Joint module and robot provided with same

Abstract

The joint module comprises a stator assembly and a rotor assembly, the stator assembly comprises a machine shell, a motor stator, a brake stator, an encoder stator and a harmonic reducer flexible gear, and the rotor assembly comprises a rotating shaft structure and an output structure. The rotating shaft structure comprises a motor shaft, a harmonic reducer wave generator, a motor rotor, a brake rotor, an encoder rotor and a harmonic reducer rigid wheel, the harmonic reducer wave generator and the motor shaft are connected into an integrated structure, and the motor shaft is arranged in the motor stator and rotatably connected into the machine shell through a rear bearing. The output structure and the harmonic reducer rigid wheel are relatively fixed. According to the joint module, the harmonic reducer, the wave generator and the motor shaft are connected into an integrated structure, connection can be more stable, reliable and compact, the supporting rigidity of the motor shaft is greatly enhanced, and the joint module is stable in operation, high in rotation precision, low in noise, low in weight and small in size.

Description

Technical Field

[0001] This invention relates to the field of robot joint technology, and more particularly to a joint module and a robot equipped with the joint module. Background Technology

[0002] Joint modules are core components of humanoid robots, used to drive joints such as the shoulder, elbow, and wrist. Their performance directly affects the robot's work efficiency, motion accuracy, and reliability. As robots continue to expand into various application scenarios such as precision manufacturing, medical surgery, and home services, the performance requirements for joint modules are also increasing.

[0003] Existing technology discloses a compact modular joint for collaborative robots (Chinese Patent Publication No.: CN110757497B). This joint achieves speed reduction and torque increase by incorporating a harmonic reducer at one end of the motor, meeting the robot's low-speed, high-torque drive requirements. However, because the rear end of the motor shaft is supported and positioned by a rear bearing connected to the housing, and the front end is supported and positioned by a wave generator connected to the harmonic reducer, and this wave generator is connected to the motor shaft by screws, the motor shaft's support rigidity is insufficient, easily causing large radial vibrations. This affects the rotational accuracy of the modular joint, thus impacting the robot's motion accuracy, and also increases the risk of collisions and abnormal noise. Furthermore, it requires connecting flanges at both the wave generator end and the motor shaft end, connected by screws between the two flanges. This not only results in a complex structure and cumbersome assembly, but also occupies space, leading to a large overall weight and size for the modular joint. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a joint module and a robot equipped with the joint module. The joint module integrates the harmonic reducer wave generator and the motor shaft into a single structure, resulting in a more stable, reliable, and compact connection. This significantly enhances the support rigidity of the motor shaft, and the joint module exhibits stable operation, high rotational accuracy, low noise, low weight, and small size.

[0005] The technical solution adopted in this invention is as follows:

[0006] A joint module includes a stator assembly and a rotor assembly. The stator assembly includes a housing, a motor stator, a brake stator, and an encoder stator disposed within and fixed relative to the housing, and a harmonic reducer flexure disposed on the front side of the housing and fixed relative to the housing. The brake stator is disposed on the rear side of the motor stator, and the encoder stator is disposed on the rear side of the brake stator. The rotor assembly includes a shaft structure and an output structure. The shaft structure includes a motor shaft and a harmonic reducer wave generator disposed at the front of the motor shaft and connected to the inner wall of the harmonic reducer flexure. The speed reducer wave generator and the motor shaft are integrated into one structure. The motor shaft is arranged inside the motor stator and rotatably connected to the housing through the rear bearing. The rotor assembly also includes a motor rotor arranged between the motor stator and the motor shaft and fixed relative to the motor shaft, a brake rotor arranged behind the motor stator and fixed relative to the motor shaft, an encoder rotor arranged between the encoder stator and the motor shaft and fixed relative to the motor shaft, and a harmonic reducer rigid wheel connected to the front side of the housing through a cross bearing and connected to the outer wall of the harmonic reducer flex wheel. The output structure is fixed relative to the harmonic reducer rigid wheel.

[0007] Preferably, the harmonic reducer wave generator includes a wave generator cam integrally connected to the motor shaft, and a flexible bearing sleeved between the outer wall of the wave generator cam and the inner wall of the harmonic reducer flex wheel. The harmonic reducer flex wheel can periodically deform under the drive of the flexible bearing as the wave generator cam rotates and meshes with the harmonic reducer rigid wheel.

[0008] Preferably, the harmonic reducer wave generator further includes a first limiting ring disposed on the front side of the wave generator cam and a second limiting ring disposed on the rear side of the wave generator cam, wherein the inner ring of the flexible bearing is axially limited between the first limiting ring and the second limiting ring.

[0009] Preferably, the output structure includes a central shaft arranged with gaps within the rotating shaft structure, and an output flange arranged on the front side of the rotating shaft structure and fixed relative to the rigid wheel of the harmonic reducer. The output flange and the central shaft are integrated into one structure. The rotor assembly also includes a front bearing sleeved between the outer wall of the central shaft and the inner wall of the wave generator cam.

[0010] Preferably, the rotor assembly further includes an intermediate bearing sleeved between the outer wall of the motor shaft and the inner wall of the housing, the intermediate bearing being arranged between the front bearing and the motor stator, and at least two intermediate bearings being stacked axially.

[0011] Preferably, the housing includes a housing body, the housing body includes a first side baffle arranged on the outer periphery of the motor stator, and a first mounting bracket arranged on the rear side of the motor stator and integrally formed with the first side baffle. The first mounting bracket includes a mounting plate one arranged along the circumferential direction of the motor shaft and a mounting plate two extending rearward from the inner periphery of the mounting plate one. The brake stator is connected to the rear side of the mounting plate one, and the rear bearing is sleeved between the outer wall of the motor shaft and the inner wall of the mounting plate two.

[0012] Preferably, the rotor assembly further includes a second mounting bracket arranged on the rear side of the rear bearing and fixed relative to the motor shaft, wherein the brake rotor is arranged relative to the brake stator and connected to the second mounting bracket on the side near the first mounting bracket.

[0013] Preferably, the housing further includes a housing connecting frame arranged on the rear side of the housing body. The housing connecting frame includes a second side baffle arranged on the outer periphery of the second mounting frame and fixed relative to the first side baffle, and a third mounting frame arranged on the rear side of the second mounting frame and integrally formed with the second side baffle. The encoder rotor is arranged on the rear side of the second mounting frame, the third mounting frame is arranged along the circumferential direction of the encoder rotor, and the encoder stator is arranged along the circumferential direction of the encoder rotor and fixed relative to the third mounting frame.

[0014] Preferably, the device also includes a driver assembly, which includes a circuit board disposed within the housing and fixed relative to the housing, and a temperature sensor, an ECAT module, and a chip processor electrically connected to the circuit board, respectively, with the motor stator electrically connected to the circuit board.

[0015] The present invention also provides a robot including the joint module described above.

[0016] The beneficial effects achieved by this invention are as follows:

[0017] The joint module provided by this invention, because its rotor assembly includes a shaft structure and an output structure, and the shaft structure includes a motor shaft and a harmonic reducer wave generator arranged at the front of the motor shaft and connected to the inner wall of the harmonic reducer flexspline, the harmonic reducer wave generator and the motor shaft are integrated into one structure. The rear of the motor shaft is rotatably connected to the housing for support and positioning via a rear bearing, and the front is supported and positioned by the integrated harmonic reducer wave generator. This greatly enhances the support rigidity of the motor shaft, improves the transmission accuracy and concentricity of the harmonic reducer wave generator and the motor shaft, and makes the motor... The shaft and harmonic reducer wave generator can rotate as a whole. During the rotation of the motor shaft, the harmonic reducer wave generator is stationary relative to the motor shaft. Therefore, the connection between the motor shaft and the harmonic reducer wave generator is more stable and reliable. The motor shaft is less prone to radial vibration, the rotation accuracy of the joint module is higher, and collisions are less likely to occur, which greatly reduces noise. In addition, the connection flange setting in the existing technology has been eliminated, making assembly simpler and the structural setting more concise and compact. As a result, the joint module has the beneficial effects of stable operation, high rotation accuracy, low noise, low weight, and small size.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram of the structure of a joint module according to an embodiment of the present invention.

[0021] Figure 2 This is a schematic cross-sectional view of a joint module according to an embodiment of the present invention. Figure 1 .

[0022] Figure 3 This is a schematic cross-sectional view of a joint module according to an embodiment of the present invention. Figure 2 .

[0023] Figure 4 This is an exploded view of a joint module according to an embodiment of the present invention. Figure 1 .

[0024] Figure 5 This is an exploded view of a joint module according to an embodiment of the present invention. Figure 2 .

[0025] Figure 6 This is a schematic diagram of a rotating shaft structure according to an embodiment of the present invention.

[0026] Figure 7 This is a schematic diagram of the structure of the casing body according to an embodiment of the present invention.

[0027] Reference numerals: Housing 1, Housing body 11, First side baffle 111, Rear end cover 12, Front end cover 13, Ring cover 131, Extension plate 132, Housing connecting frame 14, Second side baffle 141, Motor stator 21, Motor rotor 22, Brake stator 31, Brake rotor 32, Encoder stator 41, Encoder rotor 42, Harmonic reducer flex wheel 51, Harmonic reducer rigid wheel 52, Shaft structure 6, Motor shaft 61, Fourth limiting ring 611, Fifth limiting ring 612, Harmonic reducer wave generator 62. Wave generator cam 621. Flexible bearing 622. First limiting ring 623. Second limiting ring 624. Output structure 7. Central shaft 71. Output flange 72. Rear bearing 81. Cross bearing 82. Front bearing 83. Intermediate bearing 84. First sealing ring 85. Second sealing ring 86. First mounting bracket 91. Mounting plate one 911. Mounting plate two 912. Third limiting ring 913. Second mounting bracket 92. Base ring 921. Mounting ring 922. Third mounting bracket 93. Circuit board 94. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0029] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "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 invention 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 invention.

[0030] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0032] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.

[0033] like Figures 1-7As shown in the figure, as an embodiment of the present invention, a joint module is provided, including a stator assembly and a rotor assembly. The stator assembly includes a housing 1, a motor stator 21, a brake stator 31, and an encoder stator 41 arranged inside the housing 1 and fixed relative to the housing 1, and a harmonic reducer flexure 51 arranged on the front side of the housing 1 and fixed relative to the housing 1. The brake stator 31 is arranged on the rear side of the motor stator 21, and the encoder stator 41 is arranged on the rear side of the brake stator 31. The rotor assembly includes a shaft structure 6 and an output structure 7. The shaft structure 6 includes a motor shaft 61 and a harmonic reducer wave generator 62 arranged on the front part of the motor shaft 61 and connected to the inner sidewall of the harmonic reducer flexure 51. The harmonic reducer wave generator 62 is integrated with the motor shaft 61, which is arranged inside the motor stator 21 and rotatably connected to the housing 1 through a rear bearing 81. The rotor assembly also includes a motor rotor 22 arranged between the motor stator 21 and the motor shaft 61 and fixed relative to the motor shaft 61, a brake rotor 32 arranged on the rear side of the motor stator 21 and fixed relative to the motor shaft 61, an encoder rotor 42 arranged between the encoder stator 41 and the motor shaft 61 and fixed relative to the motor shaft 61, and a harmonic reducer rigid wheel 52 connected to the front side of the housing 4 via a cross bearing 82 and connected to the outer wall of the harmonic reducer flex wheel 51. The output structure 7 is fixed relative to the harmonic reducer rigid wheel 52. The motor rotor 22 can drive the motor shaft 61 to rotate under the magnetic field drive of the motor stator 21. The motor shaft 61 drives the brake rotor 32, encoder rotor 42, and harmonic reducer wave generator 62 to rotate. The harmonic reducer wave generator 62 drives the harmonic reducer flexible wheel 51 to rotate. The meshing connection structure between the harmonic reducer flexible wheel 51 and the harmonic reducer rigid wheel 52 is a conventional harmonic reducer meshing structure in this field. That is to say, the number of teeth of the harmonic reducer flexible wheel 51 is less than the number of teeth of the harmonic reducer rigid wheel 52, thereby making the rotational speed of the harmonic reducer rigid wheel 52 less than the rotational speed of the harmonic reducer flexible wheel 51, so that the output structure 7, which is relatively fixed to the harmonic reducer rigid wheel 52, achieves the effect of speed reduction and torque increase.In this embodiment, the joint module features a rotating shaft structure 6 that integrates the harmonic reducer wave generator 62 and the motor shaft 61. The rear of the motor shaft 61 is rotatably connected to the housing 1 for support and positioning via a rear bearing 81, while the front is supported and positioned via the integrated harmonic reducer wave generator 62. This significantly enhances the support rigidity of the motor shaft 61 and improves the transmission accuracy and concentricity between the harmonic reducer wave generator 62 and the motor shaft 61. This allows the motor shaft 61 and the harmonic reducer wave generator 62 to rotate as a whole. During the rotation of the motor shaft 61, the harmonic reducer wave generator 62 remains stationary relative to the motor shaft 61. Consequently, the connection between the motor shaft 61 and the harmonic reducer wave generator 62 is more stable and reliable, the motor shaft 61 is less prone to radial vibration, the joint module has higher rotational accuracy, and is less prone to collisions, greatly reducing noise. Furthermore, the connection flange in the prior art is eliminated, making assembly simpler and the structural design more concise and compact. As a result, the joint module has the beneficial effects of stable operation, high rotational accuracy, low noise, low weight, and small size.

[0034] like Figure 2 , Figure 3 , Figure 6 As shown, in some specific embodiments, the harmonic reducer wave generator 62 includes a wave generator cam 621 integrally connected to the motor shaft 61, and a flexible bearing 622 sleeved between the outer wall of the wave generator cam 621 and the inner wall of the harmonic reducer flexure 51. The wave generator cam 621 is configured as an elliptical structure, and the flexible bearing 622 is compressed into an elliptical structure by the wave generator cam 621. The wave generator cam 621 and the motor shaft 61 are configured as an integral structure, ensuring the rigidity and concentricity of the wave generator cam 621 and the motor shaft 61, and achieving high rotational accuracy. The flexible bearing 622 includes an inner ring sleeved on the outside of the wave generator cam 621 and fixed relative to the wave generator cam 621, an outer ring that presses the two ends of the long shaft against the harmonic reducer flexure 51, and a number of balls arranged between the inner and outer rings. When the wave generator cam 621 rotates with the motor shaft 61, the flexible bearing 622 is periodically deformed under the compression of the wave generator cam 621. The harmonic reducer flexure 51 can be periodically deformed with the rotation of the wave generator cam 621 under the drive of the flexible bearing 622 and mesh with the harmonic reducer rigid wheel 52, thereby driving the harmonic reducer rigid wheel 52 to rotate.

[0035] like Figure 3As shown, in some specific embodiments, the harmonic reducer wave generator 62 further includes a first limiting ring 623 disposed on the front side of the wave generator cam 621 and a second limiting ring 624 disposed on the rear side of the wave generator cam 621. The inner ring of the flexible bearing 622 is axially limited between the first limiting ring 623 and the second limiting ring 624 for axial positioning of the flexible bearing 622. The first limiting ring 623 is integrally connected with the wave generator cam 621. The outer side wall of the wave generator cam 621 is recessed with a groove along its circumference. The second limiting ring 624 engages with the wave generator cam 621 in the groove, facilitating the assembly connection between the flexible bearing 622 and the wave generator cam 621. In this embodiment, the second limiting ring 624 is configured as two stacked retaining rings, with the rear retaining ring engaging with the groove and the front retaining ring abutting against the rear end face of the inner ring of the flexible bearing 622, resulting in better vibration resistance. In other embodiments, only one retaining ring may be configured.

[0036] like Figure 2 As shown, in some specific embodiments, the output structure 7 includes a central shaft 71 arranged with gaps within the rotating shaft structure 6, and an output flange 72 arranged on the front side of the rotating shaft structure 6 and fixed relative to the harmonic reducer rigid wheel 52. The rotor assembly also includes a front bearing 83 sleeved between the outer wall of the central shaft 71 and the inner wall of the wave generator cam 621. The output structure 7 can be supported and positioned by the harmonic reducer rigid wheel 52 and the front bearing 83, and the support for the output flange 72 is more stable. The output structure 7, in which the output flange 72 and the central shaft 71 are integrated, allows the central shaft 71 and the output flange 72 to rotate as a whole. Therefore, the connection between the central shaft 71 and the output flange 72 is more stable and reliable, the output flange 72 is less prone to radial vibration, the rotation accuracy of the joint module is higher, and it is less likely to collide. In addition, there is no need to set a connecting flange or other connecting structure between the output flange 72 and the central shaft 71, which further simplifies the structure and makes the joint module more stable in operation, with higher rotation accuracy, lower noise, lower weight, and smaller size. A wire passage is provided through the center shaft 71 along its axial direction. A wire passage opening is provided on the housing 1 that communicates with the wire passage. The wire passage and the wire passage opening are used to arrange various wires.

[0037] In some specific embodiments, the rotor assembly further includes an intermediate bearing 84 sleeved between the outer wall of the motor shaft 61 and the inner wall of the housing 1. The intermediate bearing 84 is arranged between the front bearing 83 and the motor stator 21, and two intermediate bearings 84 are stacked axially. This allows the motor shaft 61 to be supported and positioned by the rear bearing 81 arranged at its rear, the front bearing 83 and the flexible bearing 622 arranged at its front, and the two intermediate bearings 84 arranged in the middle area. The multiple bearing arrangement further improves the stability of the motor shaft 61's support and positioning, prevents radial vibration of the motor shaft 61, reduces noise, and also facilitates the stable operation of the harmonic reducer. The stacking of two intermediate bearings 84 provides more stable support and positioning for the motor shaft 61. In other embodiments, even more intermediate bearings 84 can be stacked.

[0038] like Figure 2 , Figure 3 , Figure 7As shown, in some specific embodiments, the housing 1 includes a housing body 11, which includes a first side baffle 111 arranged on the outer periphery of the motor stator 21 and a first mounting bracket 91 arranged on the rear side of the motor stator 21 and integrally formed with the first side baffle 111. The first mounting bracket 91 includes a mounting plate 911 arranged along the circumferential direction of the motor shaft 61 and a mounting plate 912 extending rearward from the inner periphery of the mounting plate 911. The brake stator 31 is connected to the rear side of the mounting plate 911, and the rear bearing 81 is sleeved between the outer wall of the motor shaft 61 and the inner wall of the mounting plate 912. In this embodiment, the brake stator 31 is directly connected to the first mounting bracket 91 and fixed relative to the housing 1, ensuring a stable and reliable connection. The rear bearing 81 is sleeved between the motor shaft 61 and the first mounting bracket 91 to stably support the motor shaft 61 within the housing 1, further improving the stability of the motor shaft 61's support and positioning, preventing radial vibration of the motor shaft 61, reducing noise, and also facilitating the stable operation of the harmonic reducer. Furthermore, the brake stator 31 and the rear bearing 81 are respectively connected and arranged on the rear side of mounting plate one 911 and the inner side of mounting plate two 912, resulting in a compact structure and high utilization of the internal space of the housing 1. The first mounting bracket 91 simultaneously serves to connect the brake stator 31 and support the rear bearing 81, achieving a multi-purpose effect and further reducing the overall weight and volume of the joint module. In this embodiment, the outer periphery of mounting plate 911 is connected to a first position on the inner periphery of the first side baffle 111 near its rear end. The first position is spaced apart from the rear end of the first side baffle 111, which makes the connection strength between the first mounting bracket 91 and the first side baffle 111 higher and the connection support for the brake stator 31 and the rear bearing 81 more stable. It also makes the part of the structure on the first side baffle 111 arranged between its rear end and the first position form a concave annular groove with the rear side wall of mounting plate 911 and the outer periphery of mounting plate 912. The brake stator 31 is arranged in the concave annular groove, and the space arrangement is compact. This makes the joint module of this embodiment have the advantages of high rotor rigidity, high position control accuracy, compact structure, high product consistency, simple and reliable manufacturing process, and low cost.

[0039] like Figures 2-5 As shown, in some specific embodiments, the rotor assembly further includes a second mounting bracket 92 arranged on the rear side of the rear bearing 81. The brake rotor 32 is arranged opposite to the brake stator 31 and connected to the side of the second mounting bracket 92 near the first mounting bracket 91, so that the brake rotor 32 is fixed relative to the motor shaft 61 by the second mounting bracket 92 and rotates with the motor shaft 61, while rotating relative to the brake stator 31. The friction or electromagnetic action between the brake stator 31 and the brake rotor 32 prevents the brake rotor 32 from rotating relative to the brake stator 31, thereby preventing the motor shaft 61 from rotating and achieving braking.

[0040] In some specific embodiments, the housing 1 further includes a housing connecting frame 14 arranged on the rear side of the housing body 11. The housing connecting frame 14 includes a second side baffle 141 arranged on the outer periphery of the second mounting frame 92 and fixed relative to the first side baffle 111, and a third mounting frame 93 arranged on the rear side of the second mounting frame 92 and integrally formed with the second side baffle 141. The encoder rotor 42 is arranged on the rear side of the second mounting frame 92, the third mounting frame 93 is arranged along the circumferential direction of the encoder rotor 42, and the encoder stator 41 is arranged along the circumferential direction of the encoder rotor 42 and fixed relative to the third mounting frame 93.

[0041] In some specific embodiments, the second mounting bracket 92 includes a base ring 921 and a mounting ring 922 connected to the outer periphery of the base ring 921. The brake rotor 32 is fixed relative to the front side of the mounting ring 922. The base ring 921 is sleeved on the outside of the motor shaft 61 and axially limited between the front end face of the encoder rotor 42 and the rear end face of the inner ring of the rear bearing 81. The first mounting bracket 91 also includes a third limiting ring 913 protruding from the inner sidewall of the mounting plate 912. The front sidewall of the third limiting ring 913 and the inner sidewall of the mounting plate 912 surround each other to form a first mounting area for arranging the outer ring of the rear bearing 81. The inner ring of the rear bearing 81 is fixedly connected to the outside of the motor shaft 61, and the outer ring of the rear bearing 81 is fixedly connected to the first mounting area. For example, the inner ring of the rear bearing 81 is pressed into the motor shaft 61 by an interference fit process and axially limited between the fourth limiting ring 611 integrally formed on the motor shaft 61 and the front end face of the base ring 921. The outer ring of the rear bearing 81 and the outer sidewall of the mounting plate 912 are transitionally fitted by a small transition fit process and axially limited by the third limiting ring 913. Compared with the glue fixation method in the prior art, this simplifies the operation process, facilitates automated operation, and ensures a tight and reliable connection that is not easy to loosen, avoiding deformation of the rear bearing 81. This ensures that the inner ring of the rear bearing 81 is stably connected during the test, improving the process yield and service life. The second mounting bracket 92 serves simultaneously as the mounting bracket for the brake rotor 32 and the axial positioning bracket for the rear bearing 81, simplifying the structure, facilitating assembly, and allowing for a more compact internal layout of the module, which is beneficial for subsequent iterative product design. The base ring 921 protrudes from the front and rear sides of the mounting ring 922. The base ring 921 is fixed to the motor shaft 61 by screws, bolts, or other fasteners arranged radially along the motor shaft 61. The brake rotor 32 is positioned in front of the mounting ring 922, and is fixed to the mounting ring 922 by screws, bolts, or other fasteners arranged axially along the motor shaft 61. In some specific embodiments, a driver assembly is also included. The driver assembly includes a circuit board 94 disposed within the housing 1 and fixed relative to the housing, and a temperature sensor, an ECAT module, and a chip processor electrically connected to the circuit board 94. The motor stator 21 is electrically connected to the circuit board 94. The temperature sensor can detect the temperature inside the housing 1. The ECAT module refers to a communication module based on EtherCAT (Ethernet Automation Technology), used for rapid and accurate data exchange between the joint module and the robot control system and other related equipment, facilitating precise and stable operation of the joint module. It can process and control the joint module through a chip processor. The three-phase wires of the motor stator 21 are connected to the three-phase solder joints of the circuit board 94 via dovetail slots and dovetail plates, thus facilitating assembly or disassembly. Wiring channels for the three-phase wires are respectively provided on the mounting plate 911 and the third mounting bracket 93.

[0042] like Figures 2-5As shown, in some specific embodiments, the housing 1 further includes a rear end cover 12 and a front end cover 13. The rear end cover 12 is disposed at the rear end of the housing connecting frame 14 and is detachably connected to the housing connecting frame 14. The front end cover 13 is disposed at the front end of the housing body 11 and is detachably connected to the housing body 11. The motor stator 21 is disposed inside the housing body 11 and is fixed to the housing body 11 by adhesive. A cross bearing 82 is arranged on the front side of the front cover 13, and the inner ring of the cross bearing 82, the harmonic reducer rigid wheel 52, and the output flange 72 are connected and fixed by fasteners such as screws and bolts. The outer ring of the cross bearing 82, the harmonic reducer flexible wheel 51, the front cover 13, and the housing body 11 are connected and fixed by fasteners such as screws and bolts. The front cover 13 includes an annular cover plate 131 arranged between the front end of the housing body 11 and the rear end of the harmonic reducer flexible wheel 51, and an extension plate 132 extending forward from the inner periphery of the annular cover plate 131. The front side wall of the annular cover plate 131 and the outer side wall of the extension plate 132 surround each other to form a structure for arranging the harmonic reducer. The flexible wheel 51 and the cross bearing 82 are arranged in a compact manner. The intermediate bearing 84 is fitted between the outer wall of the motor shaft 61 and the inner wall of the extension plate 132. The front end of the extension plate 132 extends inward to form a seventh limiting ring. The rear side of the ring cover plate 131 is fixedly connected with an eighth limiting ring protruding from the inner side of the extension plate 132 by screws, bolts and other fasteners. A sixth limiting ring is integrally formed on the motor shaft 61, and a fifth limiting ring 612 is snapped onto the motor shaft 61. The outer ring of the stacked intermediate bearing 84 is axially limited between the seventh and eighth limiting rings, and the inner ring is axially limited between the sixth and fifth limiting rings 612. The rear end cover 12 and the second side baffle 141 are connected and fixed by screws, bolts and other fasteners. The rear end of the motor shaft 61 is shorter than the rear end of the central shaft 71. The rear end of the central shaft 71 protrudes beyond the rear end of the motor shaft 61. The circuit board 94 is fitted onto the central shaft 71 with a gap and is arranged on the side of the third mounting bracket 93 away from the second mounting bracket 92 and is fixed relative to the third mounting bracket 93. In this embodiment, the circuit board 94 is fixed to the third mounting bracket 93 by hexagonal copper pillars and screws, and insulating gaskets are installed between the circuit board 94 and the rear end cover 12 and / or between the circuit board 94 and the third mounting bracket 93 for insulation. In other embodiments, the circuit board 94 may also be connected to the rear end cover 12. In addition, in this embodiment, only one encoder is provided to monitor the rotational speed of the motor shaft 61. In other embodiments, an additional encoder may be provided, and the encoder stator is connected and fixed to the third mounting bracket 93 or the circuit board 94, and the encoder rotor is connected and fixed to the central shaft 71 to monitor the rotational speed of the output structure 7.

[0043] like Figure 2As shown, in some specific embodiments, a first O-ring 85 is fitted between the outer wall of the central shaft 71 and the inner wall of the front bearing 83. The first O-ring 85 is interference-fitted between the outer wall of the central shaft 71 and the inner wall of the front bearing 83, causing the first O-ring 85 and the inner ring of the front bearing 83 to be radially compressed, thereby generating a large frictional torque, ensuring that creep does not occur during motor operation, and thus ensuring the consistency and lifespan stability of the motor. A second O-ring 86 is provided between the harmonic reducer flexure 51 and the outer ring of the cross bearing 82. The second O-ring 86 is interference-fitted between the front side of the harmonic reducer flexure 51 and the rear side of the outer ring of the cross bearing 82, causing the second O-ring 86 and the outer ring of the cross bearing 82 to be axially compressed, ensuring that creep does not occur during motor operation, and thus ensuring the consistency and lifespan stability of the motor. A first O-groove is recessed on the outer wall of the central shaft 71 to limit the first O-ring 85, improving the stability of the connection of the first O-ring 85. The outer ring of the cross bearing 82 is recessed with a second O-ring groove for limiting the second O-ring 86, which improves the stability of the connection of the second O-ring 86. In addition, the arrangement of the first O-ring 85 and the second O-ring 86 also improves the sealing performance of the harmonic reducer, prevents oil leakage, and extends the service life of the joint module.

[0044] As another embodiment of the present invention, a robot is also provided, which includes the joint module provided by the present invention. The joint module is installed on the joints of the robot, such as the shoulder, elbow or wrist, and is used for driving the joints. Because the joint module provided by the present invention is used, the joints of the robot have the beneficial effects of stable operation, high rotational accuracy, low noise and low weight.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0046] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A joint module, characterized in that, include: A stator assembly includes a housing, a motor stator, a brake stator, and an encoder stator arranged within the housing and fixed relative to the housing, and a harmonic reducer flexspline arranged on the front side of the housing and fixed relative to the housing, wherein the brake stator is arranged on the rear side of the motor stator and the encoder stator is arranged on the rear side of the brake stator. The rotor assembly includes a shaft structure and an output structure. The shaft structure includes a motor shaft and a harmonic reducer wave generator arranged at the front of the motor shaft and connected to the inner wall of the harmonic reducer flexure. The harmonic reducer wave generator is integrated with the motor shaft. The motor shaft is arranged inside the motor stator and rotatably connected to the housing via a rear bearing. The rotor assembly also includes a motor rotor arranged between the motor stator and the motor shaft and fixed relative to the motor shaft, a brake rotor arranged at the rear of the motor stator and fixed relative to the motor shaft, an encoder rotor arranged between the encoder stator and the motor shaft and fixed relative to the motor shaft, and a harmonic reducer rigid wheel connected to the front of the housing via a cross bearing and connected to the outer wall of the harmonic reducer flexure. The output structure is fixed relative to the harmonic reducer rigid wheel.

2. The joint module according to claim 1, characterized in that: The harmonic reducer wave generator includes a wave generator cam integrated with the motor shaft, and a flexible bearing sleeved between the outer wall of the wave generator cam and the inner wall of the harmonic reducer flex wheel. The harmonic reducer flex wheel can periodically deform under the drive of the flexible bearing as the wave generator cam rotates, and mesh with the harmonic reducer rigid wheel.

3. The joint module according to claim 2, characterized in that: The harmonic reducer wave generator also includes a first limiting ring disposed on the front side of the wave generator cam and a second limiting ring disposed on the rear side of the wave generator cam, wherein the inner ring of the flexible bearing is axially limited between the first limiting ring and the second limiting ring.

4. The joint module according to claim 2, characterized in that: The output structure includes a central shaft arranged with gaps within the rotating shaft structure, and an output flange arranged on the front side of the rotating shaft structure and fixed relative to the rigid wheel of the harmonic reducer. The output flange is integrated with the central shaft. The rotor assembly also includes a front bearing sleeved between the outer wall of the central shaft and the inner wall of the wave generator cam.

5. The joint module according to claim 4, characterized in that: The rotor assembly also includes an intermediate bearing sleeved between the outer wall of the motor shaft and the inner wall of the housing. The intermediate bearing is arranged between the front bearing and the motor stator, and at least two intermediate bearings are stacked axially.

6. The joint module according to any one of claims 1-5, characterized in that: The housing includes a housing body, which includes a first side baffle arranged on the outer periphery of the motor stator and a first mounting bracket arranged on the rear side of the motor stator and integrally formed with the first side baffle. The first mounting bracket includes a mounting plate one arranged along the circumferential direction of the motor shaft and a mounting plate two extending rearward from the inner periphery of the mounting plate one. The brake stator is connected to the rear side of the mounting plate one, and the rear bearing is sleeved between the outer wall of the motor shaft and the inner wall of the mounting plate two.

7. The joint module according to claim 6, characterized in that: The rotor assembly also includes a second mounting bracket arranged behind the rear bearing and fixed relative to the motor shaft. The brake rotor is arranged relative to the brake stator and connected to the second mounting bracket on the side near the first mounting bracket.

8. The joint module according to claim 7, characterized in that: The housing also includes a housing connecting frame arranged on the rear side of the housing body. The housing connecting frame includes a second side baffle arranged on the outer periphery of the second mounting frame and fixed relative to the first side baffle, and a third mounting frame arranged on the rear side of the second mounting frame and integrally formed with the second side baffle. The encoder rotor is arranged on the rear side of the second mounting frame, the third mounting frame is arranged along the circumferential direction of the encoder rotor, and the encoder stator is arranged along the circumferential direction of the encoder rotor and fixed relative to the third mounting frame.

9. The joint module according to claim 6, characterized in that: It also includes a driver assembly, which includes a circuit board disposed within and fixed relative to the housing, and a temperature sensor, an ECAT module, and a chip processor electrically connected to the circuit board, respectively, with the motor stator electrically connected to the circuit board.

10. A robot, characterized in that: Includes the joint module as described in any one of claims 1-9.

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