Joint module and joint robot

Abstract

The utility model discloses a joint module and a joint robot, which are characterized in that a first code disc used for measuring the rotation angle of an output end cover of a speed reducer and a second code disc used for measuring the rotation angle of a motor rotor are nested in the same plane, so that the occupied space of an encoder can be reduced; in addition, the first reading head and the second reading head can be arranged on the same circuit board through the nested arrangement, so that the internal structure of the joint module is simpler and more compact, the size and the weight of the joint module can be reduced, and the torque density is improved. Besides, the first distance formed between the first reading head and the first code disc is set to be larger than or smaller than the second distance formed between the second reading head and the second code disc, so that the first reading head and the second reading head can adapt to the size difference between the first code disc and the second code disc. Therefore, the rotation angle information of the first code disc and the second code disc can be read more accurately, so that the measurement results of the motor rotor and the output shaft are more real and reliable.

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, have been 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. In related technologies, an optical encoder and a magnetic encoder are usually used to measure the rotation angles of the motor and reducer of the joint module respectively, and the axial distance between the two code disks is relatively far. This setting method will result in a complex structure, large volume and weight of the joint module, and reduce the torque density of the joint module. Utility Model Content

[0003] The main purpose of the utility model is to provide a joint module, aiming to solve the technical problem of how to make the structure of the joint module simpler and more compact.

[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 motor stator being installed in the housing, and the motor rotor being rotatably installed on the inner circumference of the motor stator;

[0006] A reducer, the reducer is installed on one side of the motor assembly, the reducer comprises an input shaft, an output end cover and an output shaft, the input shaft cooperates with the motor rotor, the output end cover is arranged on a side of the reducer away from the motor assembly, the output shaft passes through the input shaft, one end of the output shaft is connected to the output end cover, and the other end extends to a side of the motor assembly away from the reducer;

[0007] An encoder is installed on a side of the motor assembly away from the reducer, and includes a first code disc, a second code disc, a first reading head and a second reading head. The first code disc is installed on an end of the output shaft away from the output end cover, and the second code disc is installed on the motor rotor and is arranged around the first code disc; the first reading head is opposite to the first code disc to read the motion information of the first code disc; the second reading head is opposite to the second code disc to read the motion information of the second code disc; a first distance is formed between the first reading head and the first code disc, and a second distance is formed between the second reading head and the second code disc, wherein the first distance is greater than or less than the second distance.

[0008] Optionally, the encoder further comprises a circuit board, and the first reading head and the second reading head are mounted on the same circuit board.

[0009] Optionally, the first reading head and the second reading head have the same protruding height on the circuit board; and a side of the first code disc facing the circuit board and a side of the second code disc facing the circuit board are not flush with each other.

[0010] Optionally, a difference between the first spacing and the second spacing is 0.1 mm to 1 mm.

[0011] Optionally, the encoder further includes a connecting seat, which includes a connecting tube and a connecting ring, wherein the connecting tube is connected to one end of the output shaft away from the output end cover, the connecting ring is connected to the end of the connecting tube, and the first code disk is mounted on the connecting ring.

[0012] Optionally, the encoder further includes a support ring, the support ring is connected to one end of the motor rotor close to the encoder, and the second code disk is mounted on the support ring.

[0013] Optionally, the motor rotor is formed with a mounting groove, the notch of the mounting groove faces the reducer; the joint module also includes a brake assembly, the brake assembly is installed in the housing, the brake assembly includes a brake pad and an electromagnetic assembly, the brake pad is installed in the mounting groove to rotate with the motor rotor; the electromagnetic assembly is installed on one side of the brake pad in the axial direction to attract or release the brake pad.

[0014] Optionally, the electromagnetic assembly includes a fixed seat, an electromagnetic coil and a permanent magnet, the electromagnetic coil and the permanent magnet are installed on the fixed seat, the permanent magnet is used to generate magnetic attraction on the brake pad, the electromagnetic coil is used to generate a magnetic field with opposite polarity to the permanent magnet when energized, and the fixed seat has a friction surface opposite to the brake pad.

[0015] Optionally, the fixing seat is mounted on an end wall of the housing, and the electromagnetic component partially extends into the mounting groove.

[0016] The utility model also provides a joint robot, which includes the joint module as described above.

[0017] In the technical solution of the joint module of the utility model, the first code disc used to measure the rotation angle of the output end cover of the reducer and the second code disc used to measure the rotation angle of the motor rotor are nested in the same plane, which can reduce the space occupied by the encoder, so that the internal structure of the joint module is simpler and more compact, thereby reducing the volume and weight of the joint module and improving the torque density. In addition, the first spacing formed between the first reading head and the first code disc is set to be greater than or less than the second spacing formed between the second reading head and the second code disc, so that the first reading head and the second reading head can adapt to the size difference between the first code disc and the second code disc, so as to more accurately read the rotation angle information of the first code disc and the second code disc, so that the measurement results of the motor rotor and the output shaft are more true and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 It is a cross-sectional schematic diagram of an embodiment of the joint module of the utility model;

[0020] Figure 2 It is a cross-sectional exploded schematic diagram of an embodiment of the joint module of the present utility model.

[0021] Description of Figure Numbers:

[0022] Label name Label name Label name 11 Motor rotor 21 Output cover 22 Output shaft 31 The first code disk 32 Second code disc 33 First reading head 34 Second reading head 35 Circuit Board 36 Connector 37 Support ring 41 Brake pads 42 Electromagnetic components

[0023] 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

[0024] 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.

[0025] 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.

[0026] 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.

[0027] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, have been 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. In related technologies, an optical encoder and a magnetic encoder are usually used to measure the rotation angles of the motor and reducer of the joint module respectively, and the axial distance between the two code disks is relatively far. This setting method will result in a complex structure, large volume and weight of the joint module, and reduce the torque density of the joint module.

[0028] The utility model provides a joint module, aiming to solve the technical problem of how to make the structure of the joint module simpler and more compact.

[0029] In the embodiment of the present utility model, Figure 1 and Figure 2 As shown, Figure 1 It is a cross-sectional schematic diagram of an embodiment of the joint module of the utility model; Figure 2 It is a cross-sectional exploded schematic diagram of an embodiment of the joint module of the present utility model.

[0030] The joint module comprises: a motor assembly, the motor assembly comprises a housing, a motor stator and a motor rotor 11, the motor stator is installed in the housing, and the motor rotor 11 is rotatably installed on the inner circumference of the motor stator; a reducer, the reducer is installed on one side of the motor assembly, the reducer comprises an input shaft, an output end cover 21 and an output shaft 22, the input shaft cooperates with the motor rotor 11, the output end cover 21 is arranged on a side of the reducer away from the motor assembly, the output shaft 22 is penetrated by the input shaft, one end of the output shaft 22 is connected to the output end cover 21, and the other end extends to a side of the motor assembly away from the reducer;

[0031] An encoder is installed on a side of the motor assembly away from the reducer, and includes a first code disc 31, a second code disc 32, a first reading head 33 and a second reading head 34. The first code disc 31 is installed on an end of the output shaft 22 away from the output end cover 21, and the second code disc 32 is installed on the motor rotor 11 and is arranged around the first code disc 31; the first reading head 33 is opposite to the first code disc 31 to read the motion information of the first code disc 31; the second reading head 34 is opposite to the second code disc 32 to read the motion information of the second code disc 32; a first distance is formed between the first reading head 33 and the first code disc 31, and a second distance is formed between the second reading head 34 and the second code disc 32, wherein the first distance is greater than or less than the second distance.

[0032] In this embodiment, the motor stator is fixedly mounted in the housing, and the motor rotor 11 can be rotatably matched with the housing through a bearing. Therefore, the motor rotor 11 can rotate relative to the motor stator through the electromagnetic induction phenomenon. The reducer is used to adjust the motor rotor 11 to a preset speed before outputting work. Specifically, the input shaft is fixedly matched with the motor rotor 11 and differentially matched with the output end cover 21, so that the speed of the output end cover 21 can be controlled at a preset value to meet the output requirements. The input shaft is plugged into the motor rotor 11 to rotate synchronously with the motor rotor 11. The output shaft 22 rotates synchronously with the output end cover 21, and the rotation angle of the output shaft 22 can be reflected by measuring the rotation angle of the output shaft 22.

[0033] One end of the output shaft 22 and one end of the motor rotor 11 are both located on the side of the motor assembly away from the reducer. The first code disc 31 and the second code disc 32 are arranged in a ring shape; the first code disc 31 is installed at one end of the output shaft 22 away from the output end cover 21 to rotate synchronously with the output shaft 22, and the second code disc 32 is installed at one end of the motor rotor 11 away from the reducer to rotate synchronously with the motor rotor 11. The first reading head 33 is used to read the rotation angle information (angular displacement) of the first code disc 31, and the second reading head 34 is used to read the rotation angle information (angular displacement) of the second code disc 32.

[0034] Arranging the second code disc 32 in a ring around the first code disc 31 can reduce the space occupied by the arrangement of the first code disc 31 and the second code disc 32, and correspondingly simplify the installation method of the first reading head 33 and the second reading head 34. In this way, the number of parts and the space occupied by the encoder can be reduced, so that the internal structure of the joint module is simpler and more compact, thereby improving the torque density of the joint module.

[0035] The encoder can be set as a magnetic absolute encoder. Compared with the incremental encoder, it can directly obtain the absolute position of the output shaft 22 and the motor rotor 11. Compared with the photoelectric encoder, it is resistant to oil and dust pollution and has higher reliability. At the same time, the first code disk 31 and the second code disk 32 are both provided with double tracks. Among them, the outer ring track of the code disk is provided with 2 n For magnetic poles, inner track setting 2 n -2 pairs of magnetic poles, alternately forming N poles and S poles on the track. The dual-track format is adopted. For example, when n=6, the outer circle track is divided into 64 pairs of magnetic poles, and the inner circle is 62 pairs of magnetic poles. The starting points of the inner circle track and the outer circle track are the same. When measuring the angle, the angle position is accurately obtained by reading the information on the two tracks to improve accuracy.

[0036] A first spacing a1 is formed between the first code disk 31 and the first reading head 33, and a second spacing a2 is formed between the second code disk 32 and the second reading head 34. a1 is greater than or less than a2, that is, a1 and a2 are different. Since the radial dimensions of the first code disk 31 and the second code disk 32 are different, the ranges of the magnetic flux lines generated are also different. At this time, a1 and a2 need to be adjusted accordingly so that the first reading head 33 can accurately read the first code disk 31, and the second reading head 34 can accurately read the second code disk 32. In this way, the reading error caused by the size difference between the first code disk 31 and the second code disk 32 can be reduced, thereby improving the accuracy of the reading results of the first reading head 33 and the second reading head 34 on the first code disk 31 and the second code disk 32.

[0037] For example, Figure 2 As shown, the encoder further includes a circuit board 35, and the first reading head 33 and the second reading head 34 are mounted on the same circuit board 35. Mounting the first reading head 33 and the second reading head 34 on the same circuit board 35 can reduce the overall production cost of the joint module, and make the internal structure of the joint module more compact, while also reducing the difficulty of mounting the first reading head 33 and the second reading head 34.

[0038] Specifically, the first reading head 33 and the second reading head 34 have the same protruding height on the circuit board 35; the side of the first code disk 31 facing the circuit board 35 and the side of the second code disk 32 facing the circuit board 35 are not flush with each other. By making the sides of the first code disk 31 and the second code disk 32 facing the circuit board 35 not flush with each other, a1 is made different from a2, which can further simplify the installation process of the first reading head 33 and the second reading head 34.

[0039] In practical applications, the difference between the first spacing a1 and the second spacing a2 is 0.1 mm to 1 mm, for example, 0.2 mm, 0.3 mm, 0.4 mm, 0.5 mm, 0.6 mm, 0.7 mm, 0.8 mm or 0.9 mm. In this way, the difference between a1 and a2 can be reasonably controlled to ensure that the accuracy of the reading results of the first reading head 33 and the second reading head 34 is improved, and the internal structure of the joint module is made more compact.

[0040] The first code disc 31 may be directly mounted on the output shaft 22 , or may be indirectly mounted on the output shaft 22 through other structures.

[0041] Specifically, Figure 2 As shown, the encoder further includes a connection seat 36, the connection seat 36 includes a connection tube and a connection ring, the connection tube is connected to the end of the output shaft 22 away from the output end cover 21, the connection ring is connected to the end of the connection tube, and the first code disk 31 is installed on the connection ring. The connection tube and the end of the output shaft 22 can be fixedly connected by threaded fitting, and the connection ring is connected to the end of the connection tube close to the circuit board 35. The width of the connection ring is greater than the end face width of the output shaft 22, so that more connection area can be provided for the first code disk 31 to improve the installation stability of the first code disk 31.

[0042] The second code disk 32 may be directly mounted on the motor rotor 11 , or may be indirectly mounted on the motor rotor 11 through other structures.

[0043] For example, Figure 2 As shown, the encoder further includes a support ring 37, the support ring 37 is connected to one end of the motor rotor 11 close to the encoder, and the second code disk 32 is mounted on the support ring 37. The support ring 37 may be provided with a through hole, and the end surface of the motor rotor 11 may be provided with a fixing hole, and the through hole and the fixing hole are connected by a fastener to achieve a fixed connection between the support ring 37 and the motor rotor 11. The width of the support ring 37 is greater than the end surface width of the motor rotor 11, so that more connection area can be provided for the second code disk 32 to improve the installation stability of the second code disk 32.

[0044] For example, Figure 2As shown, the motor rotor 11 is formed with a mounting groove, and the notch of the mounting groove faces the reducer; the joint module also includes a brake assembly, which is installed in the housing, and the brake assembly includes a brake pad 41 and an electromagnetic assembly 42, and the brake pad 41 is installed in the mounting groove to rotate with the motor rotor 11; the electromagnetic assembly 42 is installed on one side of the brake pad 41 in the axial direction to attract or release the brake pad 41.

[0045] The brake assembly is used to brake the motor rotor 11 to stop the output work of the reducer. The electromagnetic assembly 42 is used to attract or release the brake pad 41 by controlling the magnetic force. When the electromagnetic assembly 42 generates magnetic force, the brake pad 41 will move or deform toward the electromagnetic assembly 42, and finally the brake pad 41 will contact the electromagnetic assembly 42, thereby generating torque through friction to stop the motor rotor 11, so as to achieve braking of the motor rotor 11. When the electromagnetic assembly 42 loses its magnetic force, the brake pad 41 will be released, so that the brake pad 41 can rotate normally with the motor rotor 11. It can be understood that the motor rotor 11 stops because it is subjected to a torque in the opposite direction of its rotation, rather than axial pressure or radial pressure, thereby making the stopping process of the motor rotor 11 more stable.

[0046] The mounting groove can be formed on the portion of the electronic rotor surrounded by the motor stator, so that the direct force position of the motor rotor 11 being braked can be closer to the direct force position being driven, so that the force situation of the motor rotor 11 when being braked is more uniform. The brake pad 41 can be arranged in an annular shape, so that the mounting groove also extends along the circumference of the motor rotor 11 accordingly. Installing the brake pad 41 in the mounting groove instead of the end of the motor rotor 11 can reduce the occupation of the axial space of the joint module by the brake assembly, so as to shorten the axial dimension of the joint module, thereby making the axial structure of the joint module more compact.

[0047] The electromagnetic component 42 is used to control the magnetic field through electric current. Specifically, the magnetic field can be generated when the power is on or when the power is off, which is not limited here.

[0048] For example, Figure 2 As shown, the electromagnetic assembly 42 includes a fixed seat, an electromagnetic coil and a permanent magnet, the electromagnetic coil and the permanent magnet are installed on the fixed seat, the permanent magnet is used to generate a magnetic attraction force on the brake pad 41, the electromagnetic coil is used to generate a magnetic field with opposite polarity to the permanent magnet when power is turned on, and the fixed seat has a friction surface opposite to the brake pad 41.

[0049] The fixing seat is arranged in an annular shape corresponding to the brake pad 41, and the electromagnetic coil and the permanent magnet are arranged in an annular shape corresponding to the fixing seat, wherein the permanent magnet can generate a magnetic attraction force on the brake pad 41, so that the brake pad 41 moves or deforms toward the fixing seat, and the material of the brake pad 41 is not specifically limited, and only needs to be able to be magnetically attracted by the permanent magnet. When the electromagnetic coil is energized, a magnetic field with a polarity opposite to that of the permanent magnet is generated, and this magnetic field will reduce the magnetic field of the permanent magnet, thereby weakening the magnetic attraction force of the permanent magnet on the brake pad 41, and the fixing seat will release the brake pad 41.

[0050] That is to say, during the operation of the motor rotor 11, if the electromagnetic coil is energized, the brake pad 41 will not be affected by the magnetic attraction of the permanent magnet, that is, the brake pad 41 will not be attracted and rubbed by the fixed seat. At this time, the brake pad 41 will rotate normally with the motor rotor 11; if the electromagnetic coil is powered off, the electromagnetic coil will not generate a magnetic field, and the magnetic field of the permanent magnet will not be affected. The magnetic attraction of the permanent magnet on the brake pad 41 will be restored. At this time, the brake pad 41 will move or deform toward the fixed seat, and finally the brake pad 41 will contact the friction surface, thereby generating torque through friction to stop the motor rotor 11, so as to achieve braking of the motor rotor 11.

[0051] When the joint module needs to be controlled to work, the motor stator and the brake assembly can be powered together, and the electromagnetic assembly 42 releases the brake pad 41, and the motor rotor 11 rotates. When the joint module needs to be controlled to stop, the motor stator and the brake assembly can be powered off together, and the motor rotor 11 loses the driving force, and the brake pad 41 will also be attracted by the electromagnetic assembly 42 to stop the motor rotor 11 faster.

[0052] The fixing seat can be fixed by the peripheral wall of the housing, or by the end wall of the housing, which is not limited here. Figure 2 As shown, the fixing seat is installed on the end wall of the shell, and the electromagnetic assembly 42 partially extends into the installation slot. Installing the fixing seat on the end wall of the shell can simplify the installation method of the electromagnetic assembly 42 in the shell, and partially extending the electromagnetic assembly 42 into the installation slot can make the internal structure of the motor assembly more compact.

[0053] 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.

[0054] In the technical solution of the joint module of the utility model, the first code disc 31 for measuring the rotation angle of the output end cover 21 of the reducer and the second code disc 32 for measuring the rotation angle of the motor rotor 11 are nested in the same plane, which can reduce the space occupied by the encoder. The nested arrangement can also allow the first reading head 33 and the second reading head 34 to be arranged on the same circuit board, so that the internal structure of the joint module is simpler and more compact, thereby improving the torque density of the joint module. In addition, the first spacing formed between the first reading head 33 and the first code disc 31 is set to be greater than or less than the second spacing formed between the second reading head 34 and the second code disc 32, so that the first reading head 33 and the second reading head 34 can adapt to the size difference between the first code disc 31 and the second code disc 32, so as to more accurately read the rotation angle information of the first code disc 31 and the second code disc 32, so that the measurement results of the motor rotor 11 and the output shaft 22 are more true and reliable.

[0055] 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, characterized in that: include: A motor assembly, the motor assembly comprising a housing, a motor stator and a motor rotor, the motor stator being installed in the housing, and the motor rotor being rotatably installed on the inner circumference of the motor stator; A reducer, the reducer is installed on one side of the motor assembly, the reducer comprises an input shaft, an output end cover and an output shaft, the input shaft cooperates with the motor rotor, the output end cover is arranged on a side of the reducer away from the motor assembly, the output shaft passes through the input shaft, one end of the output shaft is connected to the output end cover, and the other end extends to a side of the motor assembly away from the reducer; An encoder, the encoder is installed on a side of the motor assembly away from the reducer, the encoder comprises a first code disc, a second code disc, a first reading head and a second reading head, the first code disc is installed on an end of the output shaft away from the output end cover, the second code disc is installed on the motor rotor and is arranged around the first code disc; the first reading head is opposite to the first code disc to read the motion information of the first code disc; the second reading head is opposite to the second code disc to read the motion information of the second code disc; A first distance is formed between the first reading head and the first code disk, and a second distance is formed between the second reading head and the second code disk, wherein the first distance is greater than or less than the second distance.

2. The joint module according to claim 1, characterized in that: The encoder also includes a circuit board, and the first reading head and the second reading head are mounted on the same circuit board.

3. The joint module according to claim 2, characterized in that: The first reading head and the second reading head have the same protruding height on the circuit board; a side of the first code disk facing the circuit board and a side of the second code disk facing the circuit board are not flush with each other.

4. The joint module according to claim 1, characterized in that: The difference between the first spacing and the second spacing is 0.1 mm to 1 mm.

5. The joint module according to claim 1, characterized in that: The encoder also includes a connecting seat, which includes a connecting tube and a connecting ring. The connecting tube is connected to an end of the output shaft away from the output end cover, the connecting ring is connected to the end of the connecting tube, and the first code disk is installed on the connecting ring.

6. The joint module according to claim 1, characterized in that: The encoder further comprises a support ring, wherein the support ring is connected to one end of the motor rotor close to the encoder, and the second code disc is mounted on the support ring.

7. The joint module according to claim 1, characterized in that: The motor rotor is formed with a mounting groove, the notch of which faces the reducer; the joint module also includes a brake assembly, which is installed in the housing, and the brake assembly includes a brake pad and an electromagnetic assembly, and the brake pad is installed in the mounting groove to rotate with the motor rotor; the electromagnetic assembly is installed on one side of the brake pad in the axial direction to attract or release the brake pad.

8. The joint module according to claim 7, characterized in that: The electromagnetic assembly includes a fixing seat, an electromagnetic coil and a permanent magnet. The electromagnetic coil and the permanent magnet are installed on the fixing seat. The permanent magnet is used to generate a magnetic attraction force on the brake pad. The electromagnetic coil is used to generate a magnetic field with a polarity opposite to that of the permanent magnet when energized. The fixing seat has a friction surface opposite to the brake pad.

9. The joint module according to claim 8, characterized in that: The fixing seat is installed on the end wall of the shell, and the electromagnetic component partially extends into the installation groove.

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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