated work of the cam 210, the flexible bearing 220, the steel wheel 230, the cross roller bearing 240, the flexible wheel 250 and the housing 260.

[0043] In this embodiment, the elastic connector 300 is an annular device, located between the output shaft 110 and the reduction gear 200. It is usually made of elastic material, with a certain elastic deformation capacity, the elastic material can be spring steel, the main function of the elastic connector 300 is to buffer, absorb and adjust the load change, when the reduction gear 200 exceeds a certain value, that is, when overloaded, the elastic connector 300 can be elastically deformed, so that the reduction gear 200 and the output shaft 110 can have relative movement.

[0044] When the load borne by the reduction device 200 is greater than the first preset value, it refers to the situation when the external load borne by the reduction device 200 exceeds the designed load range. The load is usually caused by external forces or objects during the operation of the robot arm. In this embodiment, the first preset value refers to the maximum load that the reduction device 200 can withstand.

[0045] Relative rotation refers to the rotation or sliding of the reduction gear 200 relative to the output shaft 110. After the elastic connecting member 300 is deformed, the reduction gear 200 can move relative to the output shaft 110 within a certain range. In this way, the relative rotation prevents the reduction gear 200 from being subjected to direct mechanical shocks caused by overload, thereby reducing damage caused by excessive load.

[0046] The working process of the joint module 10 is as follows: under normal working load, the motor 100 drives the reduction gear 200 through the output shaft 110 to complete normal transmission; when the external load increases and exceeds the load-bearing capacity of the reduction gear 200 (the first preset value), the reduction gear 200 may encounter overload pressure; at this time, the elastic connecting member 300 will undergo elastic deformation, so that relative rotation can be generated between the reduction gear 200 and the output shaft 110. In this way, the reduction gear 200 and the output shaft 110 generate relative rotation, which can reduce the strong impact between the reduction gear 200 and the output shaft 110 of the motor 100, reduce the load, and protect the reduction gear 200. In this way, when the joint module 10 encounters an overload, the deformation effect of the elastic connecting member 300 is equivalent to an overload protection device, which can alleviate the overload without damaging the reduction gear 200, thereby reducing mechanical damage or unexpected shutdown.

[0047] There are many ways for the elastic connector 300 to generate elastic deformation, for example, compression deformation, that is, in the case of overload, the annular elastic connector 300 shrinks along its radial direction, so that the space occupied by the elastic connector 300 in the radial direction of the output shaft 110 is reduced, thereby reducing the friction between the elastic connector 300 and the output shaft 110 of the motor 100, or reducing the friction between the elastic connector 300 and the reducer, so that relative rotation can be generated between the reduction device 200 and the output shaft 110.

[0048] The technical solution of the present invention is to set an elastic connecting member 300 on the output shaft 110 of the reduction gear 200 and the motor; when the load borne by the reduction gear 200 is within a preset range, the output shaft 110 of the reduction gear 200 and the motor 100 can be connected in transmission, so that the joint module 10 can operate, and when the load exceeds the maximum load that the joint module 10 can withstand, the outputs of the reduction gear 200 and the motor 100 can slide relative to each other, thereby releasing the impact load; in this way, when the joint module 10 encounters an overload, the deformation effect of the elastic connecting member 300 is equivalent to an overload protection device, which can alleviate the impact of the overload on the reduction gear 200 without damaging the reduction gear 200, thereby alleviating the problem that the reduction gear 200 is easily damaged when the joint module 10 is subjected to an external overload impact load.

[0049] In one embodiment, the elastic connector 300 includes a connecting body 310 arranged in an annular shape and a protruding portion 320 protruding from the connecting body 310 , and the protruding portion 320 is extended along the circumference of the connecting body 310 .

[0050] Among them, the connecting body 310 is the main structure of the elastic connecting member 300, which is arranged in a ring shape. Its function is to connect the reduction device 200 and the output shaft 110 of the motor 100. The ring shape of the connecting body 310 mainly has a larger contact area. When the load is small or in normal working state, the connecting body 310 can transmit torque.

[0051] In this embodiment, the raised portion 320 is a raised structure arranged on the connecting body 310, extending along the circumference of the connecting body 310, and the shape of the raised portion 320 can be a boss, a convex point, etc.; due to the addition of the raised portion 320, the shape of the connecting body 310 becomes relatively irregular, so that the stress distribution in the area where the raised portion 320 is located is uneven, which is prone to stress concentration, causing the material in the area where the raised portion 320 is located to be more prone to elastic deformation.

[0052] Under normal working conditions, the elastic connector 300 firmly connects the reduction gear 200 and the output shaft 110 of the motor 100 through its connecting body 310. The connecting body 310 and the protrusion 320 enable it to maintain effective torque transmission within a certain load range. When the load exceeds the preset maximum load range, the protrusion 320 is more likely to undergo elastic deformation, which makes the elastic connector 300 only undergo less local deformation, thereby protecting the reduction gear 200, and also helping to improve the durability and stability of the elastic connector 300, thereby extending the service life of the elastic connector 300.

[0053] In a preferred embodiment, the protrusion 320 is arranged in a ring shape along the circumference of the connecting body 310 ; or there are multiple protrusions 320 , and the multiple protrusions 320 are evenly spaced along the circumference of the connecting body 310 .

[0054] The protrusion 320 may be one or more. In an embodiment where the number of the protrusion 320 is one, Figure 4 and Figure 5As shown, the protrusion 320 is arranged in an annular shape, so that the transmission between the reduction gear 200 and the output shaft 110 is more stable. In the embodiment where the number of the protrusions 320 is multiple, the number of the protrusions 320 can be two, three, four, five, six, eight, nine, ten, eleven, twelve, thirteen, fourteen, fifteen, sixteen, seventeen, eighteen, nineteen, twenty, twenty-one, twenty-two, twenty-four, twenty-five, twenty-six, twenty-seven, twenty-eight or thirty; further, the multiple protrusions 320 are evenly spaced along the circumference of the connecting body 310, so that the transmission between the reduction gear 200 and the output shaft 110 is more stable.

[0055] In this embodiment, when the number of the protrusions 320 is one, the protrusions 320 are arranged in a ring shape and extend circumferentially; or, there are multiple protrusions 320, and the multiple protrusions 320 are evenly spaced along the circumference of the connecting body 310, so that the deformation of the elastic connecting member 300 is more uniform, which helps to evenly distribute the load to various parts of the connecting body 310 and improve the stability of the joint module 10.

[0056] Further, in the embodiment where the number of the protrusions 320 is multiple, it can also be as follows:

[0057] In one embodiment, if Figure 2 As shown, the connecting body 310 has an inner wall and an outer wall, and a plurality of protrusions 320 are provided on the inner wall. The protrusions 320 on the inner wall abut against the output shaft 110 .

[0058] The protrusion 320 on the inner wall abuts against the output shaft 110, which refers to the state in which the protrusion 320 and the output shaft 110 are in direct contact and interact with each other when in contact. Abutment means that two surfaces are in close contact and form a stable contact state under a certain force or contact pressure. This contact usually does not cause relative sliding, but is achieved through contact pressure, transmission force or action force; that is, the protrusion 320 on the inner wall of the connecting body 310 is in direct contact with the surface of the output shaft 110, and force is transferred through this contact under normal load. At this time, the outer wall of the connecting body 310 abuts against the reduction gear 200, or the connecting body 310 is installed on the reduction gear 200.

[0059] Since the output shaft 110 and the boss 320 are highly rigid, when transmitting torque, the contact between the boss 320 and the output shaft 110 helps to better transmit the torque. Under normal load, the inner boss 320 can make the connector more stable when transmitting rotational motion, especially in high load or high torque applications, which can improve transmission efficiency and reduce energy loss.

[0060] Furthermore, a plurality of the protrusions 320 are provided on the inner side wall, and the protrusions 320 on the inner side wall abut against the output shaft 110 , and a recess is formed at the abutment between the output shaft 110 and the inner side wall.

[0061] It is understandable that the protrusion 320 on the inner wall abuts against the output shaft 110 . If the elastic connector 300 and the output shaft 110 move relative to each other when overloaded, the protrusion 320 of the elastic connector 300 will cause the surface of the output shaft 110 to wear rapidly.

[0062] In this embodiment, the protrusion 320 on the inner side wall abuts against the output shaft 110, and a pit is formed at the abutment between the output shaft 110 and the inner side wall, so that the elastic connector 300 and the output shaft 110 are equivalent to a fixed connection. At this time, the binding force between the elastic connector 300 and the output shaft 110 is greater than the overload slip force between the elastic connector 300 and the output shaft 110 when the pit is not provided. In this way, even if overloaded, the elastic connector 300 and the output shaft 110 will not slide relative to each other, so that the wear on the surface of the output shaft 110 can be reduced.

[0063] In another embodiment, if Figure 3 As shown, the connecting body 310 has an inner wall and an outer wall, and a plurality of protrusions 320 are provided on the outer wall. The protrusions 320 on the outer wall abut against the reduction gear 200 .

[0064] The protrusion 320 on the outer wall abuts against the reduction gear 200, which means that the protrusion 320 and the reduction gear 200 are in direct contact and interact with each other when in contact. Abutment means that two surfaces are in close contact and form a stable contact state under a certain force or contact pressure. This contact usually does not cause relative sliding, but is achieved through contact pressure, transmission force or action force; that is, the protrusion 320 on the outer wall of the connecting body 310 is in direct contact with the surface of the reduction gear 200, and force is transmitted through this contact under normal load; at this time, the inner wall of the connecting body 310 abuts against the output shaft 110, or the connecting body 310 is installed on the output shaft 110.

[0065] In this embodiment, the protrusion 320 is arranged on the outer wall. When this solution is applied to the harmonic reducer, under normal load, it can increase the contact pressure, transmission force or action force between the elastic connecting member 300 and the harmonic reducer, thereby achieving better force transmission under normal load.

[0066] In another embodiment, the connecting body 310 has an inner wall and an outer wall; a plurality of the protrusions 320 are provided on the inner wall, and the protrusions 320 on the inner wall abut against the output shaft 110; a plurality of the protrusions 320 are provided on the outer wall, and the protrusions 320 on the outer wall abut against the reduction device 200.

[0067] In another embodiment, the connecting body 310 has an inner wall and an outer wall; the inner wall is provided with a plurality of protrusions 320, the protrusions 320 on the inner wall abut against the output shaft 110; the outer wall is provided with a plurality of protrusions 320, the protrusions 320 on the outer wall abut against the reduction gear 200. The protrusions 320 provided on the outer wall and the protrusions 320 provided on the inner wall are alternately arranged along the circumference of the connecting body 310.

[0068] In other embodiments, the connecting body 310 has an inner wall and an outer wall, the inner wall is provided with a plurality of the annular protrusions 320 , the plurality of the annular protrusions 320 are arranged along the axial direction of the connecting body 310 , and the annular protrusions 320 are extended along the circumferential direction of the connecting body 310 .

[0069] In one embodiment, a first groove 301 is formed on a surface of the connection body 310 away from the protrusion 320 and corresponding to a position of the protrusion 320 .

[0070] Among them, the setting of the first groove 301 provides a buffer zone for material distribution, thereby helping to distribute the external force more evenly to other areas of the connecting body 310, so that the protrusion 320 can better adapt to deformation when subjected to overload pressure, thereby reducing excessive deformation or damage of the elastic connecting member 300.

[0071] In this embodiment, the provision of the first groove 301 helps to guide the deformation to concentrate on the groove area under the action of external force, reasonably distribute the stress, and avoid excessive action on the protrusion 320, thereby reducing the probability of irreversible deformation of the protrusion 320 and improving the strength of the overall structure. In addition, the provision of the first groove 301 allows the protrusion 320 to be made of a sheet metal part, and the protrusion 320 and the first groove 301 can be processed simultaneously through processes such as stamping. The elastic connector 300 processed by this method has good structural strength and rigidity.

[0072] Furthermore, the width of the first groove 301 is reduced from the connecting body 310 toward the protruding direction of the protruding portion 320 .

[0073] Among them, the groove width of the first groove 301 is set to decrease from the connecting body 310 toward the protruding direction of the protruding portion 320. It can be understood that the groove width of the first groove 301 is set to decrease from the connecting body 310 toward the protruding direction of the protruding portion 320, or the groove width of the first groove 301 is set to decrease in a step-like manner from the connecting body 310 toward the protruding direction of the protruding portion 320. For example, the groove width of the first groove 301 includes three sections, which first decreases, then remains unchanged, and then decreases.

[0074] Furthermore, the plane passing through the axis of the elastic connector 300 is used as an auxiliary plane, and in the cross section of the elastic connector 300 cut by the auxiliary plane, the shape of the first groove 301 is set in a trapezoidal, triangular or arc shape. Of course, in other embodiments, the shape of the first groove 301 can also be a regular shape such as a square, or other irregular shapes.

[0075] In one embodiment, the elastic connector 300 is provided with a break 302 , so that the elastic connector 300 can be easily installed between the output shaft 110 of the motor and the reduction gear 200 .

[0076] The harmonic reducer 200 is the most commonly used reducer 200 in the robot joint module 10. The harmonic reducer 200 has a relatively weak impact resistance. When subjected to a large load impact, the flexible wheel 250 and the flexible bearing 220 in the harmonic reducer 200 will be damaged. During the operation of the robot, especially the humanoid robot, the working environment often has a large impact load introduced into the joint module 10, which often causes damage to the harmonic reducer 200 in the joint module 10.

[0077] In one embodiment, the deceleration device 200 includes a device body and a cam 210 disposed on the device body; the cam 210 is disposed around the output shaft 110 , and the elastic connecting member 300 is located between the cam 210 and the output shaft 110 .

[0078] The reduction gear 200 of this embodiment is a harmonic reducer. In this case, the device body includes a housing 260 , a flexible wheel 250 , a flexible bearing 220 , a steel wheel 230 and a cross roller bearing 240 .

[0079] The shell 260 is the external structure of the harmonic reducer, which is usually made of metal material and provides necessary protection and support. The shell 260 provides support and fixation for the internal components of the reducer (such as the flexible bearing 220, the steel wheel 230, the cross roller bearing 240, etc.), so that each component maintains the correct relative position during operation. The shell 260 protects the internal components from external pollution, dust, moisture, etc., to ensure the long-term stable operation of the reducer. The shell 260 is usually connected to the input shaft and the output shaft 110 of the reducer to transmit external mechanical loads.

[0080] The flexible wheel 250 (also called a wave generator) is usually composed of an elliptical shape component and a flexible bearing 220 matched therewith; the flexible wheel 250 is responsible for applying periodic deformation to the flexible bearing 220 during operation through the elliptical shape, causing the gear of the flexible bearing 220 to make corresponding deformation along the waveform of the cam 210; the function of this component is to convert the rotation of the input end into the periodic deformation of the flexible bearing 220, thereby achieving high-precision deceleration and torque transmission.

[0081] The flexible bearing 220 is a thin-walled elastic gear, which is usually made of a flexible metal material (such as high-strength steel) and has elasticity and a certain degree of flexibility. The flexible bearing 220 is responsible for receiving the wave motion from the cam 210 in the harmonic reducer. Due to its flexibility, it can be properly deformed along the waveform of the cam 210, so that the flexible bearing 220 can have good contact with the cam 210;

[0082] The steel wheel 230 is a rigid gear, usually made of hard metal material (such as steel), with a circular shape and precise tooth shape. The teeth of the steel wheel 230 mesh with the teeth of the flexible bearing 220, receiving the deformed motion of the flexible bearing 220 and transmitting it to the output shaft 110. The main function of the steel wheel 230 is to transmit the input motion to the output shaft 110 through the interaction with the flexible bearing 220, thereby transmitting the torque; the steel wheel 230 is usually fixed in the housing of the reducer and connected to the output shaft 110 to ensure that the reducer can reliably output torque.

[0083] Crossed roller bearing 240 is a type of precision bearing with multiple rollers, and these rollers are placed alternately in multiple channels within the bearing to increase the load-bearing capacity. Crossed roller bearing 240 is often used to reduce friction and vibration, and improve the stability and precision of the reducer.

[0084] The main function of the cam 210 is to slide relative to the flexible spline 250 , thereby transmitting the rotation of the input shaft to the output shaft 110 through the flexible spline 250 .

[0085] In this embodiment, the existing joint module 10 can be used without improving the motor 100 or the reduction device 200, which is convenient for upgrading the joint module 10 that is already in use.

[0086] In another embodiment, see Figure 6 A second groove 211 is formed on the inner side of the cam 210 , and the elastic connecting member 300 is confined in the second groove 211 .

[0087] The second groove 211 may be an annular groove, such as Figure 6 As shown, instead of an annular groove, it may be a side plate arranged on both sides of the cam 210 . Of course, it may also be a structure of other shapes as long as the elastic connecting member 300 can be limited in the cam 210 .

[0088] It is understandable that when the joint module 10 is overloaded, the joint module 10 will be subjected to a certain impact, which can be transmitted from the deceleration device 200 to the elastic connector 300, which may cause the elastic connector 300 to be displaced. In severe cases, it may fall off. This will cause the robot and other components using the joint module 10 to basically not work normally after the overloaded load is put down. In this embodiment, the setting of the second groove 211 can reduce the displacement or falling off of the elastic connector 300 during use, thereby improving the stability of the joint module 10.

[0089] The present invention also proposes a robot, which includes a joint module 10. The specific structure of the joint module 10 refers to the above-mentioned embodiment. Since the robot adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0090] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A joint module, characterized in that: include: an electric motor having an output shaft; A speed reduction device, arranged on the output shaft; as well as An elastic connecting member is arranged around the output shaft and is located between the output shaft and the reduction device; when the load applied to the reduction device is greater than a first preset value, the elastic connecting member can undergo elastic deformation so that the reduction device can rotate relative to the output shaft.

2. The joint module according to claim 1, characterized in that: The elastic connecting member comprises a connecting body arranged in an annular shape and a protruding portion protruding from the connecting body, wherein the protruding portion is extended along the circumference of the connecting body.

3. The joint module according to claim 2, characterized in that: The protrusion is arranged in a ring shape along the circumference of the connection body; or there are multiple protrusions, and the multiple protrusions are evenly spaced along the circumference of the connection body.

4. The joint module according to claim 3, characterized in that: The connecting body has an inner side wall and an outer side wall; The inner wall is provided with a plurality of the protrusions, and the protrusions on the inner wall abut against the output shaft; and / or the outer wall is provided with a plurality of the protrusions, and the protrusions on the outer wall abut against the reduction device.

5. The joint module according to claim 4, characterized in that: A plurality of the protrusions are arranged on the inner side wall, the protrusions on the inner side wall abut against the output shaft, and a concave pit is formed at the abutment between the output shaft and the inner side wall.

6. The joint module according to claim 4, characterized in that: A first groove is disposed on a side of the connecting body away from the protruding portion and corresponding to a position of the protruding portion.

7. The joint module according to claim 6, characterized in that: The groove width of the first groove is arranged to decrease from the connecting body toward the protruding direction of the protruding portion.

8. The joint module according to claim 2, characterized in that: There are multiple protrusions, and the multiple protrusions are evenly spaced and arranged along the circumference of the connecting body.

9. The joint module according to claim 1, characterized in that: The elastic connecting piece is provided with a fracture.

10. The joint module according to any one of claims 1 to 9, characterized in that: The deceleration device comprises a device body and a cam arranged on the device body; the cam ring is arranged on the output shaft, and the elastic connecting member is located between the cam and the output shaft.

11. The joint module according to claim 10, characterized in that: A second groove is provided on the inner side of the cam, and the elastic connecting member is confined in the second groove.

12. The joint module according to any one of claims 1 to 9, characterized in that: The reduction device is a harmonic reducer, a cycloid pinwheel reducer or an RV reducer.

13. The joint module according to any one of claims 1 to 9, characterized in that: The elastic connecting piece is made of spring steel.

14. A robot, characterized in that: Comprising a joint module as described in any one of claims 1 to 13.

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