Joint module and robot

Abstract

The invention provides a joint module and a robot, and relates to the field of robots, and the joint module at least comprises an output shaft, a first bearing, a second bearing, a harmonic reducer, a driving plate and a bearing shaft sleeve. The first bearing is sleeved outside the output shaft and is close to the power output end of the output shaft. And the third bearing sleeves the output shaft and is far away from the power output end of the output shaft. The two ends of a wave generator of the harmonic reducer are rotationally connected outside the output shaft in a sleeving mode through a first bearing and a third bearing correspondingly. The driving plate surrounds the output shaft and is provided with a mounting hole for the output shaft to penetrate through. The bearing shaft sleeve penetrates through the mounting hole, is connected outside the output shaft in a sleeving mode and abuts against the inner ring of the third bearing. The bearing shaft sleeve is located on the side, facing the power output end, of the driving plate. In the axial direction of the output shaft, the harmonic reducer, the brake assembly, the frameless motor assembly, the encoder assembly and the bearing shaft sleeve of the joint module surround the output shaft and are located in the axial area between the first bearing and the driving plate.

Description

Technical Field

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

[0002] With the development of robot technology, especially humanoid robots, the performance requirements for the core component - joint module in current robot technology are also gradually increasing. Traditional robot joint modules also have a structure that integrates components such as motors, brakes, and encoders based on reducers, but their assembly method is also to axially stack and integrate the main components, showing the characteristic of a relatively long axial length, and the reducer itself has a relatively large radial dimension, and the volume of the entire module is also large. Currently, for small robots that are being increasingly used around production lines and equipment, especially collaborative robots and mobile robots that need to cooperate with people to complete complex operations, there are strict requirements for small size and light weight. Therefore, reducing the volume and mass of robot joint modules has become extremely important; while the above-mentioned traditional robot joint modules are increasingly difficult to meet the application requirements of miniaturization. Summary of the Invention

[0003] The purpose of the present invention is to provide a joint module and a robot, aiming to reduce the axial dimension of the joint module.

[0004] In a first aspect, an embodiment of the present invention provides a joint module (100), including: An output member (1), the output member (1) includes an output shaft (1-1), the output shaft (1-1) is used to output power, and one end of the output shaft (1-1) for outputting power is a power output end (1-1-1); A first bearing (4-1), sleeved outside the output shaft (1-1) and close to the power output end (1-1-1); A third bearing (4-3), sleeved outside the output shaft (1-1) and far from the power output end (1-1-1); A harmonic reducer (3), the harmonic reducer (3) includes a wave generator (3-1), and both ends of the wave generator (3-1) are rotatably sleeved outside the output shaft (1-1) via the first bearing (4-1) and the third bearing (4-3) respectively; A drive plate (9), surrounding the output shaft (1-1) and having a mounting hole (9-1) for the output shaft (1-1) to pass through; and A bearing bushing (8), passing through the mounting hole (9-1) and sleeved outside the output shaft (1-1), and abutting against the inner ring of the third bearing (4-3), the bearing bushing (8) is located on the side of the drive plate (9) facing the power output end (1-1-1); Among them, along the axial direction of the output shaft (1-1), the positions of the harmonic reducer (3), the brake assembly (5), the frameless motor assembly (6), the encoder assembly (7) and the bearing bushing (8) of the joint module (100) all surround the outside of the output shaft (1-1), and are all located in the axial region between the first bearing (4-1) and the drive plate (9).

[0005] In some embodiments, one side of the wave generator (3-1) facing the power output end (1-1-1) is connected to the flexspline (3-3) of the harmonic reducer (3) via a flexible bearing (3-2) sleeved outside the wave generator (3-1), wherein the flexible bearing (3-2) is aligned with the first bearing (4-1) along the radial direction of the output shaft (1-1).

[0006] In some embodiments, the brake assembly (5) includes a brake stator (5-2), a brake stator fixing member (5-1), a brake rotor (5-3) and a brake rotor fixing member (5-4). The brake stator (5-2) is fixed to the brake stator fixing member (5-1), the brake rotor (5-3) is fixed to the brake rotor fixing member (5-4), and the brake rotor fixing member (5-4) is fixedly connected to the wave generator (3-1); the joint module (100) further includes a second bearing (4-2), the second bearing (4-2) is sleeved outside the wave generator (3-1), and the second bearing (4-2) is located between the first bearing (4-1) and the third bearing (4-3). One end of the brake stator fixing member (5-1) facing the power output end (1-1-1) is sleeved outside the second bearing (4-2), and one end of the brake stator fixing member (5-1) facing away from the power output end (1-1-1) is fixedly connected to the stator housing (6-1) of the frameless motor assembly (6); Among them, part or all of the brake stator (5-2) and the brake stator fixing member (5-1) are received in the internal space area of the flexspline (3-3) facing the output shaft (1-1).

[0007] In some embodiments, the frameless motor assembly (6) further includes a frameless motor stator (6-2), a frameless motor rotor (6-3) and a rotor fixing member (6-4). The frameless motor stator (6-2) is fixed to the stator housing (6-1), the frameless motor rotor (6-3) is fixed to the rotor fixing member (6-4), and the rotor fixing member (6-4) is sleeved outside the third bearing (4-3); Among them, part or all of the brake rotor (5-3) and the brake rotor fixing member (5-4) are received in the first relief space (6-4-1) defined by the rotor fixing member (6-4); along the radial direction of the output shaft (1-1), the outer edge of the brake rotor (5-3) is aligned with the outer edge of the stator housing (6-1).

[0008] In some embodiments, the encoder assembly (7) includes an encoder stator fixing member (7-1), an encoder stator (7-2), and an encoder rotor (7-3). The encoder stator fixing member (7-1) is fixedly connected to the rear end face of the frameless motor stator housing (6-1), the encoder stator (7-2) is fixedly connected to the encoder stator fixing member (7-1), and the encoder rotor (7-3) is fixedly connected to the frameless motor rotor fixing member (6-4). Among them, the encoder stator (7-2) and the encoder rotor (7-3) are disposed inside and received in the second relief space (6-4-2) defined by the rotor fixing member (6-4).

[0009] In some embodiments, one side of the encoder stator fixing member (7-1) extending towards the output shaft (1-1) has a curved plate section 7-1-1, and the curved plate section 7-1-1 is inclined towards the inner ring area of the frameless motor stator (6-2), and the encoder stator (7-2) is fixed to the end of the curved plate section 7-1-1.

[0010] In some embodiments, the output member (1) further includes an output flange (1-2), and the output flange (1-2) is fixedly connected to one side of the power output end (1-1-1) of the output shaft (1-1).

[0011] In some embodiments, a first stop step (1-2-2) for abutting against the inner ring of the first bearing (4-1) is formed on the output flange (1-2).

[0012] In some embodiments, a second stop step for abutting against the inner ring of the first bearing (4-1) is formed on the output shaft (1-1).

[0013] In a second aspect, an embodiment of the present invention further provides a robot, including the above-mentioned joint module (100).

[0014] In the joint module (100) provided in this embodiment, by compactly arranging the positions of the various components of the joint module (100), specifically, most components are restricted within the axial region between the first bearing (4-1) and the drive plate (9). Compared with the existing joint modules, this layout design of this embodiment can effectively reduce the axial dimension of the joint module (100). Description of the Drawings

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 It is a three-dimensional external view schematic diagram of a joint module provided in an embodiment of the present invention; Figure 2 For Figure 1 It is an exploded schematic diagram of the middle joint module; Figure 3 For Figure 1 It is a rotational cross-sectional view of the middle joint module along its axis; Figure 4 For Figure 1 It is a longitudinal cross-sectional view of the middle joint module along its axis.

[0017] Icon: 100, joint module; 1, output member; 1-1, output shaft; 1-1-1, power output end; 1-2, output flange; 1-2-1, flanging; 1-2-2, first stop step; 2, bearing pressure plate; 3, harmonic reducer; 3-1, wave generator; 3-2, flexible bearing; 3-3, flexspline; 3-4, circular spline; 3-5, crossed roller bearing on the circular spline side; 3-6: crossed roller bearing on the flexspline side; 4, bearing group; 4-1, first bearing; 4-2, second bearing; 4-3, third bearing; 5, brake assembly; 5-1, brake stator fixing part; 5-2, brake stator; 5-3, brake rotor; 5-4, brake rotor fixing part; 6, frameless motor assembly; 6-1, frameless motor stator housing; 6-2, frameless motor stator; 6-3, frameless motor rotor; 6-4, frameless motor rotor fixing part; 6-4-1, first relief space; 6-4-2, second relief space; 7, encoder assembly; 7-1, encoder stator fixing part; 7-2, encoder stator; 7-3, encoder rotor; 8, bearing bushing; 9, drive plate; 10, rear cover plate. Specific embodiments

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0019] Accordingly, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0020] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0021] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is customarily placed during use. It is 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 therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0022] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0023] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can 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 situations.

[0024] Please refer to Figures 1 to 4 , this embodiment provides a joint module 100, which can be used in a robot, especially a humanoid robot. The joint module 100 includes: an output member 1, a bearing pressure plate 2, a harmonic reducer 3, a bearing group 4, a brake assembly 5, a frameless motor assembly 6, an encoder assembly 7, a bearing bushing 8, a drive plate 9, and a rear cover 10.

[0025] The composition of the above components will be described below: Among them, the output component 1 includes an output shaft 1-1 and an output flange 1-2 fixedly connected thereto. The output flange 1-2 can be fixedly connected to the output shaft 1-1 via interference fit or by screws. One end of the output shaft 1-1 for outputting power (i.e., the end connected to the output flange 1-2) is the power output end 1-1-1.

[0026] The output flange 1-2 can be connected to an external actuator or load by screws. When the joint module 100 is applied to a robot, the actuator or load can be, for example, components of the robot such as a robotic arm, a neck, etc. In this embodiment, since the output component 1 can be at least disassembled into two parts, namely the output shaft 1-1 and the output flange 1-2, processing waste can be reduced and processing costs can be lowered. Among them, the output shaft 1-1 is in a hollow form, reducing the weight while the hollow structure inside can be used as a wire routing channel for the robot to avoid rotational winding during movement.

[0027] The harmonic reducer 3 includes a wave generator 3-1, a flexible bearing 3-2, a flexspline 3-3, a circular spline 3-4, and a crossed roller bearing. The crossed roller bearing includes a crossed roller bearing circular spline side 3-5, a crossed roller bearing flexspline side 3-6, and crossed rollers (not shown in the figure) embedded between the crossed roller bearing circular spline side 3-5 and the crossed roller bearing flexspline side 3-6. It should be noted that the so-called "crossed roller bearing circular spline side 3-5" herein refers to the part for fixedly connecting to the circular spline 3-4, and the "crossed roller bearing flexspline side 3-6" refers to the part for fixedly connecting to the flexspline 3-3.

[0028] The bearing group 4 includes a first bearing 4-1, a second bearing 4-2, and a third bearing 4-3. Since these three bearings support the operation of the joint module 100, the overall operation of the module is smoother and the rotational stiffness is greater.

[0029] The brake assembly 5 is an electromagnetic brake. The brake assembly 5 includes a brake stator fixing member 5-1, a brake stator 5-2, a brake rotor 5-3, and a brake rotor fixing member assembly 5-4. For example, the electromagnetic brake can achieve the braking function by the armature of the brake stator 5-2 adsorbing or releasing the friction plate of the brake rotor 5-3. The specific structure can refer to the working principle of existing permanent magnet brakes and will not be elaborated here.

[0030] The frameless motor assembly 6 includes a frameless motor stator housing 6-1, a frameless motor stator 6-2, a frameless motor rotor 6-3, and a frameless motor rotor fixing member 6-4.

[0031] The encoder assembly 7 includes an encoder stator fixing member 7-1, an encoder stator 7-2, and an encoder rotor 7-3.

[0032] The joint module 100 further includes a bearing bushing 8, a drive plate 9, and a rear cover 10.

[0033] The mating relationships of the above components are described as follows: The following uses the frameless motor stator housing 6-1 of the frameless motor assembly 6 as the reference for the positions of the components of the joint module 100 to describe the positions and connection relationships of the components.

[0034] The frameless motor stator 6-2 can be fixedly connected to the inner wall surface of the frameless motor stator housing 6-1 by bonding.

[0035] The frameless motor rotor 6-3 is arranged inside the frameless motor stator 6-2 and is coaxial with the frameless motor stator 6-2, and there is a gap between them. The frameless motor rotor 6-3 can be fixedly connected to the frameless motor rotor fixing member 6-4 by bonding, and the encoder rotor 7-3 can be fixed to the frameless motor rotor fixing member 6-4 by set screws.

[0036] The wave generator 3-1 is sleeved outside the output shaft 1-1, and there is a gap between it and the output shaft 1-1 and it can rotate relative to the output shaft 1-1. One side of the frameless motor rotor fixing member 6-4 facing the output shaft 1-1 (i.e., the inner side of the frameless motor rotor fixing member 6-4) fixedly connects one end of the wave generator 3-1 away from the output flange 1-2 and the outer ring of the third bearing 4-3. The inner ring of the third bearing 4-3 is fixedly sleeved outside the output shaft 1-1, and the inner ring of the third bearing 4-3 is held and fixed by the bearing sleeve 8 also sleeved outside the output shaft 1-1.

[0037] The encoder stator 7-2, the drive board 9 and the rear cover 10 are all fixedly connected to the encoder stator fixing member 7-1, and the encoder stator fixing member 7-1 is fixedly connected to the rear end face of the frameless motor stator housing 6-1 (the so-called rear end face of the frameless motor stator housing 6-1 is the side of the frameless motor stator housing 6-1 facing away from the output flange 1-2).

[0038] The drive board 9 is located in the cavity between the rear cover 10 and the encoder stator fixing member 7-1, and the drive board 9 is integrally covered by the rear cover 10.

[0039] The drive board 9 has a mounting hole 9-1 for the output shaft 1-1 to pass through. The drive board 9 surrounds the output shaft 1-1. It should be emphasized that in this embodiment, the bearing sleeve 8 is partially or wholly located in the mounting hole 9-1 and is positioned on the side of the drive board 9 facing away from the rear cover 10. In this way, the axial length of the joint module 100 can be effectively reduced.

[0040] One end of the wave generator 3-1 facing the output flange 1-2 is sleeved on the outer ring of the first bearing 4-1. In this embodiment, the inner ring of the first bearing 4-1 is indirectly sleeved on the output shaft 1-1 by sleeving on the flange 1-2-1 of the output flange 1-2. A first stop step 1-2-2 for abutting against the inner ring of the first bearing 4-1 is formed on the output flange 1-2. In other embodiments, the inner ring of the first bearing 4-1 is directly sleeved on the output shaft 1-1, and a second stop step for abutting against the inner ring of the first bearing 4-1 is formed on the output shaft 1-1. In contrast, adopting the structure in this embodiment where the inner ring of the first bearing 4-1 is indirectly sleeved on the output shaft 1-1 by sleeving on the flange 1-2-1 of the output flange 1-2 can improve the installation firmness of the output flange.

[0041] One end of the wave generator 3-1 facing the output flange 1-2 is rotationally connected to the first end of the flexspline 3-3 (the so-called first end of the flexspline 3-3 is the end facing the output flange 1-2) via a flexible bearing 3-2 sleeved on its outer side. The second end of the flexspline 3-3 (the so-called second end of the flexspline 3-3 is the end away from the output flange 1-2) is fixedly connected to the brake stator fixing member 5-1 and the frameless motor stator housing 6-1 by screws. That is to say, in this embodiment, the flexspline 3-3 is fixed and does not rotate with the wave generator 3-1. The flexspline 3-3 is arranged inside the ring gear 3-4. After the flexible bearing 3-2 passes through the teeth meshing of the flexspline 3-3 and the ring gear 3-4, since the flexspline 3-3 is a fixed member and the ring gear 3-4 is not fixed, the ring gear 3-4 rotates at a low speed as a decelerated part, so that the ring gear 3-4 outputs a large torque. Among them, along the radial direction, the flexible bearing 3-2 is sleeved outside the wave generator 3-1 and is aligned with the first bearing 4-1 in the radial direction. That is to say, the first bearing 4-1 and the flexible bearing 3-2 are arranged with inner and outer rings. Compared with the traditional axial left-right arrangement, the joint module 100 provided in this embodiment can greatly reduce the axial arrangement size.

[0042] The second bearing 4-2, the brake stator fixing member 5-1 and the brake stator 5-2 are arranged in the space between the flexspline 3-3 and the wave generator 3-1. Specifically, the inner ring of the second bearing 4-2 is fixedly sleeved outside the wave generator 3-1. One end of the brake stator fixing member 5-1 facing the output flange 1-2 is fixedly sleeved outside the outer ring of the second bearing 4-2. One end of the brake stator fixing member 5-1 away from the output flange 1-2 is fixedly connected to the flexspline 3-3 and the frameless motor stator housing 6-1 respectively, and the brake stator 5-2 is also fixedly connected to the brake stator fixing member 5-1. The joint module 100 in this embodiment adopts this configuration, which greatly utilizes the inner space of the flexspline and reduces the axial dimension compared with the traditional brake layout scheme.

[0043] The brake rotor 5-3 is fixedly connected to the brake rotor fixing member 5-4, and the brake rotor fixing member 5-4 is fixedly connected to the wave generator 3-1. For example, the brake rotor fixing member 5-4 can be fixed to the wave generator 3-1 by a set screw, so that the brake rotor 5-3 will rotate synchronously with the wave generator 3-1. In this embodiment, part or all of the brake rotor 5-3 and the brake rotor fixing member 5-4 are received in the first relief space 6-4-1 defined by the rotor fixing member 6-4, and the brake rotor 5-3 is aligned with the outer edge of the frameless motor stator 6-2 in the radial direction.

[0044] In addition, the encoder rotor 7-3 of the encoder assembly 7 is substantially received in the second relief space 6-4-2 on the other side defined by the rotor fixing member 6-4. And on the side where the encoder stator fixing member 7-1 extends towards the output shaft 1-1, there is a curved plate section 7-1-1, and the curved plate section 7-1-1 is inclined towards the inner ring area of the frameless motor stator 6-2, and the encoder stator 7-2 is fixed to the end of the curved plate section 7-1-1. Such an arrangement can make both the encoder stator 7-2 and the encoder rotor 7-3 positioned in the internal space directly below the frameless motor stator 6-2. In this way, to a certain extent, the annular space defined between the frameless motor stator 6-2 and the frameless motor rotor fixing member 6-4 is utilized, and the axial dimension of the joint module 100 can be effectively reduced.

[0045] In addition, the specific configuration relationship of the crossed roller bearing with the crossed roller bearing steel wheel side 3-5 and the crossed roller bearing flexspline side 3-6 is as follows. The output flange 1-2 is fixedly connected to the steel wheel 3-4 and the crossed roller bearing steel wheel side 3-5 by screws, while the flexspline 3-3 and the crossed roller bearing flexspline side 3-6 are fixedly connected to the brake stator fixing member 5-1 and the frameless motor stator housing 6-1 by screws, and the crossed roller bearing steel wheel side 3-5 and the crossed roller bearing flexspline side 3-6 are rotationally matched through the crossed rollers between them. Although the first bearing 4-1, the second bearing 4-2, and the third bearing 4-3 that make up the bearing group 4 can all be deep groove ball bearings, however, due to the action of the crossed roller bearing, the axial forces received by the output shaft 1-1 can all be borne by the crossed roller bearing. In this way, it is beneficial to the smoothness of the power output of the output shaft 1-1.

[0046] In addition, the bearing retainer 2 can be fastened to the wave generator 3-1 by screws, and the bearing retainer 2 abuts against the outer ring of the first bearing 4-1 and the inner ring of the flexible bearing 3-2 respectively, thereby realizing the positioning of the outer ring of the first bearing 4-1 and the inner ring of the flexible bearing 3-2.

[0047] In addition, the outer surfaces of the frameless motor stator housing 6-1, the encoder stator fixing member 7-1, the rear cover 10, and the crossed roller bearing flexspline side 3-6 are all flush, so that the outer shape of the joint module 100 is a cylindrical structure.

[0048] Among the above components, some are "fixed components". The so-called "fixed components" do not rotate when the output shaft 1-1 of the joint module 100 rotates. The so-called "fixed components" include the flexspline 3-3, the crossed roller bearing flexspline side 3-6, the brake stator fixing part 5-1, the brake stator 5-2, the frameless motor stator housing 6-1, the frameless motor stator 6-2, the encoder stator fixing part 7-1, the encoder stator 7-2, the drive board 9, and the rear cover 10.

[0049] Among the above components, some are "slow rotating components". The so-called "slow rotating components" are rotating components after being decelerated by a speed reducer. The characteristic of these rotating components is that they also rotate synchronously when the output shaft 1-1 of the joint module 100 rotates. For example, it may include the output shaft 1-1, the output flange 1-2, the steel wheel 3-4, the crossed roller bearing steel wheel side 3-5, and the bearing sleeve 8.

[0050] Among the above components, some are "high-speed rotating components". The so-called "high-speed rotating components" are rotating components before being decelerated by a speed reducer. The characteristic of these rotating components is that they also rotate when the output shaft 1-1 of the joint module 100 rotates, but their rotation speed is much higher than that of the output shaft 1-1. For example, it may include the bearing pressure plate 2, the wave generator 3-1, the brake rotor 5-3, the brake rotor fixing part 5-4, the encoder rotor 7-3, the frameless motor rotor 6-3, and the frameless motor rotor fixing part 6-4.

[0051] In the joint module 100 provided in this embodiment, when viewed axially along the output shaft 1-1, the positions of the frameless motor assembly 6, the brake assembly 5, the encoder assembly 7, and the harmonic speed reducer 3 are all surrounded outside the output shaft 1-1 and are all limited to the area between the bearing sleeve 8 and the first bearing 4-1. Arranging the positions of the above components in this way can effectively reduce the axial dimension of the joint module 100 as a whole, and then provide a compact joint module 100 for selection and use.

[0052] The working process of the joint module 100 provided in this embodiment is as follows: After the joint module 100 is powered on, the frameless motor rotor 6-3 rotates at high speed, driving the frameless motor rotor fixing part 6-4 bonded to it to rotate at high speed. Furthermore, it drives the wave generator 3-1 fixedly connected to the frameless motor rotor fixing part 6-4 to rotate at high speed. The wave generator 3-1 then drives the flexible bearing 3-2 cooperating with it to rotate at high speed. It should be emphasized that in this embodiment, the flexspline 3-3 is fixed while the circular spline 3-4 is not fixed. After the flexible bearing 3-2 meshes with the teeth of the flexspline 3-3 and the circular spline 3-4, since the flexspline 3-3 is a fixed part, the circular spline 3-4 rotates at a low speed as a part after deceleration, enabling the circular spline 3-4 to output a large torque. Thus, the circular spline 3-4 transmits its torque to the output flange 1-2 fixedly connected to it. Finally, the output flange 1-2 drives the actuator or load connected to it to perform low-speed and high-torque motion.

[0053] It should be understood that in other embodiments, the flexspline 3-3 is not fixed while the circular spline 3-4 is fixed, and the flexspline 3-3 rotates at a low speed as a part after deceleration to output power.

[0054] It should be emphasized that in this embodiment, the first bearing 4-1 and the third bearing 4-3 respectively serve as the supports for the low-speed rotating part and the high-speed rotating part, and the second bearing 4-2 serves as the support for the high-speed rotating part and the fixed part, all of which are used to support the wave generator 3-1 to ensure the stability of the module motion.

[0055] In the joint module 100 provided in this embodiment, its axial dimension is minimized to the greatest extent, providing a better choice for the layout of the robot. To reduce the axial dimension of the joint module 100, the joint module 100 provided in this embodiment compresses the dimensions of multiple modules therein, and gives a reasonable solution for reducing the axial dimension from multiple aspects such as component selection, layout, and structural design.

[0056] It should be noted that in the component selection of the joint module 100 provided in this embodiment, parts with relatively small axial dimensions are preferably selected under the condition of meeting the requirements. For example, in the component selection of the frameless motor, the axial dimension is reduced by increasing the radial dimension.

[0057] In addition, in the layout of the joint module 100 provided in this embodiment, multiple modules are used to compress the axial dimension. For example, the first bearing 4-1 and the flexible bearing 3-2 are arranged in an inner and outer ring layout. Compared with the traditional axial left-right layout of the joint module 100, only by reducing part of the hollow dimension can the axial layout dimension be greatly reduced.

[0058] In addition, for another example, the whole of the second bearing 4-2 and part of the brake stator 5-2 are built into the flexspline 3-3, which greatly utilizes the internal space of the flexspline compared with the traditional brake layout scheme and reduces the axial dimension.

[0059] In addition, components such as the brake rotor fixing part 5-4, the encoder stator 7-2 and the encoder rotor 7-3 are built into the frameless motor assembly 6, which also makes use of the annular space in the middle of the frameless motor assembly 6 to a certain extent, reducing the overall axial dimension of the joint module 100.

[0060] In addition, the drive plate 9 is a hollow circular ring with a relatively large inner hollow diameter, which can make full use of the axial space of the bearing bushing 8 and further compress the overall axial dimension of the joint module 100.

[0061] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A joint module (100), characterized in that, Comprising: An output member (1), the output member (1) includes an output shaft (1-1), the output shaft (1-1) is used for outputting power, and one end of the output shaft (1-1) for outputting power is a power output end (1-1-1); A first bearing (4-1), sleeved outside the output shaft (1-1) and close to the power output end (1-1-1); A third bearing (4-3), sleeved outside the output shaft (1-1) and far from the power output end (1-1-1); A harmonic reducer (3), the harmonic reducer (3) includes a wave generator (3-1), and both ends of the wave generator (3-1) are rotatably sleeved outside the output shaft (1-1) via the first bearing (4-1) and the third bearing (4-3) respectively; A drive plate (9), surrounding the output shaft (1-1) and having a mounting hole (9-1) for the output shaft (1-1) to pass through; and A bearing bushing (8), passing through the mounting hole (9-1), sleeved outside the output shaft (1-1), and abutting against the inner ring of the third bearing (4-3), the bearing bushing (8) is located on the side of the drive plate (9) facing the power output end (1-1-1); Wherein, along the axial direction of the output shaft (1-1), the positions of the harmonic reducer (3), the brake assembly (5), the frameless motor assembly (6), the encoder assembly (7) and the bearing bushing (8) of the joint module (100) all surround the outside of the output shaft (1-1) and are all positioned in the axial region between the first bearing (4-1) and the drive plate (9).

2. The joint module (100) according to claim 1, characterized in that, One side of the wave generator (3-1) facing the power output end (1-1-1) is connected to the flexspline (3-3) of the harmonic reducer (3) via a flexible bearing (3-2) sleeved outside the wave generator (3-1), wherein the flexible bearing (3-2) is aligned with the first bearing (4-1) along the radial direction of the output shaft (1-1).

3. The joint module (100) according to claim 2, wherein, The brake assembly (5) includes a brake stator (5-2), a brake stator fixing member (5-1), a brake rotor (5-3) and a brake rotor fixing member (5-4), the brake stator (5-2) is fixed to the brake stator fixing member (5-1), the brake rotor (5-3) is fixed to the brake rotor fixing member (5-4), and the brake rotor fixing member (5-4) is fixedly connected to the wave generator (3-1); The joint module (100) further includes a second bearing (4-2), the second bearing (4-2) being sleeved outside the wave generator (3-1), and the second bearing (4-2) being located between the first bearing (4-1) and the third bearing (4-3), the brake stator fixing member (5-1) having one end facing the power output end (1-1-1) being sleeved outside the second bearing (4-2), and the brake stator fixing member (5-1) having one end facing away from the power output end (1-1-1) being fixedly connected to the stator housing (6-1) of the frameless motor assembly (6); wherein the brake stator (5-2) and the brake stator fixing member (5-1) are partially or completely accommodated in an internal space area of the flexible wheel (3-3) facing the output shaft (1-1).

4. The joint module (100) according to claim 3, wherein, The frameless motor assembly (6) further comprises a frameless motor stator (6-2), a frameless motor rotor (6-3) and a rotor fixing member (6-4); the frameless motor stator (6-2) is fixed to the stator housing (6-1); the frameless motor rotor (6-3) is fixed to the rotor fixing member (6-4); and the rotor fixing member (6-4) is sleeved outside the third bearing (4-3); The brake rotor (5-3) and the brake rotor fixing member (5-4) are partially or completely accommodated in a first clearance space (6-4-1) defined by the rotor fixing member (6-4); along the radial direction of the output shaft (1-1), the outer edge of the brake rotor (5-3) is aligned with the outer edge of the stator housing (6-1).

5. The joint module (100) according to claim 4, wherein, The encoder assembly (7) comprises an encoder stator fixing member (7-1), an encoder stator (7-2) and an encoder rotor (7-3), wherein the encoder stator fixing member (7-1) is fixedly connected to the rear end surface of the frameless motor stator housing (6-1), the encoder stator (7-2) is fixedly connected to the encoder stator fixing member (7-1), and the encoder rotor (7-3) is fixedly connected to the frameless motor rotor fixing member (6-4), wherein the encoder stator (7-2) and the encoder rotor (7-3) are built into a second clearance space (6-4-2) defined and accommodated by the rotor fixing member (6-4).

6. The joint module (100) according to claim 5, characterized in that, The encoder stator fixing piece (7-1) has a curved plate section (7-1-1) on one side extending toward the output shaft (1-1), the curved plate section (7-1-1) being inclined toward the inner ring area of the frameless motor stator (6-2), and the encoder stator (7-2) being fixed to the end of the curved plate section (7-1-1).

7. The joint module (100) according to claim 1, characterized in that, The output component (1) further comprises an output flange (1-2), and the output flange (1-2) is fixedly connected to one side of the power output end (1-1-1) of the output shaft (1-1).

8. The joint module (100) according to claim 7, characterized in that, A first stop step (1-2-2) for abutting against the inner ring of the first bearing (4-1) is formed on the output flange (1-2).

9. The joint module (100) according to claim 1, characterized in that, A second stop step for abutting against the inner ring of the first bearing (4-1) is formed on the output shaft (1-1).

10. A robot, characterized in that, Comprising the joint module (100) according to any one of claims 1-9.

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