A smart force-controlled joint module

Abstract

This invention discloses an intelligent force-controlled joint module, comprising: a power component; a harmonic reduction output component, the harmonic reduction output component including a harmonic reducer, the harmonic reducer being mounted on the power component and connected to the motor shaft of the power component for transmission, thereby reducing the rotational power transmitted from the power component, increasing the torque, and then outputting it to perform work; a torque sensing component, the torque sensing component including an embedded torque sensor, the embedded torque sensor being simultaneously mounted on the power component and the harmonic reduction output component, for detecting and sensing the external load connected to the output end of the harmonic reducer; and a detection control component, the detection control component including a speed detection component and a control component, the speed detection component being mounted on the power component, simultaneously detecting the high speed of the motor shaft and the low speed of the output end of the harmonic reduction output component. This invention features a reasonable structural design, high integration, compact structure, small overall size, convenient installation, and simple use.

Description

Technical Field

[0001] This invention relates to the field of joint module technology, and more specifically, to an intelligent force-controlled joint module. Background Technology

[0002] With the rapid development of embodied intelligent robots and the increasing variety of application scenarios, the demand for hardware that enables robots to interact with their surroundings, perceive, and provide closed-loop feedback is accelerating. For individual powered joints, the most direct hardware upgrade is to enable torque sensing capabilities, facilitating force / position hybrid control. The conventional approach involves attaching a torque sensor to the joint's output flange, using the output torque measurement to provide torque feedback to the control system. However, this approach has several drawbacks in practical use:

[0003] 1. Affects the mechanical rigidity of the entire arm. As the physical principle of torque sensors shows, their torque sensing method is to convert the physical deformation of the strain beam into a physical signal for processing. However, strain beams can generally only withstand loads in the torque direction and cannot withstand other external loads such as bending moments and axial forces. For locations with large bending moments, such as the robot's upper arm and waist, this affects the overall rigidity of the robot. Furthermore, the influence of bending moments and axial forces makes it difficult to decouple the torque from the strain beam signal, thus affecting measurement accuracy.

[0004] 2. The mechanical dimensions affecting the connection position: An external torque sensor is essentially an additional component between the module output and the load. This inevitably alters the pitch circle dimension of the sensor's mounting screw, increases axial and radial dimensions, and complicates assembly. Moving the mounting screw outward significantly increases the overall arm's envelope size and length, while moving it inward weakens the connection rigidity.

[0005] 3. Occupying the hollow aperture of the module: Currently, the cables of external torque sensors need to pass through the hollow aperture of the module from the output end of the module and be plugged into the drive control board at the tail end of the module. This will occupy the limited space of the hollow aperture of the module itself, and will also restrict the output end of the module from rotating continuously 360°, otherwise the sensor connection cable will be broken.

[0006] Based on the aforementioned technical problems that urgently need improvement, this invention designs an intelligent force control joint module with integrated structure and built-in torque sensing function, which has significant practical value. Summary of the Invention

[0007] To overcome the above-mentioned defects, the present invention provides an intelligent force-controlled joint module, specifically adopting the following technical solution:

[0008] A smart force-controlled joint module, comprising:

[0009] The power component provides the rotational power to the module;

[0010] A harmonic deceleration output component is disposed on the power component. The harmonic deceleration output component includes a harmonic reducer. The harmonic reducer is disposed on the power component and is connected to the motor shaft of the power component for transmission, so as to reduce the rotational power transmitted from the power component, increase the torque, and output it to do work.

[0011] A torque sensing element is disposed on the power component and the harmonic deceleration output component. The torque sensing element includes an embedded torque sensor, which is disposed on both the power component and the harmonic deceleration output component to detect and sense the external load connected to the output end of the harmonic reducer.

[0012] A detection control component is disposed on the power component and the harmonic deceleration output component. The detection control component includes a speed detection component and a control component. The speed detection component is on the power component and simultaneously detects the high speed of the motor shaft and the low speed at the output end of the harmonic deceleration output component. The control component on the power component constitutes the drive control of the module.

[0013] Preferably, the power component includes a motor component and a braking component. The motor component provides rotational power to the module, and the braking component is located on the motor component to brake the motor shaft of the motor component as needed.

[0014] Preferably, the harmonic reducer output component further includes a roller bearing and an output end flange. The outer ring of the roller bearing is connected to the brake component, and the output end flange is on the harmonic reducer, so that the power of the harmonic reducer to reduce speed and increase torque is output to do work.

[0015] Preferably, the harmonic reducer includes a wave generator, a flexible wheel, and a rigid wheel. The wave generator is connected to the motor shaft. The cup of the flexible wheel is fitted over the wave generator. The rigid wheel is fixedly connected to the inner ring of the roller bearing and is fitted over the cup of the flexible wheel. At the same time, the internal teeth on the rigid wheel correspond to the external teeth on the flexible wheel.

[0016] Preferably, the flexible wheel flange on the bottom surface of the flexible wheel is bent, and the flexible wheel flange is used to connect to the embedded torque sensor.

[0017] Preferably, the rigid wheel is integrated with the inner ring of the roller bearing.

[0018] Preferably, the outer ring fixing part of the embedded torque sensor is fastened to the outer ring of the roller bearing and the brake end cover of the brake element, and the outer ring fixing part is located between the outer ring of the roller bearing and the brake end cover; the inner ring fixing part of the embedded torque sensor is connected to the flexible wheel flange.

[0019] Preferably, the inner ring fixing mounting part is located at the flexible wheel flange, and the flexible wheel flange is covered with a fixing block. After the screw passes through the first mounting through hole on the inner ring fixing mounting part and the second mounting through hole on the flexible wheel flange, it is tightened into the threaded hole on the fixing block, so that the inner ring fixing mounting part is locked and fixed to the flexible wheel flange.

[0020] Preferably, the thin-walled portion between the outer ring fixing part and the inner ring fixing part is a strain gauge, and a strain gauge and a signal processing PCB are arranged in the space on the right side of the strain gauge.

[0021] The present invention has at least the following beneficial effects:

[0022] 1) The intelligent force-controlled joint module of this invention has a reasonable structural design, high integration, compact structure, small overall size, convenient installation, and simple use;

[0023] 2) The intelligent force-controlled joint module of this invention changes the structure of the flex wheel of the conventional harmonic reducer. The flex wheel flange near the center of the bottom surface of the flex wheel cup is transformed into a bent structure, and the torque sensor is embedded between the outer ring of the roller bearing and the flex wheel flange. The output is rigid, the flange connection size at the output end remains unchanged, and the rigidity of the output is not weakened. The embedded torque sensor, which does not directly bear the bending moment, is easy to miniaturize and make lightweight. The joint module can easily obtain a larger hollow diameter, so that more wire harnesses can pass through. After actual prototype testing, it meets the design requirements and the effect is good.

[0024] 3) The embedded torque sensor of the intelligent force control joint module of this invention is isolated from the cross roller bearing at the customer's output end, which does not affect the rigidity of the joint and simplifies the signal decoupling difficulty of the embedded torque sensor; the embedded torque sensor is only connected to the flexible wheel, only processes torque, and does not participate in the bending moment, axial force and radial force load bearing at the output end, and the installation interface is directly connected to the rigid wheel of the reducer. On the one hand, it solves the problem of the traditional torque sensor affecting rigidity, and on the other hand, it solves the signal decoupling problem of the traditional torque sensor under complex force conditions.

[0025] 4) The intelligent force-controlled joint module of this invention is a further lightweight, miniaturized and standardized harmonic joint module. The embedded torque sensor is completely embedded inside the module. The torque sensor is not used as a force-bearing component, which allows for further lightweight treatment in terms of materials and structure. The output interface is consistent with the harmonic reducer. This greatly simplifies customer installation and facilitates the standardization of module size, preparing for mass production.

[0026] 5) The embedded torque sensor of the intelligent force control joint module of this invention has a built-in linear velocity sensor, which does not occupy the hollow aperture space of the module. For the hollow aperture size of the joint position of the robot, especially at the end of the arm, since the module model is already small and the aperture is even smaller, if the sensor harness occupies part of the space, the aperture space will be even more tight, which will severely limit the hollow wiring function of the whole arm. Moreover, the sensor harness is built-in and does not participate in the rotation, which allows the module output end to rotate continuously 360°, greatly expanding the application scenarios of the module and the robot.

[0027] 6) The embedded torque sensor in the intelligent force control joint module of this invention can increase the IP protection level of the module with embedded torque sensor and further expand the application scenarios of the module.

[0028] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0029] Figure 1 This is a front view of the intelligent force-controlled joint module of the present invention;

[0030] Figure 2 This is a front-end view of the intelligent force-controlled joint module of the present invention;

[0031] Figure 3 This is a schematic diagram of the front-end three-dimensional structure of the intelligent force-controlled joint module of the present invention;

[0032] Figure 4 This is a schematic diagram of the three-dimensional structure of the rear end of the intelligent force-controlled joint module of the present invention;

[0033] Figure 5 The present invention is a smart force-controlled joint module. Figure 2 Front view of the cross section along the AA direction;

[0034] Figure 6 The present invention is a smart force-controlled joint module. Figure 2 Schematic diagram of the front three-dimensional structure of the cross section in the middle AA direction;

[0035] Figure 7 The present invention is a smart force-controlled joint module. Figure 2Schematic diagram of the three-dimensional structure of the rear end of the cross section in the AA direction.

[0036] Wherein: 1-Motor housing, 2-Stator, 3-Rotor, 4-Motor shaft, 5-First support bearing, 6-Brake end cover, 7-Stator section, 8-Motor section, 9-Second support bearing, 10-Outer ring of roller bearing, 11-Output end flange, 12-Wave generator, 13-Flexible wheel, 14-Rigid wheel, 15-Flexible wheel flange, 16-Third support bearing, 17-First O-ring, 18-Embedded torque sensor, 19-Outer ring fixing mounting part, 20-Inner ring fixing mounting part, 21-Fixing block, 22-First screw, 23-Fifth screw, 24-Strain gauge, 25-Signal processing PCB, 26-Second O-ring, 27-Third O-ring, 28-Fourth O-ring, 29-High-speed outer ring, 30-Low-speed inner ring, 31-Transition sleeve, 32-Encoder cover, 33-Fourth support bearing, 34-Drive control board. Detailed Implementation

[0037] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and by way of embodiments. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0038] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" in this article describes another type of relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the related objects before and after it are in an "or" relationship.

[0039] according to Figures 1-7 As shown, an intelligent force-controlled joint module includes a power component, a harmonic deceleration output component, a torque sensing component, and a detection and control component. The harmonic deceleration output component is disposed on the power component, and the torque sensing component and the detection and control component are both disposed on the power component and the harmonic deceleration output component. The power component includes a motor component and a braking component, and the braking component is disposed on the motor component.

[0040] The motor assembly includes a motor housing 1, a stator 2, and a rotor 3. The stator 2 is press-fitted into the cavity of the motor housing 1, and the rotor 3 is press-fitted onto the middle section of the motor shaft 4. The motor shaft 4 is rotatably mounted within the motor housing 1, and the rotor 3 is positionally engaged with the stator 2. Furthermore, a first support bearing 5 is embedded in the right-side inner bearing chamber of the motor housing 1, and the inner ring of the first support bearing 5 is fixedly fitted onto the right-side section of the motor shaft 4. When the rotor 3 drives the motor shaft 4 to rotate at high speed circumferentially within the motor housing 1, the motor shaft 4 transmits power to the harmonic reduction output component. The motor shaft 4 is a hollow tubular shape. Alternatively, the motor assembly can be a frameless torque motor.

[0041] The braking component includes a brake end cover 6, a stator portion 7, and a mover portion 8. The outer ring of the brake end cover 6 is fastened to the left port of the motor housing 1 by a first screw 22. The stator portion 7 is fastened to the right mounting cavity of the brake end cover 6 by a second screw. The mover portion 8 is mounted on the large step on the left side of the motor shaft 4, and a fixed air gap is reserved between the stator portion 7 and the mover portion 8, so that the stator portion 7 and the mover portion 8 cooperate to form the braking part of the motor shaft 4. It should be noted that when current is applied to the stator portion 7, the stator portion 7 will disengage from the mover portion 8 to release the braking of the motor shaft 4; when the current is stopped from being applied to the stator portion 7, the stator portion 7 will tightly engage with the mover portion 8 for friction braking, so as to quickly and efficiently brake the motor shaft 4. Alternatively, the braking component is a permanent magnet brake.

[0042] Furthermore, a second support bearing 9 is installed in the bearing chamber of the brake end cover 6, and the second support bearing 9 is axially fixed by a bearing pressure plate. The inner ring of the second support bearing 9 is fitted onto the front end section of the motor shaft 4 and is axially fixed by a shaft section step and a shaft retaining spring. The first support bearing 5 and the second support bearing 9 are located at both ends of the motor shaft 4, providing stable support for the high-speed rotation of the motor shaft 4, and forming part of the high-speed shaft system of the motor.

[0043] The harmonic reduction output component includes a roller bearing, a harmonic reducer, and an output flange 11. The roller bearing is connected to the power component via the torque sensing element. The harmonic reducer is simultaneously mounted on the motor component and the roller bearing, and the output flange 11 is mounted on the harmonic reducer. Further, the harmonic reducer is a multiple harmonic reducer. Alternatively, the harmonic reducer is a third harmonic reducer. The outer ring 10 of the roller bearing is connected to the braking component via the first screw 22.

[0044] The harmonic reducer includes a wave generator 12, a flexible wheel 13, and a rigid wheel 14. The wave generator 12 is mounted on the motor shaft 4, the flexible wheel 13 is mounted on the wave generator 12, and the rigid wheel 14 is mounted on the roller bearing, with the rigid wheel 14 fitted over the flexible wheel 13. The wave generator 12 is fastened to the left end of the motor shaft 4 by a third screw, forming a torque input. The flexible wheel 13 is generally cup-shaped, with its opening fitted over the wave generator 12. One end face of the rigid wheel 14 is fixedly connected to one end face of the inner ring of the roller bearing, and the rigid wheel 14 fits over the opening of the flexible wheel 13. Simultaneously, the internal teeth on the inner wall of the rigid wheel 14 correspond to the external teeth on the flexible wheel 13, enabling continuous "misaligned" tooth movement between the internal teeth on the inner wall of the rigid wheel 14 and the external teeth on the flexible wheel 13.

[0045] Furthermore, the flexible wheel flange 15 (output flange) on the bottom surface of the cup of the flexible wheel 13 has a bent configuration. Alternatively, the flexible wheel flange 15 may have one end that is tubular, and the other end that is externally integrated with a connecting flange for connection to the torque sensing element. One end of the flexible wheel flange 15 is connected to the bottom surface of the cup of the flexible wheel 13. The rigid wheel 14 is integrated with the inner ring of the roller bearing, i.e., the rigid wheel 14 and the inner ring of the roller bearing are integrally cut or welded together.

[0046] The flexible wheel is an improved cup-shaped flexible wheel. Conventional cup-shaped flexible wheels output power through a flange near the center of the "bottom" of the cup, with external teeth at the "mouth" of the cup. A wave generator 12 is installed inside the cavity at the "mouth" of the cup. The rotation of the wave generator 12 causes complex deformation of the thin wall at the "arm" of the cup. This causes continuous "misaligned" movement between the external teeth on the flexible wheel and the internal teeth on the rigid wheel 14, resulting in the rigid wheel 14 achieving decelerated rotational motion for output. The effective deformation of the flexible wheel is mainly borne by the thin wall away from the center at the "arm" and "bottom" of the cup, and is not significantly affected by the externally fixed output flange near the center. In this invention, the flange 15 near the center of the cup bottom of the flexible wheel 13 is bent again. This creates radial and axial installation space for the flexible wheel 13 without affecting the thin wall area at the "bottom" of the flexible wheel 13. This achieves both an increase in the hollow size of the cup-shaped flexible wheel 13 and without affecting the usable area of ​​the thin wall, thus impacting the output torque of the reducer. Considering the requirements of the embodied robot for its thinness and large aperture, this invention increases the hollow aperture of the cup-shaped flexible wheel 13, integrates the rigid wheel 14 with the inner ring of the roller bearing, and expands the pitch circle of the rigid and flexible wheel teeth while reducing the radial and axial space of the roller bearing to meet the bending moment of the embodied robot, thus reserving installation space and interface for the subsequent embedding of the embedded torque sensor 18.

[0047] One end face of the output flange 11 is mounted on the other end face of the rigid wheel 14 by a fourth screw, and the output flange 11 is embedded in the third support bearing 16 within the cavity of the wave generator 12. Furthermore, the inner ring of the third support bearing 16 is fitted onto the step of the shaft section of the output flange 11, forming the first support for the output end. The other end of the output flange 11 extends through the motor shaft 4 towards the detection and control component. Furthermore, a first O-ring 17 is provided between the output flange 11 and the rigid wheel 14 to improve the static seal between them.

[0048] The torque sensing element includes an embedded torque sensor 18, which is simultaneously disposed on the power component and the harmonic reduction output component. The outer ring mounting portion 19 of the embedded torque sensor 18 is fastened to the outer ring 10 of the roller bearing and the brake end cap 6 by the first screw 22, and the outer ring mounting portion 19 is located between the outer ring 10 of the roller bearing and the brake end cap 6. The inner ring mounting portion 20 of the embedded torque sensor 18 is connected to the flexible wheel flange 15.

[0049] Furthermore, the inner ring fixing mounting part 20 is located outside one end of the flexible wheel flange 15, and a plurality of first mounting through holes evenly distributed on the inner ring fixing mounting part 20 correspond one-to-one with a plurality of second mounting through holes on the flexible wheel flange 15. A fixing block 21 is fitted over the other end of the flexible wheel flange 15, and a plurality of threaded holes are evenly distributed on the fixing block 21, with the threaded holes aligned with the second mounting through holes. A fifth screw 23 is passed through the first and second mounting through holes and then tightened into the threaded holes to lock the inner ring fixing mounting part 20 securely to the flexible wheel flange 15. Alternatively, the fixing block 21 is semi-circular, with two fixing blocks 21 forming a ring that fits around the other end of the flexible wheel flange 15, and the plurality of threaded holes on the two fixing blocks 21 correspond one-to-one with the second mounting through holes.

[0050] The thin-walled portion between the outer ring fixing mounting part 19 (outer ring of the embedded torque sensor 18) and the inner ring fixing mounting part 20 (inner ring of the embedded torque sensor 18) is a strain body. A strain gauge 24 and a signal processing PCB 25 are arranged in the space on the right side of the strain body. The strain body is a solid body.

[0051] A second O-ring 26 is provided between the left end face of the outer ring fixing mounting part 19 and the right end face of the outer ring 10 of the roller bearing; a third O-ring 27 is provided between the right end face of the outer ring fixing mounting part 19 and the left end face of the brake end cover 6; and a fourth O-ring 28 is provided between the right end face of the inner ring fixing mounting part 20 and the left end face of the brake end cover 6, forming a static grease seal for the harmonic reducer.

[0052] The detection and control components include a speed detection component and a control component, both of which are mounted on the motor component. The speed detection component includes a high-speed outer ring 29 and a low-speed inner ring 30. The high-speed outer ring 29 is locked to the right end face of the motor shaft 4 by a sixth screw, and the low-speed inner ring 30 is fastened to the transition sleeve 31 on the right end mounting step of the output flange 11 by a seventh screw. The cooperation of the high-speed outer ring 29 and the low-speed inner ring 30 constitutes the high- and low-speed encoding measurement part. Further, the speed detection component is an encoder. The encoder cover 32 of the speed detection component is fastened to the other end face of the motor housing 1 by an eighth screw, and a fourth support bearing 33 is embedded in the mounting cavity of the encoder cover 32. At the same time, the inner ring of the fourth support bearing 33 is fitted onto the rightmost shaft segment of the output flange 11, forming a second support for the output end.

[0053] The control component includes a drive control board 34, which is installed in the mounting space formed by the encoder cover 32 and the motor housing 1, and constitutes the drive control part of this module.

[0054] When the control unit is powered on, the motor shaft 4 is rotated by the control program, which drives the wave generator 12 of the harmonic reducer to move. The wave generator 12 forces the external teeth of the flexible wheel 13 and the internal teeth of the rigid wheel 14 of the reducer to mesh. When the rigid wheel 14 is equipped with an external load, its reaction load will be transmitted to the flexible wheel through the meshing teeth of the rigid wheel 14 and the flexible wheel 13, and then to the inner ring of the embedded torque sensor 18. At this time, because the outer ring of the embedded torque sensor 18 is installed and fixed, the inner ring and the outer ring of the embedded torque sensor 18 are connected. The strain gauge between the components generates a certain torsional deformation, which is measured by the strain gauge 24 in close contact with it. The torsional signal is then converted into a physical signal and transmitted to the signal processing PCB 25 on its right side for processing. The processed signal is then transmitted through the axial through-holes reserved on the side wall of the brake end cover 6 and the motor housing 1 via a wire harness, and finally plugged into the drive control board 34. The drive control board 34 then processes the received signal and sends it to the host computer or other controllers, thus completing the collection and processing of the torque signal of the entire module. At this time, the encoder at the high speed end (high speed outer ring 29) and the encoder at the low speed end (low speed inner ring 30) work simultaneously to accurately measure the position information of the high and low speed shafts (motor shaft 4 and output flange 11) and transmit it to the drive control board 34 for precise closed-loop control. The UVW power harness between the motor and the drive control board 34, the communication harness between the encoder and the drive control board 34, the power supply harness between the permanent magnet brake and the drive control board 34, and the communication harness between the embedded torque sensor 18 and the drive control board 34 are all internally routed, without occupying the hollow aperture space of the module.

[0055] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An intelligent force-controlled joint module, characterized in that, include: The power component provides the rotational power to the module; A harmonic deceleration output component is disposed on the power component. The harmonic deceleration output component includes a harmonic reducer. The harmonic reducer is disposed on the power component and is connected to the motor shaft of the power component for transmission, so as to reduce the rotational power transmitted from the power component, increase the torque, and output it to do work. A torque sensing element is disposed on the power component and the harmonic deceleration output component. The torque sensing element includes an embedded torque sensor, which is disposed on both the power component and the harmonic deceleration output component to detect and sense the external load connected to the output end of the harmonic reducer. A detection control component is disposed on the power component and the harmonic deceleration output component. The detection control component includes a speed detection component and a control component. The speed detection component is on the power component and simultaneously detects the high speed of the motor shaft and the low speed at the output end of the harmonic deceleration output component. The control component forms a drive control for the module on the power component; The power component includes a motor and a brake. The motor provides rotational power to the module, and the brake is mounted on the motor to brake the motor shaft as needed. The harmonic reducer output component also includes a roller bearing and an output flange. The outer ring of the roller bearing is connected to the brake, and the output flange is mounted on the harmonic reducer to output the power generated by the reducer to increase torque and perform work. The harmonic reducer includes a wave generator, a flexible wheel, and a rigid wheel. The wave generator is connected to the motor shaft, the cup of the flexible wheel is fitted over the wave generator, and the rigid wheel is fixedly connected to the inner ring of the roller bearing and fitted over the cup of the flexible wheel. The internal teeth on the rigid wheel correspond to the external teeth on the flexible wheel. The flexible wheel flange on the bottom surface of the flexible wheel is bent, and the flexible wheel flange is used to connect with the embedded torque sensor. The outer ring fixing part of the embedded torque sensor is fastened to the outer ring of the roller bearing and the brake end cover of the brake component, and the outer ring fixing part is located between the outer ring of the roller bearing and the brake end cover. The inner ring fixing part of the embedded torque sensor is connected to the flexible wheel flange. The inner ring fixing part is located at the flexible wheel flange, and the bent flexible wheel flange is fitted with a fixing block. After the screw passes through the first mounting through hole on the inner ring fixing part and the second mounting through hole on the flexible wheel flange, it is tightened into the threaded hole on the fixing block, so that the inner ring fixing part is locked and fixed to the flexible wheel flange.

2. The intelligent force-controlled joint module according to claim 1, characterized in that, The rigid wheel is integrated with the inner ring of the roller bearing.

3. The intelligent force-controlled joint module according to claim 2, characterized in that, The thin-walled portion between the outer ring fixing part and the inner ring fixing part is a strain gauge, and a strain gauge and a signal processing PCB are arranged in the space on the right side of the strain gauge.

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