A harmonic reducer, joint module and robot

Abstract

The application belongs to the technical field of robot parts, and particularly relates to a harmonic reducer, a joint module and a robot. The harmonic reducer (1) mainly comprises a wave generator (11), a flexible gear (12), a rigid gear (13), a torque sensor (14) and a fixed flange (15). By directly fusing the main bearing between the rigid gear (13) and the fixed flange (15), the independent cross-roller bearing component is saved, and the axial and radial volumes of the harmonic reducer (1) are greatly reduced. In addition, the torque sensor (14) is connected between the flexible gear (12) and the fixed flange (15) and is at the end of the torque output, so that the output torque can be directly and truly measured, and the measurement error caused by the front end transmission friction is eliminated. Compared with the scheme in the prior art that the torque sensor is installed between the output end of the harmonic reducer and the external load, the measurement error caused by the bending moment coupling is eliminated.

Description

Technical Field

[0001] This invention belongs to the field of robot component technology, specifically relating to a harmonic reducer, a joint module, and a robot. Background Technology

[0002] With the rapid development of robotics technology, especially the widespread adoption of collaborative robots, humanoid robots, and precision surgical robots, the requirements for the compactness, lightweight design, integration, and force control precision of the underlying joint modules are becoming increasingly stringent. As a core transmission component in robot joint modules, the size and performance of the harmonic reducer directly determine the overall performance of the robot. Furthermore, to achieve flexible interaction and precise torque feedback control, torque sensors are typically introduced into the joint drivetrain.

[0003] In existing technical solutions, torque sensors are typically used as independent standardized components, mounted externally or in series at the output end of the harmonic reducer (e.g., the front end of the flexspline) or other locations in the joint module. This traditional "modular" assembly structure has the following significant drawbacks: the flange structure of the external torque sensor significantly increases the axial dimensions of the reducer and the entire joint module, resulting in a bulky joint that is difficult to meet the design requirements of modern robots for extreme compactness and lightweight design. Summary of the Invention

[0004] In view of this, the present invention proposes a harmonic reducer, a joint module and a robot, aiming to solve the problems in the prior art that the external torque sensor leads to a large axial dimension of the reducer, low internal space utilization, and low overall integration of the joint module.

[0005] In a first aspect, the harmonic reducer provided by the present invention includes a flexible wheel, a wave generator, a rigid wheel, a fixed flange, and a torque sensor. The flexible wheel includes a cylindrical portion and an annular base plate disposed at the bottom end of the cylindrical portion. The wave generator is embedded in the inner cavity of the cylindrical portion of the flexible wheel. The rigid wheel is sleeved on the outside of the flexible wheel and meshes with it. The fixed flange is sleeved on the circumferential periphery of the rigid wheel, and a rolling element is disposed between the fixed flange and the rigid wheel. The outer wall of the rigid wheel and the fixed flange together constitute a main bearing structure. The torque sensor has a hollow annular structure and is disposed between the annular base plate of the flexible wheel and the opposite end face of the fixed flange. The two axial ends of the torque sensor are fixedly connected to the annular base plate and the fixed flange, respectively, to transmit torque.

[0006] The technical advantages are as follows: by sharing the main bearing structure between the outer wall of the rigid wheel and the fixed flange, and integrating the torque sensor between the annular base plate of the flexible wheel and the fixed flange, the internal space utilization and structural integration of the harmonic reducer are greatly improved, and the overall axial dimension is effectively shortened; at the same time, the torque sensor is directly connected in series on the power output transmission path, which can more realistically and accurately measure the load torque and reduce the measurement error caused by intermediate transmission links; and compared with the existing technology of installing the torque sensor between the output end of the harmonic reducer and the external load, the measurement error caused by bending moment coupling is eliminated.

[0007] In a preferred embodiment of the harmonic reducer provided by the present invention, the torque sensor includes a first flange ring and a second flange ring arranged opposite to each other in the axial direction, and a strain beam disposed between the first flange ring and the second flange ring, with a cavity provided between two adjacent strain beams; the first flange ring is fixedly connected to the fixed flange, and the second flange ring is fixedly connected to the annular base plate of the flexible wheel.

[0008] Its technical effect is that, through the spoke-like structure in which the strain beam and the cavity are staggered, a stable and predictable stress concentration area can be formed at the strain beam while ensuring the high structural rigidity required for the torque sensor to transmit torque as a whole. This significantly improves the sensitivity of torque sensing and the speed of deformation response.

[0009] In a preferred embodiment of the harmonic reducer provided by the present invention, the first flange ring is provided with a plurality of first mounting holes in the circumferential direction, and the second flange ring is provided with a plurality of second mounting holes in the circumferential direction, and the first mounting holes and the second mounting holes are respectively disposed on the same axis.

[0010] Its technical advantages are as follows: the coaxial mounting holes ensure the consistency of the stress point and the assembly datum, which not only simplifies the machining and assembly alignment process, but more importantly, it can avoid eccentric loads or parasitic torques caused by misalignment, ensure the symmetry of force transmission, and thus improve the purity and accuracy of torque measurement.

[0011] In a preferred embodiment of the harmonic reducer provided by the present invention, the torque sensor further includes a mechanical overload protection structure. The mechanical overload protection structure includes a limiting protrusion and a limiting groove. The limiting protrusion is disposed on the first flange ring at a position corresponding to the cavity and points towards the second flange ring. The limiting groove is disposed on the second flange ring at a position corresponding to the cavity and directly opposite the limiting protrusion. The mechanical overload protection structure is configured such that, under normal operating conditions, a preset gap is maintained between the outer wall of the limiting protrusion and the inner wall of the limiting groove. When the torque borne by the torque sensor reaches a preset threshold, the strain beam deforms, causing the limiting protrusion to abut against the inner wall of the limiting groove, thereby limiting further deformation of the strain beam.

[0012] Its technical effect is that by matching the preset gap with the deformation threshold of the strain beam, when encountering sudden impact or severe overload, the rigid contact between the limiting protrusion and the limiting groove can act as a mechanical hard limit, bearing the excess torque load, effectively preventing the strain beam from yielding, plastic deformation or fracture due to excessive deformation, and greatly improving the reliability and service life of the reducer under extreme working conditions.

[0013] In a preferred embodiment of the harmonic reducer provided by the present invention, the strain beam of the torque sensor is provided with strain gauges, and the strain gauges constitute a Wheatstone bridge circuit.

[0014] Its technical advantages are as follows: the Wheatstone bridge circuit can effectively amplify the small resistance change signal generated by the strain gauge, and through the differential measurement principle, it can play a common mode suppression role, automatically canceling the crosstalk error caused by non-torque loads such as bending moment and axial force, and ensuring the linearity and stability of the torque signal output.

[0015] In a preferred embodiment of the harmonic reducer provided by the present invention, the torque sensor further includes a temperature sensor, which is attached to the non-strained region of the strain beam or the first flange ring.

[0016] Its technical advantages are: it can collect the real operating temperature of the sensor body in real time, provide accurate temperature compensation basis for the algorithm of the control system, effectively eliminate the zero-point drift and sensitivity drift (thermal drift) of the strain gauge caused by ambient temperature difference or frictional heating of the reducer, and ensure measurement accuracy in a wide temperature range.

[0017] Secondly, in a joint module provided by the present invention, the joint module includes a power component and a harmonic reducer as described in any of the technical solutions in the first aspect above, wherein the output end of the power component is coaxially connected to the input end of the harmonic reducer.

[0018] Its technical advantages lie in the deep integration of the power components with the harmonic reducer with a built-in high-precision torque sensor, forming an electromechanical integrated drive unit that combines high torque density and high sensing, directly providing physical torque feedback data, and laying the hardware foundation for compliant joint control and collision detection.

[0019] In a preferred embodiment of the joint module provided by the present invention, the power assembly includes a front end plate and a rotating shaft. The front end plate is connected to the annular base plate of the flexible wheel in the harmonic reducer. The rotating shaft is a hollow shaft with one end passing through the center of the front end plate and coaxially connected to the wave generator in the harmonic reducer.

[0020] Its technical advantage lies in the fact that the direct rigid connection between the front end plate and the annular base plate ensures high rigidity of power transmission.

[0021] In a preferred embodiment of the joint module provided by the present invention, the harmonic reducer further includes a reference shaft, which passes through the central hole of the wave generator, and one end of the reference shaft is fixedly connected to the rigid wheel; the power assembly further includes a dual encoder assembly and a circuit board, the dual encoder assembly including an input-side encoder and an output-side encoder, the input-side encoder being fixedly connected to the end of the rotating shaft away from the harmonic reducer, and the output-side encoder being fixedly connected to the end of the reference shaft in the harmonic reducer away from the rigid wheel; the circuit board is electrically connected to the torque sensor and the dual encoder assembly.

[0022] Its technical advantages are as follows: through the ingenious configuration of the reference shaft passing through the central hole of the wave generator, the output encoder can bypass the transmission mechanism and directly obtain the absolute position information of the rigid wheel (output end); together with the high-speed motor rotor position captured by the input encoder, a true fully closed-loop position control system is formed, which effectively compensates for the backlash, elastic deformation and transmission error unique to the harmonic reducer, and achieves extremely high absolute positioning accuracy.

[0023] Thirdly, in a robot provided by the present invention, the robot includes the joint module described in any of the technical solutions in the second aspect above.

[0024] The technical benefits are as follows: thanks to the high integration, precise torque sensing and full closed-loop position control capabilities of the aforementioned joint modules, the overall weight of the robot is reduced, while the dynamic response capability, anti-interference capability and safety compliance (safe dragging, collision stopping, etc.) during human-computer interaction are significantly improved. Attached Figure Description

[0025] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which will make the above and other features and advantages of the present invention more apparent to those skilled in the art. In the drawings:

[0026] Figure 1 This is a schematic diagram of the harmonic reducer in this embodiment.

[0027] Figure 2 This is a cross-sectional structural diagram of the harmonic reducer in this embodiment.

[0028] Figure 3 This is an exploded view of the harmonic reducer in this embodiment.

[0029] Figure 4 This is a schematic diagram of the installation structure of the torque sensor in the harmonic reducer of this embodiment.

[0030] Figure 5 This is a schematic diagram of the overall structure of a preferred embodiment of the joint module in this example.

[0031] Figure 6 This is a first exploded structural diagram of a preferred embodiment of the joint module in this example.

[0032] Figure 7 This is a second exploded view of a preferred embodiment of the joint module in this example.

[0033] The reference numerals in the attached figures are as follows:

[0034] 1-Harmonic reducer; 11-Wave generator; 12-Flexible wheel; 121-Cylindrical section; 122-Annular base plate; 13-Rigid wheel;

[0035] 14-Torque sensor; 141-First flange ring; 1411-First mounting hole; 142-Second flange ring; 1421-Second mounting hole; 143-Strain beam; 144-Cavity;

[0036] 15-Fixed flange; 16-Reference shaft;

[0037] 2-Power assembly; 21-Front end plate; 22-Shaft. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0039] It should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "connection" and "configuration" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] Furthermore, it should be understood in the description of this application that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0041] I. Overall Architecture of Harmonic Reducer

[0042] Combination Figures 1 to 3 This embodiment provides a highly integrated harmonic reducer 1. From the overall structure, the harmonic reducer 1 mainly includes a wave generator 11, a flexible wheel 12, a rigid wheel 13, a torque sensor 14, and a fixed flange 15.

[0043] Specifically, the flexible wheel 12 has a cup-shaped or cap-shaped structure, including a cylindrical portion 121 and an annular base plate 122 integrally formed at the bottom end of the cylindrical portion 121. The wave generator 11 is embedded in the inner cavity of the cylindrical portion 121 of the flexible wheel 12, and is typically composed of an elliptical cam and a flexible bearing.

[0044] The rigid wheel 13 is in the shape of an internal toothed ring, sleeved on the outside of the flexible wheel 12 and meshing with the external teeth of the flexible wheel 12. The fixed flange 15 is sleeved on the circumferential periphery of the rigid wheel 13. In this design, a highly integrated design is adopted, and rolling elements (such as crossed rollers or balls) are directly arranged between the fixed flange 15 and the rigid wheel 13, so that the outer wall of the rigid wheel 13 and the fixed flange 15 together constitute the main bearing structure, that is, the inner and outer rings of the main bearing are directly served by the rigid wheel 13 and the fixed flange 15 respectively.

[0045] The torque sensor 14 has a hollow ring structure and is disposed between the opposite end faces of the annular base plate 122 of the flexible wheel 12 and the fixed flange 15. In terms of connection, the two ends of the torque sensor 14 in the axial direction are fixedly connected to the annular base plate 122 and the fixed flange 15 by fasteners such as bolts or pins.

[0046] During operation, power is input to the wave generator 11, causing it to rotate at high speed. The wave generator 11 forces the cylindrical portion 121 of the flexible wheel 12 to undergo continuous elliptical elastic deformation, thereby achieving the staggered meshing of the flexible wheel 12 and the rigid wheel 13, achieving the purpose of deceleration. In the torque transmission path, if the rigid wheel 13 is fixed, the decelerated power is output through the annular base plate 122 of the flexible wheel 12, transmitted to the torque sensor 14, and then output to the external load through the fixed flange 15; the torque sensor 14 undergoes slight deformation in this path to sense the magnitude of the transmitted torque.

[0047] The harmonic reducer in this embodiment has the following technical effects and advantages:

[0048] Extremely compact: The main bearing is directly integrated between the rigid wheel 13 and the fixed flange 15, eliminating the need for a separate crossed roller bearing component and significantly reducing the axial and radial volume of the harmonic reducer 1.

[0049] Direct-drive torque measurement: The torque sensor 14 is connected in series between the flexible wheel 12 and the fixed flange 15, located at the very end of the torque output (or the force reaction end), which can directly and accurately measure the output torque, eliminating the measurement error caused by front-end transmission friction; and compared with the existing technology of installing the torque sensor between the output end of the harmonic reducer and the external load, it eliminates the measurement error caused by bending moment coupling.

[0050] Hollow wiring: Core components such as torque sensor 14 and flexible wheel 12 adopt a hollow design, providing ample channels for the central wiring inside the robot joint.

[0051] II. Structure of the Torque Sensor

[0052] Combination Figure 3 and Figure 4 The torque sensor 14 specifically includes a first flange ring 141 and a second flange ring 142 arranged axially opposite each other. Multiple strain beams 143 (such as spoke-type, S-type, or cross-type beams) are evenly distributed circumferentially between these two flange rings, and a cavity 144 is naturally formed between adjacent strain beams 143. During assembly, the first flange ring 141 is fixedly connected to the fixed flange 15, and the second flange ring 142 is fixedly connected to the annular base plate 122 of the flexible wheel 12.

[0053] For ease of assembly, the first flange ring 141 is provided with a plurality of first mounting holes 1411 circumferentially, and the second flange ring 142 is provided with a plurality of second mounting holes 1421 circumferentially. In particular, the first mounting holes 1411 and the second mounting holes 1421 are axially corresponding one-to-one and coaxially arranged.

[0054] To prevent damage to the torque sensor 14 from instantaneous impacts, a mechanical overload protection structure is integrated inside the torque sensor 14. This structure is located inside the cavity 144 and includes a limiting protrusion (such as an integrally machined rigid stop) disposed on the first flange ring 141 and pointing towards the second flange ring 142, and a limiting groove disposed on the second flange ring 142 and directly opposite the limiting protrusion.

[0055] Under normal operating conditions, a preset gap of tens of micrometers is maintained between the outer wall of the limiting protrusion and the inner wall of the limiting groove, at which point the torque is entirely borne by the strain beam 143. When an accident such as a collision occurs, and the torque borne by the torque sensor 14 reaches a preset threshold (e.g., 1.5 to 2 times the rated torque), the elastic deformation of the strain beam 143 increases, causing the first flange ring 141 and the second flange ring 142 to undergo relative torsional displacement. At this time, the limiting protrusion will cross the preset gap and directly abut against the side wall of the limiting groove.

[0056] After contact, the overload torque will be directly transmitted through the rigid limiting protrusion and limiting groove, thereby limiting the strain beam 143 from continuing to deform, effectively preventing the strain beam 143 from undergoing irreversible plastic deformation or even fracture, and improving the survivability of the reducer under harsh working conditions.

[0057] In another preferred embodiment, strain gauges are attached to the deformation zone surface of the strain beam 143 of the torque sensor 14, and four or more strain gauges are connected by wires to form a Wheatstone bridge circuit. When the strain beam 143 is subjected to slight deformation under stress, the resistance of the strain gauges changes, the bridge becomes unbalanced, and outputs a microvolt-level voltage signal proportional to the torque. Furthermore, a temperature sensor (such as a PT1000 or a thermistor) is attached to the non-strained region of the strain beam 143 (i.e., the thick region with minimal deformation) or to the first flange ring 141.

[0058] Because the frictional heat generated by the harmonic reducer 1 after long-term operation will be conducted to the torque sensor 14, causing thermal drift of the strain gauge, the temperature sensor is placed close to the strain zone but not under stress. This allows for real-time and accurate acquisition of the actual operating temperature of the sensor substrate, which is then input into the back-end algorithm for real-time temperature compensation. This ensures high accuracy and stability of the torque data under various temperature conditions.

[0059] III. Joint Module Implementation Examples

[0060] Combination Figures 5 to 7 This embodiment further provides a highly integrated joint module, including the aforementioned harmonic reducer 1 and power component 2, wherein the power component 2 has a built-in frameless torque motor. The output end of the power component 2 is coaxially connected to the input end of the harmonic reducer 1.

[0061] The specific structure is as follows: the outer stator of the frameless torque motor is connected to the housing of the power assembly 2, and the inner rotor inside is fixed to the rotating shaft 22. The front end plate 21 connects the power assembly 2 and the harmonic reducer 1 via a flange joint, and the front end plate 21 is rigidly connected to the annular base plate 122 of the flexible wheel 12. The rotating shaft 22 is designed as a hollow shaft, with one end passing through the center of the front end plate 21 and connected to the inner hole of the wave generator 11 in the harmonic reducer 1 via a coaxial keyway or expansion connection.

[0062] After the power component 2 is powered on, the rotating shaft 22 rotates at high speed, directly driving the wave generator 11 to work. After being reduced in speed by the flexible wheel 12 and the rigid wheel 13, the rigid wheel 13 outputs a high-torque, low-speed power.

[0063] To achieve ultimate control precision, a reference shaft 16 is added inside the harmonic reducer 1. The reference shaft 16 is also a hollow tubular structure, which passes freely through the central hole of the wave generator 11 and does not contact the wave generator 11. One end of the reference shaft 16 is rigidly fixedly connected to the rigid wheel 13, which serves as the output end.

[0064] A dual encoder assembly and circuit board are located at the rear (or internal integrated cavity) of the power assembly 2. The dual encoder assembly includes an input-side encoder (such as a magnetic encoder or photoelectric encoder) and an output-side encoder. The code disk of the input-side encoder is fixed to the end of the rotating shaft 22 away from the harmonic reducer 1; the code disk of the output-side encoder is fixed to the end of the reference shaft 16 away from the rigid wheel 13. The circuit board centrally processes the signals and is electrically connected to the torque sensor 14, the input-side encoder, and the output-side encoder, respectively.

[0065] The technical principle and effects of the joint module in this embodiment are as follows:

[0066] Full closed-loop control: The input-side encoder monitors the high-speed position and speed of the motor shaft 22 in real time; the output-side encoder directly crosses the reducer transmission chain via the reference shaft 16 to monitor the absolute low-speed position of the rigid wheel 13 (i.e., the final output end of the joint) in real time. This architecture of "dual encoders" combined with "torque sensor 14" perfectly overcomes the transmission backlash and flexible wheel elastic hysteresis of the harmonic reducer, achieving true full closed-loop high-precision control of joint position, speed, and torque.

[0067] Highly integrated mechatronics: The circuit board integrates sensor signal processing and motor drive modules into one unit, and achieves "central wiring" of power supply and communication harnesses through the central inner hole shared by the rotating shaft 22, wave generator 11 and reference shaft 16, avoiding the entanglement and interference problems caused by external wiring.

[0068] IV. Robot Overall Implementation Examples

[0069] This embodiment also provides a robot, including several of the aforementioned joint modules. The robot can be a collaborative robotic arm, a humanoid robot, a quadrupedal robot dog, or a medical surgical robot.

[0070] Thanks to the harmonic reducer 1 and the high-precision torque sensor 14 in the joint module, the robot not only has extremely high space utilization and a compact joint shape, but also has excellent force perception capabilities. In the event of an accidental collision, the torque sensor 14 inside the joint can detect abnormal resistance within one millisecond and feed it back to the host computer to trigger an emergency stop, realizing extremely safe and reliable human-robot collaboration (HRC) and compliant force control grasping.

[0071] It should be understood that although this specification is described according to various embodiments, not every embodiment or implementation method contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0072] The above descriptions are merely illustrative embodiments of this application and are not intended to limit the scope of the embodiments of this application. Any equivalent changes, modifications, and combinations made by those skilled in the art without departing from the concept and principles of the embodiments of this application should fall within the protection scope of the embodiments of this application.

Claims

1. A harmonic reducer, characterized in that, include: The flexible wheel (12) includes a cylindrical portion (121) and an annular bottom plate (122) disposed at the bottom end of the cylindrical portion (121). A wave generator (11) is embedded in the inner cavity of the cylindrical portion (121) of the flexible wheel (12); A rigid wheel (13) is sleeved on the outside of the flexible wheel (12) and meshes with the flexible wheel (12); A fixed flange (15) is sleeved on the circumferential periphery of the rigid wheel (13), and a rolling element is provided between the fixed flange (15) and the rigid wheel (13). The outer wall of the rigid wheel (13) and the fixed flange (15) together constitute the main bearing structure. The torque sensor (14) has a hollow ring structure and is disposed between the annular base plate (122) of the flexible wheel (12) and the opposite end face of the fixed flange (15). The two ends of the torque sensor (14) in the axial direction are fixedly connected to the annular base plate (122) and the fixed flange (15) respectively to transmit torque.

2. The harmonic reducer according to claim 1, characterized in that, The torque sensor (14) includes a first flange ring (141) and a second flange ring (142) arranged opposite each other in the axial direction, and a strain beam (143) disposed between the first flange ring (141) and the second flange ring (142), with a cavity (144) disposed between two adjacent strain beams (143); the first flange ring (141) is fixedly connected to the fixed flange (15), and the second flange ring (142) is fixedly connected to the annular base plate (122) of the flexible wheel (12).

3. The harmonic reducer according to claim 2, characterized in that, The first flange ring (141) is provided with a plurality of first mounting holes (1411) in the circumferential direction, and the second flange ring (142) is provided with a plurality of second mounting holes (1421) in the circumferential direction, and the first mounting holes (1411) and the second mounting holes (1421) are respectively arranged on the same axis.

4. The harmonic reducer according to claim 2, characterized in that, The torque sensor (14) further includes a mechanical overload protection structure; the mechanical overload protection structure includes: A limiting protrusion is provided on the first flange ring (141) at a position corresponding to the cavity (144) and pointing towards the second flange ring (142). The limiting groove is located on the second flange ring (142) at a position corresponding to the cavity (144) and directly opposite the limiting protrusion; The mechanical overload protection structure is configured such that, under normal working conditions, a preset gap is maintained between the outer wall of the limiting protrusion and the inner wall of the limiting groove; when the torque sensor (14) is subjected to a preset threshold torque, the strain beam (143) deforms so that the limiting protrusion abuts against the inner wall of the limiting groove, thereby limiting the strain beam (143) from continuing to deform.

5. The harmonic reducer according to claim 2, characterized in that, The strain beam (143) of the torque sensor (14) is provided with strain gauges, which constitute a Wheatstone bridge circuit.

6. The harmonic reducer according to claim 5, characterized in that, The torque sensor (14) also includes: A temperature sensor is attached to the non-strained area of ​​the strain beam (143) or to the first flange ring (141).

7. A joint module, characterized in that, include: Power component (2); and, In any one of claims 1 to 6, the output end of the power assembly (2) is coaxially connected to the input end of the harmonic reducer (1).

8. The joint module according to claim 7, characterized in that, The power assembly (2) includes: The front end plate (21) is connected to the annular base plate (122) of the flexible wheel (12) in the harmonic reducer (1); The rotating shaft (22) is a hollow shaft with one end protruding from the center of the front end plate (21) and coaxially connected to the wave generator (11) in the harmonic reducer (1).

9. The joint module according to claim 8, characterized in that, The harmonic reducer also includes a reference shaft (16), which passes through the center hole of the wave generator (11), and one end of the reference shaft (16) is fixedly connected to the rigid wheel (13). The power assembly (2) also includes: A dual encoder assembly, comprising an input-side encoder and an output-side encoder, wherein the input-side encoder is fixedly connected to the end of the rotating shaft (22) away from the harmonic reducer (1), and the output-side encoder is fixedly connected to the end of the reference shaft (16) in the harmonic reducer (1) away from the rigid wheel (13). The circuit board is electrically connected to the torque sensor (14) and the dual encoder assembly.

10. A robot, characterized in that... Includes the joint module according to any one of claims 7 to 9.

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