Single power driven dual motion characteristic output composite joint module

Abstract

The application relates to a single-power-driven composite joint module with double motion characteristic output, which comprises a motor assembly, a reducer assembly and an output end assembly. The motor assembly comprises a motor shell, a motor stator and a motor rotor. The reducer assembly comprises a rigid wheel and a flexible wheel. A wave generator is arranged on the motor rotor and located in the inner ring of the flexible wheel. The output end assembly comprises a dial shaft, a notch wheel and an output disc. The front end of the dial shaft is provided with the output disc. A cam follower bearing is arranged on the dial shaft. A notch is arranged on the outer periphery of the notch wheel. The cam follower bearing is in rolling fit with the notch. A notch wheel output shaft is fixedly connected to the center of the notch wheel. The motor rotor drives the input shaft to rotate, then the dial shaft is continuously rotated by the flexible wheel flange, the dial shaft drives the output disc to realize continuous rotation output, and the cam follower bearing drives the notch wheel to realize intermittent rotation output through the notch. The single power source simultaneously outputs continuous rotation and intermittent rotation. The application has the advantages of high integration, compact structure, simple control, avoidance of serious abrasion and practicality and reliability.

Description

Technical Field

[0001] This invention relates to the field of robot joint drive technology, and in particular to a composite joint module with single-power drive and dual motion characteristic output. Background Technology

[0002] Currently, in the process of precision operation of collaborative robots, their end effectors typically need to possess both continuous rotation and intermittent oscillation motion modes to meet the process requirements of grinding, polishing, and assembly. However, existing mechanical structures have the following drawbacks in achieving this function: Currently, dual motion output is mostly achieved using two independent motors. However, the independent layout makes the axial dimension of the wrist joint too long, resulting in a complex and bulky overall structure. The multiple motor settings can easily cause cables to become tangled or interfere, reducing the flexibility of the device. Secondly, some existing mechanisms also use a single-motor time-sharing drive solution, but this solution itself has problems with response lag, heat generation, and wear, leading to a sharp reduction in lifespan and poor reliability. In other words, existing mechanisms generally suffer from low integration, insufficient compactness and flexibility, and severe wear.

[0003] Therefore, based on customer feedback regarding the shortcomings of the existing device, the inventors made further improvements to overcome the aforementioned problems. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a composite joint module with high integration and compact structure, featuring single-power drive and dual-motion characteristic output.

[0005] The objective of this invention is achieved through the following technical solution: a composite joint module with single-power drive and dual-motion characteristic output, comprising a motor assembly, a reducer assembly, and an output end assembly; The motor assembly includes a motor housing and a motor stator fixed inside the motor housing, and a motor rotor rotatably disposed inside the motor stator, the motor rotor being fixedly connected to an input shaft; the reducer assembly includes a rigid wheel fixedly connected to the motor housing and a flexible wheel disposed inside the rigid wheel, and a flexible wheel flange fixedly connected to the flexible wheel, a wave generator is provided at the output end of the input shaft, and the wave generator is located in the inner ring of the flexible wheel; the output end assembly includes a dial shaft and a grooved wheel fixedly connected to the flexible wheel flange; an output disc is provided at the front end of the dial shaft, and a cam driven bearing is also provided on the dial shaft, a groove is provided on the outer circumference of the grooved wheel and the cam driven bearing is in rolling engagement with the groove, and a grooved wheel output shaft is fixedly connected to the center of the grooved wheel; Within the module, the motor rotor drives the input shaft to rotate. After being reduced in speed and increased in torque by the reducer assembly, the flex wheel flange drives the dial shaft to rotate continuously. The dial shaft drives the output disc to achieve continuous rotation output. At the same time, the cam driven bearing on the dial shaft drives the slotted wheel through the slot to achieve intermittent rotation output. Thus, the module can output both continuous and intermittent rotation motions from a single power source.

[0006] As a preferred technical solution of this application, the module has a hollow channel that runs through the axis, and the input shaft, wave generator, flexible wheel flange, dial shaft and grooved wheel output shaft all have hollow inner holes, and the hollow inner holes are interconnected to form a continuous hollow channel.

[0007] As a preferred technical solution of this application, the dial shaft is provided with a stop arc segment, and the grooved wheel is provided with a corresponding locking arc segment. When the cam driven bearing disengages from the groove, the stop arc segment and the locking arc segment cooperate with each other to mechanically lock the grooved wheel.

[0008] As a preferred technical solution of this application, it also includes a brake assembly; the brake assembly includes a brake stator and a brake rotor; the brake stator is fixed to the motor cover and the brake rotor is fixed to the rear end of the input shaft; the brake assembly releases when energized and brakes when de-energized, and the braking of the input shaft by the brake assembly and the mechanical locking of the stop arc segment on the grooved wheel form a double locking.

[0009] As a preferred technical solution of this application, the cam follower bearing is installed on the dial shaft by a nut, and the contact between the outer ring of the cam follower bearing and the groove is rolling friction.

[0010] As a preferred technical solution of this application, it also includes a sensing and detection system, which includes an input encoder, a first output encoder, and a second output encoder. The input encoder is located at the rear end of the input shaft and is used to detect the transmission position and speed of the motor input end. The first output encoder is located at the output end of the Geneva wheel output shaft and is used to detect the rotation position and speed of the intermittently rotating output end. The second output encoder is located at the rear end of the dial shaft and is used to detect the rotation position and speed of the continuously rotating output end. The three types of encoders together form a closed-loop position sensing architecture.

[0011] As a preferred technical solution of this application, the input encoder is bonded and fixed to the rear end of the input shaft by support frame I, the second output encoder is bonded and fixed to the rear end of the dial shaft by support frame II, and the first output encoder is bonded and fixed to the output end of the grooved wheel output shaft.

[0012] As a preferred technical solution of this application, the output end assembly further includes a bearing housing and an output end housing. The bearing housing is fixedly connected to the rigid wheel flange, and the output end housing is fixedly connected to the rigid wheel flange and covers the outside of the bearing housing. The two ends of the Geneva wheel output shaft are respectively supported by bearing I, wherein the bearing I at one end is disposed in the bearing housing, and the bearing I at the other end is disposed in the bearing chamber of the output end housing.

[0013] As a preferred technical solution of this application, the rigid wheel is fixedly connected to the rigid wheel flange, the flexible wheel is pressed into the flexible wheel flange, and the wave generator is circumferentially positioned with the input shaft by a flat key and axially positioned by a sleeve and an elastic retaining ring.

[0014] As a preferred technical solution of this application, it also includes a drive plate I and a drive plate II; the drive plate I is fixedly connected to the output end housing, the drive plate II is fixedly connected to the rear end of the motor cover, the motor cover is fixedly connected to the rear end of the motor housing, and a bearing IV is provided in the bearing chamber of the motor cover for supporting the rear end of the input shaft.

[0015] The present invention has the following advantages: (1) In this scheme, only a single motor is used as the power source to simultaneously drive the reducer to rotate continuously and the Geneva mechanism to rotate intermittently, thereby avoiding the problem of complex and bulky structure and making the device integrated; at the same time, the module center of this scheme forms a through channel for wiring, and cables can pass through it, thereby avoiding the problems of external pipeline entanglement and interference in the existing device, improving flexibility and safety. (2) This solution uses a cam driven bearing to replace the traditional pin, thereby changing sliding friction into rolling friction, reducing wear and heat generated during contact, thus improving the load-bearing capacity and service life of the intermittent transmission mechanism, and enhancing its stability and safety under long-term and high-frequency operation; at the same time, this solution combines the mechanical locking arc of the Geneva mechanism with the motor brake to form a double locking mechanism, which can cope with long-term and high-load working conditions. (3) This scheme includes a closed-loop sensing and detection system with one input encoder and two output encoders, which simultaneously senses the position and speed of the motor end, continuous output end and intermittent output end in real time, thereby improving its control accuracy and reliability. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of the present invention from a half-section view perspective; Figure 2 This is a schematic diagram of the brake of the present invention; Figure 3 This is a schematic diagram of the reducer of the present invention; Figure 4 This is a schematic diagram of the output component of the present invention; Figure 5 This is a schematic diagram of the structure of the motor assembly of the present invention; In the diagram: 1-Brake stator, 2-Brake rotor, 3-Rigid wheel, 4-Rigid wheel flange, 5-Flexible wheel, 6-Flexible wheel flange, 7-Wave generator, 8-Cam driven bearing, 9-Bearing housing, 10-Gate wheel, 11-Output disc, 12-Dial disc shaft, 13-Motor stator, 14-Input shaft, 15-Rotor yoke, 16-Magnet, 17-First output encoder, 18-Output housing, 19-Bearing I, 20-Drive plate I, 21-Output assembly, 23-Bearing II, 24-Elastic retaining ring, 25-Sleeve, 26-Bearing III, 27-Bearing IV, 28-Rear end cover, 29-Bearing V, 30-Support frame II, 31-Second output encoder, 32-Drive plate II, 33-Input encoder, 34-Support frame I, 35-Motor cover, 36-Motor assembly, 37-Motor housing, 38-Reducer assembly. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0018] It should be noted that the orientation or positional relationship indicated by terms such as "left" and "right" is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, or the orientation or positional relationship in which those skilled in the art would conventionally understand it. Such terms are only for the convenience of describing the invention and simplifying the description, and are not intended to 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 the invention.

[0019] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0020] Therefore, based on the above issues, please refer to Figure 1 This invention proposes a composite joint module with single-power drive and dual-motion characteristic output to solve the problem.

[0021] See Figures 1-5 The present implementation scheme proposes a composite joint module with single power drive and dual motion characteristic output, including a motor assembly 36, a reducer assembly 38 and an output end assembly 21. See Figure 5 The motor assembly 36 includes a motor housing 37 and a motor stator 13 fixed inside the motor housing 37, and a motor rotor rotatably disposed inside the motor stator 13, the motor rotor being fixedly connected to an input shaft 14. See Figure 3The reducer assembly 38 includes a rigid wheel 3 fixedly connected to the motor housing 37 and a flexible wheel 5 disposed inside the rigid wheel 3, as well as a flange fixedly connected to the flexible wheel 5. A wave generator 7 is provided at the output end of the input shaft 14, and the wave generator 7 is disposed in the inner ring of the flexible wheel 5. See Figure 4 An output disk 11 is provided at the front end of the dial shaft 12, and a cam driven bearing 8 is provided on the dial shaft 12. A slot is provided on the outer periphery of the groove wheel 10 and the cam driven bearing 8 rolls with the slot. The groove wheel 10 is fixedly connected to an output shaft. Therefore, when the module is working, the motor rotor drives the input shaft 14 to rotate. After being reduced by the reducer assembly 38, the flex wheel 5 flange drives the dial shaft 12 to rotate. The dial shaft 12 drives the output disk 11 to achieve continuous rotation. The cam driven bearing 8 on the dial shaft 12 drives the slotted wheel 10 to achieve intermittent rotation, thus simultaneously outputting both continuous and intermittent rotation.

[0022] The existing mechanical mechanisms, when applying continuous rotation and intermittent oscillation motion, have complex overall structures. Multiple motors can easily cause their cables to become tangled, reducing flexibility. Secondly, while single-motor time-sharing drive is used, it suffers from response lag, heat generation, and wear issues, resulting in poor reliability and an insufficiently compact and flexible structure. Therefore, this solution designs a composite joint module with single-power drive and dual motion characteristic output. It uses only a single motor as the power source, simultaneously driving the reducer to output continuous rotation and the Geneva wheel 10 mechanism to output intermittent rotation. Through mutual cooperation, it avoids the problem of a complex and bulky overall structure, making it more flexible and compact. At the same time, a cam driven bearing 8 is used to replace the traditional pin, changing sliding friction into rolling friction, resulting in timely response and avoiding wear.

[0023] In this embodiment, see Figure 1 and Figure 5 For the motor assembly 36; the motor assembly 36 includes a motor housing 37, a motor stator 13, and a motor rotor; the motor housing 37 is the front main structure of the module, and has multi-stage machined stepped holes inside for installing and positioning other components; the motor stator 13 is made of stacked silicon steel sheets and wound with coil windings, and is fixedly embedded in the inner hole of the motor housing 37 to ensure its circumferential fixation; the motor rotor is composed of a rotor yoke 15 and multiple magnets 16, which are fixed to the outer groove of the rotor yoke 15 by high-strength structural adhesive according to the alternation of N and S polarities to form a permanent magnet magnetic field; the middle area of ​​the input shaft 14 is fixedly connected to the inner hole of the motor rotor, and at the same time, in order to ensure the high precision and high rigidity of the input shaft 14 rotation, support bearings are set at both ends of it.

[0024] Specifically, a bearing III26 is installed at the output end (front end) of the input shaft 14. The outer ring of the bearing III26 is housed in the bearing chamber inside the motor housing 37. A bearing IV27 is installed at the rear end of the input shaft 14. The outer ring of the bearing IV27 is housed in the bearing chamber of the motor cover 35. The motor cover 35 is fixedly connected to the rear end face of the motor housing 37 by screws. The input shaft 14 is stably supported by the two bearings at the front and rear, and smoothly transmits torque.

[0025] In this embodiment, see Figure 2 For the brake assembly; in order to quickly and effectively lock in the event of power failure or emergency stop, this module integrates a brake assembly; the brake assembly consists of a brake rotor 2 and a brake stator 1. The brake rotor 2 is fixedly mounted on the rear shoulder of the input shaft 14 by screws and can rotate synchronously with the input shaft 14; the brake stator 1 contains an electromagnetic coil and a spring pressing mechanism, and its outer shell is fixedly mounted on the front face of the motor cover 35 by screws; its working principle is as follows: when the module is powered on, the coil of the brake stator 1 is energized and generates a magnetic field, which overcomes the internal spring force to attract and release the brake rotor 2, and the input shaft 14 can rotate freely; once the power is cut off or a braking command is issued, the coil is de-energized, and the spring force presses the brake rotor 2 tightly against the friction surface of the brake stator 1, thereby reliably locking the input shaft 14.

[0026] In this embodiment, see Figure 3 For the reducer assembly 38; the reducer assembly 38 converts the high speed and low torque of the motor into low speed and high torque. In this embodiment, the reducer assembly 38 mainly includes a rigid wheel 3, a rigid wheel 3 flange, a flexible wheel 5, a flexible wheel 5 flange, and a wave generator 7; the rigid wheel 3 is fixedly connected to the rigid wheel 3 flange by screws, and the front end face of the rigid wheel 3 flange is fixedly connected to the rear end face of the motor housing 37 by screws, and its rear end is used to install the output end assembly 21; the open end of the flexible wheel 5 is fixedly connected to the flexible wheel 5 flange, and the flexible wheel 5 assembly is axially positioned by bearing VII, placing the flexible wheel 5 in... Inside the rigid wheel 3, the external teeth of the flexible wheel 5 mesh with the internal teeth of the rigid wheel 3 in the wave generator 7. The wave generator 7 drives the flexible wheel 5 to undergo elastic deformation, which is usually an elliptical cam with a flexible bearing on its outer ring. The output end of the input shaft 14 is circumferentially positioned by a flat key to transmit torque. In the axial direction, the sleeve 25 is fitted on the input shaft 14, with one end abutting against the inner ring of the bearing Ⅲ 26 and the other end abutting against the inner ring of the wave generator 7. With the cooperation of the elastic retaining ring 24 that is inserted into the shaft groove of the input shaft 14, the wave generator 7 is firmly axially locked on the input shaft 14.

[0027] In this embodiment, see Figure 4For the output end assembly 21, the output end assembly 21 mainly includes a dial shaft 12, an output disk 11, a cam driven bearing 8, a Geneva wheel 10, an output shaft of the Geneva wheel 10, a bearing seat 9, and an output end housing 18; the dial shaft 12 is designed with a flange with a central through hole and an extended shaft section; its flange end face is fixedly connected to the output end face of the flex wheel 5 flange of the reducer by multiple screws, thereby directly inheriting the continuous, low-speed rotation output by the flex wheel 5; at the front end of the flange of the dial shaft 12, the output disk 11 is fixedly connected by screws; therefore, when the motor rotates, the output disk 11 will obtain continuous rotational motion.

[0028] Preferably, in order to achieve intermittent motion output, a boss extends radially from one side of the dial shaft 12, and a cam follower bearing 8 is installed on the boss by a nut; the cam follower bearing 8 is a roller bearing, and its thick-walled outer ring can rotate freely. At the same time, a grooved wheel 10 is integrated in the module, and the center of the grooved wheel 10 is fixedly connected to the output shaft of the grooved wheel 10; multiple radial slots are uniformly machined on the cylindrical outer surface of the grooved wheel 10, and the width of the slot matches the outer diameter of the cam follower bearing 8. The arc segment between two adjacent slots is designed as a locking arc segment.

[0029] Correspondingly, a stop arc segment matching the locking arc segment is machined on the outer circumferential surface of the dial shaft 12; when the cam driven bearing 8 engages and moves the slot, the stop arc segment separates from the locking arc segment, and the grooved wheel 10 is rotated; when the cam driven bearing 8 disengages from the slot, the stop arc segment on the dial shaft 12 begins to slide into the locking arc segment on the grooved wheel 10, and the two fit tightly together, locking the grooved wheel 10 so that it cannot rotate.

[0030] Furthermore, the bearing housing 9 is fixed to the rear end face of the flange of the rigid wheel 3 with screws. The output end housing 18, as the outer shell of the module, is fixed to the flange of the rigid wheel 3 with screws, and the bearing housing 9 and the internal Geneva wheel 10 mechanism are enclosed inside. The output shaft of the Geneva wheel 10 is supported at both ends by high-quality bearings I 19. Specifically, the outer ring of the bearing I 19 at the non-output end (rear end) of the output shaft of the Geneva wheel 10 is installed in the bearing chamber at the rear end of the bearing housing 9; while the outer ring of the bearing I 19 at the output end is installed in the bearing chamber inside the front end of the output end housing 18. The front end of the output shaft of the Geneva wheel 10 extends out of the output end housing 18 and is used to connect to the mechanism that requires intermittent deflection. In addition, at the output end (front end) of the dial shaft 12, an auxiliary support is provided by a bearing II 23. The outer ring of the bearing II 23 is housed in another bearing chamber of the output end housing 18, which further improves the stability of the dial shaft 12.

[0031] Furthermore, starting from the input shaft 14 at the rear end, a hollow inner hole is provided in its center; the center of the cam of the wave generator 7 is also a through hole; the center of the connecting hub of the flange of the flexible wheel 5 is a through hole; the center of the dial shaft 12 is a through hole; the center of the output shaft of the groove wheel 10 is also a through hole; the hollow inner holes are connected end to end in sequence to form a straight and continuous cylindrical channel that runs through the front and rear end faces of the module.

[0032] It should be noted that this module is equipped with an input encoder 33 for directly monitoring the motor's motion status. Specifically, the annular support bracket I 34 is bonded and fixed to the end shoulder of the input shaft 14, and the input encoder 33 is bonded and fixed to this support bracket I 34. Its reading head is correspondingly fixed to the motor cover 35 or the drive plate II 32. This encoder is responsible for providing real-time feedback on the angular position and speed of the motor rotor. Secondly, a second output encoder 31 is set at the continuously rotating output end. After the support bracket II 30 is fitted with the bearing V 29 to the shoulder, it is then fitted as a whole and bonded and fixed to the rear shoulder of the dial shaft 12. The second output encoder 31 is bonded to the support bracket II 30. This encoder directly... The detection of the actual position and speed of the dial shaft 12 (i.e., output disk 11) can accurately sense and compensate for the transmission error caused by the reducer, realizing closed-loop control of the output end; and a first output end encoder 17 is set at the intermittent rotation output end. This encoder is directly bonded to the shoulder of the output end (front end) of the Geneva wheel 10 output shaft, directly and accurately reading the start and end positions of the Geneva wheel 10 mechanism, providing accurate position feedback for intermittent motion; when the Geneva wheel 10 is not indexed properly, skips teeth, or fails to lock due to overload, wear, or other reasons, the control system can detect the abnormality immediately by comparing the signals of the input end encoder 33 and the first output end encoder 17 and take action to stop the machine for protection, thereby improving safety.

[0033] Preferably, the electronic drive hardware of the module is integrated into two drive boards; drive board I 20 is fixedly connected to the rear end of the output housing 18 by screws, and drive board II 32 is fixedly connected to the rear end of the motor cover 35 by screws. The rear cover 28 is fixed to the motor cover 35 by screws, covering drive board II 32 and the encoder and other components at the rear end of the input shaft 14 inside. Its rear bearing chamber is used to accommodate and support the bearing V 29 at the rear end of the dial shaft 12, forming a rear support and protection structure.

[0034] Working process: After power is applied, the brake is released, and the motor rotor drives the input shaft 14 to rotate. The input shaft 14 drives the wave generator 7 to rotate via a key, causing the flexible wheel 5 to deform and mesh with the rigid wheel 3 to achieve deceleration and torque increase, thereby driving the flange of the flexible wheel 5 and the dial shaft 12 to rotate continuously. The output disk 11 at the front end of the dial shaft 12 rotates continuously to output. While the dial shaft 12 rotates continuously, the cam driven bearing 8 on it rotates in a circular motion, flowing into the slot of the grooved wheel 10, causing the grooved wheel 10 to rotate around its own axis, achieving intermittent indexing rotation. When the cam driven bearing 8 disengages from the slot, the stop arc segment on the dial shaft 12 exactly engages with the locking arc segment of the grooved wheel 10 to lock the grooved wheel 10, making it reliably stationary until the next bearing enters the next slot to start a new indexing. This cycle repeats, and the module outputs both continuous and intermittent rotation from a single power source. During operation, the input encoder 33, the continuous output encoder, and the intermittent output encoder collect the position and speed of each end in real time.

[0035] To address the drawbacks of existing technologies, such as the bulky module size and excessive axial length resulting from the use of separate dual motors, which easily leads to cable entanglement and interference, and the severe clutch wear and inability to achieve parallel output of continuous and intermittent motions when using a single motor for time-sharing drive, this invention utilizes only one motor and a coaxially connected dial shaft 12-grooving wheel 10 mechanism to synchronously divide the single continuous rotation of the reducer output into the continuous rotation of the output disk 11 and the intermittent rotation of the output shaft of the grooved wheel 10, thus achieving parallel motion. Within the module, the input shaft 14, wave generator 7, flexible wheel 5 flange, dial shaft 12, and the output shaft of the grooved wheel 10 all have central inner holes that are interconnected, forming a pen-like structure. The continuous hollow channel allows cables and air pipes to be installed internally, eliminating entanglement and interference caused by external wiring. The cam-driven bearing 8 replaces the traditional fixed pin, changing sliding friction into rolling friction, improving load-bearing capacity, operating speed, and service life, thus adapting to long-term high-speed heavy-load conditions. At the same time, encoders are configured at the input, continuous output, and intermittent output ends, which can compensate for the elastic deformation of the reducer and the indexing error of the grooved wheel 10, achieving high-precision control at the arc-second level and improving system safety. At the intermittent stop position, the stop arc segment on the dial shaft 12 applies a mechanical lock to the locking arc segment of the grooved wheel 10, forming a double lock, which can withstand long-term and heavy-load grinding.

[0036] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A composite joint module with single-power drive and dual-kinematic output, characterized in that: Includes a motor assembly (36), a reducer assembly (38), and an output assembly (21); The motor assembly (36) includes a motor housing (37) and a motor stator (13) fixed inside the motor housing (37), and a motor rotor rotatably disposed inside the motor stator (13), the motor rotor being fixedly connected to an input shaft (14); the reducer assembly (38) includes a rigid wheel (3) fixedly connected to the motor housing (37) and a flexible wheel (5) disposed inside the rigid wheel (3), and a flexible wheel (5) flange fixedly connected to the flexible wheel (5), and a flange is provided at the output end of the input shaft (14). A wave generator (7) is located on the inner ring of the flexible wheel (5); the output end assembly (21) includes a dial shaft (12) and a grooved wheel (10) fixedly connected to the flange of the flexible wheel (5); the front end of the dial shaft (12) is provided with an output disk (11), and a cam driven bearing (8) is also provided on the dial shaft (12); a groove is provided on the outer periphery of the grooved wheel (10) and the cam driven bearing (8) is in rolling fit with the groove; a grooved wheel (10) output shaft is fixedly connected to the center of the grooved wheel (10); Inside the module, the motor rotor drives the input shaft (14) to rotate. After being reduced in speed and increased in torque by the reducer assembly (38), the dial shaft (12) is driven to rotate continuously by the flange of the flexible wheel (5). The dial shaft (12) drives the output disk (11) to achieve continuous rotation output. At the same time, the cam driven bearing (8) on the dial shaft (12) drives the slotted wheel (10) through the slot to achieve intermittent rotation output. Thus, the module outputs both continuous rotation and intermittent rotation motion from a single power source.

2. The composite joint module with single-power drive and dual-motion characteristic output according to claim 1, characterized in that: The module has a hollow channel that runs through the axis. The input shaft (14), wave generator (7), flexible wheel (5) flange, dial shaft (12) and groove wheel (10) output shaft all have hollow inner holes. The hollow inner holes are interconnected to form a continuous hollow channel.

3. The composite joint module with single-power drive and dual-motion characteristic output according to claim 1, characterized in that: The dial shaft (12) is provided with a stop arc segment, and the groove wheel (10) is provided with a corresponding locking arc segment. When the cam driven bearing (8) disengages from the groove, the stop arc segment and the locking arc segment cooperate with each other to mechanically lock the groove wheel (10).

4. A composite joint module with single-power drive and dual motion characteristic output according to claim 3, characterized in that: It also includes a brake assembly; the brake assembly includes a brake stator (1) and a brake rotor (2); the brake stator (1) is fixed to the motor cover (35) and the brake rotor (2) is fixed to the rear end of the input shaft (14); the brake assembly releases when energized and brakes when de-energized, and the braking of the input shaft (14) by the brake assembly and the mechanical locking of the stop arc segment of the brake assembly to the grooved wheel (10) form a double locking.

5. A composite joint module with single-power drive and dual-motion characteristic output according to claim 3, characterized in that: The cam follower bearing (8) is mounted on the dial shaft (12) by a nut, and the outer ring of the cam follower bearing (8) contacts the groove by rolling friction.

6. A composite joint module with single-power drive and dual-motion characteristic output according to claim 5, characterized in that: It also includes a sensing and detection system, which includes an input encoder (33), a first output encoder (17), and a second output encoder (31). The input encoder (33) is located at the rear end of the input shaft (14) and is used to detect the transmission position and speed of the motor input end. The first output encoder is located at the output end of the output shaft of the groove wheel (10) and is used to detect the rotation position and speed of the intermittently rotating output end. The second output encoder is located at the rear end of the dial shaft (12) and is used to detect the rotation position and speed of the continuously rotating output end. The three types of encoders together form a closed-loop position sensing architecture.

7. A composite joint module with single-power drive and dual-motion characteristic output according to claim 6, characterized in that: The input encoder (33) is bonded to the rear end of the input shaft (14) via support frame I (34), the second output encoder (31) is bonded to the rear end of the dial shaft (12) via support frame II (30), and the first output encoder (17) is bonded to the output end of the output shaft of the grooved wheel (10).

8. A composite joint module with single-power drive and dual-motion characteristic output according to claim 1, characterized in that: The output end assembly (21) also includes a bearing seat (9) and an output end housing (18). The bearing seat (9) is fixedly connected to the flange of the rigid wheel (3), and the output end housing (18) is fixedly connected to the flange of the rigid wheel (3) and covers the outside of the bearing seat (9). The two ends of the output shaft of the grooved wheel (10) are supported by bearing I (19) respectively. One end of the bearing I (19) is located in the bearing seat (9), and the other end of the bearing I (19) is located in the bearing chamber of the output end housing (18).

9. A composite joint module with single-power drive and dual-motion characteristic output according to claim 1, characterized in that: The rigid wheel (3) is fixedly connected to the flange of the rigid wheel (3), and the flexible wheel (5) is pressed into the flange of the flexible wheel (5). The wave generator (7) is circumferentially positioned with the input shaft (14) by a flat key, and axially positioned by a sleeve (25) and an elastic retaining ring (24).

10. A composite joint module with single-power drive and dual-motion characteristic output according to claim 9, characterized in that: It also includes drive plate I (20) and drive plate II (32); drive plate I (20) is fixedly connected to the output end housing (18), drive plate II (32) is fixedly connected to the rear end of motor cover (35), motor cover (35) is fixedly connected to the rear end of motor housing (37), and bearing IV (27) is provided in the bearing chamber of motor cover (35) to support the rear end of input shaft (14).

Images