Joint module and joint robot

Abstract

The utility model discloses a joint module and a joint robot, the joint module with a mounting boss can be used as the first fixed joint module of the joint robot, and a power distribution unit can be connected with a power supply to provide electric energy for the joint module. And electric energy can be distributed to other joint modules of the joint robot where the joint module is located. The electric connecting wires of all the joint modules are connected with the power distribution unit in a pluggable mode, namely, the electric connecting wires are powered on in a pluggable mode and powered off in a pluggable mode, so that connection or disconnection of all the electric connecting wires and the power distribution unit can be achieved more conveniently, and the convenience of follow-up repair and maintenance of the joint modules can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of drive equipment, in particular to a joint module and a joint robot. Background Art

[0002] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are increasingly valued and widely used. In robot-related technologies, the control of robot joints and other moving parts is the most important and critical. Robot joints and other moving parts can be powered by motors, and the motion posture of the robot's motors and joints and other moving parts can be measured by encoders, thereby achieving full closed-loop control of robot joints and other moving parts. The joint robot is composed of multiple joint modules and a robotic arm connecting two adjacent joint modules. In related technologies, the joint robot is usually powered by the first fixed joint module, and then the power is distributed from the joint module to other joint modules through the circuit board. However, the wires of each joint module and the circuit board are connected to the circuit board for conductivity by welding, which is not convenient for subsequent inspection and maintenance. Utility Model Content

[0003] The main purpose of the utility model is to propose a joint module, which is applied to an articulated robot and aims to solve the technical problem of how to improve the convenience of overhaul and maintenance of the articulated robot.

[0004] To achieve the above objectives, the joint module proposed by the utility model includes:

[0005] A motor assembly, the motor assembly comprising a housing, a motor stator and a motor rotor, the housing being provided with a motor installation cavity, an electric control installation cavity and a wiring cavity arranged in sequence along the axial direction, the motor stator and the motor rotor being installed in the motor installation cavity, the motor rotor being rotatably installed on the inner circumference of the motor stator; a mounting boss being convexly provided on the outer circumferential wall of the housing, the mounting boss being used for being fixedly installed on an external structure;

[0006] A reducer, the reducer is installed at one end of the motor assembly close to the motor installation cavity; the reducer comprises an input shaft and an output end cover, the input shaft cooperates with the motor rotor, and the output end cover is arranged at one end of the reducer away from the motor assembly;

[0007] An electric control unit, the electric control unit being installed in the electric control installation cavity;

[0008] A power distribution unit is installed in the wiring cavity, and is used to provide electrical connection for power supply and pluggable electrical connection for the electric control units of each joint module of the articulated robot.

[0009] Optionally, the power distribution unit includes a power distribution board, a power connector and a distribution connector, and the power connector and the distribution connector are installed on the power distribution board, and the number of the distribution connectors is at least two; the power connector is used for plugging in the power cord, and the distribution connector is used for electrically connecting the electronic control units of each joint module of the articulated robot.

[0010] Optionally, the wiring terminals of the electronic control unit extend into the wiring cavity, the power distribution board extends along the circumference of the electronic control unit, and the power connector and at least two distribution connectors are spaced apart along the extension direction of the power distribution board.

[0011] Optionally, the joint module also includes an electronic control mounting frame, which is installed in the electronic control mounting cavity and connected to the housing, the electronic control unit is installed on the electronic control mounting frame, the power distribution board is connected to the electronic control mounting frame, and the power connector and the distribution connector are installed on a side of the power distribution board facing away from the electronic control mounting frame.

[0012] Optionally, the electric control mounting frame is provided with a fixing hole, the power distribution board is provided with a through hole, and the fixing hole and the through hole are connected with a fastener.

[0013] Optionally, the electric control mounting frame is provided with a protruding heightening column, and the fixing hole is opened at the end of the heightening column.

[0014] Optionally, the shell is provided with a wiring hole connected to the wiring cavity, the wiring hole is arranged away from the mounting boss, and the wiring hole is used for electrically connecting the power distribution unit to an external power supply.

[0015] Optionally, a wiring channel is opened at the central axis of the joint module, one end of the wiring channel passes through the wiring cavity, and the other end passes through the output end cover.

[0016] Optionally, the motor assembly further comprises a protective cover, and the protective cover is openably arranged to cover the opening of the wiring cavity.

[0017] The utility model also provides a joint robot, which includes the joint module as described above.

[0018] In the technical solution of the joint module of the utility model, the joint module with the mounting boss can be used as the first fixed joint module of the joint robot, wherein the power distribution unit can be connected to the power supply to provide electrical energy to the joint module, and can also provide distributed electrical energy to other joint modules of the joint robot where the joint module is located. The electrical connection wires of each joint module and the power distribution unit are pluggable, that is, plug in to power on and unplug to power off, so it is more convenient to connect or disconnect each electrical connection wire and the distribution unit, thereby improving the convenience of subsequent inspection and maintenance of the joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0020] Figure 1 This is a structural schematic diagram of an embodiment of the joint module of the utility model;

[0021] Figure 2 This is an exploded schematic diagram of an embodiment of the joint module of the utility model;

[0022] Figure 3 It is a cross-sectional schematic diagram of an embodiment of the joint module of the utility model;

[0023] Figure 4 This is an exploded schematic diagram of another embodiment of the joint module of the utility model;

[0024] Figure 5 It is a schematic diagram of the partial structure of an embodiment of the joint module of the present utility model.

[0025] Description of Figure Numbers:

[0026] Label name Label name Label name 10 Motor components 11 shell 12 Motor stator 13 Motor rotor 14 Wiring cavity 15 Mounting boss 20 reducer 21 Input shaft 22 Output cover 30 Electronic Control Unit 40 Power Distribution Unit 41 Power distribution board 42 Power Connectors 43 Assigning connectors 50 Electric control mounting bracket 51 Fixing holes 411 Vias 52 Raised column 16 Wiring hole 60 Cable routing channel 17 Protective cover

[0027] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0030] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions, taking "A and / or B as an example", including solution A, or solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0031] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are increasingly valued and widely used. In robot-related technologies, the control of robot joints and other moving parts is the most important and critical. Robot joints and other moving parts can be powered by motors, and the motion posture of the robot's motors and joints and other moving parts can be measured by encoders, thereby achieving full closed-loop control of robot joints and other moving parts. The joint robot is composed of multiple joint modules and a robotic arm connecting two adjacent joint modules. In related technologies, the joint robot is usually powered by the first fixed joint module, and then the power is distributed from the joint module to other joint modules through the circuit board. However, the wires of each joint module and the circuit board are connected to the circuit board for conductivity by welding, which is not convenient for subsequent inspection and maintenance.

[0032] The utility model provides a joint module which is applied to a joint robot and aims to solve the technical problem of how to improve the convenience of overhaul and maintenance of the joint robot.

[0033] In the embodiment of the present utility model, Figures 1 to 4 As shown, Figure 1 This is a structural schematic diagram of an embodiment of the joint module of the utility model; Figure 2 This is an exploded schematic diagram of an embodiment of the joint module of the utility model; Figure 3 It is a cross-sectional schematic diagram of an embodiment of the joint module of the utility model; Figure 4It is an exploded schematic diagram of another embodiment of the joint module of the present utility model.

[0034] The joint module comprises: a motor assembly 10, wherein the motor assembly 10 comprises a housing 11, a motor stator 12 and a motor rotor 13, wherein the housing 11 is provided with a motor installation cavity, an electric control installation cavity and a wiring cavity 14 which are sequentially arranged along the axial direction, wherein the motor stator 12 and the motor rotor 13 are installed in the motor installation cavity, and the motor rotor 13 can be rotatably installed on the inner peripheral side of the motor stator 12; a mounting boss 15 is convexly provided on the outer peripheral wall of the housing 11, and the mounting boss 15 is used for fixed installation on an external structure; a reducer 20, wherein the reducer 20 is installed on the motor assembly The reducer 20 comprises an input shaft 21 and an output end cover 22, wherein the input shaft 21 cooperates with the motor rotor 13, and the output end cover 22 is arranged at an end of the reducer 20 away from the motor assembly 10; an electronic control unit 30, wherein the electronic control unit 30 is installed in the electronic control installation cavity; a power distribution unit 40, wherein the power distribution unit 40 is installed in the wiring cavity 14, and the power distribution unit 40 is used for providing electrical connection for power supply, as well as for providing pluggable electrical connection for the electronic control units 30 of each joint module of the articulated robot.

[0035] In this embodiment, the motor stator 12 is fixedly mounted in the housing 11, and the motor rotor 13 can be rotatably matched with the housing 11 through a bearing, so that the motor rotor 13 can rotate relative to the motor stator 12 through electromagnetic induction. The reducer 20 is used to adjust the motor rotor 13 to a preset speed before outputting work. Specifically, the input shaft 21 is fixedly matched with the motor rotor 13 and differentially matched with the output end cover 22, so that the speed of the output end cover 22 can be controlled at a preset value to meet the output requirements. The input shaft 21 is plugged into the motor rotor 13 to rotate synchronously with the motor rotor 13.

[0036] When the joint module is applied to the joint robot, the mounting boss 15 can be fixed on the machine directly as the base or fixed seat of the joint robot to achieve the fixed installation of the first joint of the joint robot; of course, the mounting boss 15 can also be installed on the base provided by the joint robot to achieve the fixed installation of the joint module and the base. Since the shell 11 has accommodated the main components of the motor assembly 10, the base provided by the joint robot only needs to be fixedly connected to the mounting boss 15, and there is no need to consider hiding and protecting the main components of the motor assembly 10, thereby simplifying the base structure provided by the joint robot. In summary, whether the shell 11 is directly fixed on the machine as the base or fixed seat of the joint robot through the mounting boss 15, or the shell 11 is fixed on the base provided by the joint robot through the mounting boss 15, the structure of the joint robot and the connection method with the joint module can be simplified, thereby avoiding the possibility of increased operation errors due to the complex structure of the joint robot, and improving the positioning accuracy of the joint robot during operation.

[0037] The mounting boss 15 may be disposed at an end of the housing 11 close to the reducer 20 , or may be disposed at an end of the housing 11 away from the reducer 20 , which is not limited here.

[0038] The mounting boss 15 is protruding from the outer peripheral wall of the housing 11 at one end away from the reducer 20. In this way, the distance between the mounting boss 15 and the output end cover 22 can be increased, thereby increasing the distance between the components driven by the output end cover 22 and the base of the joint robot, so as to avoid the base of the joint robot hindering the movement of the components driven by the output end cover 22, thereby improving the use effect of the joint module. The end face of the mounting boss 15 can be flush with the end face of the housing 11, thereby increasing the support area of ​​the housing 11 or the contact area with the robot base, so as to improve the installation stability of the joint module.

[0039] The connection method between the mounting boss 15 and the machine platform or the articulated robot base can be an embedding connection or a clamping connection, which is not limited here.

[0040] The mounting boss 15 is provided with a connecting hole, which penetrates the mounting boss 15 along the axial direction of the joint module, and is used for fasteners to penetrate. The two ends of the connecting hole penetrate the opposite end faces of the mounting boss 15 along the axial direction of the joint module. When the mounting boss 15 is fixed to an external structure, the connecting hole can be connected to the fixing hole 51 on the external structure through a fastener, thereby simplifying the fixing connection process of the mounting boss 15 and the external structure.

[0041] The number of the mounting bosses 15 may be one or more, which is not limited here.

[0042] There are multiple mounting bosses 15, and the multiple mounting bosses 15 are arranged at intervals along the circumference of the housing 11. In this way, the connection area between the housing 11 and the external structure can be increased to further improve the installation stability of the joint module.

[0043] The outer peripheral wall of the housing 11 is also provided with a reinforcing rib, one end of which is connected to the mounting boss 15, and the other end of which extends toward an end of the housing 11 away from the mounting boss 15. The reinforcing rib can improve the connection strength between the mounting boss 15 and the housing 11, so as to improve the structural stability of the mounting boss 15, prevent the mounting boss 15 from being easily deformed or damaged after being stressed, and thus improve the overall service life of the joint module.

[0044] The protruding height of the reinforcing ribs on the housing 11 can be consistent at all locations or can be gradually changed, which is not limited here.

[0045] The protruding height of the reinforcing rib on the housing 11 gradually decreases from the end close to the mounting boss 15 to the end away from the mounting boss 15. In this way, the connection strength between the mounting boss 15 and the housing 11 can be ensured, and the radial dimensions of the joint module at other parts can be reasonably controlled, thereby reducing the occupied space of the joint module, so that the installation structure of the joint module in the joint robot is more compact.

[0046] The mounting boss 15 and the housing 11 may be formed separately and then connected, or may be integrally formed, which is not limited here.

[0047] The mounting boss 15 and the housing 11 are provided as an integrally formed part. The mounting boss 15 and the housing 11 can be integrally formed by a casting process or an injection molding process, thereby simplifying the processing and connection method of the mounting boss 15 and the housing 11, and improving the overall structural strength of the housing 11 and the mounting boss 15. Correspondingly, the reinforcing rib, the housing 11 and the mounting boss 15 can also be provided as an integrally formed part, thereby further simplifying the processing and connection method of the reinforcing rib, the mounting boss 15 and the housing 11, and improving the overall structural strength of the housing 11 and the mounting boss 15.

[0048] The electric control unit 30 can transmit electric energy and control signals to the motor assembly 10 and the reducer 20, and the power distribution unit 40 can connect to the power supply and distribute current to the electric control unit 30; wherein, the connection between the electric connection line of the electric control unit 30 and the power distribution unit 40 is pluggable, that is, it can be manually plugged in to power on or unplugged to power off. In the same joint robot, there is no need to set a current distribution unit inside other joint modules. The electric control unit 30 of other joint modules can route the electrical connection line to be electrically connected to the power distribution unit 40, so that the joint module as the first fixed joint of the joint robot can distribute current to other joint modules through the power distribution unit 40 to simplify the power-on method of other joint modules.

[0049] The electrical connection lines of each joint module and the power distribution unit 40 are pluggable, that is, plug in to turn on the power and unplug to turn off the power. Therefore, it is more convenient to connect or disconnect the electrical connection lines and the distribution unit, thereby improving the convenience of subsequent inspection and maintenance of the joint modules.

[0050] Specifically, Figure 5 As shown, Figure 5 The schematic diagram of the partial structure of an embodiment of the joint module of the utility model is shown in FIG. The power distribution unit 40 includes a power distribution board 41, a power connector 42 and a distribution connector 43. The power connector 42 and the distribution connector 43 are installed on the power distribution board 41. The number of the distribution connectors 43 is at least two; the power connector 42 is used for plugging in the power cord, and the distribution connector 43 is used for electrically connecting the electric control unit 30 of each joint module of the joint robot.

[0051] The power distribution board 41 may be a circuit board, the power connector 42 and the distribution connector 43 are fixedly connected to the power distribution board 41, and the power line and the electrical connection line of the electric control unit 30 are provided with plugs respectively adapted to the power connector 42 and the distribution connector 43, so that both the power line and the power distribution unit 40 can be connected in a pluggable manner, and the electrical connection line of the electric control unit 30 can be connected in a pluggable manner to the power distribution unit 40. The number of distribution connectors 43 corresponds to the number of joint modules in the joint robot, so that current can be distributed to all joint modules of the joint robot.

[0052] The shape of the power distribution board 41 can be arc-shaped, strip-shaped, or ring-shaped, which is not limited here.

[0053] In practical applications, such as Figure 5As shown, the wiring terminal of the electric control unit 30 extends into the wiring cavity 14, the power distribution board 41 extends along the circumference of the electric control unit 30, and the power connector 42 and at least two distribution connectors 43 are arranged at intervals along the extension direction of the power distribution board 41. The power distribution board 41 is arranged between the wiring terminal of the electric control unit 30 and the peripheral wall of the shell 11, so that the space in the shell 11 can be reasonably utilized to reduce the occupation of the axial space between the power distribution unit 40 and the shell 11, thereby reducing the overall axial size of the joint module, so that the overall structure of the joint module is simpler and more compact.

[0054] For example, Figure 5 As shown, the joint module also includes an electric control mounting frame 50, which is installed in the electric control mounting cavity and connected to the housing 11, the electric control unit 30 is installed on the electric control mounting frame 50, the power distribution board 41 is connected to the electric control mounting frame 50, and the power connector 42 and the distribution connector 43 are installed on the side of the power distribution board 41 away from the electric control mounting frame 50. The power distribution unit 40 and the electric control unit 30 share the electric control mounting frame 50 to achieve fixed installation in the housing 11. When assembling the motor assembly 10, the electric control unit 30 and the power distribution unit 40 can be first fixedly connected to the electric control mounting frame 50, and then the whole is installed in the housing 11; in this way, the installation stability of the power distribution unit 40 in the housing 11 can be improved, the installation difficulty of the power distribution unit 40 can be reduced, and the internal structure of the motor assembly 10 can be made more compact.

[0055] The power distribution board 41 and the electric control mounting frame 50 may be connected by welding or by clamping, which is not limited here.

[0056] Specifically, Figure 5 As shown, the electric control mounting frame 50 is provided with a fixing hole 51, and the power distribution board 41 is provided with a through hole 411, and the fixing hole 51 is connected to the through hole 411 by a fastener. The fixing hole 51 may be a screw hole, and the fastener may be a screw, and the fastener is threadedly matched with the fixing hole 51, thereby simplifying the fixing method of the power distribution board 41 and the electric control mounting frame 50, and making the power distribution board 41 detachable for easy disassembly and maintenance.

[0057] In practical applications, such as Figure 5As shown, the electric control mounting frame 50 is provided with a protruding heightening column 52, and the fixing hole 51 is opened at the end of the heightening column 52. The power distribution unit 40 also includes a capacitor mounted on the power distribution board 41, and the pins of the capacitor, the power connector 42 and the distribution connector 43 pass through the circuit board. The heightening column 52 can form a sufficient spacing space between the power distribution board 41 and the electric control mounting frame 50 to accommodate the pins passing through the power distribution board 41, so as to prevent the pins from being squeezed and damaged during the installation process.

[0058] For example, Figures 1 to 4 As shown, the housing 11 is provided with a wiring hole 16 connected to the wiring cavity 14, and the wiring hole 16 is arranged to avoid the mounting boss 15, and the wiring hole 16 is used for the power distribution unit 40 to be electrically connected to an external power source. The external power supply circuit can be electrically connected to the power distribution unit 40 through the wiring hole 16, and the external control circuit can also be electrically connected to the electronic control unit 30 through the wiring hole 16. The wiring hole 16 can be opened at one end of the housing 11 away from the reducer 20 and arranged to avoid the mounting boss 15, thereby preventing the external circuit from obstructing the components driven by the output end cover 22, and preventing the wiring hole 16 from affecting the structural strength of the mounting boss 15, so as to improve the use effect and structural stability of the joint module.

[0059] Specifically, Figure 3 As shown, a wiring channel 60 is provided at the central axis of the joint module, one end of the wiring channel 60 passes through the wiring cavity 14, and the other end passes through the output end cover 22. The motor rotor 13 is set as a hollow rotating shaft, and the output end cover 22 and the electronic control unit 30 are both provided with through holes corresponding to the wiring channel 60, so that the external line can extend to the wiring cavity 14 through the wiring channel 60. The mechanical arm of the joint robot used by the joint module can be hollow, and the electrical connection lines of other joint modules can extend along the mechanical arm and the wiring channel 60 of the joint module to connect with the power distribution unit 40, thereby simplifying the wiring method of the internal lines of the joint robot and hiding and protecting the lines.

[0060] In practical applications, such as Figure 3 and Figure 4As shown, the motor assembly 10 further includes a protective cover 17, which is openably covered on the opening of the wiring cavity 14. The wiring cavity 14 is close to the opening of the end of the housing 11 away from the reducer 20. The protective cover 17 can seal and protect the electric control unit 30 and the power distribution unit 40, preventing the electric control unit 30 and the power distribution unit 40 from being affected by external moisture or dust, thereby improving the working stability of the electric control unit 30 and the power distribution unit 40. The protective cover 17 can be movably connected to the housing 11, or can be detachably connected to the housing 11, and there is no limitation here, as long as the protective cover 17 can open the opening of the wiring cavity 14. When it is necessary to inspect and maintain the electric control unit 30 or the power distribution unit 40, the protective cover 17 can be opened to expose the electric control unit 30 and the power distribution unit 40, so as to facilitate the user to inspect and maintain the electric control unit 30 and the power distribution unit 40.

[0061] The utility model also proposes an articulated robot, which includes a joint module. The specific structure of the joint module refers to the above-mentioned embodiment. Since the articulated robot adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0062] In the technical solution of the joint module of the utility model, the joint module with the mounting boss 15 can be used as the first fixed joint module of the joint robot, wherein the power distribution unit 40 can be connected to the power supply to provide electrical energy to the joint module, and can also provide distributed electrical energy to other joint modules of the joint robot where the joint module is located. The electrical connection line of each joint module is pluggable to the power distribution unit 40, that is, plug in to power on and unplug to power off, so it is more convenient to connect or disconnect each electrical connection line to the distribution unit, thereby improving the convenience of subsequent inspection and maintenance of the joint module.

[0063] The above description is only an optional embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A joint module, applied to a joint robot, characterized in that: The joint module comprises: A motor assembly, the motor assembly comprising a housing, a motor stator and a motor rotor, the housing being provided with a motor installation cavity, an electric control installation cavity and a wiring cavity arranged in sequence along the axial direction, the motor stator and the motor rotor being installed in the motor installation cavity, the motor rotor being rotatably installed on the inner circumference of the motor stator; a mounting boss being convexly provided on the outer circumferential wall of the housing, the mounting boss being used for being fixedly installed on an external structure; A reducer, the reducer is installed at one end of the motor assembly close to the motor installation cavity; the reducer comprises an input shaft and an output end cover, the input shaft cooperates with the motor rotor, and the output end cover is arranged at one end of the reducer away from the motor assembly; An electric control unit, the electric control unit being installed in the electric control installation cavity; A power distribution unit is installed in the wiring cavity, and is used to provide electrical connection for power supply and pluggable electrical connection for the electric control units of each joint module of the articulated robot.

2. The joint module according to claim 1, characterized in that: The power distribution unit includes a power distribution board, a power connector and a distribution connector, and the power connector and the distribution connector are installed on the power distribution board. The number of the distribution connector is at least one; the power connector is used for plugging in the power cord, and the distribution connector is used for electrically connecting the electronic control units of each joint module of the articulated robot.

3. The joint module according to claim 2, characterized in that: The wiring terminal of the electric control unit extends into the wiring cavity, the power distribution board extends along the circumference of the electric control unit, and the power connector and at least one distribution connector are arranged at intervals along the extension direction of the power distribution board.

4. The joint module according to claim 2, characterized in that: The joint module also includes an electric control mounting frame, which is installed in the electric control mounting cavity and connected to the outer shell, the electric control unit is installed on the electric control mounting frame, the power distribution board is connected to the electric control mounting frame, and the power connector and distribution connector are installed on a side of the power distribution board facing away from the electric control mounting frame.

5. The joint module according to claim 4, characterized in that: The electric control mounting frame is provided with a fixing hole, the power distribution board is provided with a through hole, and the fixing hole and the through hole are connected with each other through a fastener.

6. The joint module according to claim 5, characterized in that: The electric control mounting frame is protrudingly provided with a heightening column, and the fixing hole is opened at the end of the heightening column.

7. The joint module according to any one of claims 1 to 6, characterized in that: The shell is provided with a wiring hole connected with the wiring cavity, the wiring hole is arranged to avoid the mounting boss, and the wiring hole is used for electrically connecting the power distribution unit with an external power supply.

8. The joint module according to any one of claims 1 to 6, characterized in that: A wiring channel is provided at the central axis of the joint module, one end of the wiring channel passes through the wiring cavity, and the other end passes through the output end cover.

9. The joint module according to any one of claims 1 to 6, characterized in that: The motor assembly further comprises a protective cover which is openably arranged to cover the opening of the wiring cavity.

10. An articulated robot, characterized in that: Comprising a joint module as described in any one of claims 1 to 9.

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