Joint module and robot

Abstract

The application discloses a joint module and a robot, which sequentially comprise a reducer assembly, a motor assembly, an encoder assembly and a driving assembly, wherein: the reducer assembly comprises a reducer, the reducer comprises a wave generator, and the wave generator forms an input shaft of the reducer assembly; the motor assembly comprises a motor shaft, and the wave generator and the motor shaft are connected in an axial direction and / or a radial direction; when the connection area of the wave generator and the motor shaft in the axial direction is greater than the connection area of the wave generator and the motor shaft in the radial direction, the wave generator and the motor shaft are connected through a fastener in the radial direction; and when the connection area of the wave generator and the motor shaft in the axial direction is less than the connection area of the wave generator and the motor shaft in the radial direction, the wave generator and the motor shaft are connected through a fastener in the axial direction. In this way, a suitable joint module can be selected as required to meet the diversified requirements of different application scenarios.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a joint module and a robot. BACKGROUND

[0002] With the development of science and technology, the field of robots is increasingly prosperous, and higher requirements are put forward for the performance of robot joints. As the core component of a robot, the performance of a joint module directly affects the running efficiency, accuracy and reliability of the entire robot. Traditional joint modules are usually composed of multiple key components such as motors, reducers, encoders and drivers, and these components are often arranged in a dispersed manner, resulting in a complex assembly process and a large volume.

[0003] The existing joint modules generally have some problems. First, since the motor assembly is axially connected to the reducer, the axial size of the robot joint structure is too long, the space utilization is not sufficient, and the overall performance of the robot is affected. Second, the traditional joint module has relatively many parts, and the assembly process is complex, and it is not convenient to assemble, disassemble and maintain. In addition, under the premise of ensuring accuracy and stability, it is difficult to simultaneously consider other important performance indicators such as manufacturing process, cost and space utilization, and it is difficult to meet the diversified needs of different application scenarios.

[0004] Therefore, it is necessary to provide a joint module to at least solve the above problems. SUMMARY

[0005] The present application provides a joint module and a robot to solve the problem that the traditional joint module in the prior art cannot meet the diversified needs of different application scenarios.

[0006] According to one aspect of the present application, a joint module is provided, which comprises, in sequence, a reducer assembly, a motor assembly, an encoder assembly and a drive assembly, wherein:

[0007] The reducer assembly comprises a reducer, and the reducer comprises a wave generator, and the wave generator forms an input shaft of the reducer assembly;

[0008] The motor assembly comprises a motor shaft, and the wave generator and the motor shaft are connected in an axial direction and / or a radial direction, and when the connection area of the wave generator and the motor shaft in the axial direction is greater than the connection area of the wave generator and the motor shaft in the radial direction, the wave generator and the motor shaft are connected by a fastener in the radial direction; and when the connection area of the wave generator and the motor shaft in the axial direction is less than the connection area of the wave generator and the motor shaft in the radial direction, the wave generator and the motor shaft are connected by a fastener in the axial direction.

[0009] In some embodiments, the speed reducer assembly further comprises a flexible gear cover, which is installed on the side of the speed reducer assembly facing the outside, for preventing foreign matters from entering, and / or; a sealing ring is arranged in the flexible gear cover, for preventing the speed reducer lubricating grease from flowing out, and / or; the flexible gear cover is provided with a hollow via through which a cable passes.

[0010] In some embodiments, the speed reducer assembly further comprises a cross roller bearing, the speed reducer further comprises a steel gear and a flexible gear, the steel gear and the flexible gear are connected through the cross roller bearing, the inner ring of the cross roller bearing is connected with the steel gear, the cross roller bearing comprises a first bearing or a second bearing, the outer diameter of the first bearing is the same as the outer diameter of the module, the first bearing is provided with a mounting hole for fixing the bearing outer ring, the flexible gear and the motor shell, the first bearing outer ring and the motor shell are provided with hole positions for installation and use; the outer diameter of the second bearing is smaller than the outer diameter of the module, the bearing outer ring is fixed with the flexible gear motor shell through a screw, and the gland and the motor shell are provided with hole positions for installation and use.

[0011] In some embodiments, the motor assembly further comprises a motor and a motor shell, the motor comprises a motor stator and a motor rotor, the motor stator is glued and fixed inside the motor shell, and the motor rotor is glued and fixed on the motor shaft.

[0012] In some embodiments, the encoder assembly comprises an encoder and an encoder bushing, the encoder comprises an encoder stator and an encoder rotor, the encoder stator is embedded inside the motor shell, the encoder rotor is fixed on the encoder bushing, the encoder bushing is screwed on the motor shaft and clamps a bearing, for preventing the bearing and the motor shaft from moving axially.

[0013] In some embodiments, the drive assembly comprises a drive control board and a rear cover, the drive control board and the rear cover are installed at the rear of the motor shell, the rear cover is provided with an opening for inserting a cable, and / or; a bearing is installed inside the rear cover for supporting the flexible gear cover, and / or; a heat dissipation boss corresponding to the drive control board is further arranged inside the rear cover.

[0014] In some embodiments, a brake assembly is further included, which is arranged between the motor and the encoder, the brake assembly comprises a brake, a friction plate, a brake fixing seat and a brake disc.

[0015] In some embodiments, the brake is fixed on the motor shell, the brake fixing seat is fixed on the motor shaft and presses the bearing, for preventing the motor shaft from moving axially, and / or; the brake disc is arranged on the side of the brake fixing seat away from the motor shaft, and the brake disc is fixed with the friction plate.

[0016] In some embodiments, the brake is provided with an adapter shell for connecting the motor shell and the rear cover, and the brake is provided with a coil protection structure for preventing contact with the cable when the brake disc rotates.

[0017] According to another aspect of the present application, a robot is also provided, comprising a body and the joint module according to any one of the above.

[0018] In summary, the present application has the following advantages due to the adoption of the above technical solutions:

[0019] The wave generator and the motor shaft are connected in the axial direction and the radial direction, and different connection modes of the wave generator and the motor shaft are selected according to different sizes of the joint module, so as to meet the diversified needs of different application scenarios.

[0020] Additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0022] Figure 1 is a cross-sectional structure schematic diagram of the joint module of the embodiment of the present application;

[0023] Figure 2 is another cross-sectional structure schematic diagram of the joint module of the embodiment of the present application.

[0024] FIG. 1 is a cross-sectional structure schematic diagram of the joint module of the embodiment of the present application; DETAILED DESCRIPTION

[0025] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0026] In the description of the application, it is necessary to understand that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In the description of the application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0027] In the description of the application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected. It can be mechanically connected, or electrically connected. It can be directly connected, or indirectly connected through an intermediate medium. It can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0028] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0029] The disclosure herein provides many different embodiments or examples for implementing different structures of the application. In order to simplify the disclosure of the application, the components and settings of specific examples are described herein. Of course, they are only examples, and the purpose is not to limit the application. In addition, the application can repeatedly refer to numbers and / or letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0030] Reference Figures 1 to 2According to an aspect of the present application, a joint module is provided, which comprises, in sequence, a reducer assembly, a motor assembly, an encoder assembly and a driving assembly, wherein: the reducer assembly comprises a reducer, the reducer comprises a wave generator 22, the wave generator 22 forms an input shaft of the reducer assembly, the motor assembly comprises a motor shaft 4. The wave generator 22 and the motor shaft 4 are connected in the axial direction and / or the radial direction, when the connection area of the wave generator 22 and the motor shaft 4 in the axial direction is greater than the connection area of the wave generator 22 and the motor shaft 4 in the radial direction, the wave generator 22 and the motor shaft 4 are connected through the radial fastener 17; when the connection area of the wave generator 22 and the motor shaft 4 in the axial direction is less than the connection area of the wave generator 22 and the motor shaft 4 in the radial direction, the wave generator 22 and the motor shaft 4 are connected through the axial fastener 17. Wherein, the reducer can be a harmonic reducer.

[0031] In this way, according to the different size requirements of the joint module, different connection modes of the wave generator 22 and the motor shaft 4 can be selected to meet the diversified needs of different application scenarios.

[0032] Wherein, referring to Figure 1 and Figure 2 , the extension direction of the X section can refer to the axial direction, the extension direction of the Y section can refer to the radial direction, the connection area in the axial direction can refer to the contact area of the wave generator 22 and the motor shaft 4 in the axial direction, that is, the contact area of the cylindrical surface of the motor shaft 4 and the wave generator 22, and the connection area in the radial direction can refer to the contact area of the wave generator 22 and the motor shaft 4 in the radial direction, that is, the contact area of the end surface of the motor shaft 4 and the wave generator 22. Specifically, if a small-size joint module is required, a small-size joint module can be realized by setting the connection area of the wave generator 22 and the motor shaft 4 in the axial direction to be greater than the connection area of the wave generator 22 and the motor shaft 4 in the radial direction, and connecting the wave generator 22 and the motor shaft 4 through the radial fastener 17, and the radial fastener 17 can be a tight screw. If a large-size joint module is required, a large-size joint module can be realized by setting the connection area of the wave generator 22 and the motor shaft 4 in the axial direction to be less than the connection area of the wave generator 22 and the motor shaft 4 in the radial direction, and connecting the wave generator 22 and the motor shaft 4 through the axial fastener 17, and the axial fastener 17 can be a screw. Both of them can ensure that the wave generator 22 and the motor shaft 4 are coaxial and tightly connected, and the motor shaft 4 can drive the wave generator 22 to rotate together.

[0033] In some embodiments, since the wave generator 22 and the motor shaft 4 are cylindrical, the axial connection surface of the wave generator 22 and the motor shaft 4 is called a cylindrical fitting surface, and the radial connection surface is called a flat end surface. When a small size joint module is needed, the motor shaft 4 is sleeved outside the wave generator 22, the area of the cylindrical fitting surface is larger than that of the flat end surface, a threaded hole is provided on the motor shaft 4, and a radial row of fasteners 17 is used for installation and fixation; when a large size joint module is needed, the end surface of the wave generator 22 is tightly attached to the end surface of the motor shaft 4, the area of the cylindrical fitting surface is smaller than that of the flat end surface, the wave generator 22 has a through hole, the motor shaft 4 has a threaded hole, and an axial row of screws is used for connection and fixation.

[0034] The wave generator 22 is the input shaft of the reducer, which is connected with the motor shaft 4 through a coaxial cylindrical surface and a flat end surface to ensure the coaxial rotation and axial positioning of the wave generator 22 and the motor shaft 4, and to ensure that the position of the wave generator 22 in the reducer is unchanged when the motor is running.

[0035] In some embodiments, the reducer assembly further comprises a flexible wheel cover 1 installed on the side of the reducer assembly facing the outside, for preventing foreign matter from entering the inside of the high-speed rotating reducer, and / or a sealing ring is arranged in the flexible wheel cover 1 for preventing the reducer lubricating grease from flowing out, and / or the flexible wheel cover 1 is provided with a hollow via through which a cable can pass, so that the cable can pass through the joint module.

[0036] In some embodiments, the reducer assembly further comprises a cross-roller bearing 3, and the reducer further comprises a steel wheel 21 and a flexible wheel 23, which are connected through the cross-roller bearing 3, and the inner ring of the cross-roller bearing 3 is connected with the steel wheel 21.

[0037] The reducer steel wheel 21 and the flexible wheel 23 are connected through the cross-roller bearing 3, which can ensure the coaxiality of the steel wheel 21 and the fixed end of the flexible wheel 23, so that the steel wheel 21 can rotate stably. The inner ring of the cross-roller bearing 3 is connected with the reducer steel wheel 21, so that the user can directly fix the screw on the output end on the bearing inner ring during use, and the force transmission is more stable.

[0038] The cross-roller bearing 3 comprises a first bearing or a second bearing. The first bearing is a customized integrated cross-roller bearing 3 matched with the reducer, the outer diameter of the cross-roller bearing 3 is consistent with the outer diameter of the joint module, and a mounting hole is left for fixing the outer ring of the cross-roller bearing 3 with the flexible wheel 23 and the motor shell 5, and the outer ring of the cross-roller bearing 3 or the motor shell 5 has a hole for installation and use by the outside world.

[0039] The second bearing outer ring is smaller than the outer diameter of the module, has no mounting hole, is fixed in the bearing outer shell 32 through the structure of the bearing outer shell 32 and the gland 31, and the bearing outer shell 32, the gland 31 and the motor shell 5 are fixed through screws, and the bearing outer shell 32, the gland 31 or the motor shell 5 has a hole for installation and use outside.

[0040] In some embodiments, the motor assembly further comprises a motor and a motor shell 5, the motor comprises a motor stator 61 and a motor rotor 62, the motor stator 61 is fixed in the motor shell 5 by gluing, and the motor rotor 62 is fixed on the motor shaft 4 by gluing.

[0041] Referring to Figure 1 The motor can be a frameless torque motor, and when there is enough space, the motor shell 5 is designed with a groove 18 outside for weight reduction and heat dissipation, and the edge of one side of the motor shell 5 can be designed as a convex structure for embedding in the flexspline 23 to ensure the concentricity of the motor shell 5 and the speed reducer. The motor assembly comprises two bearings 7, which are installed inside the motor shell 5, so that the internal space of the motor rotor 62 is utilized, the module structure is more compact, and the volume is smaller. In some embodiments, the encoder assembly comprises an encoder and an encoder sleeve 9, the encoder comprises an encoder stator 81 and an encoder rotor 82, the encoder stator 81 is embedded in the motor shell 5, the encoder rotor 82 is fixed on the encoder sleeve 9, the encoder sleeve 9 is screwed on the motor shaft 4 and clamps the bearing 7 to prevent axial movement of the bearing 7 and the motor shaft 4. In addition, in order to ensure the concentricity, the motor shaft 4 and the encoder sleeve 9 can also be designed with a smooth cylindrical matching surface.

[0042] The compact structure of the motor shell 5 is matched with multiple components to ensure the concentricity of the motor stator 61, the outer ring of the cross-roller bearing 3 and the encoder stator 81, simplifies the installation process and improves the stability of the overall structure. Under the support of the bearing 7, the motor shaft 4 can stably rotate at the center of the motor, so that the wave generator 22, the motor stator 61 and the encoder stator 81 can stably rotate on the same shaft, which can improve the transmission efficiency and the accuracy of the encoder.

[0043] In some embodiments, the drive assembly comprises a drive control board 10 and a rear cover 11, the drive control board 10 and the rear cover 11 are installed at the rear of the motor shell 5, the rear cover 11 is provided with an opening for connecting a cable, and / or; the rear cover 11 is internally provided with a bearing 7 for supporting the flexspline cover 1, and / or; the rear cover 11 is internally provided with a heat dissipation boss corresponding to the drive control board 10.

[0044] Specifically, the motor shell 5 rear is installed with the drive control board 10 and the rear cover 11 for protecting the drive control board 10. Using the self-developed drive control board 10, a compact mechanical structure is adopted, and various functional elements can be reasonably arranged in the limited space, so as to minimize the size of the product. The compact structure not only improves the working efficiency of the drive control board 10, but also reduces the weight of the product itself and improves the safety performance of the product. The rear cover 11 has an opening corresponding to the structure of the drive control board 10, which is used for connecting the cable. The rear cover 11 is internally provided with a bearing 7 for supporting the flexspline cover 1, so that the flexspline cover 1 can stably rotate. The rear cover 11 is internally provided with a heat dissipation boss corresponding to the drive control board 10. The boss is internally attached with a heat sink, and the structure can quickly guide the heat of the drive control board 10 to the shell for heat dissipation.

[0045] In some embodiments, a brake assembly is further included, which is arranged between the motor and the encoder, and the brake assembly includes a brake 131, a friction plate 132, a brake fixing seat 14 and a brake disc 15.

[0046] In some embodiments, the brake 131 is fixed on the motor shell 5, the brake fixing seat 14 is fixed on the motor shaft 4 and presses the bearing 7, so as to prevent the motor shaft 4 from producing axial movement, and / or the brake disc 15 is arranged on the side of the brake fixing seat 14 away from the motor shaft 4, and the brake disc 15 is fixed with the friction plate 132.

[0047] Specifically, the brake integrated joint module is to add a switching shell 16 and a brake module between the motor and the encoder. The brake 131 is fixed on the motor shell 5, the brake fixing seat 14 is fixed on the motor shaft 4 and presses the bearing 7, so as to prevent the motor shaft 4 from producing axial movement, and the brake disc 15 is connected at the rear and fixed with the friction plate 132. The brake 131 adopts a permanent magnet power-off brake, the friction plate 132 is separated from the brake after being electrified, and the friction plate 132 and the brake are attracted after being de-energized, so as to realize the brake function of the joint module.

[0048] In some embodiments, the switching shell 16 is arranged outside the brake 131, which is used to connect the motor shell 5 and the rear cover 11, and the coil protection structure is arranged inside the brake 131, which is used to prevent the brake disc 15 from contacting the cable when rotating.

[0049] The joint module of the present application has two fixing installation methods, one is to use a circle of threaded holes on the cross-roller bearing 3 pressure cover 31 for fixing, and the other is to use a circle of threaded holes on the outer circle of the motor shell 5 for fixing. The wiring terminal is at the rear of the module, and the rear cover 11 is opened according to the interface position.

[0050] The joint module of the present application adopts a close connection mode between each component, and is detachably positioned and connected through a stop opening and a screw connection mode, facilitating installation and maintenance. Through the above structure design, the connection between each component of the joint module is more close, and the overall structure is more compact, effectively solving the problems of complex assembly, large size and poor precision caused by the dispersion of traditional joint module parts. In terms of materials, most of the structural parts can adopt high-strength aluminum material, which can not only ensure the strength of the joint module, but also effectively reduce the weight of the joint module.

[0051] According to another aspect of the present application, a robot is also provided, comprising a body and a joint module according to any one of the above, the joint module being connected to the body.

[0052] In summary, the present application has the following beneficial effects due to the adoption of the above technical solutions:

[0053] 1. Meet the diversified needs of different application scenarios: the wave generator 22 and the motor shaft 4 are connected in the axial direction and the radial direction, and different connection modes of the wave generator 22 and the motor shaft 4 are selected according to different needs.

[0054] 2. High spatial integration: the harmonic reducer, motor, encoder and control component are integrated together, and an integrated design is adopted, which significantly simplifies the assembly process, reduces the production cost, improves the reliability and compactness of the overall structure, and solves the problem of complex assembly of the traditional joint module.

[0055] 3. By integrating the main shaft bearing and the encoder into the space inside the motor rotor 62, the axial length of the motor is effectively compressed, the compactness of the module structure is realized, the space utilization is improved, and the problem of large size of the joint module in the prior art is solved.

[0056] 4. Using high-precision encoders and centralized bearing arrangement, shortening the main shaft length, improving precision and reliability, and simplifying assembly and reducing total cost.

[0057] 5. Good heat management, self-developed motor, self-developed drive module and market competitors have lower heat, and 6061-T6 hard aluminum material is used, and the heat dissipation performance is 10 times that of stainless steel.

[0058] 6. Using self-developed drive control board 10, the drive control board 10 adopts a compact mechanical structure, and the functional elements are arranged in a limited space, which maximizes the size of the drive control board 10, not only improves the working efficiency of the circuit board, but also reduces the weight of the drive control board 10, and improves the safety performance.

[0059] In the description of the specification, reference to "one embodiment", "some embodiments", "certain embodiments", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "in certain embodiments", "in an example", "in a specific example", or "in some examples" in various places in the specification are not necessarily referring to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0060] Although embodiments of the present application have been shown and described, it would be appreciated by those skilled in the art that changes, modifications, alternatives and variations to these embodiments could be made without departing from the principles and spirit of the application, the scope of which is defined in the claims and their equivalents.

Claims

1. A joint module, characterized in that, The components are arranged in sequence as a reducer assembly, a motor assembly, an encoder assembly, and a drive assembly, wherein: A speed reducer assembly includes a speed reducer, the speed reducer including a wave generator forming the input shaft of the speed reducer assembly; A motor assembly includes a motor shaft, wherein the wave generator and the motor shaft are connected in the axial direction and / or radial direction. When the connection area between the wave generator and the motor shaft in the axial direction is greater than the connection area between the wave generator and the motor shaft in the radial direction, the wave generator and the motor shaft are connected by radial fasteners to achieve a small-sized joint module. When the connection area between the wave generator and the motor shaft in the axial direction is less than the connection area between the wave generator and the motor shaft in the radial direction, the wave generator and the motor shaft are connected by axial fasteners to achieve a large-sized joint module.

2. The joint module according to claim 1, characterized in that, The reducer assembly also includes a flexible wheel cover, which is installed on the outer side of the reducer assembly to prevent foreign objects from entering and / or; a sealing ring is provided inside the flexible wheel cover to prevent reducer grease from flowing out and / or; the flexible wheel cover is provided with a hollow through hole through which a cable passes.

3. The joint module according to claim 1, characterized in that, The reducer assembly further includes a crossed roller bearing. The reducer also includes a steel wheel and a flexible wheel, which are connected by the crossed roller bearing. The inner ring of the crossed roller bearing is connected to the steel wheel. The crossed roller bearing includes a first bearing or a second bearing. The outer diameter of the first bearing is the same as the outer diameter of the module. The first bearing has mounting holes for fixing the outer ring of the bearing, the flexible wheel, and the motor housing. The outer ring of the first bearing and the motor housing have mounting holes. The outer ring of the second bearing is smaller than the outer diameter of the module. The outer ring of the bearing is fixed to the flexible wheel and the motor housing by screws. The pressure cap and the motor housing have mounting holes.

4. The joint module according to claim 1, characterized in that, The motor assembly also includes a motor and a motor housing. The motor includes a motor stator and a motor rotor. The motor stator is glued and fixed inside the motor housing, and the motor rotor is glued and fixed to the motor shaft.

5. The joint module according to claim 1, characterized in that, The encoder assembly includes an encoder and an encoder bushing. The encoder includes an encoder stator and an encoder rotor. The encoder stator is embedded inside the motor housing. The encoder rotor is fixed on the encoder bushing. The encoder bushing is threaded onto the motor shaft and clamps the bearing to prevent axial movement of the bearing and the motor shaft.

6. The joint module according to claim 1, characterized in that, The drive assembly includes a drive control board and a rear cover, which are mounted behind the motor housing. The rear cover has an opening for connecting cables and / or; a bearing for supporting the flexible wheel cover is installed inside the rear cover, and / or a heat dissipation boss corresponding to the drive control board is also provided inside the rear cover.

7. The joint module according to claim 1, characterized in that, When the axial connection area between the wave generator and the motor shaft is smaller than the radial connection area between the wave generator and the motor shaft, a brake assembly is also included. The brake assembly is disposed between the motor and the encoder, and the brake assembly includes a brake, a friction pad, a brake mounting base, and a brake disc.

8. The joint module according to claim 7, characterized in that, The brake is fixed to the motor housing, and the brake mounting base is fixed to the motor shaft and presses the bearing to prevent the motor shaft from axially moving, and / or; the brake disc is located on the side of the brake mounting base away from the motor shaft, and the brake disc is fixed to the friction plate.

9. The joint module according to claim 8, characterized in that, An adapter shell is provided on the outside of the brake, which is used to connect the motor housing and the rear cover. A coil protection structure is provided inside the brake to prevent the brake disc from contacting the cable when it rotates.

10. A robot, characterized in that, It includes a body and a joint module as described in any one of claims 1-9, the joint module being connected to the body.

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