Power module

Abstract

The invention relates to a power module which comprises a motor, a torque sensor and a harmonic reducer, the motor comprises a shell, a stator assembly and a rotor assembly, a brake stator is fixed to a partition plate at one end of the shell, the rotor assembly comprises a hollow shaft body, an annular groove body and an annular magnet, the hollow shaft body is sleeved with the annular groove body, a brake rotor is fixed in the annular groove body, and the annular magnet is arranged in the annular groove body. The harmonic reducer comprises a wave generator, a flexible gear, an output steel wheel and a supporting bearing, the torque sensor is clamped and fixed between an outer ring of the supporting bearing and the other end of the shell and fixed to the flexible gear, the wave generator is arranged in the flexible gear, and one end of the hollow shaft body of the rotating shaft penetrates through the torque sensor and the flexible gear and then is in transmission connection with the wave generator. The output steel wheel is fixed with the inner ring of the supporting bearing and is in staggered tooth transmission with the flexible wheel; a wire harness of the torque sensor penetrates through the partition plate in the shell and then is connected with the control circuit board. The power module is low in inertia, high in response, easy to maintain and high in integration level.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot joint drive, and particularly relates to a power module. Background Art

[0002] While the application field of robots is expanding, collaborative robots, as automated labor for collaborative work with humans, have entered more light industrial productions. The movement of each degree of freedom of a collaborative robot is generated by the power module at each joint.

[0003] In the fields of industrial automation, robot drive, and precision transmission, as the core drive unit, the integration level, structural compactness, and control precision of the power module directly affect the performance of the equipment. Traditional power modules are usually composed of a motor, a reducer, and a sensor in a split combination, and there are the following technical bottlenecks:

[0004] Loose structure and volume limitation: The motor, brake, and reducer are arranged separately, resulting in redundant axial space and difficulty in meeting the requirements of lightweight and miniaturization. The electromagnetic brake is mostly externally placed at the end of the motor, increasing the length of the module, and the gap control between the brake rotor and stator is complex, affecting the braking response efficiency.

[0005] Low torque detection integration level: Torque sensors are mostly connected through external flanges, and the wiring harness needs to bypass externally. During the movement of the power module, the wiring harness is easily pulled, which not only affects the control precision but also the movement range of the power module.

[0006] Encoder and sealing defects: Position detection mostly relies on a single magnetic encoder, with weak anti-interference ability; the sealing between the partition and the housing depends on traditional gaskets, which are prone to leakage in a vibration environment, affecting the lifespan of the circuit board.

[0007] The above defects have severely restricted the technological development of the power module and are technical problems that need to be urgently solved by those skilled in the art. Summary of the Invention

[0008] In order to solve the above technical problems, the purpose of the present invention is to provide a power module with low inertia, high response, easy maintenance, and high integration level.

[0009] In order to achieve the above invention purpose, the present invention adopts the following technical solutions:

[0010] A power module includes a motor, a torque sensor, and a harmonic reducer. The motor includes a housing, a stator assembly, and a rotor assembly. The stator assembly is fixed on the inner wall of the housing, and the rotor assembly is located inside the stator assembly.

[0011] One end of the housing is fixed with a partition plate, and a brake stator is fixed on the partition plate. The rotor assembly includes a hollow shaft body, a ring groove body, and an annular magnet. The annular magnet is fixed on the outer wall of the ring groove body. The ring groove body is sleeved on the hollow shaft body. The ring groove body is rotatably connected to the partition plate through a large-diameter bearing. A brake rotor is fixed in the ring groove body. When the motor is powered on, there is a gap between the brake stator and the brake rotor. When the motor is powered off, the brake stator and the brake rotor are attracted to each other.

[0012] The harmonic reducer includes a wave generator, a flexible gear, an output steel gear, an inner ring of a support bearing, and an outer ring of a support bearing. The outer ring of the torque sensor is clamped and fixed between the outer ring of the support bearing and the other end of the housing. The inner ring of the torque sensor is fixed to the flexible gear. The wave generator is arranged inside the flexible gear and drives the flexible gear to deform. One end of the hollow shaft body of the rotating shaft penetrates through the torque sensor and the flexible gear and is in transmission connection with the wave generator. The output steel gear is fixed to the inner ring of the support bearing. The output steel gear is arranged outside the flexible gear and is in staggered tooth transmission with the flexible gear.

[0013] A cover is also buckled and fixed on the partition plate. A control circuit board is fixed in the accommodation space formed by the partition plate and the cover. The wire harness of the torque sensor passes through the partition plate in the housing and is connected to the control circuit board.

[0014] As a preferred solution, the ring groove body and the hollow shaft body are integrally formed, and both the ring groove body and the hollow shaft body are made of stainless steel. The outer wall of the ring groove body is in a stepped shape. The annular magnet is fixed on the outer wall of the ring groove body and makes it a flat surface with the outer wall of the ring groove body.

[0015] As a preferred solution, a counterbore facing the torque sensor is formed in the middle of the partition plate. The inner wall of the ring groove body is rotatably connected to the side wall of the counterbore through a large-diameter bearing, and a snap ring A for limiting the inner ring of the large-diameter bearing is also provided on the side wall of the counterbore.

[0016] As a preferred solution, a T-shaped wire harness pipe fitting is further included. The T-shaped wire harness pipe fitting includes an output disk and a hollow output shaft. The output disk is fixed at one end of the hollow output shaft and is in through connection with the hollow output shaft. The output disk is fixed to the output steel gear. The hollow output shaft penetrates through the harmonic reducer and the hollow shaft body, and there is a gap between the hollow output shaft and the harmonic reducer and the hollow shaft body. Both ends of the hollow output pipe are rotatably connected to the wave generator and the hollow shaft body through two support members respectively.

[0017] As a preferred solution, a dual-magnetic encoder induction circuit component is also fixed in the counterbore. A magnetic ring A is also fixed near the hollow shaft body at the open end of the ring groove body. A magnetic ring seat is installed at the other end of the hollow output shaft, and a magnetic ring B is fixed on the magnetic ring seat. The magnetic ring A and the magnetic ring B are concentrically arranged and are correspondingly arranged on one side of the dual-magnetic encoder induction circuit component.

[0018] As a preferred solution, a circular rib is further provided at the end of the magnetic ring seat. The middle part of the buckle cover extends inward to form an inner protection tube, and the inner protection tube is communicated with the buckle cover. A groove is further provided at the end of the inner protection tube, and the circular rib is inserted into the groove, and the circular rib and the groove are in clearance fit.

[0019] As a preferred solution, convex rings and convex plates are respectively provided on the two end faces of the partition plate near the outer edge. The convex rings and convex plates are respectively abutted against the inner walls of the buckle cover and the housing. The partition plate, the buckle cover and the housing are sealed by gluing.

[0020] As a preferred solution, the wave generator includes an elliptical hub and a flexible bearing. A limiting convex edge is provided on the outer side of the elliptical hub. The flexible bearing is sleeved outside the elliptical hub and abuts against the limiting convex edge. The flexible bearing is embedded in the flexspline. The elliptical hub is sleeved on the hollow shaft body and is driven by a spline.

[0021] As a preferred solution, a limiting groove with a wedge-shaped cross section is further provided on the hollow shaft body. A wedge-shaped snap spring that matches it is provided in the limiting groove, and the wedge-shaped snap spring abuts against one end of the elliptical hub close to the flexspline.

[0022] As a preferred solution, the signal processing circuit on the torque sensor is integrated on the control circuit board, and the signal processing circuit is connected to the strain gauge on the torque sensor through a wire harness.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] In the power module of the present invention, the brake stator is directly fixed on the partition plate, the brake rotor is integrated in the ring groove body, and a large-diameter bearing is used to realize the coaxial support of the ring groove body and the partition plate, saving the axial occupied space of the traditional external brake; when the motor is powered on, the brake stator and the rotor maintain a gap, and when powered off, they are quickly closed by magnetic attraction, realizing zero drag loss and millisecond-level braking response; through the axial highly integrated design, the present invention forms an axial series layout of "brake-motor-sensing-reduction", and the overall length is reduced by more than 20%, which is especially suitable for space-limited scenarios such as robot joints.

[0025] At the same time, the flexspline of the harmonic reducer and the torque sensor are clamped and fixed by the outer ring of the support bearing and the housing to form an embedded torque sensing structure, eliminating the intermediate transmission error of the traditional flange-type sensor; the sensor does not rotate with the output shaft, avoiding wire harness entanglement, and can realize multi-turn rotation at the output end, making the movement more flexible; in addition, the sensor wire harness is completely built-in, passes through the partition plate in the inner cavity of the housing to the control circuit board, avoiding external electromagnetic interference and improving the signal transmission signal-to-noise ratio. Description of the Drawings

[0026] The accompanying drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation to this application.

[0027] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 and Figure 3 are respectively schematic diagrams of the sectional structures of the present invention from different angles;

[0029] Figure 4 and Figure 5 are respectively schematic diagrams of the exploded structures of the present invention from different angles;

[0030] Figure 6 is a schematic diagram of the sectional structure of the motor part of the present invention;

[0031] Figure 7 and Figure 8 are respectively schematic diagrams of the exploded structures of the motor of the present invention from different angles;

[0032] Figure 9 and Figure 10 are respectively schematic diagrams of the exploded structures of the harmonic reducer and the torque sensor of the present invention from different angles.

[0033] The reference numerals are: 111, cover; 112, inner protection tube; 12, control circuit board; 13, partition; 130, counterbore; 131, dual magnetic encoder induction circuit assembly; 132, convex ring; 133, convex plate; 14, snap ring A; 15, large-diameter bearing; 20, housing; 21, stator assembly; 22, rotor assembly; 220, magnetic ring A; 221, hollow shaft body; 222, ring groove body; 23, annular magnet; 24, bearing bush; 30, brake stator; 31, brake rotor; 41, elliptical hub; 411, limiting convex edge; 42, flexible bearing; 43, flexspline; 44, output rigid gear; 45, inner ring of support bearing; 46, outer ring of support bearing; 47, sealing ring; 48, sealing ring A; 49, sealing ring B; 50, output disc; 51, output shaft; 511, magnetic ring seat; 512, magnetic ring B; 52, support bearing; 6, torque sensor; 61, sealing ring C; 62, positioning convex ring. Detailed Description of the Invention

[0034] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs.

[0035] Note that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of the stated features, steps, operations, devices, components, and / or combinations thereof.

[0036] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more, unless otherwise clearly defined.

[0038] In the present invention, unless otherwise clearly defined and limited, the terms such as "mounted", "connected", "connected to", "fixed" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0040] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0041] As Figures 1 to 5 shown, a power module includes a motor, a torque sensor 6 and a harmonic reducer. The motor includes a housing 20, a stator assembly 21 and a rotor assembly 22. The stator assembly 21 is fixed on the inner wall of the housing 20. The rotor assembly 22 is located inside the stator assembly 21. One end of the housing 20 is fixed with a partition 13. A brake stator 30 is fixed on the partition 13. The rotor assembly 22 includes a hollow shaft body 221, a ring groove body 222 and an annular magnet 23. The annular magnet 23 is fixed on the outer wall of the ring groove body 222. The ring groove body 222 is sleeved on the hollow shaft body 221. The ring groove body 22 is rotatably connected to the partition 13 through a large-diameter bearing 15. A brake rotor 31 is fixed inside the ring groove body 222. When the motor is powered on, there is a gap between the brake stator 30 and the brake rotor 31. When the motor is powered off, the brake stator 30 and the brake rotor 31 are attracted to each other. The specific principle is as follows: When the power module is powered on, the brake stator part generates magnetic force, canceling the magnetic force of the magnetic body on the brake stator. At this time, the rotor pops open and can rotate. When the power module is powered off, the magnetic body of the brake stator part generates magnetic force. At this time, the rotor is attracted to achieve the braking purpose. A cover 111 is also fastened and fixed on the partition 13. A control circuit board 12 is fixed in the accommodation space formed by the partition 13 and the cover 111.

[0042] As Figures 6 to 8 shown, the ring groove body 222 and the hollow shaft body 221 are integrally formed, and both the ring groove body 222 and the hollow shaft body 221 are made of stainless steel. The hollow shaft body 221 and the ring groove body 222 are made of stainless steel material to achieve a magnetic isolation effect and prevent the magnetism of the motor from interfering with the magnetism of the brake. The outer wall of the ring groove body 222 is stepped. The annular magnet 23 is fixed on the outer wall of the ring groove body 222, and a flat surface is formed with the outer wall of the ring groove body 222.

[0043] A counterbore 130 facing the torque sensor 6 is formed in the middle of the partition 13. The inner wall of the ring groove body 222 is rotatably connected to the side wall of the counterbore through a large-diameter bearing 15. A snap ring A14 for limiting the inner ring of the large-diameter bearing 15 is also provided on the side wall of the counterbore 130. The large-diameter bearing can meet the installation space requirements of the brake. At the same time, the large-diameter bearing can better support the rotor assembly, significantly improving the radial load-bearing capacity of the rotor and suppressing the yaw vibration during high-speed operation.

[0044] The above motor stator adopts an integral casting process. At this time, the motor rotor can be made with a larger diameter and directly glued to the motor shaft. The brake adopts a permanent magnet brake, which is smaller in volume and increased in the axial length, meeting the braking torque requirements.

[0045] The invention also includes a T-shaped wire harness pipe fitting, which includes an output disc 50 and a hollow output shaft 51. The output disc 50 is fixed at one end of the hollow output shaft 51 and is in through communication with the hollow output shaft 51. The output disc 50 is fixed to the output steel wheel 44. The hollow output shaft 51 passes through the harmonic reducer and the hollow shaft body 221, and there is a gap between the hollow output shaft 51 and the harmonic reducer and the hollow shaft body 221. Both ends of the hollow output pipe 51 are rotatably connected to the wave generator and the hollow shaft body 221 through two support members respectively.

[0046] A dual magnetic encoder induction circuit component 131 is also fixed in the counterbore 130 of the partition plate 13. A magnetic ring A 220 is fixed near the opening end of the annular groove body 222 close to the hollow shaft body 221. A magnetic ring seat 511 is installed at the other end of the hollow output shaft 51, and a magnetic ring B 512 is fixed on the magnetic ring seat 511. The magnetic ring A 220 and the magnetic ring B 512 are concentrically arranged and are correspondingly arranged on one side of the dual magnetic encoder induction circuit component 131.

[0047] The magnetic ring A 220 and the magnetic ring B 512 of the present invention respectively monitor the rotational speed and position of the motor rotor and the hollow output shaft 51. Redundancy check is realized through the dual magnetic encoder induction circuit component 131, the anti-interference ability is improved, the detection accuracy is high, and the dual magnetic encoder of the present invention adopts the principle of a quasi-optical encoder to read the numerical value in a full circle, realizing an absolute positioning accuracy of 0.01°.

[0048] The above-mentioned magnetic ring A and magnetic ring B are concentrically arranged, and at the same time, the corresponding induction devices on the dual magnetic encoder induction circuit component are also arranged side by side concentrically inside and outside, meeting the requirements of arranging encoders at the output end and the input end respectively, saving more than 5 mm of the axial space of the overall joint module, and improving the reading and control accuracy of the encoder.

[0049] A circle of convex edges is provided at the end of the magnetic ring seat 511. The middle part of the buckle cover 111 extends inward to form an inner protection tube 112, and the inner protection tube 112 is in through communication with the buckle cover 111. A groove is provided at the end of the inner protection tube 112, and the convex edge is inserted into the groove, and the convex edge and the groove are in clearance fit.

[0050] The through design of the hollow shaft body 221, the hollow output shaft 51 and the inner protection tube allows cables or cooling media to be arranged through the shaft, meeting the strict requirements for internal wiring of collaborative robot joints, medical robotic arms, etc.

[0051] Convex rings 132 and convex plates 133 are respectively provided on both end faces of the partition plate 13 near the outer edge. The convex rings 132 and the convex plates 133 are respectively abutted against the inner walls of the buckle cover 111 and the housing 20. The partition plate 13, the buckle cover 111 and the housing 20 are sealed by gluing.

[0052] The inner protection tube and the hollow output shaft 51 form a labyrinth seal interface; the partition plate 13 forms a labyrinth seal interface with the housing 20 and the buckle cover 111 through the convex ring 132 and the convex plate 133. Combined with the glue coating process, it reaches the IP67 protection level and is suitable for high-humidity and dusty industrial environments.

[0053] As Figure 9 and Figure 10 shown, the harmonic reducer includes a wave generator, a flexible gear 43, an output steel gear 44, an inner ring of a support bearing 45 and an outer ring of a support bearing 46. The wire harness of the torque sensor 6 passes through the partition plate 13 in the housing 20 and is connected to the control circuit board 12. The outer ring of the torque sensor 6 is clamped and fixed between the outer ring 46 of the support bearing and the other end of the housing 20. A positioning convex ring 62 is also provided on the torque sensor 6, and the positioning convex ring 62 abuts against the inner wall of the outer ring 46 of the support bearing. A sealing ring C61 is also provided between the torque sensor 6 and the outer ring 46 of the support bearing.

[0054] The inner ring of the torque sensor 6 is fixed to the flexible gear 43. The wave generator is arranged in the flexible gear 43 and drives the flexible gear 43 to deform. One end of the hollow shaft body 221 of the rotating shaft passes through the torque sensor 6 and the flexible gear 43 and is in transmission connection with the wave generator. The output steel gear 44 is fixed to the inner ring 45 of the support bearing. The output steel gear 44 is arranged outside the flexible gear 43 and is in staggered tooth transmission with the flexible gear 43.

[0055] The wave generator includes an elliptical hub 41 and a flexible bearing 42. A limit convex edge 411 is provided on the outside of the elliptical hub 41. The flexible bearing 42 is sleeved outside the elliptical hub 41 and abuts against the limit convex edge 411. The flexible bearing 42 is embedded in the flexible gear 43. The elliptical hub 41 is sleeved on the hollow shaft body 221 and is in spline transmission. A bearing bush 24 is provided between one end of the hollow shaft body 221 and the hollow output shaft 51. A support bearing 52 is also provided between the hollow output shaft 51 and the elliptical hub 41.

[0056] The wave generator of the harmonic reducer is connected to the rotating shaft by splines, which can meet the disassembly and assembly requirements and reduce the space occupied by bolts. A limit groove with a wedge-shaped cross section is also provided on the hollow shaft body 221. A wedge-shaped circlip is arranged in the limit groove, and the wedge-shaped circlip abuts against one end of the elliptical hub 41 close to the flexible gear 43. The wedge-shaped circlip can not only limit the installation of the wave generator, but also meet the small axial displacement of the rotor during braking.

[0057] The signal processing circuit on the torque sensor 6 is integrated on the control circuit board 12, and the signal processing circuit is connected to the strain gauge on the torque sensor 6 through a wiring harness. The above structure not only enables the torque sensor to realize external amplifier, reduces the rigid part of the sensor, and shortens the overall shutdown module, but also the strain gauge signal of the torque sensor is directly connected to the signal processing circuit integrated in the control circuit board through a short path, reducing signal attenuation and delay, realizing microsecond dynamic torque feedback, and meeting the requirements of high-precision closed-loop control.

[0058] A sealing ring 47 is provided between the support bearing inner ring 45 and the support bearing outer ring 46 , a sealing ring A48 is provided between one side of the output steel wheel 44 and the support bearing inner ring 42 , and a sealing ring B49 is provided between the other side of the output steel wheel 44 and the output disc 50 .

[0059] The outer ring of the support bearing of the present invention is also provided with a mounting interface for the entire power module, which is fixed and output by a roller bearing, thereby reducing the force on the housing end; relying on the roller bearing to bear the load, the assembly error is reduced, thereby improving the absolute position accuracy of the entire arm; at the same time, combined with the side wiring method of the whole machine, it is more conducive to the installation of the entire arm.

[0060] The present invention achieves a comprehensive breakthrough in the compactness, response speed, detection accuracy and environmental adaptability of the power module through "high axial integration of functional modules", "deep fusion of sensing, driving and braking" and "rigidity-sealing collaborative design". It is particularly suitable for precision driving scenarios with extremely high requirements on space, weight and real-time performance (such as bionic robot joints and aerospace actuators), and provides a standardized solution for the next generation of highly integrated electromechanical systems.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0062] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A power module, comprising a motor, a torque sensor (6) and a harmonic reducer, wherein the motor comprises a housing (20), a stator assembly (21) and a rotor assembly (22), wherein the stator assembly (21) is fixed to the inner wall of the housing (20), and the rotor assembly (22) is located inside the stator assembly (21), characterized in that: A partition (13) is fixed to one end of the housing (20), a brake stator (30) is fixed to the partition (13), the rotor assembly (22) comprises a hollow shaft (221), an annular groove (222) and an annular magnet (23), the annular magnet (23) is fixed to the outer wall of the annular groove (222), the annular groove (22) is sleeved on the hollow shaft (221), the annular groove (22) and the partition (13) are rotatably connected via a large-diameter bearing (15), a brake rotor (31) is fixed in the annular groove (222), and when the motor is powered on, a gap is left between the brake stator (30) and the brake rotor (31), and when the motor is powered off, the brake stator (30) and the brake rotor (31) are attracted to each other; The harmonic reducer comprises a wave generator, a flexible wheel (43), an output steel wheel (44), an inner ring of a support bearing (45) and an outer ring of a support bearing (46); the outer ring of the torque sensor (6) is clamped and fixed between the outer ring of the support bearing (46) and the other end of the housing (20); the inner ring of the torque sensor (6) is fixed to the flexible wheel (43); the wave generator is arranged in the flexible wheel (43) and drives the flexible wheel (43) to deform; one end of the hollow shaft body (221) of the rotating shaft passes through the torque sensor (6) and the flexible wheel (43) and is then connected to the wave generator in a transmission manner; the output steel wheel (44) is fixed to the inner ring of the support bearing (45); the output steel wheel (44) is arranged outside the flexible wheel (43) and is transmitted in a staggered manner with the flexible wheel (43); A buckle cover (111) is also buckled and fixed on the partition (13), a control circuit board (12) is fixed in the accommodation space formed by the partition (13) and the buckle cover (111), and a wiring harness of the torque sensor (6) passes through the partition (13) in the housing (20) and is connected to the control circuit board (12).

2. A power module according to claim 1, characterized in that: The annular groove body (222) and the hollow shaft body (221) are integrally formed, and both the annular groove body (222) and the hollow shaft body (221) are made of stainless steel. The outer wall of the annular groove body (222) is stepped, and the annular magnet (23) is fixed to the outer wall of the annular groove body (222) so as to form a flat surface with the outer wall of the annular groove body (222).

3. A power module according to claim 1, characterized in that: A countersunk hole (130) facing the torque sensor (6) is formed in the middle of the partition (13); the inner wall of the annular groove body (222) is rotatably connected to the side wall of the countersunk hole (130) via a large-diameter bearing (15); and a retaining spring A (14) is also provided on the side wall of the countersunk hole (130) for limiting the inner ring of the large-diameter bearing (15).

4. A power module according to claim 1 or 3, characterized in that: The invention also comprises a T-shaped wiring harness pipe fitting, wherein the T-shaped wiring harness pipe fitting comprises an output disc (50) and a hollow output shaft (51), wherein the output disc (50) is fixed to one end of the hollow output shaft (51) and is connected to the hollow output shaft (51) through the output disc (50), wherein the output disc (50) is fixed to an output steel wheel (44), wherein the hollow output shaft (51) passes through the harmonic reducer and the hollow shaft body (221), and a gap is left between the harmonic reducer and the hollow shaft body (221), and wherein the two ends of the hollow output pipe (51) are rotatably connected to the wave generator and the hollow shaft body (221) through two supporting members respectively.

5. A power module according to claim 4, characterized in that: A dual magnetic encoder induction circuit assembly (131) is also fixed in the counterbore (130); a magnetic ring A (220) is also fixed at the open end of the ring groove body (222) near the hollow shaft body (221); a magnetic ring seat (511) is installed at the other end of the hollow output shaft (51); a magnetic ring B (512) is fixed on the magnetic ring seat (511); the magnetic ring A (220) and the magnetic ring B (512) are concentrically arranged and correspondingly arranged on one side of the dual magnetic encoder induction circuit assembly (131).

6. A power module according to claim 5, characterized in that: The end of the magnetic ring seat (511) is also provided with a circle of ridges, the middle part of the buckle cover (111) extends inward to form an inner protective tube (112), and the inner protective tube (112) and the buckle cover (111) are connected, and the end of the inner protective tube (112) is also provided with a groove, the ridge is inserted into the groove, and the ridge and the groove are gap-matched.

7. A power module according to claim 1, characterized in that: The two end surfaces of the partition (13) close to the outer edge are respectively provided with a convex ring (132) and a convex plate (133); the convex ring (132) and the convex plate (133) are respectively abutted against the inner wall of the buckle cover (111) and the shell (20); and the partition (13), the buckle cover (111) and the shell (20) are sealed by applying glue.

8. A power module according to claim 1, characterized in that: The wave generator comprises an elliptical hub (41) and a flexible bearing (42); a limiting convex edge (411) is provided on the outer side of the elliptical hub (41); the flexible bearing (42) is sleeved outside the elliptical hub (41) and abuts against the limiting convex edge (411); the flexible bearing (42) is embedded in the flexible wheel (43); the elliptical hub (41) is sleeved on a hollow shaft (221) and is driven by a spline.

9. A power module according to claim 8, characterized in that: The hollow shaft body (221) is also provided with a limiting groove with a wedge-shaped cross section, and a wedge-shaped retaining spring cooperating therewith is provided in the limiting groove, and the wedge-shaped retaining spring abuts against one end of the elliptical wheel hub (41) close to the flexible wheel (43).

10. A power module according to claim 1, characterized in that: The signal processing circuit on the torque sensor (6) is integrated on a control circuit board (12), and the signal processing circuit is connected to the strain gauge on the torque sensor (6) via a wiring harness.

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