An integrated joint robot module

Abstract

This invention discloses an integrated articulated robot module, belonging to the field of articulated module technology. The integrated articulated robot module includes a shell, a motor connected to the inner wall of a first mounting cavity, one end of the motor connected to a drive shaft, and the other end of the drive shaft connected to a reducer. A heat dissipation mechanism is provided on the inner wall of the mounting box. Independent cooling is achieved through a brushless fan, whose speed is not limited by the motor speed. Forced cooling is still possible even when the motor is at low speed, stalled, or stationary under high load, completely solving the problem of traditional heat dissipation failure. The air duct covers the entire heat-generating area of ​​the motor, reducer, and braking mechanism, ensuring uniform heat dissipation without dead angles. Combined with a heat-conducting block and an external heat sink for dual heat dissipation, the heat dissipation capacity is further improved, allowing the module to operate stably for extended periods. Furthermore, the air inlet duct is equipped with multi-stage pressure reduction chambers, utilizing the inertial separation of dust and water droplets through airflow pressure difference changes, achieving non-contact dust and water protection and extending the lifespan of internal components.

Description

Technical Field

[0001] This invention relates to the field of joint module technology, and in particular to an integrated joint robot module. Background Technology

[0002] With the rapid development of industrial automation technology, robots, as an important industrial automation device, are receiving increasing attention and are being used more and more widely. Among the technologies related to robots, the control of moving parts such as robot joints is the most important and critical. Robot joints are connected to the robotic arm through output end caps to drive the robotic arm to rotate. In addition to the output end caps being connected to the robotic arm, the fixed parts of the robot joints also need to be connected to the non-moving parts of the robotic arm to improve the connection stability between the robot joints and the robotic arm.

[0003] According to the robot joint module disclosed in the public notice (publication number: CN218313608U), the built-in heat dissipation component generates airflow by rotating at high speed under the drive of the drive motor, thereby driving the heat to dissipate quickly from the heat dissipation vents and ensuring the stability of the joint module. However, the heat dissipation speed of the robot's joint module is completely followed by the motor speed. When the motor is at low speed or stalled, there is almost no airflow. Under high load, high torque, and continuous static conditions, the heat dissipation fails and is prone to overheating. Moreover, the heat dissipation component also undertakes the functions of transmission, heat dissipation, braking, and magnet mounting. If one part fails, all functions fail, resulting in extremely low heat dissipation reliability. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated articulated robot module to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an integrated articulated robot module, comprising a shell, a mounting box connected to the top of the shell, a first mounting cavity formed on the inner wall of the top of the shell, a second mounting cavity formed on the inner wall of the bottom of the shell, a motor connected to the inner wall of the first mounting cavity, a drive shaft connected to one end of the motor, a mounting cover bolted to the outer wall of the bottom of the shell, a reducer adapted to the second mounting cavity provided on the outer wall of the mounting cover, and one end of the drive shaft connected to the reducer, a circuit board connected to the inner wall of the mounting box, a heat dissipation mechanism provided on the inner wall of the mounting box, and a braking mechanism provided on the inner wall of the shell. The cooling mechanism includes a brushless fan installed inside the mounting box. Air outlets are located on the outer walls of both sides of the mounting box, and filters are fixedly connected to the inner walls of the air outlets. Air inlet ducts are located on the surfaces of both the outer casing and the mounting cover. A dustproof sponge is connected to the inner wall of one end of each air inlet duct. A pressure-reducing chamber adapted to the air inlet duct is located on the inner wall of the outer casing. A partition is fixedly connected to the inner wall of the second mounting cavity. A connecting channel for connecting the first and second mounting cavities is located on the inner wall of the outer casing. A threaded groove is located on the inner wall of the second mounting cavity. A through groove for connecting the second mounting cavity and the mounting box is located on the inner wall of the outer casing.

[0006] Preferably, one end of the air inlet duct is connected to the second mounting cavity, and the pressure reduction chambers are distributed at equal intervals along the axial direction of the air inlet duct surface.

[0007] Preferably, the inner wall of the outer casing is provided with a heat-conducting block adapted to the first mounting cavity and the second mounting cavity, and the outer wall of the outer casing is provided with a heat dissipation plate adapted to the heat-conducting block.

[0008] Preferably, the braking mechanism includes a slide groove, which is formed inside the housing. A brake block adapted to the drive shaft is provided on the inner wall of the slide groove. A connecting spring is connected to the inner wall of the slide groove. A friction buffer layer is provided at one end of the connecting spring. An electromagnetic coil is connected to the inner wall of the housing and is electrically connected to the circuit board.

[0009] Preferably, the inner wall of the housing is provided with a diversion channel for connecting the second mounting cavity and the slide groove, and the inner wall of the housing is provided with a connecting groove for connecting the first mounting cavity and the slide groove.

[0010] Preferably, the inner wall of the housing is provided with a sealing sleeve adapted to the brake block, the inner wall of the housing is provided with a bushing adapted to the drive shaft, the inner wall of the housing is provided with a sealing ring adapted to the drive shaft, and together with the sealing sleeve, they form a brake chamber. The outer wall of the sealing ring is provided with a baffle adapted to the brake chamber. The inner wall of the housing is provided with a first three-way valve adapted to the through groove. One end of the first three-way valve is provided with a connecting pipe for connecting to the brake chamber. The inner wall of the housing is provided with an exhaust pipe adapted to the brake chamber, and an electric valve is installed on the outer wall of the exhaust pipe.

[0011] Preferably, an oil reservoir is formed on the inner wall of the outer casing, an electric actuator is connected to the inner wall of the outer casing, a piston adapted to the oil reservoir is provided on the outer wall of one end of the electric actuator, a second three-way valve adapted to the oil reservoir is provided on the inner wall of the outer casing, a first oil pipe is formed on the inner wall of the outer casing, a push rod adapted to the connecting spring is provided on the inner wall of the first oil pipe, a second oil pipe is formed on the inner wall of the outer casing, a connecting cavity adapted to the second oil pipe is provided on the inner wall of the outer casing, and a push plate adapted to the brake block is provided on the inner wall of the connecting cavity.

[0012] Preferably, the push rod is slidably connected to the first oil pipe via a connecting spring, and a disc spring is provided at the connection between the connecting spring and the brake block.

[0013] Unlike existing technologies, the beneficial effects of this invention are: This integrated articulated robot module features independent cooling via a brushless fan, with its rotation speed unaffected by the motor's speed. Even when the motor is stationary at low speeds, stalled, or under high load, it still provides forced cooling, completely solving the problem of traditional cooling failures. The air duct covers the entire heat-generating area of ​​the motor, reducer, and braking mechanism, ensuring uniform cooling without any dead zones. Combined with heat-conducting blocks and an external heatsink, dual cooling further enhances heat dissipation capabilities, allowing the module to operate stably for extended periods. Furthermore, the air inlet duct incorporates multi-stage pressure reduction chambers, utilizing the inertial separation of dust and water droplets through changes in air pressure difference to achieve non-contact dust and water protection, eliminating the risk of filter clogging. The air outlet is equipped with a filter, and the air inlet with a dustproof sponge, providing double dust protection and extending the lifespan of internal components.

[0014] This integrated articulated robot module uses the same shaft for the motor's drive shaft and the reducer's input shaft, eliminating the need for couplings and achieving zero-backlash, high coaxiality power transmission. This significantly reduces transmission losses and vibrations, and also suppresses gear meshing imbalances in the reducer. Transmission efficiency, service life, and noise performance are all comprehensively optimized, resulting in a smaller overall size, a more compact structure, reduced maintenance costs, and significantly improved reducer reliability.

[0015] This integrated articulated robot module uses electromagnetic control and spring reset to automatically engage and brake upon power failure, ensuring safety and preventing accidental slippage. The brake blocks feature a friction buffer layer, providing uniform braking torque without slippage or vibration, reducing braking noise, and protecting the drive shaft surface. A cooling duct simultaneously cools the braking mechanism, preventing high-temperature braking force degradation. The braking area forms a sealed brake chamber, trapping metal dust and preventing it from entering shaft gaps and causing jamming. The brake chamber can be cleaned by airflow through a first three-way valve and fan reversal, allowing for dust removal without disassembly and making maintenance more convenient.

[0016] This integrated articulated robot module can forcibly lock the brake block through an electric push rod and hydraulic system when the electromagnetic coil fails, achieving dual-redundant safety braking and continuous braking under extreme conditions. The hydraulic push rod changes the preload of the connecting spring to adapt to different loads and speeds, and the braking force is matched as needed. The disc spring absorbs rigid impact at the moment of braking to achieve flexible braking. The variable stiffness characteristics of the disc spring make the pressure output stable, without sudden changes, rebound, or impact. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the external structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the outer shell of the present invention; Figure 3 This is a schematic diagram of the cooperative structure of the air inlet duct and the pressure reduction chamber of the present invention; Figure 4 This is a schematic diagram of the interaction between the heat-conducting block and the heat sink of the present invention; Figure 5 This is a schematic diagram of the interaction between the brake block and the connecting spring of the present invention; Figure 6 This is a schematic diagram of the structure of the exhaust pipe and electric valve working together in this invention; Figure 7 This is a schematic diagram of the interlocking structure of the connecting cavity and the push plate of the present invention.

[0018] In the diagram: 1. Outer casing; 2. Mounting box; 3. First mounting cavity; 4. Second mounting cavity; 5. Motor; 6. Drive shaft; 7. Mounting cover; 8. Reducer; 9. Circuit board; 10. Brushless fan; 11. Air outlet; 12. Filter; 13. Air inlet duct; 14. Dustproof sponge; 15. Pressure relief chamber; 16. Partition; 17. Connecting channel; 18. Threaded groove; 19. Through groove; 20. Heat-conducting block; 21. Heat sink; 22. Slide groove; 23. Braking block; 24. Connecting spring; 25. 26. Friction buffer layer; 27. Electromagnetic coil; 28. Diverter channel; 29. ​​Connecting groove; 30. Sealing sleeve; 31. Bushing; 32. Sealing ring; 33. Brake chamber; 34. Baffle; 35. First three-way valve; 36. Connecting pipe; 37. Exhaust pipe; 38. Electric valve; 39. Oil reservoir; 40. Electric actuator; 41. Piston; 42. Second three-way valve; 43. First oil pipe; 44. Push rod; 45. Second oil pipe; 46. Connecting cavity; 47. Push plate; 48. Disc spring. Detailed Implementation

[0019] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] Example 1

[0022] Please see Figure 1 - Figure 7As shown in the figure, an integrated articulated robot module includes a shell 1, a mounting box 2 connected to the top of the shell 1, a first mounting cavity 3 formed on the inner wall of the top of the shell 1, and a second mounting cavity 4 formed on the inner wall of the bottom of the shell 1. A motor 5 is connected to the inner wall of the first mounting cavity 3, and one end of the motor 5 is connected to a drive shaft 6. A mounting cover 7 is bolted to the outer wall of the bottom of the shell 1. A reducer 8 adapted to the second mounting cavity 4 is provided on the outer wall of the mounting cover 7, and one end of the drive shaft 6 is connected to the reducer 8. A circuit board 9 is connected to the inner wall of the mounting box 2, and a heat dissipation mechanism is provided on the inner wall of the mounting box 2. A braking mechanism is provided on the inner wall of the shell 1. The heat dissipation mechanism includes a brushless fan 10. The brushless fan 10 is installed inside the mounting box 2. Air outlets 11 are provided on the outer walls of both sides of the mounting box 2. A filter 12 is fixedly connected to the inner wall of the air outlet 11. Air inlet pipes 13 are provided on the surface of the outer shell 1 and the mounting cover 7. A dustproof sponge 14 is connected to the inner wall of one end of the air inlet pipe 13. A pressure reduction chamber 15 adapted to the air inlet pipe 13 is provided on the inner wall of the outer shell 1. A partition 16 is fixedly connected to the inner wall of the second mounting cavity 4. A connecting channel 17 for connecting the first mounting cavity 3 and the second mounting cavity 4 is provided on the inner wall of the outer shell 1. A threaded groove 18 is provided on the inner wall of the second mounting cavity 4. A through groove 19 for connecting the second mounting cavity 4 and the mounting box 2 is provided on the inner wall of the outer shell 1.

[0023] In use, the motor 5 is first installed inside the first mounting cavity 3, then the reducer 8 is installed inside the second mounting cavity 4, and the mounting cover 7 is fixed to the surface of the outer shell 1 with bolts. Next, the mounting box 2 is installed on the surface of the outer shell 1, and the motor 5 is electrically connected to the circuit board 9. The drive shaft 6 of the motor 5 passes through the reducer 8. Since the drive shaft 6 of the motor 5 and the input shaft of the reducer 8 are the same shaft, the rotor of the motor 5 directly drives this shaft. The power is directly input to the gear system of the reducer 8 without an additional coupling, realizing zero-backlash and high coaxiality power transmission. This can significantly reduce transmission loss and vibration, and suppress the meshing off-center load of the gears of the reducer 8. The transmission efficiency, life and noise are optimized. At the same time, the overall size of the machine is reduced, the maintenance cost is reduced, and the working reliability of the reducer is significantly improved. When the articulated robot module is working, circuit board 9 controls brushless fan 10 to operate. At this time, external air is drawn into the air intake duct 13 and enters the second mounting cavity 4. During this process, dustproof sponge 14 can intercept large particles of dust, lint, and impurities in the air, performing preliminary filtration. When the pre-filtered air enters the air intake duct 13, the gap suddenly narrows, the airflow speed increases sharply, and the pressure decreases. When it passes through the depressurization chamber 15, the space suddenly expands, the speed decreases, and the eddy current dissipates energy, causing fine dust and water droplets to be trapped due to inertial impact against the wall. After passing through multiple depressurization chambers 15, the air pressure difference almost disappears, preventing fine dust and water droplets from penetrating the interior, ultimately achieving non-contact protection. Dust and water resistance are achieved by the filter 12. After entering the second mounting cavity 4, the air is blocked by the partition 16, preventing it from immediately entering the connecting channel 17. Instead, the air flows along the surface of the reducer 8 in the second mounting cavity 4, passes through the partition 16, and finally enters the first mounting cavity 3 through the connecting channel 17. At this time, the air flows upward along the threaded groove 18 on the inner wall of the first mounting cavity 3, and finally enters the mounting box 2 through the through groove 19 and is discharged from the air outlet 11. This achieves heat dissipation for the motor 5 and the reducer 8. The filter 12 prevents dust from entering the mounting box 2 from the air outlet 11, improving the overall usability of the device.

[0024] The inner wall of the outer casing 1 is provided with a heat-conducting block 20 that is compatible with the first mounting cavity 3 and the second mounting cavity 4, and the outer wall of the outer casing 1 is provided with a heat dissipation plate 21 that is compatible with the heat-conducting block 20.

[0025] In use, after the motor 5 and reducer 8 are installed inside the first mounting cavity 3 and the second mounting cavity 4, one end of the heat-conducting block 20 will be attached to the surface of the motor 5 and reducer 8. The heat generated by the motor 5 and reducer 8 during operation will be transferred to the heat sink 21 through the heat-conducting block 20, and then the heat on the heat sink 21 will be carried away by external air convection, thus achieving auxiliary heat dissipation for the motor 5 and reducer 8 and improving the overall ease of use of the device.

[0026] The braking mechanism includes a slide 22, which is located inside the housing 1. A brake block 23 adapted to the drive shaft 6 is provided on the inner wall of the slide 22. A connecting spring 24 is connected to the inner wall of the slide 22. A friction buffer layer 25 is provided at one end of the connecting spring 24. An electromagnetic coil 26 is connected to the inner wall of the housing 1 and is electrically connected to the circuit board 9.

[0027] In use, the electromagnetic coil 26 is controlled by the circuit board 9 to push the brake block 23 to slide in the groove 22 and compress the connecting spring 24, so that one end of the brake block 23 is away from the surface of the drive shaft 6, allowing the motor 5 to drive the drive shaft 6 normally. When the motor 5 stops working, the circuit board 9 controls the electromagnetic coil 26 to turn off. At this time, the connecting spring 24 is pushed by the force to reset the brake block 23, so that one end of the brake block 23 presses against the surface of the drive shaft 6 and brakes the drive shaft 6. The friction buffer layer 25 can increase and stabilize the friction coefficient between the brake block 23 and the drive shaft 6, so that the braking torque is uniform, without slippage or vibration. At the same time, it can also buffer the braking impact, reduce braking noise, and protect the braking surface from scratches, improving the overall usability of the device.

[0028] The inner wall of the outer casing 1 is provided with a diversion channel 27 for connecting the second mounting cavity 4 and the slide groove 22, and the inner wall of the outer casing 1 is provided with a connecting groove 28 for connecting the first mounting cavity 3 and the slide groove 22.

[0029] When in use, when the air inside the second mounting cavity 4 enters the connecting channel 17, some of the air will enter the interior of the slide groove 22 through the diversion channel 27, and finally enter the first mounting cavity 3 through the connecting groove 28. During this process, the air can absorb and carry away the heat generated by the brake block 23 when it is working, which improves the overall usability of the device.

[0030] The inner wall of the outer casing 1 is provided with a sealing sleeve 29 adapted to the brake block 23. The inner wall of the outer casing 1 is provided with a bushing 30 adapted to the drive shaft 6. The inner wall of the outer casing 1 is provided with a sealing ring 31 adapted to the drive shaft 6, which, together with the sealing sleeve 29, forms a brake chamber 32. The outer wall of the sealing ring 31 is provided with a baffle 33 adapted to the brake chamber 32. The inner wall of the outer casing 1 is provided with a first three-way valve 34 adapted to the through groove 19. One end of the first three-way valve 34 is provided with a connecting pipe 35 for connecting to the brake chamber 32. The inner wall of the outer casing 1 is provided with an exhaust pipe 36 adapted to the brake chamber 32. An electric valve 37 is installed on the outer wall of the exhaust pipe 36.

[0031] In use, the sealing sleeve 29, bushing 30, and sealing ring 31 can trap the metal dust generated by the brake block 23 during operation inside the brake chamber 32, preventing the metal dust from entering the gap between the drive shaft 6 and the housing 1 and causing jamming. When it is necessary to clean the metal dust inside the brake chamber 32, it is only necessary to control the first three-way valve 34 to open the channel between the through groove 19 and the connecting pipe 35 and close other channels. At the same time, control the brushless fan 10 to rotate in reverse and open the electric valve 37. At this time, the brushless fan 10 draws external air into the mounting box 2 through the air outlet 11, and injects the air into the connecting pipe 35 through the through groove 19 and the first three-way valve 34, so that the air enters the brake chamber 32. With the limit of the baffle 33, the air can only flow in one direction after entering the brake chamber 32 and is discharged through the exhaust pipe 36. During this process, the air will carry out the metal dust inside the brake chamber 32, thus completing the cleaning of the metal dust inside the brake chamber 32 and improving the overall ease of use of the device.

[0032] An oil reservoir 38 is provided on the inner wall of the outer casing 1. An electric actuator 39 is connected to the inner wall of the outer casing 1. A piston 40 adapted to the oil reservoir 38 is provided on the outer wall of one end of the electric actuator 39. A second three-way valve 41 adapted to the oil reservoir 38 is provided on the inner wall of the outer casing 1. A first oil pipe 42 is provided on the inner wall of the outer casing 1. A push rod 43 adapted to the connecting spring 24 is provided on the inner wall of the first oil pipe 42. A second oil pipe 44 is provided on the inner wall of the outer casing 1. A connecting cavity 45 adapted to the second oil pipe 44 is provided on the inner wall of the outer casing 1. A push plate 46 adapted to the brake block 23 is provided on the inner wall of the connecting cavity 45. A disc spring 47 is provided at the connection between the connecting spring 24 and the brake block 23.

[0033] When in use, if the electromagnetic coil 26 fails to receive properly and cannot work, the circuit board 9 controls the electric push rod 39 to push the piston 40 to squeeze the hydraulic oil inside the oil storage tank 38. At the same time, it controls the second three-way valve 41 to open the connection with the second oil pipe 44 and close other connections, so that the hydraulic oil enters the interior of the connecting cavity 45 through the second oil pipe 44, increasing the pressure inside the connecting cavity 45. This allows the push plate 46 to push the brake block 23 to move and compress the connecting spring 24, ensuring the stability of the articulated robot module during operation. The control valve 41 opens the connection with the first oil pipe 42 and closes other connections. At this time, the piston 40 squeezes the hydraulic oil inside the oil reservoir 38, which in turn squeezes the hydraulic oil into the first oil pipe 42, increasing the pressure inside the first oil pipe 42. This pushes the push rod 43 out and compresses the connecting spring 24, thereby adjusting the preload of the connecting spring 24. This allows the brake block 23 to adapt to different loads and different speeds of braking. With the setting of the disc spring 47, when the brake block 23 presses against the drive shaft 6 instantly, the impact force acts on the disc spring 47 first. The disc spring 47 is axially compressed and deformed, converting the sudden rigid impact into elastic potential energy, preventing the brake block 23 from hitting the shaft surface hard, and improving the overall usability of the device.

[0034] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An integrated articulated robot module, comprising a shell (1), characterized in that: The top of the outer shell (1) is connected to a mounting box (2). A first mounting cavity (3) is opened on the inner wall of the top of the outer shell (1). A second mounting cavity (4) is opened on the inner wall of the bottom of the outer shell (1). A motor (5) is connected to the inner wall of the first mounting cavity (3). A drive shaft (6) is connected to one end of the motor (5). A mounting cover (7) is bolted to the outer wall of the bottom of the outer shell (1). A reducer (8) adapted to the second mounting cavity (4) is provided on the outer wall of the mounting cover (7). One end of the drive shaft (6) is connected to the reducer (8). A circuit board (9) is connected to the inner wall of the mounting box (2). A heat dissipation mechanism is provided on the inner wall of the mounting box (2). A braking mechanism is provided on the inner wall of the outer shell (1). The heat dissipation mechanism includes a brushless fan (10), which is installed inside the mounting box (2). Air outlets (11) are provided on the outer walls of both sides of the mounting box (2). A filter screen (12) is fixedly connected to the inner wall of the air outlet (11). Air inlet pipes (13) are provided on the surfaces of the outer shell (1) and the mounting cover (7). A dustproof sponge (14) is connected to the inner wall of one end of the air inlet pipe (13). A pressure reduction chamber (15) adapted to the air inlet pipe (13) is provided on the inner wall of the outer shell (1). A partition (16) is fixedly connected to the inner wall of the second mounting cavity (4). A connecting channel (17) for connecting the first mounting cavity (3) and the second mounting cavity (4) is provided on the inner wall of the outer shell (1). A threaded groove (18) is provided on the inner wall of the second mounting cavity (4). A through groove (19) for connecting the second mounting cavity (4) and the mounting box (2) is provided on the inner wall of the outer shell (1).

2. The integrated articulated robot module according to claim 1, characterized in that: One end of the air inlet duct (13) is connected to the second mounting cavity (4), and the pressure reduction chambers (15) are distributed at equal intervals along the surface of the air inlet duct (13).

3. The integrated articulated robot module according to claim 1, characterized in that: The inner wall of the outer shell (1) is provided with a heat-conducting block (20) adapted to the first mounting cavity (3) and the second mounting cavity (4), and the outer wall of the outer shell (1) is provided with a heat dissipation plate (21) adapted to the heat-conducting block (20).

4. The integrated articulated robot module according to claim 1, characterized in that: The braking mechanism includes a slide (22) which is located inside the housing (1). A brake block (23) adapted to the drive shaft (6) is provided on the inner wall of the slide (22). A connecting spring (24) is connected to the inner wall of the slide (22). A friction buffer layer (25) is provided at one end of the connecting spring (24). An electromagnetic coil (26) is connected to the inner wall of the housing (1), and the electromagnetic coil (26) is electrically connected to the circuit board (9).

5. The integrated articulated robot module according to claim 4, characterized in that: The inner wall of the outer shell (1) is provided with a diversion channel (27) for connecting the second mounting cavity (4) and the slide (22), and the inner wall of the outer shell (1) is provided with a connecting groove (28) for connecting the first mounting cavity (3) and the slide (22).

6. The integrated articulated robot module according to claim 4, characterized in that: The inner wall of the outer shell (1) is provided with a sealing sleeve (29) adapted to the brake block (23), the inner wall of the outer shell (1) is provided with a bushing (30) adapted to the drive shaft (6), the inner wall of the outer shell (1) is provided with a sealing ring (31) adapted to the drive shaft (6), and the sealing sleeve (29) forms a brake chamber (32). The outer wall of the sealing ring (31) is provided with a baffle (33) adapted to the brake chamber (32). The inner wall of the outer shell (1) is provided with a first three-way valve (34) adapted to the through groove (19). One end of the first three-way valve (34) is provided with a connecting pipe (35) for connecting the brake chamber (32). The inner wall of the outer shell (1) is provided with an exhaust pipe (36) adapted to the brake chamber (32). An electric valve (37) is installed on the outer wall of the exhaust pipe (36).

7. The integrated articulated robot module according to claim 4, characterized in that: An oil storage tank (38) is provided on the inner wall of the outer shell (1). An electric actuator (39) is connected to the inner wall of the outer shell (1). A piston (40) adapted to the oil storage tank (38) is provided on the outer wall of one end of the electric actuator (39). A second three-way valve (41) adapted to the oil storage tank (38) is provided on the inner wall of the outer shell (1). A first oil pipe (42) is provided on the inner wall of the outer shell (1). A push rod (43) adapted to the connecting spring (24) is provided on the inner wall of the first oil pipe (42). A second oil pipe (44) is provided on the inner wall of the outer shell (1). A connecting cavity (45) adapted to the second oil pipe (44) is provided on the inner wall of the outer shell (1). A push plate (46) adapted to the brake block (23) is provided on the inner wall of the connecting cavity (45).

8. The integrated articulated robot module according to claim 7, characterized in that: The push rod (43) is slidably connected to the first oil pipe (42) via a connecting spring (24), and a disc spring (47) is provided at the connection between the connecting spring (24) and the brake block (23).

Images