Joint module and robot three-joint assembly

Abstract

The invention belongs to the technical field of robot moving parts, and particularly relates to a joint module and a robot three-joint assembly. The joint module comprises a machine shell assembly (1), a hollow shaft (2) and an adapter plate (4). When the motor (7) in the machine shell assembly (1) drives the speed reducer to work, the speed reducer drives the hollow shaft (2) to rotate, and movement of the joint is achieved. Meanwhile, the encoder monitors the rotation angle of the hollow shaft (2) in real time and feeds back the rotation angle to the control system. And a power cable (46) and a communication cable for supplying the next joint module are accommodated in the rotating hollow shaft (2). By means of the design, the technical problems that external wiring of a traditional robot joint is disordered, and a cable is prone to interference with the outside, abrasion and even pull-apart when the joint moves are fundamentally solved. The appearance of a mechanical arm or a robot limb formed by connecting a plurality of joint modules in series is extremely simple, the movement reliability is greatly enhanced, and the assembly and maintenance difficulty is also greatly simplified.

Description

Technical Field

[0001] This invention belongs to the field of robot motion component technology, specifically relating to a joint module and a robot three-joint assembly. Background Art

[0002] With the rapid development of robotics technology, various types of robots, such as quadruped robots and collaborative robotic arms, are increasingly widely used in industrial production, household services, and scientific research. As the core driving component for robot limb movement, the joint module's compact structure, motion reliability, and wiring rationality directly determine the robot's overall performance.

[0003] In existing technologies, robot joint modules typically consist of motors, reducers, housings, and electrical control components. To achieve multi-joint sequential motion, adjacent joint modules require power transmission and signal exchange via power cables and communication cables. However, traditional joint module wiring methods have several drawbacks: Firstly, cables are mostly exposed outside the joint, and during reciprocating motion, they are prone to friction, entanglement, or pulling with the housing and other components. This can lead to wear on the cable insulation layer, causing electrical faults, and may also restrict the joint's range of motion due to cable interference, severely affecting the robot's operational reliability. Secondly, external wiring makes the overall structure of the joint module cluttered, which is detrimental to the robot's industrial design aesthetics, increases the difficulty of cable management during assembly, and reduces production efficiency.

[0004] Therefore, in response to the problems of messy wiring, high risk of cable interference, low structural integration and complicated assembly of multiple joints in existing robot joint modules, it has become an urgent technical problem for those skilled in the art to develop a joint module and robot three-joint assembly that is compact in structure, simple in wiring, reliable in motion and easy to modularly connect. Summary of the Invention

[0005] In view of this, the present invention proposes a joint module and a robot three-joint assembly with a compact structure and simple wiring.

[0006] In a first aspect, the present invention provides a joint module comprising a housing assembly, a hollow shaft, and an adapter plate. The housing assembly includes a back plate located at one axial end, and a motor and a reducer assembly are axially arranged and mounted inside the housing assembly, with the motor located close to the back plate. One end of the hollow shaft is connected to the output end of the reducer assembly, and the other end extends along the axis of the housing assembly, passing through the motor to the back plate. The hollow shaft is configured such that an encoder rotor disk is connected to the outer wall of the end near the back plate. The adapter plate is mounted on the outer side of the back plate, and its outer side is provided with a set of power output terminals and a set of signal output terminals. The power cables connected to the power output terminals and the communication cables connected to the signal output terminals both extend into and exit through the hollow shaft.

[0007] In a preferred embodiment of the joint module provided in this example, the adapter board is provided with a set of power input terminals and a set of power interfaces. The power output terminals and the power interfaces are both electrically connected to the power input terminals. The power interfaces are configured to supply power to the joint module itself, and the power output terminals are used to supply power to another adjacent joint module.

[0008] In a preferred embodiment of the joint module provided in this example, the joint module further includes a drive board disposed inside the housing assembly and located between the motor and the back plate; the wiring area of ​​the drive board faces the adapter plate through the mounting port of the back plate. A stud's nut is pressed onto the power interface, and the other end of the stud is connected to a power post on the drive board to electrically connect the adapter plate and the drive board.

[0009] In a preferred embodiment of the joint module provided in this example, the adapter plate is further provided with a signal input terminal, and a signal cable is connected between the drive board and the adapter plate.

[0010] In a preferred embodiment of the joint module provided in this example, at least a portion of the inner wall of the hollow shaft is coated with grease to ensure smooth contact between the cable and the inner wall of the hollow shaft.

[0011] In a preferred embodiment of the joint module provided in this embodiment, the back plate is provided with a mounting opening, the back plate is provided with mounting steps around the mounting opening, and the adapter plate is placed on the mounting steps; there is at least one L-shaped pressure plate, the first arm of which is connected to the back plate, and the second arm is pressed against the adapter plate.

[0012] In a preferred embodiment of the joint module provided in this example, the reducer assembly is a two-stage planetary reducer assembly, and the hollow shaft is connected to the planet carrier on the output side of the two-stage planetary reducer assembly.

[0013] In a preferred embodiment of the joint module provided in this example, a connecting cap is formed at one end of the hollow shaft, and an annular mounting platform is provided on the outer side of the planetary carrier. The connecting cap and the annular mounting platform are connected by screws.

[0014] In a preferred embodiment of the joint module provided in this example, the motor includes an outer stator and an inner rotor, and the inner rotor has a hollow portion through which the hollow shaft passes.

[0015] Secondly, in a robot three-joint assembly provided by the present invention, the robot three-joint assembly includes a first joint module, a second joint module, and a third joint module. The second joint module is the joint module described in any embodiment of the first aspect. The power input terminal on the adapter plate of the second joint module is connected to the first joint module via a power cable, and the signal input terminal on its adapter plate is connected to the first joint module via a communication cable. The third joint module is connected to the power cable and the communication cable passing through the hollow shaft.

[0016] In the joint module and robot three-joint assembly provided by this invention, when the motor drives the reducer, the reducer drives the hollow shaft to rotate, realizing the movement of the joint. Simultaneously, the encoder monitors the rotation angle of the hollow shaft in real time and feeds it back to the control system. Furthermore, the power cables and communication cables supplying the next joint module are housed inside the rotating hollow shaft, fundamentally solving the technical problems of messy external wiring in traditional robot joints, and the ease with which cables interfere with the external environment, wear, or even break during joint movement. This results in an extremely simple appearance for the robotic arm or robot limb formed by multiple joint modules connected in series, greatly enhanced motion reliability, and significantly simplified assembly and maintenance. Attached Figure Description

[0017] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which will make the above and other features and advantages of the present invention more apparent to those skilled in the art. In the drawings:

[0018] Figure 1 This is a schematic diagram of the installation structure of the robot's three-joint assembly in this embodiment.

[0019] Figure 2 This is a plan view showing the installation position of the robot's three-joint assembly in this embodiment.

[0020] Figure 3 This is a schematic diagram of the external structure of the joint module in this embodiment.

[0021] Figure 4 This is a schematic diagram of the internal structure of the joint module in this embodiment.

[0022] Figure 5 This is a schematic diagram of the adapter plate of the joint module in this embodiment.

[0023] Figure 6 This is a schematic diagram of the connection and cooperation between the adapter plate and the driver of the joint module in this embodiment.

[0024] Figure 7 This is a schematic diagram of the connection structure of the hollow shaft of the joint module in this embodiment.

[0025] Figure 8 This is a schematic diagram showing the positional relationship of the hollow shaft of the joint module passing through the planetary carrier in this embodiment.

[0026] Figure 9 This is a schematic diagram of the connection structure between the hollow shaft of the joint module and the motor in this embodiment.

[0027] The accompanying figure is labeled as follows:

[0028] 100 - Fuselage; 10 - First joint module; 20 - Second joint module; 30 - Third joint module; 40 - Thigh component; 50 - Lower leg component;

[0029] 1-Housing assembly; 11-Back panel; 111-Mounting port; 112-Mounting step; 113-Pressure plate;

[0030] 2-Hollow shaft; 21-Connecting cap;

[0031] 31-Rotor disc; 32-Stator disc;

[0032] 4-Adapter board; 41-Power output terminal; 42-Power input terminal; 43-Signal output terminal; 44-Signal input terminal; 45-Power interface; 46-Power cable;

[0033] 5-Driver board; 51-Stud; 52-Power supply post; 53-Signal cable;

[0034] 6-Planet Carrier;

[0035] 7-Motor; 71-Outer stator; 72-Inner rotor; 721-Shaft; 720-Hollow section. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the present invention clearer, the following embodiments are provided to further illustrate the present invention in detail.

[0037] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0038] Combination Figure 1 and Figure 2 The quadruped robot shown includes a body 100, a three-joint assembly, a thigh component 40, and a lower leg component 50. Two sets of three-joint assemblies (leg joint assemblies) are mounted on the front of the quadruped robot, and two other sets are mounted on the rear. The first joint module 10 of the three-joint assembly is located inside the body 100, while the second joint module 20 and the third joint module 30 are located on the outer sides of the body 100.

[0039] In this quadruped robot, the second joint module 20 is positioned adjacent to the first joint module 10, and the axis of the second joint module 20 is perpendicular to the axis of the first joint module 10. Furthermore, the outer shell of the second joint module 20 is connected to the power output section of the first joint module 10, enabling the first joint module 10 to drive the second joint module 20 to rotate as a whole.

[0040] The outer shell of the third joint module 30 is coaxially disposed on the power output side of the second joint module 20. The outer shell of the third joint module 30 is provided with a thigh connecting part for connecting the thigh component 40. The power output part of the third joint module 30 is configured to drive the lower leg component 50. For example, the power output part of the third joint module 30 can be connected to a linkage assembly to drive the lower leg component 50.

[0041] In the quadruped robot of this embodiment, when the first joint module 10 is working, it can drive the second joint module 20 and the third joint module 30 to rotate as a whole, thereby raising or lowering the hip. When the second joint module 20 is working, it can drive the third joint module 30 to rotate as a whole, thereby enabling the swinging of the thigh component 40. When the third joint module 30 is working, it can drive the lower leg component 50 to swing.

[0042] Combination Figure 2 The robot's three-joint assembly includes a first joint module 10, a second joint module 20, and a third joint module 30, which are mechanically connected in series to form the leg drive assembly of the quadruped robot. It should be noted that, although this embodiment uses... Figure 1 and Figure 2 The quadruped robot shown is used as an example for illustration; however, the three-joint assembly of this robot can also be used as part of other robot drive components such as robotic arms.

[0043] This embodiment uses Figures 2 to 9 The structure of the joint module shown is used to explain the second joint module 20.

[0044] The external main power and main communication cables are first connected to the first joint module 10. Then, the power cable 46 and communication cable from the first joint module 10 are respectively connected to the power input terminal 42 and signal input terminal 44 on the adapter plate 4 of the second joint module 20.

[0045] Next, the power cable 46 and communication cable for the third joint module 30 are connected to the power output terminal 41 and signal output terminal 43 of the second joint module 20, and pass through the hollow shaft 2 of the second joint module 20. Specifically, the power cable 46 connected to the power output terminal 41 on the adapter plate 4 of the second joint module 20 passes through the hollow shaft 2 of the second joint module 20, and the communication cable connected to the signal input terminal 44 on the adapter plate 4 of the second joint module 20 passes through the hollow shaft 2 of the second joint module 20. Finally, the power cable 46 and communication cable, exiting from the hollow shaft 2 of the second joint module 20, are then connected to the corresponding input terminals of the third joint module 30.

[0046] The second joint module 20 and the third joint module 30 have virtually no visible connecting wires. This architecture makes the entire robot joint system extremely neat and compact, completely eliminating the risk of cable interference during movement, ensuring extremely high reliability, and greatly facilitating the overall industrial design of the robot.

[0047] Figures 2 to 9 The embodiment provides a highly integrated joint module with simple wiring. The core technical solution of this joint module lies in the ingenious use of the hollow shaft 2 as an internal wiring channel, thereby providing power and communication for other joint modules connected in series.

[0048] Specifically, combined Figure 3 The joint module includes a housing assembly 1. The housing assembly 1 can be made of high-strength, lightweight metal materials (such as aluminum alloy) or engineering plastics through casting or machining, forming a generally cylindrical internal receiving space. At one axial end of the housing assembly 1, a back plate 11 is provided. This back plate 11 can be fixed to the main body of the housing assembly 1 by screws or other means, serving as a cover and mounting reference.

[0049] Inside the housing assembly 1, combined Figure 4Along its central axis, a reducer assembly and a motor 7 are sequentially arranged. To make the structure more compact and to centralize the electrical interfaces, in this embodiment, the motor 7 is positioned close to the back plate 11. The motor 7 is connected to the input end of the reducer assembly to transmit the rotational motion of the motor 7 to the reducer assembly for speed reduction and torque amplification.

[0050] One of the key structural components of this joint module is the hollow shaft 2. The hollow shaft 2 is a through-tube component, with one end rigidly connected to the output end of the reducer assembly, and the other end extending along the central axis of the housing assembly 1, passing through the central region of the motor 7, and reaching a position near the back plate 11. This design makes the hollow shaft 2 spatially coaxial with the motor 7 and the reducer, resulting in a compact structure.

[0051] Continue to refer to Figure 4 To achieve accurate detection of the joint module's rotation angle, a rotor disk 31 with an encoder is connected to the outer wall of the hollow shaft 2 near the back plate 11. This rotor disk 31 can be a magnetic ring integrating multiple magnetic poles. Correspondingly, a stator disk 32 that mates with the rotor disk 31 is installed on the stationary part of the housing assembly 1, such as the rear seat connected to the back plate 11. This stator disk 32 can be equipped with a detection circuit board, such as a Hall sensor array or a magnetoresistive sensor, to output the joint's angle information in real time by sensing the rotation of the rotor disk 31.

[0052] In addition, refer to Figure 4 Another rotor disk 31 is connected to the rotating shaft 721 of the motor 7, located between the stator disk 32 and the motor 7. There are detection circuit boards on both sides of the stator disk 32 to detect the motion parameters of the hollow shaft 2 and the motor respectively.

[0053] Combination Figure 3 and Figure 5 To enable series power supply and communication between the joint modules, this embodiment includes an adapter board 4. This adapter board 4 is a printed circuit board (PCB) mounted on the outside of the backplate 11, serving as the external electrical interface for the entire joint module. On the outward-facing side of the adapter board 4, at least one set of power output terminals 41 and one set of signal output terminals 43 are provided. The power output terminals 41 can use high-current-capable connectors, while the signal output terminals 43 can use multi-pin communication interfaces, such as pin headers or sockets. After the external power cable 46 and communication cable are connected to these two terminals, they do not run outwards but instead extend through openings in the backplate 11 into the interior of the hollow shaft 2 and exit from the other end of the hollow shaft 2.

[0054] When motor 7 drives the reducer, the reducer rotates the hollow shaft 2, enabling joint movement. Simultaneously, the encoder monitors the rotation angle of the hollow shaft 2 in real time and feeds it back to the control system. Most importantly, the power cable 46 and communication cable supplying the next joint module are housed inside the rotating hollow shaft 2. This design fundamentally solves the technical problems of messy external wiring in traditional robot joints, and the ease with which cables can interfere with external forces, wear, or even break during joint movement. It results in a remarkably clean appearance for robotic arms or robot limbs composed of multiple joint modules connected in series, significantly enhanced motion reliability, and greatly simplified assembly and maintenance.

[0055] Based on the aforementioned embodiments, the interface functions of the adapter board 4 have been further expanded and optimized.

[0056] In this embodiment, combined with Figure 5 In addition to the power output terminal 41 and signal output terminal 43, the adapter board 4 also has a set of power input terminals 42 and a set of power interfaces 45. These four sets of electrical interfaces are interconnected in the internal circuitry of the adapter board 4. Specifically, the power output terminal 41 and the power interface 45 are both electrically connected to the power input terminal 42.

[0057] The power input terminal 42 is used to receive total power input from an external power source or the previous joint module. The input current is split into two paths on the adapter plate 4: one path flows to the power interface 45, which is specifically configured to power the joint module itself and will connect to the drive board 5 inside the module; the other path flows to the power output terminal 41, which is used to power the next adjacent joint module, and the connected cable will pass through the hollow shaft 2.

[0058] These sets of terminals can be designed with connectors of different specifications or with foolproof designs to prevent mis-insertion. For example, power input terminal 42 and power output terminal 41 can use the same connector type for cascading, while the internal power interface 45 can use a different connector.

[0059] This design standardizes and modularizes the series distribution of power. When assembling a multi-joint robot, only a short power cable is needed to connect the "outgoing terminal" of the previous joint module to the "incoming terminal" of the next module. There is no need to design a complex central power distribution box and wire harnesses of varying lengths, achieving true "plug and play" and greatly improving assembly efficiency and system scalability.

[0060] Based on the aforementioned embodiments, the specific structure and connection method of the drive control part inside the joint module are further disclosed.

[0061] The joint module also includes a drive board 5. This drive board 5 is the "brain" of the joint module, integrating a motor driver, microcontroller (MCU), power management unit, and sensor signal processing circuitry. To make full use of space, the drive board 5 is located inside the housing assembly 1, between the motor 7 and the backplate 11. This location is close to the electrical interface for easy connection without affecting the core transmission functions of the motor 7 and the reducer.

[0062] To enable electrical connection between the internal driver board 5 and the external adapter board 4, a mounting port 111 is provided on the back panel 11. When designing the driver board 5, the wiring areas that need to be connected to the outside (such as power input pads, signal interfaces, etc.) are aligned with the mounting port 111.

[0063] The power supply connection is achieved through a clever conductive and fixed structure: combining Figure 5 and Figure 6 One or more studs 51 are used. The nut (or flange end) of the stud 51 presses against the conductive pad of the power interface 45 on the adapter plate 4, while the other end of the stud 51 (usually the threaded end) passes through the mounting port 111 of the back plate 11 and connects (e.g., by screwing or welding) to the power post 52 (or the corresponding power pad) on the drive plate 5. In this way, the stud 51 not only partially fixes the adapter plate 4, but more importantly, it forms a high current path from the adapter plate 4 to the drive plate 5, eliminating the need for additional power cable connections and making the structure more compact and reliable.

[0064] Meanwhile, in order to realize the transmission of control signals, signal input terminals 44 are also provided on the adapter board 4. The driver board 5 and the adapter board 4 are connected by a flexible signal cable 53 (e.g., FFC flexible flat cable). The cable passes through the mounting port 111 of the back plate 11, with one end connected to the driver board 5 and the other end connected to the inner pads or connectors of the corresponding signal input and output terminals on the adapter board 4.

[0065] This embodiment provides a highly integrated electrical connection solution. Efficient and reliable power and signal connections between the inner and outer circuit boards are achieved through openings in the backplane 11 and conductive studs 51. This design reduces internal wiring harnesses, lowers assembly complexity and potential points of failure, and allows the driver board 5 and adapter board 4 to be manufactured and tested as independent modules, facilitating maintenance and replacement.

[0066] In another embodiment, during the long-term, high-frequency reciprocating motion of the joint module, the cable threaded inside the hollow shaft 2 will twist to a certain extent as the hollow shaft 2 rotates, and will rub against the inner wall of the hollow shaft 2. In order to reduce the wear caused by this friction and extend the service life of the cable, this embodiment proposes that at least a portion of the inner wall of the hollow shaft 2 be coated with grease.

[0067] During the assembly process, a special coating tool can be used to apply a thin, uniform layer of lubricating and insulating grease (such as silicone grease or Teflon-based grease) to the inner surface of the hollow shaft 2 before the cable bundle is inserted.

[0068] The presence of this grease layer allows the cable to maintain smooth contact with the inner wall of the hollow shaft 2, forming a lubricating film that greatly reduces the coefficient of friction between them. When the joint rotates, the cable can slide more smoothly and twist slightly within the hollow shaft 2, effectively preventing the cable insulation from being damaged by long-term friction, thus avoiding the risk of electrical faults such as short circuits, and significantly improving the durability and operational reliability of the joint module.

[0069] Continue to refer to Figure 5 and Figure 6 This embodiment provides a specific mounting and fixing structure for the adapter plate 4 on the back plate 11.

[0070] To achieve precise positioning and reliable fixation of the adapter plate 4, a mounting opening 111 is provided on the back plate 11. Around the mounting opening 111, a mounting step 112 is formed by machining. The depth and size of the mounting step 112 match the thickness and shape of the adapter plate 4, allowing the adapter plate 4 to be placed precisely on the mounting step 112, achieving initial in-plane positioning, and making its surface flush with or slightly lower than the outer surface of the back plate 11, resulting in a more aesthetically pleasing appearance.

[0071] In order to press the adapter plate 4 firmly, this embodiment uses at least one L-shaped pressure plate 113. Figure 6 Two pressure plates 113 are shown, respectively disposed on opposite sides of the adapter plate 4. The pressure plates 113 can be made of metal or rigid plastic. During installation, the first arm of the pressure plate 113 is connected to the back plate 11 by fasteners such as screws, while its second arm presses against the edge of the adapter plate 4.

[0072] Multiple pressure plates 113 can be arranged around the perimeter of the adapter plate 4 according to its shape to provide more uniform pressure and a more secure connection. Alternatively, the pressure plates 113 can be designed in other shapes, such as C-shaped or strip-shaped, as long as they can effectively clamp and fix the connection.

[0073] This "step positioning + pressure plate 113 clamping" fixing method is simple in structure and low in cost, but highly reliable. It not only firmly fixes the adapter plate 4 to the back plate 11, preventing it from loosening in a vibration environment, but also makes installation and disassembly very convenient, facilitating subsequent maintenance and replacement.

[0074] To achieve a larger reduction ratio and higher transmission accuracy, in another embodiment, the reducer assembly is preferably a two-stage planetary reducer assembly. Compared to a single-stage reducer, a two-stage planetary reducer can provide a higher reduction ratio and a larger output torque for similar radial dimensions, making it ideal for applications such as robot joints where high torque and precision are required.

[0075] Combination Figure 7 and Figure 8 In this embodiment, the hollow shaft 2 is connected to the planet carrier 6 on the output side of the secondary planetary reducer assembly. To achieve this connection, one end of the hollow shaft 2 is designed as a connecting cap 21 with a flange. Correspondingly, a matching annular mounting platform is also machined on the outer side of the planet carrier 6. Multiple threaded holes or through holes are evenly distributed on the connecting cap 21 and the annular mounting platform. During assembly, a secure connection capable of transmitting high torque is achieved by passing multiple screws through the connecting cap 21 and tightening them onto the annular mounting platform.

[0076] By employing a two-stage planetary reducer and clearly defining its connection method with the hollow shaft 2, this embodiment constructs a high-torque, high-precision, and high-rigidity connection system, providing reliable mechanical protection for the stable rotational output of the hollow shaft 2.

[0077] To achieve the hollow wiring design, refer to... Figure 9 In this embodiment, the motor 7 is a frameless torque motor, whose structure mainly includes an outer stator 71 and an inner rotor 72. The outer stator 71 contains coil windings, which are fixedly mounted on the inner wall of the housing assembly 1. The inner rotor 72 contains permanent magnets, which are supported within the housing assembly 1 by a bearing system and can rotate freely. Crucially, the inner rotor 72 has a hollow portion 720 through which the hollow shaft 2 passes. That is, the inner rotor 72 itself is a ring structure. In this embodiment, a rotating shaft 721 is also connected to the inner side of the inner rotor 72, and the hollow shaft 2 passes through the shaft hole of the rotating shaft 721.

[0078] The stator and rotor of the motor 7 do not directly contact the hollow shaft 2. The hollow shaft 2 passes through the hollow portion 720 at the center of the inner rotor 72, with a radial clearance between them. The rotor of the motor 7 is connected to the input end (such as the sun gear) of the reducer through its end face or a dedicated connection structure. When the stator is energized and generates a rotating magnetic field, driving the rotor to rotate, the power is transmitted to the reducer, which then drives the hollow shaft 2.

[0079] The use of this hollow inner rotor 72 motor 7 structure is the premise and foundation for realizing the hollow wiring scheme of the entire joint module. While ensuring the performance of the motor 7, it reserves a crucial central channel for the passage of cables, which is the key to achieving the core advantages of compact structure and simple wiring in this embodiment.

[0080] It should be understood that although this specification is described according to various embodiments, not every embodiment or implementation method contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0081] The above descriptions are merely illustrative embodiments of this application and are not intended to limit the scope of the embodiments of this application. Any equivalent changes, modifications, and combinations made by those skilled in the art without departing from the concept and principles of the embodiments of this application should fall within the protection scope of the embodiments of this application.

Claims

1. A joint module, characterized in that, include: The housing assembly (1) includes a back plate (11) located at one axial end therein, and a motor (7) and a reducer assembly are arranged axially inside therein, the motor (7) being close to the back plate (11); A hollow shaft (2) has one end connected to the output end of the reducer assembly and the other end extending along the axis of the housing assembly (1) through the motor (7) to the back plate (11). The hollow shaft (2) is configured to have an encoder rotor disk (31) connected to the outer wall of one end near the back plate (11). The adapter plate (4) is installed on the outside of the back plate (11). A set of power output terminals (41) and a set of signal output terminals (43) are provided on its outside. The power cable (46) connected to the power output terminal (41) and the communication cable connected to the signal output terminal (43) both extend into the hollow shaft (2) and pass out through the hollow shaft (2).

2. The joint module according to claim 1, characterized in that, The adapter plate (4) is provided with a set of power input terminals (42) and a set of power interfaces (45). The power output terminals (41) and the power interfaces (45) are both electrically connected to the power input terminals (42). The power interfaces (45) are configured to supply power to the joint module itself, and the power output terminals (41) are used to supply power to another adjacent joint module.

3. The joint module according to claim 1, characterized in that, Also includes: A drive board (5) is disposed inside the housing assembly (1) and the drive board (5) is located between the motor (7) and the back plate (11); the wiring area of ​​the drive board (5) is directly opposite the adapter plate (4) through the mounting port (111) of the back plate (11); The nut of the stud (51) is pressed onto the power interface (45), and the other end of the stud (51) is connected to the power post (52) on the drive board (5) to electrically connect the adapter board (4) and the drive board (5).

4. The joint module according to claim 3, characterized in that, The adapter board (4) is also provided with a signal input terminal (44), and a signal cable (53) is connected between the driver board (5) and the adapter board (4).

5. The joint module according to claim 1, characterized in that, At least a portion of the inner wall of the hollow shaft (2) is coated with grease to maintain smooth contact between the cable and the inner wall of the hollow shaft (2).

6. The joint module according to claim 1, characterized in that, The back plate (11) is provided with an installation port (111), and the back plate (11) is provided with an installation step (112) around the installation port (111). The adapter plate (4) is placed on the installation step (112). There is at least one L-shaped pressure plate (113), the first arm of which is connected to the back plate (11), and the second arm is pressed against the adapter plate (4).

7. The joint module according to claim 1, characterized in that, The reducer assembly is a two-stage planetary reducer assembly, and the hollow shaft (2) is connected to the planet carrier (6) on the output side of the two-stage planetary reducer assembly.

8. The joint module according to claim 7, characterized in that, A connecting cap (21) is formed at one end of the hollow shaft (2), and an annular mounting platform is provided on the outer side of the planetary carrier (6). The connecting cap (21) is connected to the annular mounting platform by screws.

9. The joint module according to claim 1, characterized in that, The motor (7) includes an outer stator (71) and an inner rotor (72), the inner rotor (72) having a hollow portion (720) through which the hollow shaft (2) passes.

10. A robot three-joint assembly, characterized in that, include: First joint module (10); The second joint module (20) is a joint module as described in any one of claims 1 to 9, wherein the power input terminal (42) on its adapter plate (4) is connected to the first joint module (10) via a power cable (46), and the signal input terminal (44) on its adapter plate (4) is connected to the first joint module (10) via a communication cable. The third joint module (30) is connected to the power cable (46) and communication cable that pass through the hollow shaft (2).

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