Joint module and robot

Abstract

The invention relates to the technical field of robots, in particular to a joint module and a robot, and solves the problems of low force control precision and low response speed due to the fact that a joint module in the related technology realizes a force control function by means of a current loop. The joint module comprises a shell, a power assembly, a torque sensor and a first bearing. The power assembly comprises a fixed assembly and a moving assembly, the fixed assembly is connected into the shell, and the fixed assembly drives the moving assembly to rotate so that the moving assembly can output rotating force. The torque sensor is connected with the motion assembly and is configured to output rotating force and detect the torque borne by the torque sensor. The outer ring of the first bearing is fixedly connected with the shell, and the inner ring of the first bearing is fixedly connected with the torque sensor, so that the bending moment borne by the torque sensor can be transmitted to the shell through the first bearing, the crosstalk influence of the bending moment on the torque sensor is reduced, and the torque detection accuracy of the torque sensor is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, and in particular to a joint module and a robot. Background Art

[0002] The joint module is a driving device that realizes the joint movement of the robot. With its integrated, integrated and miniaturized characteristics, the joint module is increasingly used in various types of robots. The joint module is mainly composed of motors, harmonic reducers, encoders, drivers, brakes and other components. It is the core hardware unit of collaborative robots and humanoid robots. The joint module in the related technology relies on the current loop to achieve the force control function. This method has low force control accuracy, is greatly affected by the motor torque coefficient and joint friction, has low dynamic identification accuracy, and uses open-loop torque control inside the joint, which has low torque control accuracy and slow response. Summary of the invention

[0003] In view of this, the embodiments of the present disclosure provide a joint module and a robot, which solve the problem that the joint module in the related art relies on a current loop to realize a force control function, has low force control accuracy and slow response speed.

[0004] In the first aspect, an embodiment of the present disclosure provides a joint module, comprising: a shell; a power component, comprising a fixed component and a moving component, the fixed component being connected to the shell, and the fixed component driving the moving component to rotate so that the moving component outputs a rotational force; a torque sensor, connected to the moving component, configured to output the rotational force and detect the torque applied to the torque sensor itself; a first bearing, the outer ring of the first bearing being fixedly connected to the shell, and the inner ring of the first bearing being fixedly connected to the torque sensor, wherein the first bearing can withstand axial force, radial force and bending moment.

[0005] In some embodiments, the torque sensor includes: at least one deformation part, which deforms under the action of the torque; two connecting parts, which are respectively connected to the two ends of the deformation part, one of the connecting parts is also connected to the moving component, and the other connecting part is also fixedly connected to the inner ring of the first bearing; at least one sensing part, which is respectively connected to the deformation part and is configured to detect the deformation amount of the deformation part.

[0006] In some embodiments, at least one of the connecting parts includes an annular part, and two of the connecting parts are respectively connected to the radial ends of the deformation part of the annular part; the number of the deformation parts is multiple, and the multiple deformation parts are arranged at circumferential intervals along the annular part; the number of the sensing parts is multiple, and the multiple sensing parts are respectively configured to detect the deformation amounts of the multiple deformation parts.

[0007] In some embodiments, the plurality of deformation portions are evenly distributed along the circumference of the annular portion.

[0008] In some embodiments, the torque sensor further includes: a circuit board fixedly connected to the connecting portion and electrically connected to the sensing portion, and configured to receive the deformation amount detected by the sensing portion.

[0009] In some embodiments, the torque sensor further includes: a potting portion surrounding an area of ​​the circuit board that is not in contact with the connecting portion and the deformation portion.

[0010] In some embodiments, the fixed component includes: a stator, connected to the shell; a rigid wheel, connected to the shell; the moving component includes: a rotor, sleeved on the inner side surface of the stator and capable of rotating around a central axis relative to the stator; a motor shaft, sleeved on the inner side surface of the rotor and rotating coaxially with the rotor; a wave generator, sleeved on the outer side surface of the motor shaft and rotating coaxially with the motor shaft; a flexible wheel, sleeved on the outer side surface of the wave generator, the outer side surface of the flexible wheel meshes with the inner side surface of the rigid wheel, and the flexible wheel is also connected to the torque sensor to transmit the rotational force to the torque sensor.

[0011] In some embodiments, the motor shaft has a first through hole that penetrates the motor shaft along a first direction, and the first direction is the extension direction of the central axis; the joint module also includes: a hollow shaft, which is passed through the first through hole, and the hollow shaft is fixedly connected to the torque sensor and rotatably connected to the motor shaft; a second bearing, the inner ring of the second bearing is mounted on the hollow shaft, and the outer ring of the second bearing is connected to the motor shaft; a third bearing, the inner ring of the third bearing is mounted on the motor shaft; a support bearing cover, which is connected to the housing and supports the outer ring of the third bearing.

[0012] In some embodiments, the joint module also includes: a first encoder code disc assembly, connected to the end of the motor shaft away from the torque sensor; a first encoder reader, connected to the shell and arranged opposite to the first encoder code disc assembly in the first direction, the first encoder reader is configured to determine the rotation position of the motor shaft through the first encoder code disc assembly; a second encoder code disc assembly, connected to the end of the hollow shaft away from the torque sensor; a second encoder reader, connected to the shell and arranged opposite to the second encoder code disc assembly in the first direction, the second encoder reader is configured to determine the rotation position of the torque sensor through the second encoder code disc assembly.

[0013] In a second aspect, an embodiment of the present disclosure provides a robot, comprising: the joint module mentioned in the first aspect.

[0014] The joint module provided by the embodiment of the present disclosure includes a shell, a power assembly, a torque sensor and a first bearing. The power assembly includes a fixed assembly and a moving assembly, the fixed assembly is connected to the shell, and the fixed assembly drives the moving assembly to rotate so that the moving assembly outputs a rotational force. The torque sensor is connected to the moving assembly, configured to output a rotational force, and detect the torque applied to the torque sensor itself. In other words, the torque sensor can serve as an output structure of the rotational force, and can also detect the torque applied to itself, so that the torque control of the joint module can be achieved according to the detected torque, and the accuracy of the torque control is relatively high.

[0015] In addition, the outer ring of the first bearing is fixedly connected to the housing, and the inner ring of the first bearing is fixedly connected to the torque sensor, so that the bending moment applied to the torque sensor can be transmitted to the housing through the first bearing, reducing the crosstalk effect of the bending moment on the torque sensor and improving the accuracy of torque detection by the torque sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other purposes, features and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the drawings, the same reference numerals generally represent the same components.

[0017] Figure 1 Shown is a schematic structural diagram of a joint module provided in one embodiment of the present disclosure.

[0018] Figure 2 Shown is a schematic structural diagram of a joint module provided in another embodiment of the present disclosure.

[0019] Figure 3 Shown is a left view of a joint module provided by an embodiment of the present disclosure.

[0020] Figure 4 The present invention provides an embodiment of the present invention. Figure 3 The cross-sectional view of the joint module shown in the AA direction.

[0021] Figure 5 Shown is a schematic structural diagram of a torque sensor provided in one embodiment of the present disclosure.

[0022] Figure 6 Shown is a schematic structural diagram of a torque sensor provided in another embodiment of the present disclosure.

[0023] Figure 7 Shown is a right side view of a torque sensor provided according to an embodiment of the present disclosure.

[0024] Figure 8 The present invention provides an embodiment of the present invention. Figure 7 The cross-sectional view of the torque sensor in the BB direction is shown.

[0025] Fig. 9 The present invention provides an embodiment of the present invention. Figure 8 A partial enlarged view of the torque sensor in area C is shown.

[0026] Fig.10 Shown is a schematic structural diagram of a robot provided in one embodiment of the present disclosure.

[0027] Reference numerals:

[0028] 1. Robot; 10. Joint module; 100. Shell; 200. Power assembly; 210. Fixing assembly; 211. Stator; 212. Rigid wheel; 220. Moving assembly; 221. Rotor; 222. Motor shaft; 2220. First through hole; 223. Wave generator; 224. Flexwheel; 300. Torque sensor; 310. Deformation part; 320. Connecting part; 321. Ring part; 330. Induction part; 340. Circuit board; 350. Potting part; 400. First bearing; 510. Hollow shaft; 520. Second bearing; 53 0, third bearing; 540, supporting bearing cover; 610, first encoder code disc assembly; 611, first encoder code disc; 612, first mounting member; 620, first encoder reader; 630, second encoder code disc assembly; 631, second encoder code disc; 632, second mounting member; 640, second encoder reader; 710, outer ring pressure ring; 720, inner ring pressure ring; 800, brake; 810, brake member; 820, friction ring; 830, spline; 910, drive plate; 920, back cover; L, center axis; X, first direction. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0030] Figure 1 Shown is a schematic structural diagram of a joint module provided in one embodiment of the present disclosure. Figure 2 Shown is a schematic structural diagram of a joint module provided in another embodiment of the present disclosure. Figure 3 Shown is a left view of a joint module provided by an embodiment of the present disclosure. Figure 4 The present invention provides an embodiment of the present invention. Figure 3The cross-sectional view of the joint module shown in the AA direction. Figure 5 Shown is a schematic structural diagram of a torque sensor provided in one embodiment of the present disclosure. Figure 6 Shown is a schematic structural diagram of a torque sensor provided in another embodiment of the present disclosure. Figure 7 Shown is a right side view of a torque sensor provided according to an embodiment of the present disclosure. Figure 8 The present invention provides an embodiment of the present invention. Figure 7 The cross-sectional view of the torque sensor in the BB direction is shown. Fig. 9 The present invention provides an embodiment of the present invention. Figure 8 A partial enlarged view of the torque sensor in area C is shown. Fig.10 FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present disclosure. Figures 1 to 10 As shown, the joint module 10 includes a housing 100 , a power assembly 200 , a torque sensor 300 and a first bearing 400 .

[0031] The joint module 10 is applied to the robot 1. For example, the robot 1 is a collaborative robot, a humanoid robot, etc. The housing 100 has a fixed end mechanical interface, through which the joint module 10 can be installed on the robot. For example, the fixed end mechanical interface is a structure such as a threaded hole or a through hole.

[0032] The power assembly 200 includes a fixed assembly 210 and a moving assembly 220. The fixed assembly 210 is connected to the housing 100, and the fixed assembly 210 drives the moving assembly 220 to rotate so that the moving assembly 220 outputs a rotational force. Exemplarily, the power assembly 200 is a motor, the fixed assembly 210 is a stator, and the moving assembly 220 is a rotor and a motor shaft. Exemplarily, the power assembly 200 is a motor and a harmonic reducer, the fixed assembly 210 is a stator and a rigid wheel, and the moving assembly 220 is a rotor, a motor shaft, a harmonic generator, and a flexible wheel.

[0033] The torque sensor 300 is connected to the motion component 220 and is configured to output rotational force and detect the torque applied to the torque sensor 300. In other words, the torque sensor 300 can be used as an output structure of rotational force and can detect the torque applied to itself, so that the torque control of the joint module 10 can be realized according to the detected torque, and the torque control has a high accuracy.

[0034] The outer ring of the first bearing 400 is fixedly connected to the housing 100, and the inner ring of the first bearing 400 is fixedly connected to the torque sensor 300. The first bearing 400 can withstand axial force, radial force and bending moment. Exemplarily, the first bearing 400 is an angular contact ball bearing, a tapered roller bearing, etc. Exemplarily, the first bearing 400 is a cross roller bearing. Exemplarily, the outer ring of the first bearing 400 can be fixedly connected to the housing 100 by interference connection, hinge, etc. Exemplarily, the inner ring of the first bearing 400 can be fixedly connected to the torque sensor 300 by interference connection, hinge, etc.

[0035] The outer ring of the first bearing 400 is fixedly connected to the housing 100, and the inner ring of the first bearing 400 is fixedly connected to the torque sensor 300, so that the bending moment applied to the torque sensor 300 can be transmitted to the housing 100 through the first bearing 400, thereby reducing the crosstalk effect of the bending moment on the torque sensor 300 and improving the accuracy of torque detection by the torque sensor 300.

[0036] In some embodiments, Figures 4 to 9 As shown, the torque sensor 300 includes at least one deformation portion 310 , two connecting portions 320 and at least one sensing portion 330 .

[0037] The deformation part 310 is deformed under the action of torque. Two connecting parts 320 are respectively connected to the two ends of the deformation part 310. One connecting part 320 is also connected to the motion component 220, and the other connecting part 320 is also fixedly connected to the inner ring of the first bearing 400. At least one sensing part 330 is respectively connected to the deformation part 310 and is configured to detect the deformation amount of the deformation part 310.

[0038] Exemplarily, the deformation part 310 and the connection part 320 are integrally formed. Exemplarily, the sensing part 330 is a strain gauge, and the strain gauge is attached to the deformation part 310. Exemplarily, the connection part 320 has a plurality of threaded holes to facilitate the connection of the connection part 320 with the structure driven by the joint module 10.

[0039] Exemplarily, the transmission order of the torque received by the torque sensor 300 is: a connecting part 320, a deformation part 310, another connecting part 320, a first bearing 400, and a housing 100. Therefore, connecting the two connecting parts 320 to the two ends of the deformation part 310 respectively can enable the deformation part 310 to better transmit the torque and deform sufficiently under the action of the torque, so that the sensing part 330 can detect the deformation amount of the deformation part 310, which is beneficial to improving the accuracy of the torque detection of the torque sensor 300.

[0040] In some embodiments, at least one connection portion 320 includes an annular portion 321. Exemplarily, both connection portions 320 may be annular structures.

[0041] The two connecting parts 320 are respectively connected to the two ends of the deformation part 310 in the radial direction of the annular part 321. There are multiple deformation parts 310, and the multiple deformation parts 310 are arranged at intervals along the circumference of the annular part 321. In other words, each deformation part 310 is connected to a connecting part 320 at both ends of the radial direction of the annular part 321, so that each deformation part 310 can be sufficiently deformed under the action of torque, which is convenient for the sensing part 330 to detect the deformation amount of the deformation part 310, which is conducive to improving the accuracy of torque detection by the torque sensor 300.

[0042] There are multiple sensing parts 330, and the multiple sensing parts 330 are respectively configured to detect the deformation amount of each of the multiple deformation parts 310, so that the deformation amounts at multiple positions at the same time node can be referred to when analyzing the deformation, further improving the accuracy of torque detection by the torque sensor 300. Specifically, at the same time node, each sensing part 330 detects a deformation amount, and the deformation amounts detected by each of the multiple sensing parts 330 can be averaged and analyzed, thereby reducing the detection error of the deformation amount caused by manufacturing error, detection error, etc., and further improving the accuracy of torque detection by the torque sensor 300.

[0043] In some embodiments, multiple deformation parts 310 are evenly distributed along the circumference of the annular part 321, so that the deformation amounts of two symmetrical deformation parts 310 can be analyzed to reduce manufacturing errors, errors of the sensing part itself, etc., thereby further improving the detection accuracy of the torque sensor 300.

[0044] Exemplarily, the connection portion 320 has a plurality of threaded holes evenly distributed along the circumference of the annular portion 321 to facilitate connection between the connection portion 320 and the structure driven by the joint module 10 , so that the structure driven by the joint module 10 can evenly apply torque to the connection portion 320 .

[0045] In some embodiments, the torque sensor 300 further includes a circuit board 340 . The circuit board 340 is fixedly connected to the connection portion 320 , and is electrically connected to the sensing portion 330 , and is configured to receive the deformation amount detected by the sensing portion 330 .

[0046] Exemplarily, the circuit board 340 and the connection portion 320 may be fixedly connected by means of screw connection, gluing, or the like.

[0047] In practical applications, the circuit board 340 can be electrically connected to a driver, a controller, a processor and other devices through a cable to transmit the deformation amount detected by the sensing part 330 to the driver, the controller, the processor and other devices. The driver, the controller, the processor and other devices perform data analysis based on the deformation amount detected by the sensing part 330, and then perform force control on the joint module 10 based on the result of the data analysis.

[0048] In some embodiments, the torque sensor 300 further includes a potting portion 350. The potting portion 350 surrounds the area of ​​the circuit board 340 that is not in contact with the connecting portion 320 and the deforming portion 310. In practical applications, the circuit board 340 is first fixedly connected to the connecting portion 320, and there is an exposed area of ​​the circuit board 340 that is not in contact with the connecting portion 320 and the deforming portion 310. Then, the exposed area is sealed by potting to achieve sealing of the circuit board 340.

[0049] The potting part 350 is formed by potting. Potting is to fill liquid, colloid, powder and other materials into a specific cavity or container and perform a sealing operation, which is mainly to protect the encapsulated object or substance, isolate it from the external environment, prevent physical damage, chemical corrosion, water intrusion, dust pollution, etc., and also play the role of fixing, insulation, shock absorption, etc., to ensure the stable performance and service life of the product.

[0050] By using the potting part 350 to surround the area of ​​the circuit board 340 that is not in contact with the connecting part 320 and the deforming part 310, the circuit board 340 can be sealed to prevent the circuit board 340 from being affected by external oil and impurities, thereby further improving the detection accuracy of the torque sensor 300. In addition, the potting part 350 can also improve the connection strength between the circuit board 340 and the deforming part 310 and the connecting part 320.

[0051] In some embodiments, the fixing assembly 210 includes a stator 211 and a rigid wheel 212. The stator 211 is connected to the housing 100. The rigid wheel 212 is connected to the housing 100.

[0052] The motion assembly 220 includes a rotor 221, a motor shaft 222, a wave generator 223 and a flexible wheel 224. The rotor 221 is sleeved on the inner side surface of the stator 211 and can rotate around the central axis L relative to the stator 211. The motor shaft 222 is sleeved on the inner side surface of the rotor 221 and rotates coaxially with the rotor 221. The wave generator 223 is sleeved on the outer side surface of the motor shaft 222 and rotates coaxially with the motor shaft 222. The flexible wheel 224 is sleeved on the outer side surface of the wave generator 223. The outer side surface of the flexible wheel 224 meshes with the inner side surface of the rigid wheel 212. The flexible wheel 224 is also connected to the torque sensor 300 to transmit the rotational force to the torque sensor 300.

[0053] Exemplarily, the stator 211 generates a magnetic field when energized, and the magnetic field drives the rotor 221 to rotate around the central axis L.

[0054] Exemplarily, the stator 211, the rotor 221 and the motor shaft 222 constitute a motor. Exemplarily, the outer side of the flexible wheel 224 has a plurality of external teeth. The inner side of the rigid wheel 212 has a plurality of internal teeth, some of the internal teeth are meshed with some of the external teeth, and the number of the external teeth is different from the number of the internal teeth. Driven by the wave generator 223, the rigid wheel 212 can rotate around the central axis L relative to the flexible wheel 224. Exemplarily, the wave generator 223, the flexible wheel 224 and the rigid wheel 212 constitute a harmonic reducer.

[0055] For example, Figure 4 As shown, the joint module 10 further includes an outer ring pressure ring 710 and an inner ring pressure ring 720. The outer ring pressure ring 710 is connected to the housing 100 and presses the outer ring of the first bearing 400 along the axial direction of the first bearing 400. Exemplarily, the housing 100 has a first limiting structure, one end face of the outer ring of the first bearing 400 abuts against the first limiting structure, and the other end face of the outer ring of the first bearing 400 abuts against the outer ring pressure ring 710, so as to realize the fixed connection between the first bearing 400 and the housing 100.

[0056] The inner ring pressure ring 720 is connected to the torque sensor 300 and presses the inner ring of the first bearing 400 along the axial direction of the first bearing 400. Exemplarily, the torque sensor 300 has a second limiting structure, one end face of the inner ring of the first bearing 400 abuts against the second limiting structure, and the other end face of the inner ring of the first bearing 400 abuts against the inner ring pressure ring 720, so as to achieve a fixed connection between the first bearing 400 and the torque sensor 300. Exemplarily, the inner ring pressure ring 720 is detachably connected to the torque sensor 300 by screws.

[0057] In some embodiments, the motor shaft 222 has a first through hole 2220 penetrating the motor shaft 222 along a first direction X. The first direction X is an extension direction of the central axis L. The joint module 10 further includes a hollow shaft 510 , a second bearing 520 , a third bearing 530 and a support bearing cover 540 .

[0058] The hollow shaft 510 is inserted into the first through hole 2220 , and is fixedly connected to the torque sensor 300 , and is rotatably connected to the motor shaft 222 . The hollow shaft 510 facilitates the cable of the joint module 10 to pass through, and avoids the cable passing outside the joint module 10 .

[0059] The inner ring of the second bearing 520 is sleeved on the hollow shaft 510 , and the outer ring of the second bearing 520 is connected to the motor shaft 222 , so that the second bearing 520 can support the hollow shaft 510 .

[0060] The inner ring of the third bearing 530 is sleeved on the motor shaft 222, so as to support the motor shaft 222 by the third bearing 530. The support bearing cover 540 is connected to the housing 100 and supports the outer ring of the third bearing 530. Exemplarily, the inner ring of the third bearing 530 is tightly matched with the motor shaft 222, and the outer ring of the third bearing 530 is loosely matched with the support bearing cover 540, so as to facilitate the assembly of the third bearing 530.

[0061] Illustratively, the second bearing 520 and the third bearing 530 are ball bearings, roller bearings, or the like.

[0062] Exemplarily, the joint module 10 also includes a brake 800, which includes a brake member 810, a friction ring 820 and a spline 830. The brake member 810 is fixedly connected to the housing 100. The friction ring 820 is rotatably connected to the brake member 810. The spline 830 is fixedly connected to the motor shaft 222. The spline 830 is meshedly connected to the friction ring 820. The spline 830 and the friction ring 820 can rotate coaxially with the motor shaft 222, and the brake member 810 can brake the friction ring 820.

[0063] Exemplarily, the brake 800 is an electromagnetic brake. The brake member 810 includes a brake disc, an armature, an upper plate, a return spring and other components. Exemplarily, the brake 800 is a mechanical brake, a pneumatic brake, an electric brake and the like.

[0064] In some embodiments, the joint module 10 also includes a first encoder code disc assembly 610 , a first encoder reader 620 , a second encoder code disc assembly 630 , and a second encoder reader 640 .

[0065] The first encoder disc assembly 610 is connected to an end of the motor shaft 222 away from the torque sensor 300 .

[0066] The first encoder head 620 is connected to the housing 100 and is disposed opposite to the first encoder code disc assembly 610 in the first direction X. The first encoder head 620 is configured to determine the rotational position of the motor shaft 222 through the first encoder code disc assembly 610 .

[0067] The second encoder disc assembly 630 is connected to the end of the hollow shaft 510 away from the torque sensor 300 .

[0068] The second encoder reader 640 is connected to the housing 100 and is disposed opposite to the second encoder code disc assembly 630 in the first direction X. The second encoder reader 640 is configured to determine the rotational position of the torque sensor 300 through the second encoder code disc assembly 630 .

[0069] Exemplarily, the first encoder code disc assembly 610 includes a first encoder code disc 611 and a first mounting member 612. The first encoder code disc 611 is mounted on the first mounting member 612, and the first mounting member 612 is connected to the end of the motor shaft 222 away from the torque sensor 300. Exemplarily, the second encoder code disc assembly 630 includes a second encoder code disc 631 and a second mounting member 632. The second encoder code disc 631 is mounted on the second mounting member 632, and the second mounting member 632 is connected to the end of the hollow shaft 510 away from the torque sensor 300. Exemplarily, the first mounting member 612 and the second mounting member 632 can both be metal brackets, non-metal brackets, etc. Exemplarily, the first encoder code disc 611 is an incremental code disc, an absolute code disc, etc. Exemplarily, the second encoder code disc 631 is an incremental code disc, an absolute code disc, etc.

[0070] Exemplarily, the joint module 10 further includes a driving plate 910. The driving plate 910 is connected to the housing 100. The driving plate 910 is mounted on a side of the brake member 810 away from the torque sensor 300, and the driving plate 910 is electrically connected to the stator 211 and the brake member 810, and is configured to supply power to the stator 211 and the brake member 810.

[0071] By way of example, the brake 800 is an electromagnetic brake, and the brake member 810 includes a brake disc, an armature, an upper plate, a return spring and other components, and the operation process of the joint module 10 is briefly described. By way of example, there is a certain gap between the drive plate 910 and the upper plate, providing space for the upper plate to clamp or release the friction ring 820.

[0072] The drive board 910 supplies power to the stator 211 and the brake 800. After the brake disc is powered on, the armature is attracted, and the armature pushes the upper plate to disengage from the friction ring 820, so that the brake 800 is in a non-braking state, and the motor shaft 222 can rotate freely. After the stator 211 is powered on, the drive board 910 inputs the motor control program, and under the magnetic field of the stator 211, the rotor 221 starts to drive the motor shaft 222 to rotate, and the first encoder code disk assembly 610 on the end face of the motor shaft 222 also rotates accordingly, and the first encoder reader 620 on the drive board 910 reads the position information of the first encoder code disk assembly 610.

[0073] The motor shaft 222 rotating at the input end is decelerated by the wave generator 223, the flexible wheel 224 and the rigid wheel 212 and then output by the torque sensor 300, the output speed is reduced, and the output torque is increased. The second encoder disc assembly 630 at the end face of the hollow shaft 510 also rotates accordingly, and the second encoder reader 640 on the drive plate 910 reads the position information of the second encoder disc assembly 630. The precise position control of the joint module 10 is achieved through the position information of the input and output ends.

[0074] If the joint module 10 needs to stop, it is only necessary to cut off the power to the stator 211 and the brake 800. After the stator 211 is powered off, the rotor 221 loses its rotational power. After the brake 800 is powered off, the upper plate clamps the friction ring 820 under the action of the reset spring, and the brake 800 switches to the braking state. Under the action of friction force, the joint module 10 stops running.

[0075] Exemplarily, the joint module 10 further includes a rear cover 920. The rear cover 920 is detachably connected to the housing 100. The rear cover 920 can close the driving plate 910 to protect the driving plate 910.

[0076] Fig.10 FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present disclosure. Fig.10 As shown, the robot 1 includes the joint module 10 in the above embodiment.

[0077] Since the robot 1 includes the joint module 10, the robot 1 has all the technical features and technical effects of the joint module 10, which will not be repeated here.

[0078] In the embodiments of the present disclosure, if the connection form is not clearly defined, the connection form may be a detachable connection form such as bolts and nuts, screws, buckles, magnets, etc. If there is no special requirement for a non-detachable connection form in some connections, a non-detachable connection may be made by welding, bonding, etc.

[0079] The phrases "one embodiment", "an embodiment", etc. mentioned in the specification indicate that the embodiment described may include a specific feature, structure or characteristic, but not every embodiment may include the specific feature, structure or characteristic. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments, whether explicitly or not explicitly described.

[0080] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0081] Additionally, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one component or feature to other components or features as shown in the figures. The spatially relative terms are intended to encompass different orientations of the component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0082] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0083] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A joint module, characterized in that: include: case; A power assembly, comprising a fixed assembly and a moving assembly, wherein the fixed assembly is connected to the housing, and the fixed assembly drives the moving assembly to rotate so that the moving assembly outputs a rotational force; a torque sensor connected to the motion component and configured to output the rotational force and detect the torque applied to the torque sensor itself; A first bearing, wherein the outer ring of the first bearing is fixedly connected to the housing, and the inner ring of the first bearing is fixedly connected to the torque sensor, wherein the first bearing can withstand axial force, radial force and bending moment.

2. The joint module according to claim 1, characterized in that: The torque sensor comprises: at least one deformation portion, wherein the deformation portion is deformed under the action of the torque; Two connecting parts, respectively connected to the two ends of the deformation part, one of the connecting parts is also connected to the motion component, and the other connecting part is also fixedly connected to the inner ring of the first bearing; At least one sensing part is connected to the deformation part respectively and is configured to detect the deformation amount of the deformation part.

3. The joint module according to claim 2, characterized in that: At least one of the connecting parts comprises an annular portion, and two of the connecting parts are respectively connected to two ends of the deformable part in the radial direction of the annular portion; There are multiple deformable parts, and the multiple deformable parts are arranged at intervals along the circumference of the annular part; There are multiple sensing parts, and the multiple sensing parts are respectively configured to detect the deformation amounts of the multiple deformation parts.

4. The joint module according to claim 3, characterized in that: The plurality of deformation portions are evenly distributed along the circumference of the annular portion.

5. The joint module according to any one of claims 2 to 4, characterized in that: The torque sensor further comprises: The circuit board is fixedly connected to the connecting portion and electrically connected to the sensing portion, and is configured to receive the deformation amount detected by the sensing portion.

6. The joint module according to claim 5, characterized in that: The torque sensor further comprises: The potting portion surrounds a region of the circuit board that is not in contact with the connecting portion and the deforming portion.

7. The joint module according to any one of claims 1 to 4, characterized in that: The fixing assembly comprises: A stator connected to the housing; A rigid wheel connected to the housing; The motion components include: A rotor, sleeved on the inner side of the stator, capable of rotating around a central axis relative to the stator; A motor shaft is sleeved on the inner side of the rotor and rotates coaxially with the rotor; A wave generator is mounted on the outer side of the motor shaft and rotates coaxially with the motor shaft; The flexible wheel is sleeved on the outer side surface of the wave generator, the outer side surface of the flexible wheel is meshed with the inner side surface of the rigid wheel, and the flexible wheel is also connected to the torque sensor to transmit the rotational force to the torque sensor.

8. The joint module according to claim 7, characterized in that: The motor shaft has a first through hole penetrating the motor shaft along a first direction, and the first direction is an extending direction of the central axis; The joint module also includes: A hollow shaft, passing through the first through hole, the hollow shaft is fixedly connected to the torque sensor and rotatably connected to the motor shaft; A second bearing, wherein the inner ring of the second bearing is sleeved on the hollow shaft, and the outer ring of the second bearing is connected to the motor shaft; A third bearing, the inner ring of which is sleeved on the motor shaft; A supporting bearing cover is connected to the housing and supports the outer ring of the third bearing.

9. The joint module according to claim 8, characterized in that: Also includes: A first encoder disc assembly connected to an end of the motor shaft away from the torque sensor; a first encoder head connected to the housing and arranged opposite to the first encoder disc assembly in the first direction, wherein the first encoder head is configured to determine a rotational position of the motor shaft through the first encoder disc assembly; A second encoder disc assembly is connected to an end of the hollow shaft away from the torque sensor; A second encoder reader is connected to the housing and is arranged opposite to the second encoder code disc assembly in the first direction. The second encoder reader is configured to determine the rotational position of the torque sensor through the second encoder code disc assembly.

10. A robot, characterized in that: include: The joint module according to any one of claims 1 to 9.

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