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 problem that the joint module cannot meet the miniaturization requirement. The joint module comprises a fixed flange, a stator, a rotor, a motor shaft, a wave generator, a flexible gear, a rigid gear, an output flange, a first encoder code disc assembly, a first encoder read head, a second encoder code disc assembly and a second encoder read head. The stator, the rotor and the motor shaft are all arranged on the inner side face of the flexible gear, the inner space of the speed reducer is fully utilized, and the axial size of the joint module is reduced. The first encoder code disc assembly and the second encoder code disc assembly are both arranged near the fixing flange, so that the first encoder code disc assembly and the second encoder code disc assembly can be conveniently installed on the same plane perpendicular to the first direction or two planes with small intervals in the first direction. The space occupied by the first encoder code disc assembly and the second encoder code disc assembly in the first direction is saved, and the axial size of the joint module is reduced.

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] A harmonic reducer is a transmission device that uses a wave generator to make the flexible wheel produce elastic deformation, and then the flexible wheel meshes with the rigid wheel to achieve the transmission of motion and power. Harmonic reducers are widely used in robot joint modules. Robot joint modules are basically used in the industrial field, requiring high precision, long life, and harsh operating environment. Therefore, joint modules generally require complex parts configuration and a sturdy and durable shell, resulting in a large size of joint modules that cannot meet the needs of miniaturization. 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 cannot meet the miniaturization requirements.

[0004] In the first aspect, an embodiment of the present disclosure provides a joint module, comprising: a fixed flange; a stator, connected to the inner side surface of the fixed flange; 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 coaxially rotating with the rotor, the motor shaft having a first through hole penetrating the motor shaft along a first direction, the first direction being the extension direction of the central axis; a wave generator, sleeved on the outer side surface of the motor shaft and coaxially rotating with the motor shaft; a flexible wheel, sleeved on the outer side surface of the wave generator, the flexible wheel is connected to the fixed flange, and the outer side surface of the flexible wheel has a plurality of external teeth; a rigid wheel, the inner side surface of the rigid wheel 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, wherein, under the drive of the wave generator, the rigid wheel can rotate relative to the The flexible wheel rotates around the central axis; the output flange includes a coaxially connected annular portion and a shaft portion, the annular portion is connected to the rigid wheel, the shaft portion is inserted into the first through hole, and the output flange rotates coaxially with the rigid wheel; a first encoder code disc assembly is connected to the end of the motor shaft close to the fixed flange; a first encoder reader is connected to the fixed flange and is arranged relative to the first encoder code disc assembly in the first direction, and 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 is connected to the end of the shaft portion close to the fixed flange; a second encoder reader is connected to the fixed flange and is arranged relative to the second encoder code disc assembly in the first direction, and the second encoder reader is configured to determine the rotation position of the output flange through the second encoder code disc assembly.

[0005] In some embodiments, the first encoder code disc assembly and the second encoder code disc assembly are mounted on the same plane perpendicular to the first direction; and / or, the first encoder read head and the second encoder read head are mounted on the same plane perpendicular to the first direction.

[0006] In some embodiments, the shaft portion includes a first shaft segment and a second shaft segment that are coaxially connected, the first shaft segment is coaxially connected to the annular portion, the second shaft segment is close to the fixed flange, and the diameter of the second shaft segment is smaller than the diameter of the first shaft segment; wherein, the joint module also includes: a first bearing, the inner ring of the first bearing is mounted on the second shaft segment, the outer ring of the first bearing is mounted on the first through hole, one end face of the first bearing abuts against the end face of the first shaft segment close to the second shaft segment, and the other end face of the first bearing abuts against the second encoder code disc assembly.

[0007] In some embodiments, the joint module also includes: a brake, including a brake part and a friction ring, the brake part is mounted on the inner side of the fixed flange, and the friction ring is mounted on the motor shaft, wherein the friction ring can rotate coaxially with the motor shaft, and the brake part can brake the friction ring.

[0008] In some embodiments, the motor shaft includes a third shaft segment and a fourth shaft segment that are coaxially connected, the fourth shaft segment is close to the fixed flange, and the diameter of the fourth shaft segment is smaller than the diameter of the third shaft segment; wherein the friction ring is sleeved on the fourth shaft segment, one end face of the friction ring abuts against the end face of the third shaft segment close to the fourth shaft segment, and the other end face of the friction ring abuts against the first encoder code disc assembly.

[0009] In some embodiments, the joint module also includes: a drive plate, installed on a side of the brake member away from the output flange, the drive plate is electrically connected to the stator and the brake member, and is configured to supply power to the stator and the brake member; wherein the first encoder reader and the second encoder reader are both installed on a side of the drive plate close to the output flange.

[0010] In some embodiments, the fixed flange includes: a first annular component, the stator is connected to the inner side surface of the first annular component; a second annular component is connected to the end of the first annular component away from the output flange, the outer diameter of the second annular component is larger than the outer diameter of the first annular component; a third annular component is connected to the end of the first annular component close to the output flange, the inner diameter of the third annular component is smaller than the inner diameter of the first annular component, wherein the motor shaft is passed through the inner side surface of the third annular component, and the motor shaft and the third annular component are rotatably connected around the central axis; wherein the flexible wheel includes: a flexible ring, which is sleeved on the outer side surface of the wave generator, and the flexible ring is also sleeved on the outer side surface of the first annular component, and the outer side surface of the flexible ring has a plurality of external teeth; a flange, which is connected to the end of the flexible ring close to the fixed flange, and the flange is connected to the end surface of the second annular component close to the output flange.

[0011] In some embodiments, the fixed flange also includes: a fourth annular component connected to the second annular component, wherein the first annular component, the second annular component and the fourth annular component enclose an avoidance groove opening toward the output flange; the joint module also includes: a cross roller bearing arranged in the avoidance groove, the outer ring of the cross roller bearing is detachably connected to the second annular component, and the inner ring of the cross roller bearing is abutted against the rigid wheel.

[0012] In some embodiments, the shaft portion has a second through hole penetrating the output flange along the first direction.

[0013] In a second aspect, an embodiment of the present disclosure provides a robot, comprising: a main body; the joint module mentioned in the first aspect, wherein the fixed flange of the joint module is connected to the main body; and a motion structure, which is connected to the output flange of the joint module and moves with the output flange.

[0014] The joint module provided by the embodiment of the present disclosure includes a fixed flange, a stator, a rotor, a motor shaft, a wave generator, a flexible wheel, a rigid wheel, an output flange, a first encoder disc assembly, a first encoder reader, a second encoder disc assembly and a second encoder reader. The stator, the rotor and the motor shaft are all arranged on the inner side of the fixed flange, and the flexible wheel is connected to the fixed flange, that is, the stator, the rotor and the motor shaft are all arranged on the inner side of the flexible wheel, which makes full use of the internal space of the harmonic reducer and reduces the axial size of the joint module.

[0015] In addition, the first encoder code disc assembly is connected to one end of the motor shaft close to the fixed flange, and the second encoder code disc assembly is connected to one end of the shaft close to the fixed flange, that is, the first encoder code disc assembly and the second encoder code disc assembly are both arranged near the fixed flange, so as to facilitate the installation of the first encoder code disc assembly and the second encoder code disc assembly on the same plane perpendicular to the first direction or on two planes with a smaller distance between them in the first direction, so as to save the space occupied by the first encoder code disc assembly and the second encoder code disc assembly in the first direction, and further reduce the axial size of the joint module. 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 front view of a joint module provided in one embodiment of the present disclosure.

[0019] Figure 3 The present invention provides an embodiment of the present invention. Figure 2 The cross-sectional view of the joint module shown is in the AA direction.

[0020] Figure 4 The present invention provides an embodiment of the present invention. Figure 3 An enlarged view of the layout of the joint module in area B is shown.

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

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

[0023] Figure 7 Shown is a half-section view of a fixing flange provided in one embodiment of the present disclosure.

[0024] Figure 8 Shown is a schematic structural diagram of a flexible wheel provided in one embodiment of the present disclosure.

[0025] Fig. 9 Shown is a schematic structural diagram of an output flange provided in an embodiment of the present disclosure.

[0026] Fig.10Shown 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; 110. Fixing flange; 111. First annular component; 112. Second annular component; 113. Third annular component; 114. Fourth annular component; 115. Avoidance groove; 210. Stator; 220. Rotor; 230. Motor shaft; 231. First through hole; 232. Third shaft segment; 233. Fourth shaft segment; 234. Shoulder; 310. Wave generator; 320. Flexwheel; 321. Flexible ring; 322. Flange; 330. Rigid wheel; 340. Output flange; 341. Annular portion; 342. Shaft portion; 343. First shaft segment; 344. Second shaft segment; 345 , second through hole; 410, first encoder code disk assembly; 411, first encoder code disk; 412, first mounting member; 420, first encoder reader; 430, second encoder code disk assembly; 431, second encoder code disk; 432, second mounting member; 440, second encoder reader; 510, first bearing; 520, second bearing; 530, third bearing; 610, brake; 611, brake member; 612, friction ring; 710, drive plate; 810, cross roller bearing; 910, plastic support ring; 920, rubber ring; 20, main body; 30, motion structure; 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 front view of a joint module provided in one embodiment of the present disclosure. Figure 3 The present invention provides an embodiment of the present invention. Figure 2 The cross-sectional view of the joint module shown is in the AA direction. Figure 4 The present invention provides an embodiment of the present invention. Figure 3 An enlarged view of the layout of the joint module in area B is shown. Figure 5 Shown is a schematic structural diagram of a fixing flange provided in one embodiment of the present disclosure. Figure 6 Shown is a schematic structural diagram of a fixing flange provided in another embodiment of the present disclosure. Figure 7Shown is a half-section view of a fixing flange provided in one embodiment of the present disclosure. Figure 8 Shown is a schematic structural diagram of a flexible wheel provided in one embodiment of the present disclosure. Fig. 9 FIG. 1 is a schematic diagram of the structure of an output flange provided by an embodiment of the present disclosure. Figures 1 to 9 As shown, the joint module 10 includes a fixed flange 110, a stator 210, a rotor 220, a motor shaft 230, a wave generator 310, a flexible wheel 320, a rigid wheel 330, an output flange 340, a first encoder code disc assembly 410, a first encoder reader 420, a second encoder code disc assembly 430 and a second encoder reader 440.

[0031] The stator 210 is connected to the inner side of the fixing flange 110. The rotor 220 is sleeved on the inner side of the stator 210 and can rotate around the central axis L relative to the stator 210. Exemplarily, the stator 210 generates a magnetic field after being energized, and the magnetic field drives the rotor 220 to rotate around the central axis L. The motor shaft 230 is sleeved on the inner side of the rotor 220 and rotates coaxially with the rotor 220. The motor shaft 230 has a first through hole 231 that penetrates the motor shaft 230 along a first direction X. The first direction X is the extension direction of the central axis L. Exemplarily, the stator 210, the rotor 220 and the motor shaft 230 constitute a motor.

[0032] The wave generator 310 is mounted on the outer side of the motor shaft 230 and rotates coaxially with the motor shaft 230. Figure 3 As shown, the motor shaft 230 has a shoulder 234. The wave generator 310 is mounted on the outer side of the shoulder 234. The flexible wheel 320 is mounted on the outer side of the wave generator 310. The flexible wheel 320 is connected to the fixing flange 110, and the outer side of the flexible wheel 320 has a plurality of external teeth. The inner side of the rigid wheel 330 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 310, the rigid wheel 330 can rotate around the central axis L relative to the flexible wheel 320. Exemplarily, the wave generator 310, the flexible wheel 320 and the rigid wheel 330 constitute a harmonic reducer.

[0033] The output flange 340 includes a coaxially connected annular portion 341 and a shaft portion 342, the annular portion 341 is connected to the rigid wheel 330, and the shaft portion 342 is passed through the first through hole 231. The output flange 340 rotates coaxially with the rigid wheel 330. Exemplarily, the output flange 340 can be rigidly connected to the motion structure driven by the joint module 10.

[0034] like Figure 3As shown, the stator 210, the rotor 220 and the motor shaft 230 are all arranged on the inner side of the fixed flange 110, and the flexible wheel 320 is connected to the fixed flange 110, that is, the stator 210, the rotor 220 and the motor shaft 230 are all arranged on the inner side of the flexible wheel 320, which makes full use of the internal space of the harmonic reducer and reduces the axial size of the joint module 10.

[0035] The first encoder code disc assembly 410 is connected to the end of the motor shaft 230 close to the fixed flange 110. The first encoder reader 420 is connected to the fixed flange 110 and is arranged opposite to the first encoder code disc assembly 410 in the first direction X. The first encoder reader 420 is configured to determine the rotation position of the motor shaft 230 through the first encoder code disc assembly 410, that is, to detect the rotation position of the input end of the joint module 10. Exemplarily, the first encoder code disc assembly 410 is an incremental code disc, an absolute code disc, etc. Exemplarily, the first encoder reader 420 is a photoelectric reader, a magnetoelectric reader, an inductive reader, etc.

[0036] The second encoder code disc assembly 430 is connected to the end of the shaft portion 342 close to the fixed flange 110. The second encoder head 440 is connected to the fixed flange 110 and is arranged opposite to the second encoder code disc assembly 430 in the first direction X. The second encoder head 440 is configured to determine the rotation position of the output flange 340 through the second encoder code disc assembly 430, that is, to detect the rotation position of the output end of the joint module 10. Exemplarily, the second encoder code disc assembly 430 is an incremental code disc, an absolute code disc, etc. Exemplarily, the second encoder head 440 is a photoelectric head, a magnetoelectric head, an inductive head, etc.

[0037] The first encoder code disc assembly 410 is connected to one end of the motor shaft 230 close to the fixed flange 110, and the second encoder code disc assembly 430 is connected to one end of the shaft portion 342 close to the fixed flange 110, that is, the first encoder code disc assembly 410 and the second encoder code disc assembly 430 are both arranged near the fixed flange 110, so as to facilitate the installation of the first encoder code disc assembly 410 and the second encoder code disc assembly 430 on the same plane perpendicular to the first direction X or on two planes with a smaller distance between them in the first direction X, so as to save the space occupied by the first encoder code disc assembly 410 and the second encoder code disc assembly 430 in the first direction X, and further reduce the axial size of the joint module 10.

[0038] Exemplarily, the first encoder code disc assembly 410 includes a first encoder code disc 411 and a first mounting member 412. The first encoder code disc 411 is mounted on the first mounting member 412, and the first mounting member 412 is connected to the end of the motor shaft 230 close to the fixed flange 110. Exemplarily, the second encoder code disc assembly 430 includes a second encoder code disc 431 and a second mounting member 432. The second encoder code disc 431 is mounted on the second mounting member 432, and the second mounting member 432 is connected to the end of the shaft portion 342 close to the fixed flange 110. Exemplarily, the first mounting member 412 and the second mounting member 432 can both be metal brackets, non-metal brackets, etc. Exemplarily, the first encoder code disc 411 is an incremental code disc, an absolute code disc, etc. Exemplarily, the second encoder code disc 431 is an incremental code disc, an absolute code disc, etc.

[0039] In some embodiments, the first encoder code disc assembly 410 and the second encoder code disc assembly 430 are installed on the same plane perpendicular to the first direction X, further reducing the space occupied by the first encoder code disc assembly 410 and the second encoder code disc assembly 430 in the first direction X, and further reducing the axial dimension of the joint module 10.

[0040] In some embodiments, the first encoder head 420 and the second encoder head 440 are installed on the same plane perpendicular to the first direction X, further reducing the space occupied by the first encoder head 420 and the second encoder head 440 in the first direction X, and further reducing the axial size of the joint module 10.

[0041] In some embodiments, the shaft portion 342 includes a first shaft segment 343 and a second shaft segment 344 that are coaxially connected. The first shaft segment 343 is coaxially connected to the annular portion 341. The second shaft segment 344 is close to the fixing flange 110. The diameter of the second shaft segment 344 is smaller than the diameter of the first shaft segment 343.

[0042] The joint module 10 also includes a first bearing 510. The inner ring of the first bearing 510 is mounted on the second shaft segment 344, and the outer ring of the first bearing 510 is mounted on the first through hole 231. One end face of the first bearing 510 abuts against the end face of the first shaft segment 343 close to the second shaft segment 344, and the other end face of the first bearing 510 abuts against the second encoder disc assembly 430. In other words, the second encoder disc assembly 430 can be used to detect the rotational position of the output flange 340, and can also limit the position of the first bearing 510 in the first direction X, thereby avoiding the use of retaining rings, end covers and other parts to limit the position of the first bearing 510 in the first direction X, reducing the number of parts of the joint module 10, and further reducing the axial size of the joint module 10.

[0043] Illustratively, the first bearing 510 is a deep groove ball bearing, a self-aligning ball bearing, a cylindrical roller bearing, or the like.

[0044] In some embodiments, the joint module 10 also includes a brake 610. The brake 610 includes a brake member 611 and a friction ring 612. The brake member 611 is mounted on the inner side of the fixed flange 110, and the friction ring 612 is mounted on the motor shaft 230. The friction ring 612 can rotate coaxially with the motor shaft 230, and the brake member 611 can brake the friction ring 612. Since the brake member 611 is mounted on the inner side of the fixed flange 110, the brake member 611 is prevented from occupying the axial space outside the fixed flange 110, and the axial size of the joint module 10 is further reduced.

[0045] For example, the brake 610 is an electromagnetic brake. The brake member 611 includes a brake disc, an armature, an upper plate, a return spring and other components. For example, the brake 610 is a mechanical brake, a pneumatic brake, an electric brake and the like.

[0046] In some embodiments, the motor shaft 230 includes a third shaft segment 232 and a fourth shaft segment 233 that are coaxially connected. The fourth shaft segment 233 is close to the fixed flange 110. The diameter of the fourth shaft segment 233 is smaller than the diameter of the third shaft segment 232. The friction ring 612 is sleeved on the fourth shaft segment 233, and one end face of the friction ring 612 abuts against the end face of the third shaft segment 232 close to the fourth shaft segment 233, and the other end face of the friction ring 612 abuts against the first encoder code disc assembly 410. In other words, the first encoder code disc assembly 410 can be used to detect the rotational position of the motor shaft 230, and can also limit the position of the friction ring 612 in the first direction X, avoiding the use of parts such as retaining rings and end covers to limit the position of the friction ring 612 in the first direction X, reducing the number of parts of the joint module 10, and further reducing the axial size of the joint module 10.

[0047] In some embodiments, the joint module 10 further includes a drive plate 710. The drive plate 710 is mounted on a side of the brake member 611 away from the output flange 340. The drive plate 710 is electrically connected to the stator 210 and the brake member 611, and is configured to supply power to the stator 210 and the brake member 611. The first encoder head 420 and the second encoder head 440 are both mounted on a side of the drive plate 710 close to the output flange 340, that is, the first encoder head 420 and the second encoder head 440 are both integrated into the drive plate 710, thereby avoiding the use of other drive structures to supply power to the first encoder head 420 and the second encoder head 440, reducing the number of parts of the joint module 10, and further reducing the axial size of the joint module 10.

[0048] By way of example, the brake 610 is an electromagnetic brake, and the brake member 611 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 710 and the upper plate, providing space for the upper plate to clamp or release the friction ring 612.

[0049] The drive board 710 supplies power to the stator 210 and the brake 610. After the brake disc is powered on, the armature is attracted, and the armature pushes the upper plate to disengage from the friction ring 612, so that the brake 610 is in a non-braking state, and the motor shaft 230 can rotate freely. After the stator 210 is powered on, the drive board 710 inputs the motor control program, and under the magnetic field of the stator 210, the rotor 220 starts to drive the motor shaft 230 to rotate, and the first encoder code disc assembly 410 on the end face of the motor shaft 230 also rotates accordingly, and the first encoder reader 420 on the drive board 710 reads the position information of the first encoder code disc assembly 410.

[0050] The motor shaft 230 rotating at the input end is decelerated by the wave generator 310, the flexible wheel 320 and the rigid wheel 330 and then outputted by the output flange 340, the output speed is reduced and the output torque is increased. The second encoder disc assembly 430 at the end face of the shaft 342 also rotates accordingly, and the second encoder reader 440 on the drive plate 710 reads the position information of the second encoder disc assembly 430. The precise position control of the joint module 10 is achieved through the position information of the input and output ends.

[0051] If the joint module 10 needs to stop, it is only necessary to cut off the power to the stator 210 and the brake 610. After the stator 210 is powered off, the rotor 220 loses the rotational power. After the brake 610 is powered off, under the action of the reset spring, the upper plate clamps the friction ring 612, and the brake 610 switches to the braking state. Under the action of friction force, the joint module 10 stops running.

[0052] In some embodiments, the fixing flange 110 includes a first annular component 111, a second annular component 112, and a third annular component 113. The stator 210 is connected to the inner side of the first annular component 111. The second annular component 112 is connected to an end of the first annular component 111 away from the output flange 340. The outer diameter of the second annular component 112 is greater than the outer diameter of the first annular component 111. The third annular component 113 is connected to an end of the first annular component 111 close to the output flange 340. The inner diameter of the third annular component 113 is smaller than the inner diameter of the first annular component 111. The motor shaft 230 is disposed on the inner side of the third annular component 113, and the motor shaft 230 is rotatably connected to the third annular component 113 around the central axis L.

[0053] The flexible wheel 320 includes a flexible ring 321 and a flange 322. The flexible ring 321 is sleeved on the outer side of the wave generator 310, and the flexible ring 321 is also sleeved on the outer side of the first annular component 111, and the outer side of the flexible ring 321 has a plurality of external teeth. The flange 322 is connected to one end of the flexible ring 321 close to the fixed flange 110. The flange 322 is connected to the end face of the second annular component 112 close to the output flange 340.

[0054] In the related art, the flexible wheel of the harmonic reducer is generally equipped with a flexible wheel cover to support the flexible wheel, improve the rigidity of the flexible wheel, and seal the flexible wheel. The flexible ring 321 of the present application is also sleeved on the outer side of the first annular component 111, so as to support the flexible wheel 320 and improve the rigidity of the flexible wheel 320. The second annular component 112 of the fixed flange 110 is connected to the flange 322 of the flexible wheel 320, so as to seal the flexible wheel 320 and play a dustproof role. In other words, the fixed flange 110 of the present application plays the role of a flexible wheel cover, so that the joint module 10 does not need to be provided with a separate flexible wheel cover, which reduces the number of parts of the joint module 10 and further reduces the axial size of the joint module 10.

[0055] In some embodiments, Figure 3 As shown, the joint module 10 further includes a second bearing 520. The second bearing 520 is disposed between the motor shaft 230 and the third annular component 113, so that the motor shaft 230 can be more flexibly rotatably connected to the fixing flange 110. Exemplarily, the second bearing 520 is a deep groove ball bearing, a self-aligning ball bearing, a cylindrical roller bearing, etc.

[0056] In some embodiments, the joint module 10 further includes a third bearing 530. The third bearing 530 is disposed between the motor shaft 230 and the annular portion 341. Specifically, the annular portion 341 has an annular groove in the area close to the shaft portion 342, the third bearing 530 is disposed in the annular groove, and the outer ring of the third bearing 530 abuts against the side wall of the annular groove. The inner ring of the third bearing 530 is sleeved on the motor shaft 230. Exemplarily, the third bearing 530 is a deep groove ball bearing, a self-aligning ball bearing, a cylindrical roller bearing, etc.

[0057] In some embodiments, the fixed flange 110 also includes a fourth annular component 114. The fourth annular component 114 is connected to the second annular component 112. The first annular component 111, the second annular component 112 and the fourth annular component 114 enclose an avoidance groove 115 opening toward the output flange 340. The joint module 10 also includes a cross roller bearing 810. The cross roller bearing 810 is arranged in the avoidance groove 115, the outer ring of the cross roller bearing 810 is detachably connected to the second annular component 112, and the inner ring of the cross roller bearing 810 is abutted against the rigid wheel 330. By arranging the cross roller bearing 810 in the avoidance groove 115, the axial dimension of the joint module 10 is further reduced.

[0058] In some embodiments, the shaft portion 342 has a second through hole 345 that penetrates the output flange 340 along the first direction X. The second through hole 345 can allow cables of the joint module 10 to pass through, so as to avoid the cables passing outside the joint module 10 .

[0059] In some embodiments, Figure 3 As shown, the joint module 10 further includes a detachably connected plastic support ring 910 and a rubber ring 920. The plastic support ring 910 and the rubber ring 920 are arranged between the fixing flange 110 and the output flange 340 to seal the gap between the fixing flange 110 and the output flange 340.

[0060] 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 a main body 20 , a joint module 10 in the above embodiment, and a motion structure 30 .

[0061] The fixed flange 110 of the joint module 10 is connected to the main body 20. The motion structure 30 is connected to the output flange 340 of the joint module 10 and moves with the output flange 340. Exemplarily, the main body 20 is the upper arm of the robot 1, and the motion structure 30 is the lower arm of the robot 1. Exemplarily, the main body 20 is the torso of the robot 1, and the motion structure 30 is the arm of the robot 1.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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).

[0066] 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.

[0067] 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.

[0068] 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: Fixed flange; A stator connected to the inner side of the fixing flange; A rotor, sleeved on the inner side of the stator, capable of rotating around a central axis relative to the stator; a motor shaft, sleeved on the inner side surface of the rotor and coaxially rotating with the rotor, the motor shaft having a first through hole penetrating the motor shaft along a first direction, the first direction being the extending direction of the central axis; A wave generator is mounted on the outer side of the motor shaft and rotates coaxially with the motor shaft; A flexible wheel is mounted on the outer side of the wave generator, the flexible wheel is connected to the fixing flange, and the outer side of the flexible wheel has a plurality of external teeth; A rigid wheel, the inner side surface of the rigid wheel has a plurality of internal teeth, part of the internal teeth mesh with part of the external teeth, the number of the external teeth is different from the number of the internal teeth, wherein under the drive of the wave generator, the rigid wheel can rotate relative to the flexible wheel around the central axis; The output flange comprises a coaxially connected annular portion and a shaft portion, wherein the annular portion is connected to the rigid wheel, the shaft portion is passed through the first through hole, and the output flange rotates coaxially with the rigid wheel; A first encoder disc assembly, connected to one end of the motor shaft close to the fixed flange; a first encoder reader connected to the fixing flange and arranged opposite to the first encoder code disc assembly in the first direction, wherein the first encoder reader is configured to determine a rotation position of the motor shaft through the first encoder code disc assembly; A second encoder disc assembly connected to one end of the shaft portion close to the fixed flange; The second encoder head is connected to the fixed flange and is arranged opposite to the second encoder code disc assembly in the first direction. The second encoder head is configured to determine the rotational position of the output flange through the second encoder code disc assembly.

2. The joint module according to claim 1, characterized in that: The first encoder code disc assembly and the second encoder code disc assembly are installed on the same plane perpendicular to the first direction; And / or, the first encoder reader and the second encoder reader are installed on the same plane perpendicular to the first direction.

3. The joint module according to claim 1, characterized in that: The shaft portion comprises a first shaft segment and a second shaft segment which are coaxially connected, the first shaft segment is coaxially connected to the annular portion, the second shaft segment is close to the fixing flange, and the diameter of the second shaft segment is smaller than the diameter of the first shaft segment; Wherein, the joint module also includes: A first bearing, wherein the inner ring of the first bearing is mounted on the second shaft segment, the outer ring of the first bearing is mounted on the first through hole, one end face of the first bearing abuts against the end face of the first shaft segment close to the second shaft segment, and the other end face of the first bearing abuts against the second encoder code disc assembly.

4. The joint module according to any one of claims 1 to 3, characterized in that: Also includes: The brake comprises a brake member and a friction ring, wherein the brake member is sleeved on the inner side surface of the fixing flange, and the friction ring is sleeved on the motor shaft, wherein the friction ring can rotate coaxially with the motor shaft, and the brake member can brake the friction ring.

5. The joint module according to claim 4, characterized in that: The motor shaft comprises a third shaft segment and a fourth shaft segment which are coaxially connected, the fourth shaft segment is close to the fixing flange, and the diameter of the fourth shaft segment is smaller than the diameter of the third shaft segment; The friction ring is sleeved on the fourth shaft segment, one end face of the friction ring abuts against the end face of the third shaft segment close to the fourth shaft segment, and the other end face of the friction ring abuts against the first encoder code disc assembly.

6. The joint module according to claim 4, characterized in that: Also includes: A drive plate, mounted on a side of the brake member away from the output flange, the drive plate being electrically connected to the stator and the brake member and configured to supply power to the stator and the brake member; Wherein, the first encoder reading head and the second encoder reading head are both installed on a side of the driving plate close to the output flange.

7. The joint module according to any one of claims 1 to 3, characterized in that: The fixing flange comprises: a first annular component, the stator being connected to an inner side surface of the first annular component; a second annular component connected to an end of the first annular component away from the output flange, wherein the outer diameter of the second annular component is greater than the outer diameter of the first annular component; A third annular component is connected to one end of the first annular component close to the output flange, the inner diameter of the third annular component is smaller than the inner diameter of the first annular component, wherein the motor shaft is passed through the inner side surface of the third annular component, and the motor shaft and the third annular component are rotatably connected around the central axis; Wherein, the flexible wheel comprises: A flexible ring, sleeved on the outer side of the wave generator, the flexible ring is also sleeved on the outer side of the first annular component, and the outer side of the flexible ring has a plurality of the outer teeth; The flange is connected to one end of the flexible ring close to the fixed flange, and the flange is connected to the end surface of the second annular component close to the output flange.

8. The joint module according to claim 7, characterized in that: The fixing flange also includes: a fourth annular component connected to the second annular component, wherein the first annular component, the second annular component and the fourth annular component enclose a avoidance groove opening toward the output flange; The joint module also includes: A cross roller bearing is arranged in the avoidance groove, the outer ring of the cross roller bearing is detachably connected to the second annular component, and the inner ring of the cross roller bearing is in contact with the rigid wheel.

9. The joint module according to any one of claims 1 to 3, characterized in that: The shaft portion has a second through hole penetrating through the output flange along the first direction.

10. A robot, characterized in that: include: main body; The joint module according to any one of claims 1 to 9, wherein the fixing flange of the joint module is connected to the main body; The motion structure is connected to the output flange of the joint module and moves along with the output flange.

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