Flexible joint module

Abstract

A flexible joint module comprises a driver, a cam shaft, a first encoder, a motor and a speed reducer. The elastic mechanism is formed on the cam shaft, and the elastic mechanism is integrally formed and is in a spiral shape. The motor is electrically connected with the driver and is connected with the cam shaft and the first encoder. The speed reducer is connected with the motor and is configured to amplify the torque of the motor. The speed reducer is provided with a second encoder. When the cam shaft rotates, the first encoder and the second encoder are configured to detect deformation position information generated by the elastic mechanism and transmit the deformation position information back to the driver.

Description

Technical Field

[0001] This disclosure relates to a flexible joint module, and more particularly to a flexible joint module for a robotic arm. Background Technology

[0002] Generally speaking, joint modules used in robotic arms only provide feedback on current and output position, but lack torque sensing and feedback control functions. Therefore, they do not have flexible forward and reverse drive capabilities, which limits their application range.

[0003] In addition, although a strain gauge-type torque sensing structure (such as a torque sensor) can be installed at the output end of the joint module to sense the output torque, the above method will significantly increase the size and weight of the joint module and increase the cost of the joint module, which is detrimental to product competitiveness. Summary of the Invention

[0004] According to some embodiments of this disclosure, a flexible joint module includes a driver, a camshaft, a first encoder, a motor, and a reducer. An elastic mechanism is formed on the camshaft, and the elastic mechanism is integrally molded and helical. The motor is electrically connected to the driver and connects the camshaft to the first encoder. The reducer is connected to the motor and configured to amplify the motor's torque. The reducer has a second encoder. When the camshaft rotates, the first encoder and the second encoder are configured to detect the deformation position information generated by the elastic mechanism and transmit this deformation position information back to the driver.

[0005] In some embodiments, the first encoder is located near the end of the camshaft close to the driver.

[0006] In some embodiments, the second encoder is located adjacent to the elastic mechanism.

[0007] In some embodiments, the above-mentioned elastic mechanism is a flexible shaft, and has a gap of a unidirectional single-strand helix, a gap of a unidirectional double-strand helix, a gap of a bidirectional single-strand helix, or a gap of a bidirectional double-strand helix.

[0008] In some embodiments, the parameter relationship between the gap of the unidirectional single-strand helix or the two gaps of the unidirectional double-strand helix is ​​as follows:

[0009]

[0010] L h =L-2t bc -t g

[0011]

[0012] p h =N h (ta +t g )

[0013] Where L is the total length of the flexible axis, L h D is the height of the spiral. i D is the inner diameter of the flexible shaft. o Where Nc is the outer diameter of the flexible shaft, P is the number of spiral coils, and Nc is the outer diameter of the flexible shaft. h For the parameter points of the helix, p h t is the pitch of the helixes. r For radial thickness, t a For axial thickness, t g For the gap thickness, t bc N represents the boundary thickness. h This represents the number of spiral strands.

[0014] In some embodiments, one of the two gaps of the unidirectional double-strand helix or the gap of the unidirectional single-strand helix conforms to the following helix parameter formula:

[0015]

[0016] Where θ is the central angle of the spiral parameter point in the top-view direction.

[0017] In some embodiments, one of the two gaps in the aforementioned unidirectional double helix conforms to the following helix parametric formula:

[0018]

[0019] In some embodiments, the parameter relationship between the two gaps of the bidirectional single-strand helix or the four gaps of the bidirectional double-strand helix is ​​as follows:

[0020]

[0021] p h =N h (t a +t g )

[0022] Where L is the total length of the flexible axis, L h D is the height of the spiral. i D is the inner diameter of the flexible shaft. o Where Nc is the outer diameter of the flexible shaft, P is the number of spiral coils, and Nc is the outer diameter of the flexible shaft. h For the parameter points of the helix, p h t is the pitch of the helixes. r For radial thickness, t a For axial thickness, t g For the gap thickness, t bc For the endpoint boundary thickness, t c For the thickness of the center boundary, N hThis represents the number of spiral strands.

[0023] In some embodiments, the motor has a rotor, a camshaft with a protrusion at the end away from the driver, and an elastic mechanism located between the rotor of the motor and the protrusion of the camshaft.

[0024] In some embodiments, the flexible joint module further includes a wave generator, a lead shaft, and a third encoder. The wave generator is located adjacent to the camshaft's convex portion, and the elastic mechanism is situated between the motor's rotor and the wave generator. The lead shaft connects to the reducer's output flange and is located inside the camshaft. The third encoder is located on the lead shaft and adjacent to the camshaft and the first encoder.

[0025] In the above embodiments of this disclosure, since the elastic mechanism of the flexible joint module is formed on the camshaft and located between the motor and the wave generator, the deformation position information generated by the elastic mechanism can be detected by the first encoder and the second encoder, and the deformation position information can be transmitted back to the driver to realize a flexible joint module with torque sensing function. Furthermore, the elastic mechanism has a helical structure design, and the geometry of the structure is parameterized. Therefore, the correlation between torque and angle can be controlled by adjusting the geometric parameters, which not only improves the resolution of torque measurement but also ensures that the rigidity of the transmission is maintained. Attached Figure Description

[0026] When accompanied by Figure 1 When reading this document, the best understanding of the embodiments described below can be obtained from the embodiments described later. Note that, according to standard practice in this industry, the various features are not drawn to scale. In fact, the dimensions of the various features may be increased or decreased arbitrarily for clarity of explanation.

[0027] Figure 1 A side view of a flexible joint module according to an embodiment of the present disclosure;

[0028] Figure 2 for Figure 1 A cross-sectional view of the flexible joint module along line segment 2-2;

[0029] Figure 3 for Figure 2 An enlarged view of the speed reducer;

[0030] Figure 4 for Figure 2 Side view of the elastic mechanism;

[0031] Figure 5 A side view of an elastic mechanism according to another embodiment of this disclosure;

[0032] Figure 6 This is a top view of a unidirectional spiral according to an embodiment of the present disclosure;

[0033] Figure 7 This is a front view of a unidirectional spiral according to an embodiment of the present disclosure;

[0034] Figure 8 A side view of an elastic mechanism according to yet another embodiment of this disclosure;

[0035] Figure 9 A side view of a flexible mechanism according to another embodiment of the present disclosure;

[0036] Figure 10 This is a front view of a bidirectional spiral according to an embodiment of the present disclosure.

[0037] Explanation of reference numerals in the attached figures

[0038] 100: Flexible Joint Module

[0039] 110: Driver

[0040] 120: Motor

[0041] 121: Lead spool

[0042] 123:convex part

[0043] 124: First Encoder

[0044] 125: Camshaft

[0045] 126: Rotor

[0046] 128: Stator

[0047] 130: Gearbox

[0048] 132, 132a, 132b, 132c: Flexible mechanisms

[0049] 134: Second encoder

[0050] 140: Wave Generator

[0051] 150: Third Encoder

[0052] 160: Magnetic ring

[0053] 171: Braking Module

[0054] 172: Support bearing

[0055] 173: Thrust bearing

[0056] 174: Gearbox rear cover

[0057] 176: Output flange

[0058] 182: Steel Wheel

[0059] 184: Flexible Wheel

[0060] Di: Inner diameter of the flexible shaft

[0061] Do: Outer diameter of the flexible shaft

[0062] F: Torque output streamline

[0063] G,G1,G2,G3,G4,G5,G6,G7,G8: Gap

[0064] L: Total length of the flexible shaft

[0065] O: origin

[0066] Ph(θ), Ph1(θ), Ph2(θ), Ph3(θ), Ph4(θ), Ph1(0), Ph2(0): Helical parameter points

[0067] ph: pitch of the spiral lines

[0068] ta: Axial thickness

[0069] tbc: Boundary thickness

[0070] tc: Center boundary thickness

[0071] tg: gap thickness

[0072] tr: Radial thickness

[0073] x, y, z: Axis directions

[0074] θ: central angle Detailed Implementation

[0075] The following disclosure of embodiments provides many different implementations, or examples, for carrying out various features of the provided object. Specific examples of elements and arrangements are described below to simplify the subject matter. Of course, these examples are merely illustrative and are not intended to be limiting. Furthermore, element symbols and / or letters may be repeated in various examples. This repetition is for simplicity and clarity and does not in itself specify the relationship between the various embodiments and / or configurations discussed.

[0076] Spatial relative terms such as “below,” “under,” “lower,” “above,” and “upper” are used herein for descriptive purposes to describe the relationship between one element or feature and another, as shown in the accompanying drawings. Spatial relative terms are intended to cover different orientations of the apparatus in use or operation other than those shown in the accompanying drawings. The apparatus may be oriented in other ways (rotated 90 degrees or otherwise), and the spatial relative descriptors used herein shall be interpreted accordingly.

[0077] Figure 1This is a side view of a flexible joint module 100 according to an embodiment of the present disclosure. Figure 2 for Figure 1 A cross-sectional view of the flexible joint module 100 along line segment 2-2. See also... Figure 1 and Figure 2 The flexible joint module 100 includes a driver 110, a camshaft 125, a first encoder 124, a motor 120, and a reducer 130. The motor 120 is electrically connected to the driver 110 and connects the camshaft 125 to the first encoder 124. The first encoder 124 may be a motor-end encoder. In this document, the encoder may include a turntable, a light source, and a light sensor; for example, light from the light source is sensed by the light sensor after illuminating the turntable to detect changes in the element's position, but the type of encoder is not intended to limit this disclosure. The first encoder 124 is located near one end of the camshaft 125 close to the driver 110 (as shown at the top). The reducer 130 is connected to the motor 120 and configured to amplify the torque of the motor 120. The reducer 130 has a resilient mechanism 132 and a second encoder 134. The second encoder 134 may be a wave generator-end encoder, and the second encoder 134 is located near the resilient mechanism 132.

[0078] The elastic mechanism 132 is formed on the camshaft 125. The elastic mechanism 132 is integrally formed and is helical. In this embodiment, the elastic mechanism 132 is located on the torque output streamline F when the flexible joint module 100 is in operation. When the camshaft 125 rotates, the first encoder 124 and the second encoder 134 are configured to detect the deformation position information generated by the elastic mechanism 132 and transmit the deformation position information back to the driver 110.

[0079] In some implementations, the flexible joint module 100 can be used as a joint module of a robotic arm, featuring torque sensing and feedback control. The flexible joint module 100 does not require an output terminal (e.g., Figure 2 By installing a bulky strain gauge-type torque sensing structure (such as a torque sensor) at the lower end, the deformation of the elastic mechanism 132 can be detected by the deformation of the elastic mechanism 132 and by using the first encoder 124 and the second encoder 134, thereby realizing the torque sensing function. Through the above design, the flexible joint module 100 can effectively reduce its size and weight, and reduce material costs.

[0080] Figure 3 for Figure 2 An enlarged view of the 130 speed reducer. See also... Figure 2 and Figure 3The motor 120 has a rotor 126 and a stator 128, with the rotor 126 located between a camshaft 125 and the stator 128. The end of the camshaft 125 away from the driver 110 has a protrusion 123, and an elastic mechanism 132 is located between the rotor 126 of the motor 120 and the protrusion 123 of the camshaft 125. That is, the elastic mechanism 132 is located below the rotor 126 of the motor 120 and above the protrusion 123 of the camshaft 125. In this embodiment, the flexible joint module 100 also includes a wave generator 140, a lead shaft 121, and a third encoder 150. The wave generator 140 is adjacent to the protrusion 123 of the camshaft 125, and the elastic mechanism 132 is located between the rotor 126 of the motor 120 and the wave generator 140. For example, the elastic mechanism 132 is located below the rotor 126 of the motor 120 and above the wave generator 140. The lead shaft 121 is connected to the output flange 176 of the reducer 130 and is located inside the camshaft 125. The third encoder 150 is located on the lead shaft 121 and adjacent to the camshaft 125 and the first encoder 124. Alternatively, the third encoder 150 can be a reducer-side encoder.

[0081] In some embodiments, the lead shaft 121 can be a converter after the output of the reducer, with a slower rotation speed, while the camshaft 125 can be directly connected to the motor 120, with a higher rotation speed. The lead shaft 121 can be the output end, and the camshaft 125 can be the input end. The rotor 126, wave generator 140, and second encoder 134 (i.e., wave generator end encoder) can be mounted on the camshaft 125 using an interference method. The flexible joint module 100 may also include components such as a magnetic deflector ring 160, a brake module 171, a support bearing 172, a thrust bearing 173, a reducer rear cover 174, an output flange 176, a rigid wheel 182, and a flexible wheel 184. The magnetic deflector ring 160 can be in the form of multiple pieces, including but not limited to locking, interference fit, etc., and is installed between the second encoder 134 and the rotor 126 of the motor 120. The camshaft 125 is positioned relative to the reducer rear cover 174 and the output flange 176 with the support bearing 172 as the positioning point. The flexible wheel 184 and the rigid wheel 182 are connected by gear meshing, and the speed reduction effect is achieved by the difference in the number of teeth. The camshaft 125 is sleeved on the lead shaft 121, and the lead shaft 121 is fixed on the output flange 176 with a gap between it and the camshaft 125 to ensure that the lead shaft 121 and the camshaft 125 do not come into contact and rub due to different rotational speeds.

[0082] It should be understood that the component connections, materials, and functions already described will not be repeated, but will be stated in the preceding text. In the following description, several embodiments of the elastic mechanism 132 will be explained.

[0083] Figure 4 for Figure 2A side view of the elastic mechanism 132. The elastic mechanism 132 has a gap G of a unidirectional single-strand helix. The elastic mechanism 132 is a flexible shaft. The gap G of the elastic mechanism 132 allows the flexible joint module 100 to have flexible forward and reverse drive functions, with a wide range of applications.

[0084] Figure 5 This is a side view of an elastic mechanism 132a according to another embodiment of the present disclosure. The elastic mechanism 132a has gaps G1 and G2 of unidirectional double-stranded helices. The elastic mechanism 132a is a flexible shaft. Assume a boundary thickness t. bc To ensure vertical symmetry, the helical parameter points pass through a gap thickness t. g The midpoint of the helix, the outer diameter of the helix is ​​the outer diameter D of the flexible shaft. o The parameter relationship between the two gaps G1 and G2 of a unidirectional double helix, or the gap G of a unidirectional single helix (see...). Figure 4 The parameter relationship is as follows:

[0085]

[0086] L h =L-2t bc -t g

[0087]

[0088] p h =N h (t a +t g )

[0089] Where L is the total length of the flexible shaft (i.e., the elastic mechanism 132a), L h D is the height of the spiral. i D is the inner diameter of the flexible shaft. o Where Nc is the outer diameter of the flexible shaft, P is the number of spiral coils, and Nc is the outer diameter of the flexible shaft. h For the parameter points of the helix, p h The pitch is the distance between the spiral lines, t. r For radial thickness, t a For axial thickness, t g For the gap thickness, t bc N represents the boundary thickness. h Let N be the number of strands in the spiral. For example, when the number of strands N in the spiral... h =1, which can be used for design Figure 4 The gap G of the elastic mechanism 132; when the number of spiral strands N h =2, which can be used for design Figure 5 The two gaps G1 and G2 of the elastic mechanism 132a.

[0090] Figure 6This is a top view of a unidirectional spiral according to an embodiment of the present disclosure. Figure 7 This is a front view of a unidirectional helix according to an embodiment of the present disclosure. One of the two gaps in the unidirectional double-strand helix (e.g.) Figure 5 The gap G1) or the gap of a unidirectional single-strand helix (such as Figure 4 The gap G) conforms to the following helical parameter formula:

[0091]

[0092] Where θ is the central angle of the helix parameter point in the top-view direction. The other of the two gaps in a unidirectional double helix (e.g.) Figure 5 The gap G2) conforms to the following helical parameter formula:

[0093]

[0094] The spiral is defaulted to a right-handed spiral. To use a left-handed spiral, simply change θ in the x and y functions to -θ. The initial height of the spiral is (t). bc +t g / 2).

[0095] In addition, a few horizontal turns can be added to both the top and bottom of the helix to reduce the maximum stress. The upper end of a unidirectional helix conforms to the following parametric formula:

[0096]

[0097] θ=(2πN c )~(2πN c +θ h )

[0098] Where θ h The horizontal angles of the extension are added to both the upper and lower sides of the helix, and the lower end of the unidirectional helix conforms to the following parametric formula:

[0099]

[0100] θ=-θ h ~0.

[0101] Figure 8 This is a side view of an elastic mechanism 132b according to another embodiment of the present disclosure. The elastic mechanism 132b has two gaps G3 and G4 with bidirectional single-strand helical lines. Gap G3 is located above gap G4 and the inclination directions are opposite. The elastic mechanism 132b is a flexible shaft.

[0102] Figure 9This is a side view of an elastic mechanism 132c according to another embodiment of the present disclosure. The elastic mechanism 132c has four gaps G5, G6, G7, and G8 with bidirectional double-stranded helices. Gap G5 and G6 are located above gaps G7 and G8 and have opposite inclination directions. The elastic mechanism 132c is a flexible axis. Assume a boundary thickness t. bc Symmetrical at both ends, with a central boundary thickness of t c Symmetrical at the center, the helical parameter point passes through the gap thickness t g The midpoint of the helix, the outer diameter of the helix is ​​the outer diameter D of the flexible shaft. o The four gaps G5, G6, G7, G8 of a bidirectional double-strand helix or the two gaps G3, G4 of a bidirectional single-strand helix (see...) Figure 8 The parameter relationship is as follows:

[0103]

[0104] p h =N h (t a +t g )

[0105] Where L is the total length of the flexible axis, L h D is the height of the spiral. i D is the inner diameter of the flexible shaft. o Where Nc is the outer diameter of the flexible shaft, P is the number of spiral coils, and Nc is the outer diameter of the flexible shaft. h For the parameter points of the helix, p h t is the pitch of the helixes. r For radial thickness, t a For axial thickness, t g For the gap thickness, t bc For the endpoint boundary thickness, t c For the thickness of the center boundary, N h Let N be the number of strands in the spiral. For example, when the number of strands N in the spiral... h =1, which can be used for design Figure 8 The gaps G3 and G4 of the elastic mechanism 132b; when the number of spiral strands N h =2, which can be used for design Figure 9 The gaps G5, G6, G7, and G8 of the elastic mechanism 132c.

[0106] Figure 10 This is a front view of a bidirectional helix according to an embodiment of the present disclosure. See also... Figure 9 and Figure 10 Taking a double-stranded spiral as an example, the upper part of the double-stranded spiral (such as...) Figure 9 The gaps G5 and G6 respectively conform to the following left and right spiral parametric formulas:

[0107] x1(θ)=D ocoSθ / 2 x2(θ)=D o cos(θ+π) / 2

[0108] y1(θ)=D o sinθ / 2 y2(θ)=D o sin(θ+π) / 2

[0109] z1(θ)=p h θ / (2π)+t c +t g / 2 z2(θ)=P h θ / (2π)+t c +t g / 2

[0110] P h1 (0)=(D o / 2, 0, t c +t g / 2)P h2 (0)=(-D o / 2, 0, t c +t g / 2)

[0111] In addition, the lower half of the double helix (such as...) Figure 9 The gaps G7 and G8 respectively conform to the following left and right helical parametric formulas:

[0112] x3(θ)=D o cos(θ+π / 2) / 2 x4(θ)=D o cos(θ+3π / 2) / 2

[0113] y3(θ)=D o sin(θ+π / 2) / 2 y4(θ)=D o sin(θ+3π / 2) / 2

[0114] z3(θ)=-(p h θ / (2π)+t c +t g / 2) z4(θ)=-(p h θ / (2π)+t c +t g / 2)

[0115] P h3 (0)=(0,D o / 2,-(t c +t g / 2))P h4 (0)=(0,-D o / 2,t c +tg / 2)

[0116] The spiral is pre-set to be a right-handed spiral at the top and a left-handed spiral at the bottom. To change the spiral pattern, simply change θ in the x and y functions to -θ. The default starting angles for the upper double spiral are 0 degrees and 180 degrees, and for the lower double spiral, they are 90 degrees and 270 degrees. The initial height of the spiral is (t...). c +t g / 2). Both the upper and lower spiral segments are drawn from the center of the flexible axis (i.e., the cross-section at L / 2) towards the two endpoints.

[0117] In addition, a few horizontal turns can be added to both the top and bottom of the helix to reduce maximum stress. Take, for example, one of the lower half double helices (such as...). Figure 9 The gap G7), near the center, conforms to the following parametric formula:

[0118] x3(θ)=D o cos(θ+π / 2) / 2

[0119] y3(θ)=D o sin(θ+π / 2) / 2

[0120] z3=-(t c +t g / 2)

[0121] θ=-θ h ~0

[0122] The proximal endpoint conforms to the following parametric formula:

[0123] x3(θ)=D o cos(θ+π / 2) / 2

[0124] y3(θ)=D o sin(θ+π / 2) / 2

[0125] z3=-(p b N c +t c +t g / 2)

[0126] θ=(2πN c )~(2πN c +θ h )

[0127] Where θ h Add horizontal angles to both the top and bottom sides of the spiral.

[0128] Through the aforementioned helical gap design, elastic mechanisms 132, 132a, 132b, and 132c can be obtained. Designers can select one of them according to actual needs and set it in... Figure 2 Position of the elastic mechanism 132 of the flexible joint module 100.

[0129] In summary, since the flexible joint module's elastic mechanism is formed on the camshaft and located between the motor and the wave generator, the first encoder and the second encoder can detect the deformation position information generated by the elastic mechanism and transmit this information back to the driver, thus realizing a flexible joint module with torque sensing function. Furthermore, the elastic mechanism has a helical structure design, and its geometry is parameterized. Therefore, the correlation between torque and angle can be controlled by adjusting the geometric parameters, which not only improves the resolution of torque measurement but also ensures that the rigidity of the transmission is maintained.

[0130] The foregoing outlines features of several embodiments to enable those skilled in the art to better understand embodiments of this disclosure. Those skilled in the art will understand that they can readily use this disclosure as a basis for designing or modifying other processes and structures to achieve the same purposes and / or advantages as the embodiments described herein. Those skilled in the art should also recognize that such equivalent constructions do not depart from the spirit and scope of this disclosure, and that various changes, substitutions, and alterations can be made to them without departing from the spirit and scope of this disclosure.

Claims

1. A flexible joint module, comprising: drive; A camshaft, wherein an elastic mechanism is formed on the camshaft, the elastic mechanism being integrally formed and helical in shape; First encoder; The motor is electrically connected to the driver and also connects the camshaft to the first encoder; as well as A speed reducer, connected to the motor and configured to amplify the torque of the motor, the speed reducer having a second encoder, wherein when the camshaft rotates, the first encoder and the second encoder are configured to detect deformation position information generated by the elastic mechanism and transmit the deformation position information back to the driver.

2. The flexible joint module of claim 1, wherein the first encoder is located near one end of the camshaft close to the driver.

3. The flexible joint module of claim 1, wherein the second encoder is adjacent to the elastic mechanism.

4. The flexible joint module according to claim 1, wherein the elastic mechanism is a flexible shaft, and has a gap of a unidirectional single-strand helix, a gap of two unidirectional double-strand helix, a gap of two bidirectional single-strand helix, or a gap of four bidirectional double-strand helix.

5. The flexible joint module according to claim 4, wherein the parameter relationship between the gap of the unidirectional single-strand helix or the two gaps of the unidirectional double-strand helix is ​​as follows: L h =L-2t bc -t g p h =N h (t a +t g ) Where L is the total length of the flexible axis, L h D is the height of the spiral. i D is the inner diameter of the flexible shaft. o Where Nc is the outer diameter of the flexible shaft, P is the number of spiral coils, and Nc is the outer diameter of the flexible shaft. h For the parameter points of the helix, p h t is the pitch of the helixes. r For radial thickness, t a For axial thickness, t g For the gap thickness, t bc N represents the boundary thickness. h This represents the number of spiral strands.

6. The flexible joint module according to claim 5, wherein one of the two gaps of the unidirectional double helix or the gap of the unidirectional single helix conforms to the following helix parametric formula: Where θ is the central angle of the spiral parameter point in the top-view direction.

7. The flexible joint module of claim 6, wherein one of the two gaps of the unidirectional double helix conforms to the following helix parametric formula:

8. The flexible joint module according to claim 4, wherein the parameter relationship of the two gaps of the bidirectional single-strand helix or the four gaps of the bidirectional double-strand helix is ​​as follows: p h =N h (t a +t g ) Where L is the total length of the flexible axis, L h D is the height of the spiral. i D is the inner diameter of the flexible shaft. o Where Nc is the outer diameter of the flexible shaft, P is the number of spiral coils, and Nc is the outer diameter of the flexible shaft. h For the parameter points of the helix, p h t is the pitch of the helixes. r For radial thickness, t a For axial thickness, t g For the gap thickness, t bc For the endpoint boundary thickness, t c For the thickness of the center boundary, N h This represents the number of spiral strands.

9. The flexible joint module of claim 1, wherein the motor has a rotor, the camshaft has a protrusion at one end away from the driver, and the elastic mechanism is located between the rotor of the motor and the protrusion of the camshaft.

10. The flexible joint module according to claim 9, further comprising: A wave generator is located adjacent to the camshaft protrusion, and the elastic mechanism is located between the rotor of the motor and the wave generator; A lead shaft, connected to the output flange of the reducer and located inside the camshaft; and A third encoder is located on the lead shaft and adjacent to the cam shaft and the first encoder.

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