A robot joint module with single-sided bearing support for a high rotor shaft

Abstract

This invention relates to the field of robotics, specifically a robot joint module supported by a single-sided bearing on a high rotor shaft. The module includes a reducer, a motor unit fixed to one side of the reducer, a hollow shaft fixed to the output end of the reducer, and an input end connected to the motor unit via a high rotor shaft assembly. A joint limiting mechanism is provided at one end of the hollow shaft. This mechanism includes a support ring fixed to the hollow shaft, and a double-sloping limiting block slidably connected in an annular groove on one side of the support ring. When the joint of this invention is equipped with the joint limiting mechanism, the buffer and force-relieving mechanism, and the module output platform, it forms an angular displacement limiting structure for the end effector, effectively preventing damage to the internal cables of the hollow shaft caused by excessive rotation. When the module output platform rotates to its limit position, a rubber strip on the double-sloping limiting block contacts the transmission block, absorbing the initial collision energy through the elastic deformation of the rubber strip and preventing direct rigid impact between metal parts.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a robot joint module with a high rotor shaft supported by a single-sided bearing. Background Technology

[0002] As the core component for robot motion execution, robot joint modules typically integrate components such as motors, reducers, encoders, and brakes. They achieve precise movement of the end effector through multi-axis linkage and are widely used in industrial production, intelligent manufacturing, service robots, and other fields.

[0003] Existing robot joint modules often employ a spatial nested layout for their encoder disks and a double-sided bearing support structure for their high rotor shafts. A complete testing system can only be built after all mechanical components, such as the motor, reducer, brake housing, and adapter shaft, are fully assembled. This high dependence on overall assembly prevents early independent testing of the motor and encoder, leading to delays in the testing process and difficulty in quickly locating early faults in the motor, encoder, or mechanical structure. Furthermore, the limiting mechanisms of these joint modules are mostly rigid collision designs, restricting joint rotation angles with only a single mechanical stop. This lacks an effective buffering and force-dissipating mechanism. When the joint rotates to its limit position and is subjected to external force or inertial impact, the instantaneous impact force generated by the rigid collision directly acts on core components such as the reducer, drive shaft, and internal cables. Long-term use can easily lead to component wear and deformation, and even cable breakage and reducer damage, severely affecting the lifespan and operational stability of the joint module. Therefore, a robot joint module with a single-sided bearing support for the high rotor shaft needs to be designed. Summary of the Invention

[0004] The purpose of this invention is to provide a robot joint module with a simple structure and reasonable design, featuring single-sided bearing support for a high rotor shaft, in order to solve the above-mentioned problems.

[0005] The present invention achieves the above objectives through the following technical solutions: A robot joint module with a single-sided bearing support on a high rotor shaft includes a reducer. A motor unit is fixed to one side of the reducer, and a hollow shaft is fixed to the output end of the reducer. The input end of the reducer is connected to the motor unit via a high rotor shaft assembly. A joint limiting mechanism is provided at one end of the hollow shaft. The joint limiting mechanism includes a support ring fixed to the hollow shaft. A double-inclined limiting block is slidably connected in an annular groove on one side of the support ring. An outer support is fixed to the double-inclined limiting block and is fixed to the reducer. A rotatable connection is made to the outer support. The module output platform is connected to a hollow shaft via a buffer unloading mechanism. The buffer unloading mechanism is used to limit the angular offset of the module output platform and provide buffering at the extreme position of the angular offset. The buffer unloading mechanism includes a transmission frame slidably connected to the module output platform, a transmission block fixed on the transmission frame, a transmission column slidably connected to the hollow shaft in the transmission block, and inclined surfaces corresponding to double inclined limit blocks on both sides of the transmission block. The transmission block is connected to the module output platform via an adjustable floating mechanism, and a release locking mechanism is provided on the module output platform.

[0006] As a further optimization of the present invention, the adjustable floating mechanism includes a mounting groove formed on the module output platform, an adjusting plate slidably connected in the mounting groove, an adjusting screw threadedly connected to the adjusting plate, and one end of the adjusting screw rotatably connected to the module output platform.

[0007] As a further optimization of the present invention, a support spring is provided between the adjusting plate and the transmission block, and both the adjusting plate and the transmission block are provided with circular bosses, and the support spring is sleeved on the circular bosses.

[0008] As a further optimization of the present invention, rubber strips are fixed in the grooves opened on both sides of the double-sloped limiting block.

[0009] As a further optimization of the present invention, the release locking mechanism includes a locking frame slidably connected to the module output platform, a magnetic block is fixed in a groove in the side wall of the module output platform, the locking frame is magnetically attached to the magnetic block through the iron connecting strip in the middle, and a locking groove corresponding to the end of the locking frame is opened on the transmission frame.

[0010] As a further optimization of the present invention, the motor unit includes a stator housing fixed to one side of the reducer, and a motor stator and a motor rotor that cooperate with each other are disposed inside the stator housing.

[0011] As a further optimization of the present invention, the high rotor shaft assembly includes a high rotor shaft body sleeved on a hollow shaft, the high rotor shaft body being fixedly connected to a motor rotor, a first bearing and a second bearing being provided on the outer wall of the high rotor shaft body, both the first bearing and the second bearing being sleeved inside the stator housing, and a first code disk for detecting the rotation angle of the high rotor shaft body being installed on the high rotor shaft body.

[0012] As a further optimization of the present invention, a bushing sleeve fitted on the high rotor shaft body is provided between the first bearing and the second bearing.

[0013] As a further optimization of the present invention, a low rotor shaft is fixed to one end of the hollow shaft, a second code disk for detecting the rotation angle of the low rotor shaft is provided on the low rotor shaft, the low rotor shaft is rotatably connected to the brake housing, the brake housing is fixed to the stator housing, and a brake body is provided inside the brake housing.

[0014] As a further optimization of the present invention, a rear end cover is fixed on the brake housing, and a main circuit board connecting the second code disk, the first code disk and the motor stator is provided on the rear end cover.

[0015] The beneficial effects of this invention are as follows: 1. In this invention, the first code disk for detecting the input rotation angle of the motor is directly fixed to one end of the high rotor shaft, and the second code disk for detecting the output rotation angle of the joint is fixed to the low rotor shaft. The two are staggered in axial space and correspond to independent read heads on the main circuit board, without interfering with each other. The high rotor shaft structure with single-sided bearing support arranges the first and second bearings on the same axial side of the high rotor shaft. The bearing spacing and coaxiality are maintained by the bushing, forming a stable cantilevered rotary support structure. The single-sided double-bearing cantilever support structure maintains the bearing coaxiality by the bushing, ensuring that the high rotor shaft meets the rigidity requirements of dynamic testing. It can realize early independent testing of the motor and the first code disk without waiting for the assembly of subsequent components such as the brake housing and the low rotor shaft, and quickly verify the intrinsic performance of the motor and the detection accuracy of the code disk.

[0016] 2. The joint of this invention, equipped with a joint limiting mechanism, a buffer unloading mechanism, and a module output platform, forms an angular displacement limiting structure for the end effector, effectively preventing damage to the internal cables of the hollow shaft due to excessive rotation. During operation, when the module output platform drives the end effector to rotate, the transmission block moves synchronously with the transmission frame. When the inclined surfaces on both sides of the transmission block contact the inclined surfaces on both sides of the double-inclined limiting block, mechanical limiting is triggered, restricting the maximum angular offset of the module output platform. If an external force causes the module output platform to attempt to break through the limit and continue rotating, the buffer unloading mechanism will push the transmission block to disengage from the transmission column, allowing the module output platform to detach from the transmission chain, and the hollow shaft to rotate freely, preventing the internal cables from becoming entangled, pulled, or broken due to excessive twisting.

[0017] 3. When the module output platform of this invention rotates to its limit position, the rubber strip on the double-sloping limit stop first contacts the transmission block. The elastic deformation of the rubber strip absorbs the initial collision energy, avoiding direct rigid impact of metal parts. If the impact force continues, the axial compressive force on the transmission block overcomes the preload of the support spring in the adjustable floating mechanism, pushing the transmission block to slide axially. The support spring is compressed to achieve secondary buffering and continuously absorb impact energy. When the external force exceeds the set threshold, the transmission block completely separates from the transmission column, the module output platform disengages from the transmission chain, and the external force is completely unloaded, avoiding damage to core components such as the reducer and hollow shaft due to overload impact.

[0018] 4. This invention eliminates the need to disassemble the joint. Simply by rotating the adjusting screw, the adjusting plate can be driven to slide axially along the mounting groove. When the adjusting plate is close to the transmission block, the compression of the support spring increases, the preload increases, and the corresponding overload tripping torque increases, making it suitable for heavy-duty actuators. When the adjusting plate is away from the transmission block, the compression of the support spring decreases, the preload decreases, and the corresponding overload tripping torque decreases, making it suitable for light-duty actuators. The thread self-locking function of the adjusting screw can prevent the adjusting plate from sliding accidentally, ensuring long-term stability of the preload and improving the versatility and adaptability of the joint.

[0019] 5. When the module output platform of the present invention disengages from the transmission chain, the disengagement locking mechanism can immediately lock the position of the transmission frame, preventing repeated collisions caused by the rebound of the support spring, maintaining the stability of the overload protection state, and extending the service life of the mechanism. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the installation position of the adjustable floating mechanism in this invention; Figure 3 This is a schematic diagram of the installation position of the double-sloping limiting block in this invention; Figure 4 This is an exploded view of the buffer unloading mechanism in this invention; Figure 5 This is a schematic diagram of the assembly structure of the release locking mechanism in this invention; Figure 6 This is a schematic diagram of the installation position of the main circuit board in this invention; Figure 7 This is a schematic diagram showing the location of the mounting slot in this invention; Figure 8 This is a schematic diagram showing the position of the second code disk in this invention; Figure 9 This is an assembly diagram of the high rotor shaft assembly in this invention; Figure 10 This is a schematic diagram of the motor unit in this invention; Figure 11This is a schematic diagram showing the installation positions of the support ring and the double-sloped limiting block in this invention; Figure 12 This is a schematic diagram showing the positions of the first bearing and the second bearing in this invention.

[0021] In the diagram: 1. Reducer; 2. Motor unit; 3. Hollow shaft; 4. High rotor shaft assembly; 5. Low rotor shaft; 6. Brake housing; 7. Joint limiting mechanism; 8. Buffer and force relief mechanism; 9. Release locking mechanism; 10. Module output platform; 11. First code disk; 12. Second code disk; 13. Brake body; 14. Rear end cover; 15. Main circuit board; 21. Stator housing; 22. Motor stator; 23. Motor rotor; 41. High... 42. Rotor shaft body; 43. First bearing; 44. Second bearing; 45. Bushing; 71. Support ring; 72. Double inclined limit stop block; 73. External support; 81. Transmission frame; 82. Transmission block; 83. Transmission column; 84. Adjustable floating mechanism; 91. Locking frame; 92. Magnetic block; 93. Locking groove; 841. Mounting groove; 842. Adjusting plate; 843. Adjusting screw; 844. Support spring; 845. Rubber strip. Detailed Implementation

[0022] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0023] Example: Please refer to Figures 1-12A robot joint module with a single-sided bearing supported by a high rotor shaft includes a reducer 1. A motor unit 2, which provides power output to the joint module, is fixed to one side of the reducer 1. The motor unit 2 includes a stator housing 21 fixed to one side of the reducer 1. A motor stator 22 and a motor rotor 23 are housed within the stator housing 21 (the cooperation between the motor stator 22 and the motor rotor 23 is prior art and will not be elaborated upon here). A hollow shaft 3 is fixed to the output end of the reducer 1. The input end of the reducer 1 is connected to the motor unit 2 via a high rotor shaft assembly 4. When the motor stator 22 in the motor unit 2 is energized, it generates a magnetic field that causes the motor rotor 23 to rotate. The rotating motor rotor 23 transmits its rotational torque to the reducer 1 via the high rotor shaft assembly 4. After being reduced in speed by the reducer 1, the hollow shaft 3 rotates at a low speed. One end is provided with a joint limiting mechanism 7, which includes a support ring 71 fixed on the hollow shaft 3. An annular groove is provided on one side of the support ring 71, and a double inclined plane limiting block 72 is slidably connected in the annular groove. The double inclined plane limiting block 72 is an arc-shaped semi-annular wedge structure with inclined planes on both sides. An outer support 73 is fixed to the outer housing of the reducer 1 by bolts. The double inclined plane limiting block 72 is fixed to the outer support 73 by bolts. One end of the inner wall of the outer support 73 is rotatably connected to the module output platform 10 through a bearing. The module output platform 10 serves as the output part of the robot joint module and can drive the actuator at the end of the joint to rotate. The module output platform 10 is connected to the hollow shaft 3 through a buffer unloading mechanism 8. The buffer unloading mechanism 8 is used to limit the angular offset of the module output platform 10 and provide buffering at the extreme position of the angular offset.

[0024] Please see Figures 2-5 and Figure 12The buffer unloading mechanism 8 includes a transmission frame 81 slidably connected to the module output platform 10. A transmission block 82 is fixed to the transmission frame 81 by screws. A transmission column 83 is slidably connected in the through hole of the transmission block 82. The transmission column 83 is fixed on one side of the hollow shaft 3. The transmission block 82 has inclined surfaces corresponding to the inclined surfaces of the double inclined limit blocks 72 on both sides. When the hollow shaft 3 rotates at low speed, it will be transmitted to the transmission block 82 through the transmission column 83. Then, the module output platform 10 will be driven to rotate at the same speed through the transmission block 82 and the transmission frame 81. The extreme position of the rotation of the module output platform 10 is limited by the double inclined limit blocks 72. That is, the module output platform 10 reaches its extreme position when it rotates to the point where the transmission block 82 abuts against the inclined surfaces of the double inclined limit blocks 72. The transmission block 82 is connected to the module output platform 10 via an adjustable floating mechanism 84. The module output platform 10 is equipped with a release locking mechanism 9. When the module output platform 10 rotates to its limit position, it will act on the adjustable floating mechanism 84, causing the transmission block 82 to gradually approach the module output platform 10. When the transmission block 82 is completely disengaged from the transmission column 83, the hollow shaft 3 is completely separated from the transmission block 82, and the module output platform 10 is disengaged from the joint transmission chain. This prevents external forces from causing excessive rotation of the joint, which could damage the cables inside the hollow shaft 3. At the same time as the module output platform 10 is disengaged, the release locking mechanism 9 locks the position of the transmission frame 81, preventing the adjustable floating mechanism 84 from continuously colliding with the connection part due to the continuous rotation and reset of the module output platform 10.

[0025] Please see Figures 6-11The high rotor shaft assembly 4 includes a high rotor shaft body 41 sleeved on a hollow shaft 3. The hollow shaft 3 serves as the internal output shaft for the joint power, and has a through-path for wires and signal lines to pass through, preventing cable tangling, pulling, or wear during rotation. The high rotor shaft body 41 is fixedly connected to the motor rotor 23 and to the input end of the reducer 1. A first bearing 42 and a second bearing 43 are respectively sleeved on the outer wall of the high rotor shaft body 41. Both the first bearing 42 and the second bearing 43 are sleeved inside the stator housing 21. A first code disk 11 for detecting the rotation angle of the high rotor shaft body 41 is installed on one side of the high rotor shaft body 41. A bushing 44 is provided between the first bearing 42 and the second bearing 43 and is sleeved on the high rotor shaft body 41. The first bearing 42 and the second bearing 43 are both arranged on the same axial side of the high rotor shaft body 41, forming a single-sided supported cantilever rotary pair, eliminating the need for supports at both ends of the shaft. Bearings reduce the number of parts and assembly errors. Bushing 44 enables axial positioning and spacing of the inner rings of the two bearings, ensuring bearing coaxiality and operational stability. One end of the hollow shaft 3 is fixed to a low rotor shaft 5. A second code disk 12 is installed on the low rotor shaft 5 to detect the rotation angle of the low rotor shaft 5. The low rotor shaft 5 is rotatably connected to the brake housing 6 through bearings. The brake housing 6 is fixed to the stator housing 21. The brake body 13 is installed inside the brake housing 6. (The brake body 13 is used to lock the high rotor shaft 41 in case of power failure or emergency, realizing the braking of the joint as a whole. The brake body 13 is existing technology and will not be described in detail here.) A rear end cover 14 is fixed on the brake housing 6. A main circuit board 15 is installed on the rear end cover 14. The main circuit board 15 integrates drive and acquisition circuits and is electrically connected to the first code disk 11, the second code disk 12, the motor stator 22 and the brake body 13, respectively, to realize functions such as drive, encoder signal reading and brake control.

[0026] The main circuit board 15 outputs a drive signal to the motor stator 22. After the motor stator 22 is energized, it generates an alternating magnetic field, which drives the motor rotor 23 to rotate. The motor rotor 23 is fixedly connected to the high rotor shaft body 41, driving the high rotor shaft body 41 to rotate synchronously and transmitting power to the input end of the reducer 1. The high rotor shaft body 41 adopts a single-sided double bearing cantilever support structure to ensure the rigidity and stability of the high rotor shaft body 41 during high-speed rotation. After the power is reduced and amplified by the reducer 1, it drives the hollow shaft 3 fixed at its output end to rotate smoothly at low speed. The hollow shaft 3 forms a power connection with the transmission block 82 through the transmission column 83, driving the transmission block 82 and the transmission frame 81 fixed thereto to rotate synchronously. The movement ultimately drives the module output platform 10, which is rotatably connected to the external support 73, to rotate, realizing the power output of the joint end effector. Throughout the process, the first encoder 11 installed on one side of the high rotor shaft 41 detects the rotation angle and speed signals of the motor input shaft in real time and transmits them to the main circuit board 15. The low rotor shaft 5, which is fixed at one end of the hollow shaft 3, rotates synchronously with the hollow shaft 3. The second encoder 12 on it collects the actual rotation angle signal of the joint output end in real time and also feeds it back to the main circuit board 15. The main circuit board 15 compares the signals of the first encoder 11 and the second encoder 12 to realize the motor speed adjustment and joint position closed-loop control, ensuring the motion accuracy of the module output platform 10. During the rotation of the module output platform 10, when the inclined surfaces on both sides of the transmission block 82 contact the inclined surfaces on both sides of the double-inclined limit stop 72, the mechanical limit of the joint is reached, limiting the maximum angular offset of the module output platform 10. When the module output platform 10 reaches the limit position, the inclined surfaces of the transmission block 82 and the double-inclined limit stop 72 gradually come into contact. The axial component force generated by the inclined surface contact initially buffers the impact force of the collision. If the limit position is still subjected to external force or inertial impact, the axial component force overcomes the elastic force of the adjustable floating mechanism 84, pushing the transmission block 82 and the transmission frame 81 to slide axially to one side of the module output platform 10. As the sliding amount increases, the transmission block 82 and the transmission frame 81 slide axially to one side of the module output platform 10. As column 83 gradually disengages until the power connection is completely disconnected, the module output platform 10 disengages from the joint transmission chain, allowing the hollow shaft 3 to rotate freely, preventing excessive joint rotation or internal cable breakage caused by external forces. This also protects the reducer 1 from overload impact. Simultaneously, as the module output platform 10 disengages, the disengagement locking mechanism 9 immediately locks the axial position of the transmission frame 81, preventing the adjustable floating mechanism 84 from springing back and causing repeated collisions between the transmission block 82 and the double-sloping limit stop block 72, thus maintaining the stability of the overload protection state. When the joint needs to stop or undergo emergency braking, the main circuit board 15 controls the brake body 13 to engage, locking the high rotor shaft 41 to achieve overall joint braking.

[0027] Please see Figure 2 , Figures 4-5 and Figure 12The adjustable floating mechanism 84 includes a mounting groove 841 on one side of the module output platform 10. An adjusting plate 842 is slidably connected in the mounting groove 841. The adjusting plate 842 is threadedly connected to an adjusting screw 843. One end of the adjusting screw 843 passes through the mounting groove 841 and is rotatably connected to the module output platform 10. A support spring 844 is provided between the adjusting plate 842 and the transmission block 82. The adjusting screw 843 can drive the adjusting plate 842 to slide axially along the mounting groove 841 via the thread. External adjustment of the preload of the support spring 844 can be achieved without disassembling the joint. The threaded structure has a self-locking function to prevent the adjusting plate 842 from sliding accidentally. It can achieve stepless adjustment of the overload tripping force to adapt to the joint protection requirements under different load conditions. Under normal rotation, the support spring 844 provides constant force to the transmission block 82. Axial support force ensures reliable engagement between the transmission block 82 and the transmission column 83. In case of overload, the support spring 844 is compressed, providing elastic buffering for the axial sliding of the transmission block 82. The removal of external force simultaneously pushes the transmission block 82 back to its original position. Both the adjusting plate 842 and the transmission block 82 are provided with circular bosses, and the support spring 844 is fitted onto these bosses. The circular bosses provide axial positioning and radial constraint for the support spring 844, preventing it from shifting, twisting, or falling off during compression or rebound. Rubber strips 845 are fixed in the grooves on both sides of the double-sloped limit block 72. The rubber strips 845 serve as a contact buffer between the transmission block 82 and the double-sloped limit block 72, filling the gaps between the contact surfaces and absorbing collision energy, making the contact process between the transmission block 82 and the double-sloped limit block 72 smoother and preventing impact rebound.

[0028] When the joint rotates normally, the adjustable floating mechanism 84 is in its initial working state: the adjusting plate 842 is positioned by the thread of the adjusting screw 843 to maintain a fixed axial position. The support spring 844 between it and the transmission block 82 is sleeved on the circular bosses on both sides and is pre-compressed to a set compression amount to provide a constant axial support force for the transmission block 82. This support force ensures that the transmission block 82 and the transmission column 83 on the hollow shaft 3 cooperate with each other without relative gap, avoiding impact, vibration or noise during power transmission, and ensuring that the module output platform 10 and the hollow shaft 3 rotate synchronously and stably. When the module output platform 10 rotates to the limit position, the inclined surfaces on both sides of the transmission block 82 first contact the rubber strips 845 on both sides of the double inclined limit block 72: the rubber strips 845 act as a buffer medium, through The transmission block 82 absorbs the initial impact energy through its own elastic deformation, avoiding direct rigid impact of metal parts, making the contact process of the transmission block 82 smooth and without rebound, reducing impact noise and structural wear. As it exceeds the limit position and continues to rotate, the transmission block 82 is subjected to the axial compression force of the double inclined limit stop 72, which overcomes the preload force of the support spring 844 and pushes the transmission block 82 to slide axially towards the module output platform 10. The support spring 844 is further compressed, and through elastic deformation, it continues to absorb impact energy, avoiding damage to the reducer 1, hollow shaft 3 and internal cables caused by instantaneous overload. As the sliding amount of the transmission block 82 gradually increases, its cooperation with the transmission column 83 gradually disengages until the power connection is completely disconnected, completing the overload release. The module output platform 10 is disengaged from the transmission chain, realizing the unloading of external force.

[0029] Please see Figures 1-5 The release locking mechanism 9 includes a locking frame 91 slidably connected to the module output platform 10. A limit hook is provided on the side wall of the locking frame 91 to restrict the sliding position of the locking frame 91 on the module output platform 10, preventing the locking frame 91 from detaching from the module output platform 10. A magnetic block 92 is fixed in a groove on the side wall of the module output platform 10. The locking frame 91 is magnetically attached to the magnetic block 92 via a central iron connecting strip. A locking groove 93 corresponding to the end of the locking frame 91 is provided on the transmission frame 81. When the module output platform 10 rotates to... When the transmission block 82 causes an overload trip, the transmission frame 81 slides axially toward the module output platform 10. As the transmission frame 81 slides, its sidewall gradually approaches the end of the locking frame 91. As it continues to slide, the transmission frame 81 pushes the locking frame 91 to move outward against the magnetic attraction of the magnetic block 92. The locking frame 91 reaches the position of the locking groove 93. At this time, the unloading of the module output platform 10 is completed. The attraction of the magnetic block 92 drives the locking frame 91 to return to its original position, and its end is embedded in the locking groove 93, thereby locking the position of the transmission frame 81.

[0030] It should be noted that in use, the main circuit board 15 outputs a drive signal to generate an alternating magnetic field in the motor stator 22, which drives the motor rotor 23 to rotate. The motor rotor 23 drives the high rotor shaft 41 to rotate synchronously, transmitting power to the input end of the reducer 1. The high rotor shaft 41 maintains the rigidity and stability of high-speed rotation through the single-sided double-bearing cantilever support structure composed of the first bearing 42 and the second bearing 43. After the power is reduced and amplified by the reducer 1, it drives the hollow shaft 3 to rotate smoothly at low speed. The hollow shaft 3 drives the transmission block 82 and the transmission frame 81 to move synchronously through the transmission column 83, and finally drives the module output platform 10 to rotate, realizing the power output of the joint end effector. Throughout the transmission process, the first encoder 11 detects the rotation angle and speed signals of the motor input shaft in real time, while the second encoder 12 synchronously collects the actual rotation angle signal at the joint output end. Both are fed back to the main circuit board 15. The main circuit board 15 compares the two sets of signals to achieve motor speed adjustment and joint position closed-loop control, ensuring the motion accuracy of the module output platform 10. When the module output platform 10 rotates normally, when the inclined surfaces on both sides of the transmission block 82 contact the inclined surfaces on both sides of the double inclined limit block 72, the mechanical limit of the joint is reached, limiting the maximum angular offset. At this time, the rubber strip 845 acts as a buffer medium, absorbing the initial collision energy through elastic deformation, avoiding direct rigid impact of metal parts, making the bonding process smooth and without rebound, reducing impact noise and structural wear. If the limit position is still subjected to external force or inertial impact, the transmission block 82 is subjected to axial compression force, which will overcome the preload of the support spring 844 in the adjustable floating mechanism 84, pushing the transmission block 82 and the transmission frame 81 to slide axially to one side of the module output platform 10. The support spring 844 is further compressed, continuously absorbing impact energy and achieving graded buffering. As the sliding amount increases, the transmission block 82 and the transmission column 83 gradually separate until the power connection is completely disconnected, the module output platform 10 is disengaged from the transmission chain, and the hollow shaft 3 can rotate freely, avoiding excessive joint rotation, internal cable breakage, or overload damage to the reducer 1 caused by external force. When the module output platform 10 is overloaded and tripped, the transmission block 82 drives the transmission frame 81 to slide axially, and the side wall of the transmission frame 81 pushes the locking frame 91 to overcome the magnetic attraction of the magnetic block 92 and move outward. When the transmission block 82 is completely disengaged from the transmission column 83 and the module output platform 10 has completed unloading, the attraction of the magnetic block 92 drives the locking frame 91 to return to its position. Its end is embedded in the locking groove 93 of the transmission frame 81, realizing the rigid locking of the position of the transmission frame 81, preventing the support spring 844 from rebounding and causing the transmission block 82 to repeatedly collide with the double inclined limit block 72, and maintaining the stability of the overload protection state. When the joint needs to stop or brake urgently, the main circuit board 15 controls the brake body 13 to move, locking the high rotor shaft 41, realizing the overall braking of the joint.

[0031] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A robot joint module with a single-sided bearing support for a high rotor shaft, comprising a reducer (1), characterized in that: A motor unit (2) is fixed to one side of the reducer (1), and a hollow shaft (3) is fixed to the output end of the reducer (1). The input end of the reducer (1) is connected to the motor unit (2) through a high rotor shaft assembly (4). A joint limiting mechanism (7) is provided at one end of the hollow shaft (3). The joint limiting mechanism (7) includes a support ring (71) fixed on the hollow shaft (3). A double inclined plane limiting block (72) is slidably connected in an annular groove on one side of the support ring (71). An outer support (73) is fixed on the double inclined plane limiting block (72). The outer support (73) is fixed on the reducer (1). A module output platform (10) is rotatably connected to the outer support (73). The hollow shaft (3) is connected through a buffer unloading mechanism (8). The buffer unloading mechanism (8) is used to limit the angular offset of the module output platform (10) and provide buffer at the extreme position of the angular offset. The buffer unloading mechanism (8) includes a transmission frame (81) slidably connected to the module output platform (10). A transmission block (82) is fixed on the transmission frame (81). A transmission column (83) fixedly connected to the hollow shaft (3) is slidably connected in the transmission block (82). The transmission block (82) is provided with inclined surfaces corresponding to double inclined limit blocks (72) on both sides. The transmission block (82) is connected to the module output platform (10) through an adjustable floating mechanism (84). A release locking mechanism (9) is provided on the module output platform (10). The motor unit (2) includes a stator housing (21) fixed on one side of the reducer (1), and a motor stator (22) and a motor rotor (23) that cooperate with each other are provided inside the stator housing (21). The adjustable floating mechanism (84) includes a mounting groove (841) opened on the module output platform (10), an adjusting plate (842) is slidably connected in the mounting groove (841), the adjusting plate (842) is threadedly connected to an adjusting screw (843), and one end of the adjusting screw (843) is rotatably connected to the module output platform (10). The release locking mechanism (9) includes a locking frame (91) slidably connected to the module output platform (10), a magnetic block (92) is fixed in the groove of the side wall of the module output platform (10), the locking frame (91) is magnetically attached to the magnetic block (92) through the iron connecting strip in the middle, and a locking groove (93) corresponding to the end of the locking frame (91) is opened on the transmission frame (81). The high rotor shaft assembly (4) includes a high rotor shaft body (41) sleeved on a hollow shaft (3), the high rotor shaft body (41) is fixedly connected to the motor rotor (23), a first bearing (42) and a second bearing (43) are provided on the outer wall of the high rotor shaft body (41), the first bearing (42) and the second bearing (43) are both sleeved in the stator housing (21), and a first code disk (11) for detecting the rotation angle of the high rotor shaft body (41) is installed on the high rotor shaft body (41).

2. A robot joint module with single-sided bearing support for a high rotor shaft according to claim 1, characterized in that: A support spring (844) is provided between the adjusting plate (842) and the transmission block (82). Both the adjusting plate (842) and the transmission block (82) are provided with circular bosses, and the support spring (844) is sleeved on the circular bosses.

3. A robot joint module with single-sided bearing support for a high rotor shaft according to claim 1, characterized in that: Rubber strips (845) are fixed in the grooves opened on both sides of the double-sloped limiting block (72).

4. A robot joint module with single-sided bearing support for a high rotor shaft according to claim 1, characterized in that: A bushing (44) is provided between the first bearing (42) and the second bearing (43) and is sleeved on the high rotor shaft body (41).

5. A robot joint module with single-sided bearing support for a high rotor shaft according to claim 4, characterized in that: One end of the hollow shaft (3) is fixed with a low rotor shaft (5). A second code disk (12) for detecting the rotation angle of the low rotor shaft (5) is provided on the low rotor shaft (5). The low rotor shaft (5) is rotatably connected to the brake housing (6). The brake housing (6) is fixed on the stator housing (21). The brake body (13) is provided inside the brake housing (6).

6. A robot joint module with single-sided bearing support for a high rotor shaft according to claim 5, characterized in that: The brake housing (6) is fixed with a rear end cover (14), and the rear end cover (14) is provided with a main circuit board (15) connecting the second code disk (12), the first code disk (11) and the motor stator (22).

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