Joint module and robot

Abstract

The present disclosure relates to the technical field of robots, in particular to a joint module and a robot, which solves the problem of low lightweight and miniaturization degree of the joint module. The joint module comprises a shell, a rigid wheel, a wave generator, a flexible wheel, a fixing assembly, a stator, a rotor and a brake assembly. The flexible wheel comprises a first component and a second component connected to each other, and the second component forms a receiving cavity with the first component. The stator, the rotor and the brake assembly are all built-in in the receiving cavity of the flexible wheel, which fully utilizes the space of the receiving cavity of the flexible wheel, improves the integration degree of the joint module, reduces the size and weight of the stator, the rotor and the brake assembly, and improves the lightweight and miniaturization degree of the joint module.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, specifically to a joint module and a robot. Background Technology

[0002] Miniaturization and lightweight design are perennial themes for humanoid robot joint modules. Braking structures, stators, and rotors are crucial components of these modules. In practical applications, the stator and rotor work together to input rotational force, and the braking structure typically enables the module to start and stop. For example, in an emergency, the braking structure can quickly activate, stopping the joint module and preventing collisions or other hazards. Similarly, after a robot completes a movement, the braking structure can hold the joint module in its current position, preventing displacement due to external forces or gravity.

[0003] However, in related technologies, the braking structure of the joint module is generally a braking component installed at the end of the motor. The braking component occupies a large axial space of the joint module, resulting in a large axial dimension of the joint module. In addition, the complex structure of the rotor and stator leads to a low degree of miniaturization and weight reduction of the joint module, making it difficult to meet the application requirements. Summary of the Invention

[0004] In view of this, the present disclosure provides a joint module and a robot that solves the problems of low weight reduction and miniaturization of joint modules.

[0005] In a first aspect, embodiments of this disclosure provide a joint module, comprising: a housing; a rigid wheel rotatably connected to the housing about a central axis; a wave generator disposed on the inner ring of the rigid wheel; and a flexible wheel including a first component and a second component interconnected thereto, the first component extending axially along the rigid wheel and disposed between the rigid wheel and the wave generator, the first component partially engaging with the rigid wheel, the second component extending from the first component toward the central axis and forming a receiving cavity with the first component, the receiving cavity being located on the side of the second component near the wave generator, and the second component having a clearance opening; and a fixed... A fixed assembly is disposed in the receiving cavity and connected to the housing through the clearance opening. The fixed assembly includes an annular member and a central shaft connected to each other. The central shaft extends along the central axis, and the wave generator is rotatably connected to the central shaft about the central axis. A stator is disposed in the receiving cavity and connected to the annular member. A rotor is disposed in the receiving cavity and connected to the wave generator. A braking assembly is disposed in the receiving cavity. The braking assembly includes a stator structure and a moving part structure. The stator structure is connected to the fixed assembly, and the moving part structure is connected to the wave generator. The stator structure is capable of applying braking force to the moving part structure.

[0006] In some embodiments, the outer side of the annular member is at least partially in contact with the inner side of the first component; and / or, the stator is connected to the inner side of the annular member; and / or, the rotor is connected to the outer side of the wave generator; and / or, the mover structure is connected to the end face of the wave generator near the second component.

[0007] In some embodiments, the rotor includes a magnetic element connected to the outer surface of the wave generator.

[0008] In some embodiments, the housing includes: a main body portion, to which the fixing component is connected; a first bearing portion, connected to the main body portion, the first bearing portion having a first annular raceway extending circumferentially along the first bearing portion; the rigid wheel includes: an engagement portion, partially engaging with the first component portion; a second bearing portion, connected to the engagement portion, the second bearing portion having a second annular raceway extending circumferentially along the second bearing portion, the second annular raceway and the first annular raceway together forming an annular rolling space; the joint module further includes: a plurality of rollers disposed circumferentially along the first bearing portion in the annular rolling space.

[0009] In some embodiments, the joint module further includes at least one strain gauge attached to the second component, the strain gauge being configured to detect stress on the second component.

[0010] In some embodiments, the number of strain gauges is multiple, and the multiple strain gauges are evenly distributed circumferentially along the central axis.

[0011] In some embodiments, the joint module further includes: a drive plate connected to the housing; a first cable electrically connecting the stator and the drive plate; a second cable electrically connecting the stator structure and the drive plate; a strain acquisition plate connected to the housing; a third cable electrically connecting the strain gauge and the strain acquisition plate; and a fourth cable electrically connecting the strain acquisition plate and the drive plate.

[0012] In some embodiments, the end of the housing away from the rigid wheel includes an extension extending radially along the rigid wheel, the extension having a first wiring hole and a second wiring hole, the strain gauge being attached to the side of the second component near the extension, the annular member having a third wiring hole, and the second component having a fourth wiring hole, wherein the third wiring hole, the fourth wiring hole, and the second wiring hole are sequentially connected; wherein the drive plate is connected to the side of the extension away from the second component, and the strain acquisition plate is connected to the side of the extension near the second component; the first end of the first cable is connected to the stator. The first cable is electrically connected to the drive board, with its second end passing through the third, fourth, and second wiring holes in sequence. The second cable's first end is electrically connected to the stator structure, and its second end also passes through the third, fourth, and second wiring holes in sequence. The third cable's first end is electrically connected to the strain gauge, and its second end is electrically connected to the strain acquisition board. The fourth cable's first end is electrically connected to the strain acquisition board, and its second end passes through the first wiring hole.

[0013] In some embodiments, the joint module further includes: a first code disk connected to the wave generator; a second code disk connected to the rigid wheel; an encoder acquisition plate connected to the end face of the central shaft away from the second component, located between the first code disk and the second code disk; a first encoder disposed on the encoder acquisition plate and corresponding to the first code disk, configured to determine the rotational position of the wave generator through the first code disk; and a second encoder disposed on the encoder acquisition plate and corresponding to the second code disk, configured to determine the rotational position of the rigid wheel through the second code disk.

[0014] In some embodiments, the joint module further includes: an output member connected to the rigid wheel and located on the end face of the rigid wheel away from the housing, wherein the second code disk is disposed on the side of the output member near the encoder acquisition board; and a connector connected to the wave generator, wherein the first code disk is disposed on the connector.

[0015] In some embodiments, the central shaft has a through hole extending through the central axis, and the joint module further includes a fifth cable, the first end of which is connected to the encoder acquisition board, and the second end of which passes through the through hole and is connected to the drive board.

[0016] Secondly, embodiments of this disclosure provide a robot, including: the joint module described in the first aspect.

[0017] The joint module provided in this disclosure fully utilizes the space of the flexible wheel's housing cavity by integrating the stator, rotor, and braking components into the flexible wheel's housing cavity, thereby improving the integration level of the joint module, reducing the size and weight of the stator, rotor, and braking components, and enhancing the lightweight and miniaturization of the joint module. Attached Figure Description

[0018] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to offer a further understanding of the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts.

[0019] Figure 1 The image shown is a side view of a joint module provided in an embodiment of this disclosure.

[0020] Figure 2 As shown Figure 1 The joint module shown is a cross-sectional view along the AA direction.

[0021] Figure 3 As shown Figure 2 The image shows a magnified view of a portion of the joint module in region B.

[0022] Figure 4 As shown Figure 2 The image shows a magnified view of a portion of the joint module in region C.

[0023] Figure 5 As shown Figure 4 The image shows a magnified view of the joint module in region D.

[0024] Figure 6 The diagram shown is a structural schematic of a flexible wheel and strain gauge provided in an embodiment of this disclosure.

[0025] Figure 7 The diagram shown is a structural schematic of a housing excluding the first bearing portion according to an embodiment of this disclosure.

[0026] Figure 8 The diagram shown is a structural schematic of a fixing component provided in an embodiment of this disclosure.

[0027] Figure 9 The diagram shown is a structural schematic of a robot provided in one embodiment of this disclosure.

[0028] Figure label:

[0029] 1. Robot; 10. Joint module; 100. Housing; 110. Main body; 120. First bearing part; 1201. First annular raceway; 130. Extension part; 1301. First wiring hole; 1302. Second wiring hole; 200. Rigid wheel; 210. Meshing part; 220. Second bearing part; 2201. Second annular raceway; 1001. Annular rolling space; 101. Accommodating space; 300. Wave generator; 400. Flexible wheel; 410. First component part; 420. Second component part; 401. Accommodating cavity; 4201. Clearance opening; 4202. Fourth wiring hole; 500. Fixing assembly; 510. Annular component; 5101. Third wiring hole; 520. Central shaft; 5201. Through hole; 5202. Limiting groove; 600, Stator; 700, Rotor; 710, Magnetic component; 800, Braking assembly; 810, Stator structure; 820, Moving part structure; 900, Roller; 1000, Strain gauge; 1100, Drive plate; 1200, First cable; 1300, Second cable; 1400, Strain acquisition plate; 1500, Third cable; 1600, Fourth cable; 1700, First code disk; 1800, Second code disk; 1900, Encoder acquisition plate; 2000, First encoder; 2100, Second encoder; 2200, Output component; 2300, Connector; 2400, Fifth cable; 2500, Wave generator bearing; 2600, Bearing; 2700, Stop; 2800, Limiting component; 2900, Rear cover; L, Central axis. Detailed Implementation

[0030] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0031] Figure 1 The image shown is a side view of a joint module provided in an embodiment of this disclosure. Figure 2 As shown Figure 1 The joint module shown is a cross-sectional view along the AA direction. Figure 3 As shown Figure 2 The image shows a magnified view of a portion of the joint module in region B. Figure 4 As shown Figure 2 The image shows a magnified view of a portion of the joint module in region C. Figures 1 to 4 As shown, the joint module 10 includes a housing 100, a rigid wheel 200, a wave generator 300, a flexible wheel 400, a fixing assembly 500, a stator 600, a rotor 700, and a braking assembly 800.

[0032] The rigid wheel 200 is rotatably connected to the housing 100 about the central axis L, and the wave generator 300 is disposed in the inner ring of the rigid wheel 200. The flexible wheel 400 includes a first component 410 and a second component 420 connected to each other. The first component 410 extends along the axial direction of the rigid wheel 200 and is disposed between the rigid wheel 200 and the wave generator 300. The first component 410 is partially engaged with the rigid wheel 200. The second component 420 extends from the first component 410 toward the central axis L and forms a receiving cavity 401 with the first component 410. The receiving cavity 401 is located on the side of the second component 420 near the wave generator 300. The second component 420 has a clearance opening 4201.

[0033] A fixed assembly 500 is disposed in the receiving cavity 401 and connected to the housing 100 through a clearance opening 4201. The fixed assembly 500 includes an annular member 510 and a central shaft 520 interconnected, the central shaft 520 extending along a central axis L, and the wave generator 300 rotatably connected to the central shaft 520 about the central axis L. A stator 600 is disposed in the receiving cavity 401 and connected to the annular member 510. A rotor 700 is disposed in the receiving cavity 401 and connected to the wave generator 300. A braking assembly 800 is disposed in the receiving cavity 401, and the braking assembly 800 includes a stator structure 810 and a mover structure 820. The stator structure 810 is connected to the fixed assembly 500, and the mover structure 820 is connected to the wave generator 300. The stator structure 810 is capable of applying braking force to the mover structure 820.

[0034] In related technologies, the braking structure of the joint module is generally installed at the end of the motor. The braking structure occupies a large axial space of the joint module, resulting in a large axial dimension of the joint module and a complex structure of the stator and rotor, making it difficult to achieve miniaturization. However, the joint module 10 of this application fully utilizes the space of the cavity 401 of the flexible wheel 400 by integrating the stator 600, rotor 700 and braking assembly 800 into the cavity 401 of the flexible wheel 400. This improves the integration level of the joint module 10, reduces the size and weight of the stator 600, rotor 700 and braking assembly 800, and improves the lightweight and miniaturization of the joint module 10.

[0035] For example, such as Figure 4 As shown, the second component 420 is connected to the housing 100 and the annular part 510 of the fixing assembly 500, respectively.

[0036] For example, such as Figure 3As shown, the outer surface of the first component 410 partially meshes with the inner surface of the rigid wheel 200. Exemplarily, the inner surface of the rigid wheel 200 has teeth for meshing, and the outer surface of the first component 410 also has teeth for meshing. Partial teeth on the outer surface of the first component 410 mesh with partial teeth on the inner surface of the rigid wheel 200 to achieve force transmission. The rigid wheel 200, the wave generator 300, and the flexible wheel 400 constitute a harmonic reducer, i.e., a reduction structure. When the wave generator 300 rotates around the central axis L, it compresses the first component 410 of the flexible wheel 400, causing partial teeth on the outer surface of the first component 410 to mesh with partial teeth on the inner surface of the rigid wheel 200. Since the flexible wheel 400 is connected to the housing 100, i.e., the flexible wheel 400 is fixed, the rigid wheel 200 rotates around the central axis L, thereby achieving rotational force output.

[0037] Figure 6 The diagram shown is a structural schematic of a flexible wheel and strain gauge provided in an embodiment of this disclosure. Exemplarily, as... Figure 2 and Figure 6 As shown, the flexible wheel 400 is cup-shaped, and the harmonic reducer composed of the rigid wheel 200, wave generator 300, and flexible wheel 400 is a cup-shaped harmonic reducer. Exemplarily, the harmonic reducer composed of the rigid wheel 200, wave generator 300, and flexible wheel 400 can also be other types of harmonic reducers, such as a top hat-shaped harmonic reducer. The cup-shaped harmonic reducer has the characteristics of simple structure and small size, making it easier to achieve lightweighting and miniaturization, further improving the lightweighting and miniaturization of the joint module 10.

[0038] The braking assembly 800 is a device that functions to decelerate, stop, or maintain a stopped state of a moving part. Exemplarily, the braking assembly 800 can be an electromagnetic brake, a friction brake, a hydraulic brake, etc. Taking an electromagnetic brake as an example, the stator structure 810 can be a structure such as an excitation coil and an iron core, and the mover structure 820 can be a structure such as an armature. When energized, the stator structure 810 can attract the mover structure 820, that is, apply a braking force to the mover structure 820, causing the wave generator 300 connected to the mover structure 820 to decelerate or stop. When de-energized, the stator structure 810 separates from the mover structure 820, allowing the mover structure 820 to rotate with the wave generator 300.

[0039] For example, the stator structure 810 and the fixed assembly 500 can be connected by bolts or screws, or by gluing or snap-fitting. The mover structure 820 and the wave generator 300 can be connected by bolts or screws, or by gluing or snap-fitting.

[0040] Figure 8 The diagram shown is a structural schematic of a fixing component provided in an embodiment of this disclosure. Exemplarily, as... Figure 2 , Figure 4 and Figure 8 As shown, the central shaft 520 passes through the clearance opening 4201, and the annular member 510 is connected to the housing 100. Exemplarily, the annular member 510 and the housing 100 can be connected by bolts or screws.

[0041] For example, the stator 600 and the annular member 510 can be connected by bolts or screws, or by gluing or snap-fitting. For example, the rotor 700 and the wave generator 300 can be connected by bolts or screws, or by gluing or snap-fitting.

[0042] For example, the second component 420 extends from the first component 410 toward the central axis L, and the extending direction of the second component 420 may intersect the central axis L. For example, the extending direction of the second component 420 forms an acute angle, a right angle, or an obtuse angle with the central axis L.

[0043] In some embodiments, the outer surface of the annular member 510 is in at least partial contact with the inner surface of the first component 410 to make the fixing component 500 and the flexible wheel 400 more compact, thereby further improving the miniaturization of the joint module 10.

[0044] In some embodiments, such as Figure 2 and Figure 3 As shown, the stator 600 is connected to the inner side of the annular member 510 to make full use of the space inside the annular member 510. In addition, the gap between the annular member 510 and the second component 420 of the flexible wheel 400 can be minimized as much as possible, so that the fixed assembly 500 and the flexible wheel 400 are more compact, thereby further improving the miniaturization of the joint module 10.

[0045] In some embodiments, such as Figure 2 and Figure 4 As shown, the moving part structure 820 is connected to the end face of the wave generator 300 near the second component 420.

[0046] By using the end face of the wave generator 300 to support the moving part structure 820, there is no need to set up a separate support structure for the moving part structure 820, thereby reducing the axial dimension and weight of the joint module 10 and further improving the lightweight and miniaturization of the joint module 10.

[0047] In some embodiments, such as Figure 2 and Figure 3 As shown, rotor 700 is connected to the outer surface of wave generator 300. Rotor 700 includes magnetic element 710, which is connected to the outer surface of wave generator 300.

[0048] Conventional rotors require an annular support structure and magnetic components attached to the outer side of the annular support structure. However, the joint module 10 of this application uses a wave generator 300 instead of an annular support structure and connects the magnetic component 710 to the outer side of the wave generator 300, thereby reducing the annular support structure, reducing the radial dimension and weight of the joint module 10, and further improving the lightweight and miniaturization of the joint module 10.

[0049] For example, the magnetic component 710 includes multiple arc-shaped sub-magnetic components, which are arranged sequentially along the circumference of the wave generator 300.

[0050] In some embodiments, such as Figure 2 , Figure 3 and Figure 7 As shown, the housing 100 includes a main body 110 and a first bearing portion 120. A fixing assembly 500 is connected to the main body 110, and the first bearing portion 120 is also connected to the main body 110. The first bearing portion 120 has a first annular raceway 1201 extending circumferentially along the first bearing portion 120. The rigid wheel 200 includes a meshing portion 210 and a second bearing portion 220. The meshing portion 210 partially meshes with the first component portion 410, and the second bearing portion 220 is connected to the meshing portion 210. The second bearing portion 220 has a second annular raceway 2201 extending circumferentially along the second bearing portion 220, and the second annular raceway 2201 and the first annular raceway 1201 together form an annular rolling space 1001. The joint module 10 also includes a plurality of rollers 900, which are disposed circumferentially in the annular rolling space 1001 along the first bearing portion 120.

[0051] The main body 110 of the housing 100 can be integrally formed with the first bearing 120, and the meshing part 210 of the rigid wheel 200 can be integrally formed with the second bearing 220, reducing the connection structure between components and thus reducing the size and weight of the joint module 10.

[0052] For example, the first bearing portion 120 may be an inner bearing ring, with a first annular raceway 1201 on its outer surface, and the second bearing portion 220 may be an outer bearing ring, with a second annular raceway 2201 on its inner surface. Alternatively, the first bearing portion 120 may also be an outer bearing ring, with the first annular raceway 1201 on its inner surface, and the second bearing portion 220 may be an inner bearing ring, with the second annular raceway 2201 on its outer surface.

[0053] In some embodiments, such as Figure 5 As shown, the joint module 10 also includes at least one strain gauge 1000. The strain gauge 1000 is attached to the second component 420 and is configured to detect the stress on the second component 420.

[0054] The stress change of the flexible wheel 400 is detected by strain gauge 1000, thereby realizing the detection of the output torque of the integrated joint, instead of the torque detection by external torque sensor. This saves space in the joint module 10, reduces the weight and cost of the joint module 10, and further improves the lightweight and miniaturization of the joint module 10.

[0055] The strain gauge 1000 is a sensor element used to measure the strain on the surface of an object, and it has wide applications in mechanical testing, structural health monitoring, and materials performance research. The working principle of the strain gauge 1000 is based on the resistive strain effect of metals. Specifically, when a metal is deformed under external force, its length and cross-sectional area change, resulting in a change in its resistance. For most metallic materials, within the elastic range of the material, there is an approximately linear relationship between the relative change in resistance and strain. By measuring the change in resistance of the strain gauge 1000, the strain on the surface of the object can be calculated.

[0056] In some embodiments, such as Figure 6 As shown, there are multiple strain gauges 1000, which are evenly distributed circumferentially along the central axis L.

[0057] Multiple strain gauges 1000 are evenly distributed circumferentially along the central axis L, which can analyze the difference in shape between two symmetrical strain gauges 1000 and make corresponding compensations to reduce manufacturing errors, the errors of the strain gauges 1000 themselves, etc., thereby improving the accuracy of stress detection.

[0058] For example, the number of strain gauges 1000 can be 2, 4, 6, 8, etc., and this application does not make a specific limitation.

[0059] In some embodiments, such as Figure 2 , Figure 4 and Figure 5 As shown, the joint module 10 also includes a drive board 1100, a first cable 1200, a second cable 1300, a strain acquisition board 1400, a third cable 1500, and a fourth cable 1600. The drive board 1100 is connected to the housing 100. The first cable 1200 is electrically connected to the stator 600 and the drive board 1100. The second cable 1300 is electrically connected to the stator structure 810 and the drive board 1100. The strain acquisition board 1400 is connected to the housing 100. The third cable 1500 is electrically connected to the strain gauge 1000 and the strain acquisition board 1400. The fourth cable 1600 is electrically connected to the strain acquisition board 1400 and the drive board 1100.

[0060] Since the positions of the various electrically connected components are relatively fixed and do not involve relative rotation, there is no issue of cable winding. Therefore, there is no limit to the number of rotations of the rigid wheel 200.

[0061] For example, the drive plate 1100 and the housing 100 can be connected by bolts or screws, or by gluing or snap-fitting. For example, the strain acquisition plate 1400 and the housing 100 can be connected by bolts or screws, or by gluing or snap-fitting.

[0062] In some embodiments, such as Figure 2 , Figure 4 and Figure 5 As shown, the end of the housing 100 away from the rigid wheel 200 includes an extension 130 extending radially along the rigid wheel 200. The extension 130 has a first wiring hole 1301 and a second wiring hole 1302, and the strain gauge 1000 is attached to the side of the second component 420 near the extension 130. The annular member 510 has a third wiring hole 5101, and the second component 420 has a fourth wiring hole 4202, which are sequentially connected. The drive plate 1100 is connected to the side of the extension 130 away from the second component 420, and the strain acquisition plate 1400 is connected to the side of the extension 130 near the second component 420. The first end of the first cable 1200 is electrically connected to the stator 600. The second end of the first cable 1200 passes sequentially through the third wiring hole 5101, the fourth wiring hole 4202, and the second wiring hole 1302, and is electrically connected to the drive board 1100. The first end of the second cable 1300 is electrically connected to the stator structure 810. The second end of the second cable 1300 passes sequentially through the third wiring hole 5101, the fourth wiring hole 4202, and the second wiring hole 1302, and is electrically connected to the drive board 1100. The first end of the third cable 1500 is electrically connected to the strain gauge 1000. The second end of the third cable 1500 is electrically connected to the strain acquisition board 1400. The first end of the fourth cable 1600 is electrically connected to the strain acquisition board 1400. The second end of the fourth cable 1600 passes through the first wiring hole 1301 and is electrically connected to the drive board 1100.

[0063] The joint module 10 of this application implements the following: the first end of the first cable 1200 is electrically connected to the stator 600; the second end of the first cable 1200 passes through the gap between the annular member 510 and the stator structure 810, passes through the annular member 510, the second component 420, and the housing 100, and is electrically connected to the drive plate 1100. The first end of the second cable 1300 is electrically connected to the stator structure 810; the second end of the second cable 1300 passes through the annular member 510, the second component 420, and the housing 100, and is electrically connected to the drive plate 1100. The first end of the third cable 1500 is electrically connected to the strain gauge 1000; the second end of the third cable 1500 is electrically connected to the strain acquisition plate 1400. The first end of the fourth cable 1600 is electrically connected to the strain acquisition plate 1400; the second end of the fourth cable 1600 passes through the housing 100 and is electrically connected to the drive plate 1100.

[0064] In this embodiment, the routing of the cables between the electrically connected components allows for shorter cables, making the structure of the joint module 10 more compact and further improving the miniaturization of the joint module 10.

[0065] For example, such as Figure 2 and Figure 4 As shown, the main body 110 and the extension 130 form a receiving space 101. The receiving space 101 is located on the side of the extension 130 near the rigid wheel 200. The second component 420 of the flexible wheel 400 and the strain acquisition plate 1400 are located in the receiving space 101.

[0066] In some embodiments, such as Figure 2 and Figure 3 As shown, the joint module 10 also includes a first code disk 1700, a second code disk 1800, an encoder acquisition plate 1900, a first encoder 2000, and a second encoder 2100. The first code disk 1700 is connected to the wave generator 300, and the second code disk 1800 is connected to the rigid wheel 200. The encoder acquisition plate 1900 is connected to the end face of the central shaft 520 away from the second component 420 and is located between the first code disk 1700 and the second code disk 1800. The first encoder 2000 is disposed on the encoder acquisition plate 1900 and is correspondingly disposed to the first code disk 1700. The first encoder 2000 is configured to determine the rotational position of the wave generator 300 through the first code disk 1700. The second encoder 2100 is disposed on the encoder acquisition plate 1900 and is correspondingly disposed to the second code disk 1800. The second encoder 2100 is configured to determine the rotational position of the rigid wheel 200 through the second code disk 1800.

[0067] The first encoder 2000 is used to detect the position of the wave generator 300, and the second encoder 2100 is used to detect the position of the rigid wheel 200. The position data is directly acquired and output through the encoder acquisition board 1900. The position detection structure is simple in structure and occupies little space, which further improves the lightweight and miniaturization of the joint module 10.

[0068] In some embodiments, such as Figure 2 and Figure 3 As shown, the joint module 10 also includes an output component 2200 and a connector 2300. The output component 2200 is connected to the rigid wheel 200 and is located on the end face of the rigid wheel 200 away from the housing 100. The second code disk 1800 is disposed on the side of the output component 2200 near the encoder acquisition board 1900. The connector 2300 is connected to the wave generator 300, and the first code disk 1700 is disposed on the connector 2300.

[0069] The second code disk 1800 and the first code disk 1700 are installed using the output component 2200 and the connector 2300 respectively, which facilitates the installation of the second code disk 1800 and the first code disk 1700, and also makes the structure of the joint module 10 more compact, further improving the miniaturization of the joint module 10.

[0070] For example, the output component 2200 and the rigid wheel 200 can be connected by bolts or screws, or by gluing or snap-fitting. For example, the connector 2300 and the wave generator 300 can be connected by bolts or screws, or by gluing or snap-fitting.

[0071] In some embodiments, such as Figure 2 and Figure 8 As shown, the central shaft 520 has a through hole 5201 that runs through the central axis L. The joint module 10 also includes a fifth cable 2400, the first end of which is connected to the encoder acquisition board 1900, and the second end of which passes through the through hole 5201 and is connected to the drive board 1100.

[0072] Since the positions of the encoder acquisition board 1900 and the drive board 1100 are relatively fixed and do not involve relative rotation, there is no cable winding problem, and there is no limit to the number of rotations of the rigid wheel 200.

[0073] For example, such as Figure 2 and Figure 3As shown, the joint module 10 also includes a wave generator bearing 2500, which is disposed between the wave generator 300 and the first component 410. The inner side of the inner ring of the wave generator bearing 2500 is connected to the outer side of the wave generator 300, and the outer side of the outer ring of the wave generator bearing 2500 is connected to the first component 410, so that when the wave generator 300 rotates around the central axis L, the first component 410 is pressed by the wave generator bearing 2500.

[0074] For example, such as Figure 2 and Figure 3 As shown, the joint module 10 also includes two bearings 2600, an annular stop 2700, and a limiting member 2800. The outer surface of the central shaft 520 has an annular limiting groove 5202. The bearings 2600 are disposed between the wave generator 300 and the central shaft 520, the stop 2700 is disposed between the two bearings 2600, and the limiting member 2800 is located in the limiting groove 5202. The two end faces of the stop 2700 abut against the end faces of the two bearings 2600 respectively, the end face of the limiting member 2800 abuts against the end face of the inner ring of the bearing 2600 near the encoder acquisition board 1900, and the end face of the connector 2300 near the bearing 2600 abuts against the end face of the outer ring of the bearing 2600, so as to achieve axial locking and limiting of the bearings 2600.

[0075] For example, such as Figure 2 As shown, the joint module 10 also includes a rear cover 2900, which is connected to the end face of the housing 100 away from the rigid wheel 200. The drive plate 1100 is located between the rear cover 2900 and the housing 100. This design utilizes the rear cover 2900 to protect the drive plate 1100, preventing it from being exposed and thus easily damaged. Furthermore, it improves the neatness and aesthetics of the joint module 10. Exemplarily, the rear cover 2900 and the housing 100 can be connected by bolts or screws, or by gluing or snap-fitting.

[0076] Figure 9 The diagram shown is a structural schematic of a robot provided in one embodiment of this disclosure. Figure 9 As shown, robot 1 includes the joint module 10 in the above embodiments. Exemplarily, robot 1 is a humanoid robot, collaborative robot, transport robot, etc.

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

[0078] In the embodiments of this disclosure, unless the form of connection is explicitly defined, the connection can be a detachable connection such as a bolt and nut, screw, clip, or magnetic connection. In some connections where there is no particular requirement for a non-detachable fit, a non-detachable connection can be achieved through welding, bonding, or other methods.

[0079] The terms "an embodiment" or "embodiment" used in this specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0080] It should be understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0081] Furthermore, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of a component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of components in use or operation other than those shown in the figures. Devices may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0082] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

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

Claims

1. A joint module, characterized in that, include: case; The rigid wheel is rotatably connected to the housing about its central axis; A wave generator is disposed on the inner ring of the rigid wheel; The flexible wheel includes a first component and a second component that are connected to each other. The first component extends along the axial direction of the rigid wheel and is disposed between the rigid wheel and the wave generator. The first component partially engages with the rigid wheel. The second component extends from the first component toward the central axis and forms a receiving cavity with the first component. The receiving cavity is located on the side of the second component closer to the wave generator. The second component has a clearance opening. A fixing component is disposed in the receiving cavity and connected to the housing through the clearance opening. The fixing component includes an annular member and a central shaft that are interconnected. The central shaft extends along the central axis, and the wave generator is rotatably connected to the central shaft about the central axis. The stator is disposed in the receiving cavity and connected to the annular component; A rotor is disposed in the receiving cavity and connected to the wave generator; A braking assembly is disposed in the receiving cavity. The braking assembly includes a stator structure and a mover structure. The stator structure is connected to the fixed assembly, and the mover structure is connected to the wave generator. The stator structure is capable of applying braking force to the mover structure.

2. The joint module according to claim 1, characterized in that, The outer surface of the annular member is in at least partial contact with the inner surface of the first component; and / or The stator is connected to the inner side of the annular component; and / or, The rotor is connected to the outer surface of the wave generator; and / or, The moving part structure is connected to the end face of the wave generator near the second component.

3. The joint module according to claim 1, characterized in that, The rotor includes: A magnetic component is attached to the outer surface of the wave generator.

4. The joint module according to claim 1, characterized in that, The housing includes: The main body is connected to the fixing component; A first bearing portion is connected to the main body portion, and the first bearing portion has a first annular raceway extending circumferentially along the first bearing portion; The rigid wheel includes: The meshing part partially meshes with the first component part; The second bearing portion is connected to the meshing portion. The second bearing portion has a second annular raceway extending circumferentially along the second bearing portion. The second annular raceway and the first annular raceway together form an annular rolling space. The joint module also includes: Multiple rollers are arranged circumferentially in the annular rolling space along the first bearing portion.

5. The joint module according to any one of claims 1 to 4, characterized in that, Also includes: At least one strain gauge is attached to the second component, the strain gauge being configured to detect stress on the second component.

6. The joint module according to claim 5, characterized in that, The strain gauges are multiple, and the multiple strain gauges are evenly distributed circumferentially along the central axis.

7. The joint module according to claim 5, characterized in that, Also includes: The drive board is connected to the housing; The first cable electrically connects the stator and the drive board; The second cable electrically connects the stator structure to the drive board; A strain acquisition plate is connected to the housing. The third cable electrically connects the strain gauge to the strain acquisition board. The fourth cable electrically connects the strain acquisition board to the drive board.

8. The joint module according to claim 7, characterized in that, The end of the housing away from the rigid wheel includes an extension extending radially along the rigid wheel. The extension has a first wiring hole and a second wiring hole. The strain gauge is attached to the side of the second component near the extension. The annular member has a third wiring hole. The second component has a fourth wiring hole. The third wiring hole, the fourth wiring hole, and the second wiring hole are connected in sequence. The drive plate is connected to the side of the extension away from the second constituent part, and the strain acquisition plate is connected to the side of the extension close to the second constituent part. The first end of the first cable is electrically connected to the stator, and the second end of the first cable passes through the third wiring hole, the fourth wiring hole and the second wiring hole in sequence, and is electrically connected to the drive board; The first end of the second cable is electrically connected to the stator structure, and the second end of the second cable passes through the third wiring hole, the fourth wiring hole and the second wiring hole in sequence, and is electrically connected to the drive board. The first end of the third cable is electrically connected to the strain gauge, and the second end of the third cable is electrically connected to the strain acquisition board. The first end of the fourth cable is electrically connected to the strain acquisition board, and the second end of the fourth cable passes through the first wiring hole and is electrically connected to the drive board.

9. The joint module according to claim 7, characterized in that, Also includes: The first code disk is connected to the wave generator; The second code wheel is connected to the rigid wheel; The encoder acquisition board is connected to the end face of the central shaft away from the second component and is located between the first code disk and the second code disk; A first encoder is disposed on the encoder acquisition board and is configured to determine the rotation position of the wave generator by means of the first code disk. The second encoder is disposed on the encoder acquisition board and is configured to determine the rotation position of the rigid wheel through the second code disk.

10. The joint module according to claim 9, characterized in that, Also includes: An output component is connected to the rigid wheel and located on the end face of the rigid wheel away from the housing, wherein the second code disk is disposed on the side of the output component near the encoder acquisition board; A connector is connected to the wave generator, wherein the first code disk is disposed on the connector.

11. The joint module according to claim 9, characterized in that, The central shaft has a through hole extending along the central axis, and the joint module further includes: The fifth cable has its first end connected to the encoder acquisition board and its second end passing through the through hole and connected to the drive board.

12. A robot, characterized in that, include: The joint module according to any one of claims 1 to 11.

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