Joint module of mechanical arm, mechanical arm and robot

Abstract

The utility model relates to the technical field of robots, and provides a joint module of a mechanical arm, the mechanical arm and the robot, the joint module comprises a shell, a driving assembly, a driving plate, a sliding ring and an encoder assembly, the driving plate is located at one end of the shell and is connected to a fixing shell; the fixed part is fixed to the driving plate, and the rotating part is connected to the rotating shell; the magnetic piece comprises a first magnetic piece, and the first magnetic piece is arranged at one end of the sliding ring and fixedly connected with the rotating part. According to the joint module of the mechanical arm, the mechanical arm and the robot, the slip ring can provide transmission of current and signals in the joint module, and electric wires are prevented from being wound or pulled; meanwhile, the slip ring can input or output multiple paths of signals, and the problem that the number of wires of a hollow structure of the joint module is large is solved; the rotating state of the rotating part can be detected through the sensor, and then the rotating state of the rotating shell is obtained. The first magnetic piece is arranged at one end of the sliding ring, and the first magnetic piece is supported and fixed through the sliding ring.

Description

Technical Field

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

[0002] The core components of the robot arm are mainly high-precision rotary joint modules, which are mainly composed of reducers, motors, drivers, encoders, sensors, brakes and structural connectors.

[0003] The rotary joint module in the prior art is generally composed of a hollow harmonic reducer and a frameless motor. The hollow structure of the harmonic reducer allows power lines and signal lines to pass through. However, during use, when the rotary joint module rotates infinitely in a single direction, it is easy for the line to be entangled, resulting in the line being torn off, and thus making the robot arm unable to work normally.

[0004] At the same time, when the hollow rotary joint module is used in a robotic arm, the number of communication wires will be large, and the diameter of the communication wires is relatively thick. The hollow structure size of the harmonic reducer may be too small to allow all the lines to pass through. Utility Model Content

[0005] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model provides a joint module of a mechanical arm, a mechanical arm and a robot, which can avoid winding.

[0006] The utility model provides a joint module of a mechanical arm, a mechanical arm and a robot, including:

[0007] The housing comprises a fixed housing and a rotating housing which rotate relative to each other;

[0008] A driving assembly, comprising a stator and a rotor that rotate relative to each other, wherein the stator is connected to the fixed shell, and the rotor is used to drive the rotating shell to rotate;

[0009] A driving plate, located at one end of the housing and connected to the fixed housing;

[0010] A slip ring, comprising a fixed part and a rotating part that rotate relatively, wherein the fixed part is fixed to the driving plate, and the rotating part is connected to the rotating shell;

[0011] The encoder assembly includes a magnetic component and a sensor, wherein the magnetic component includes a first magnetic component, which is arranged at one end of the slip ring and fixedly connected to the rotating part; the sensor is installed on the driving plate, and the sensor is suitable for detecting the rotation state of the first magnetic component.

[0012] According to the joint module of the robotic arm of the embodiment of the utility model, the fixed shell includes a first outer shell and a connecting shell, and the first outer shell and the connecting shell are connected to form an installation cavity of the driving component; the rotating shell is sleeved on the outside of the connecting shell and the rotating shell is rotatably connected to the connecting shell; a through hole is formed on the connecting shell, and the slip ring is inserted into the through hole.

[0013] According to the joint module of the robotic arm of the embodiment of the utility model, the fixing part is a sleeve, and the fixing part is sleeved on the outside of the rotating part; the fixing part is provided with a connecting protrusion at one end close to the driving plate, and the connecting protrusion is suitable for connecting to the driving plate and the connecting protrusion protrudes from the first magnetic part.

[0014] According to the joint module of the robot arm of the embodiment of the utility model, the magnetic component also includes a second magnetic component, and the second magnetic component is fixed to the rotor; the second magnetic component is a code disk, and the first magnetic component is a magnetic steel.

[0015] According to the joint module of the robotic arm of the embodiment of the utility model, the rotating shell includes a transmission cover and a second shell, the transmission cover is connected to the second shell, a first connecting part is arranged on one side of the transmission cover, and a second connecting part cooperating with the first connecting part is arranged on a side of the rotating part close to the transmission cover; one of the first connecting part and the second connecting part is a groove, and the other is a protrusion cooperating with the groove.

[0016] According to the joint module of the robotic arm of the embodiment of the utility model, the joint module also includes a harmonic reducer, and the harmonic reducer includes a rigid wheel, a flexible wheel and a wave generator, the rigid wheel is fixedly connected to the fixed shell, and the rigid wheel is meshed with the flexible wheel; the wave generator is fixedly connected to the rotor; the flexible wheel is sleeved on the outside of the wave generator, and the wave generator rotates to drive the flexible wheel to generate deformation waves; a fixing plate is provided on the peripheral side of the flexible wheel, and the fixing plate is fixed between the transmission cover and the second outer shell.

[0017] According to the joint module of the robot arm of the embodiment of the utility model, the joint module also includes a rotor fixing piece, and the rotor fixing piece is fixedly connected to the flexible wheel; the rotor is fixedly connected to the first end of the rotor fixing piece.

[0018] According to the joint module of the robotic arm of the embodiment of the utility model, the joint module also includes a clamping sleeve, a fixing groove is arranged at the second end of the rotor fixing piece, the clamping sleeve is arranged inside the fixing groove and the clamping sleeve is arranged outside the wave generator.

[0019] The utility model also provides a mechanical arm, including a joint module of the mechanical arm.

[0020] The utility model also provides a robot, including a joint module of a mechanical arm or a mechanical arm.

[0021] The above one or more technical solutions in the embodiments of the utility model have at least one of the following technical effects:

[0022] The slip ring can provide current and signal transmission inside the joint module to prevent the wires from being entangled or pulled; at the same time, the slip ring can input or output multiple signals, solving the problem of the large number of wiring in the hollow structure of the joint module; the first magnetic part is fixedly connected to the rotating part, and the rotation state of the rotating part can be detected by the sensor, thereby obtaining the rotation state of the rotating shell. The first magnetic part is set at one end of the slip ring, and the first magnetic part is fixed by the slip ring support.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are 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 these drawings without paying creative work.

[0025] Figure 1 It is a three-dimensional structural schematic diagram of a joint module of a mechanical arm provided by an embodiment of the utility model;

[0026] Figure 2 It is an exploded view of the joint module of the mechanical arm provided by the embodiment of the utility model;

[0027] Figure 3 It is a schematic diagram of the internal structure of the joint module of the mechanical arm provided by the embodiment of the utility model;

[0028] Figure 4 It is an assembly diagram of a wave generator, a rotor fixing part, a slip ring, a first magnetic part and a driving part of a joint module of a robot arm provided in an embodiment of the utility model.

[0029] Reference numerals:

[0030] 100, housing; 110, fixed housing; 111, first housing; 1111, outer ring; 1112, rear cover; 112, connecting housing; 1121, perforation; 113, mounting cavity; 114, first bearing; 115, first bearing pressure ring; 116, bearing inner retaining ring; 120, rotating housing; 121, transmission cover; 1211, first connecting part; 1212, connecting plate; 122, second housing;

[0031] 200, driving assembly; 210, stator; 220, rotor;

[0032] 300, driving board;

[0033] 400, slip ring; 410, fixed part; 420, rotating part; 421, second connecting part; 430, mounting groove; 440, connecting protrusion; 441, disassembly groove;

[0034] 500, encoder assembly; 510, magnetic component; 511, first magnetic component; 512, second magnetic component; 520, sensor;

[0035] 600, harmonic reducer; 610, rigid wheel; 620, flexible wheel; 621, fixed plate; 630, wave generator;

[0036] 700, rotor fixing part; 710, second bearing; 720, second bearing pressure ring; 730, expansion sleeve. DETAILED DESCRIPTION

[0037] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0038] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0039] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0040] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0041] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0042] When the hollow rotary joint module is used in a robotic arm, there will be a large number of communication wires, and the diameter of the communication wires is relatively thick. The hollow structure size of the harmonic reducer may be too small to allow all the wires to pass through.

[0043] The first embodiment of the utility model provides a joint module of a robot arm, see Figures 1 to 3, including a housing 100, a driving assembly 200, a driving plate 300, a slip ring 400 and an encoder assembly 500, wherein the housing 100 includes a fixed housing 110 and a rotating housing 120 that rotate relative to each other; the driving assembly 200 includes a stator 210 and a rotor 220 that rotate relative to each other, the stator 210 is connected to the fixed housing 110, and the rotor 220 is used to drive the rotating housing 120 to rotate; the driving plate 300 is located at one end of the housing 100 and is connected to the fixed housing 110; the slip ring 400 includes a relatively rotating The fixed part 410 and the rotating part 420 are movable, the fixed part 410 is fixed to the driving plate 300, and the rotating part 420 is connected to the rotating shell 120; the encoder assembly 500 includes a magnetic part 510 and a sensor 520, the magnetic part 510 includes a first magnetic part 511, the first magnetic part 511 is arranged at one end of the slip ring 400 and is fixedly connected to the rotating part 420; the sensor 520 is installed on the driving plate 300, and the sensor 520 is suitable for detecting the rotation state of the first magnetic part 511.

[0044] The slip ring 400 can provide current and signal transmission inside the joint module to prevent the wires from being entangled or pulled; at the same time, the slip ring 400 can input or output multiple signals, solving the problem of the large number of wiring in the hollow structure of the joint module; the first magnetic member 511 is fixedly connected to the rotating part 420, and the rotation state of the rotating part 420 can be detected by the sensor 520, thereby obtaining the rotation state of the rotating shell 120. The first magnetic member 511 is arranged at one end of the slip ring 400, and the first magnetic member 511 is supported and fixed by the slip ring 400.

[0045] It is understandable that the slip ring 400 can not only transmit signals and currents, but also fix the first magnetic member 511 without the need for other fixings; supporting the first magnetic member 511 by the slip ring 400 is conducive to ensuring that the first magnetic member 511 rotates coaxially with the rotation center to ensure the accuracy of the detection. The slip ring 400 is a shaft body. Compared with the rotating shell 120, the end size of the slip ring 400 is smaller. Setting the first magnetic member 511 at the end of the slip ring 400 is conducive to the coaxial setting of the slip ring 400 and the first magnetic member 511, which is convenient for determining the installation position of the first magnetic member 511 during installation and saving installation time; the rotation state of the first magnetic member 511 includes information such as the position and rotation angle of the first magnetic member 511.

[0046] It can be understood that the first magnetic part 511 can be a magnetic steel. The working principle of the magnetic steel is simple, the structure is stable, it is not easily disturbed, and it has high reliability. Compared with the code disk, the magnetic steel is smaller in size and can save the volume of the joint module. In addition, the magnetic steel has the advantages of low price and high durability.

[0047] See also Figure 1 and Figure 3In one embodiment, the fixed shell 110 includes a first shell 111 and a connecting shell 112, and the first shell 111 and the connecting shell 112 are connected to form an installation cavity 113 of the drive assembly 200; the rotating shell 120 is sleeved on the outside of the connecting shell 112 and the rotating shell 120 is rotatably connected to the connecting shell 112; since the fixed shell 110 and the rotating shell 120 rotate relative to each other, external impurities may enter through the gap between the fixed shell 110 and the rotating shell 120; the embodiment of the utility model forms the installation cavity 113 of the drive assembly 200 by connecting the shell 112 and the first shell 111, and the installation cavity 113 provides a physical barrier for the drive assembly 200 to prevent external impurities, dust, water droplets, etc. from invading the drive assembly 200; the first shell 111 is composed of an outer ring 1111 and a back cover 1112, and the back cover 1112 is arranged on the outer ring 1 The edge of 111 splits the first shell 111 into two parts, the outer ring 1111 and the back cover 1112, which can be easily assembled; the driving plate 300 can be fixed on the back cover 1112; in order to make the rotation between the fixed shell 110 and the rotating shell 120 smoother, a first bearing 114 is arranged between the fixed shell 110 and the connecting shell 112; a bearing inner retaining ring 116 corresponding to the first bearing 114 can be arranged inside the rotating shell 120 to prevent the first bearing 114 from moving in the axial direction; the first bearing 114 is provided with a first bearing pressure ring 115 at one end away from the bearing inner retaining ring 116, and the first bearing pressure ring 115 plays a role in positioning and fixing the first bearing 114; a through hole 1121 is formed on the connecting shell 112, and the slip ring 400 is penetrated through the through hole 1121, so as to facilitate the slip ring 400 to realize the transmission of current and signals.

[0048] See also Figure 2 and Figure 4In one embodiment, in order to better fix the first magnetic member 511, a mounting groove 430 can be provided at the end of the slip ring 400 to fix the first magnetic member 511; the fixing portion 410 is a sleeve, and the fixing portion 410 is sleeved on the outside of the rotating portion 420; the fixing portion 410 is provided with a connecting protrusion 440 at one end close to the driving plate 300, and the connecting protrusion 440 is suitable for connecting the driving plate 300 and the connecting protrusion 440 protrudes from the first magnetic member 511 to prevent the first magnetic member 511 from interfering with the connection between the connecting protrusion 440 and the driving plate 300; the connecting protrusion 440 is provided at one end of the fixing portion 410 close to the driving plate 300, which is beneficial for the sensor 520 located on the driving plate 300 to detect the rotation state of the first magnetic member 511. Since the size of the installation groove 430 can just accommodate the first magnetic component 511, it is inconvenient to install and disassemble the first magnetic component 511; a disassembly groove 441 can be set on the side wall of the connecting protrusion 440, and the disassembly groove 441 connects the installation groove 430 and the end of the connecting protrusion 440. During installation, the position of the first magnetic component 511 in the installation groove 430 can be adjusted by the disassembly groove 441, which is beneficial to the installation of the first magnetic component 511; generally, the sensor 520 is a Hall element.

[0049] See also Figure 3 In one embodiment, the magnetic member 510 further includes a second magnetic member 512 , and the second magnetic member 512 is fixed to the rotor 220 ; the second magnetic member 512 is a code disk, and the first magnetic member 511 is a magnetic steel.

[0050] It can be understood that, in the present embodiment, the encoder assembly 500 is a dual encoder structure, the sensor 520 can detect the magnetic field change of the first magnetic component 511, so as to determine the rotation speed and position of the first magnetic component 511, the first magnetic component 511 is arranged at one end of the slip ring 400, the first magnetic component 511 can be used to monitor the position and rotation speed of the slip ring 400, and the second magnetic component 512 can be used to monitor the position and rotation speed of the rotor 220; two magnetic disks are used to monitor the rotation speed and position of the slip ring 400 and the rotor 220 respectively, so as to realize closed-loop control of the motor movement, so as to facilitate the drive board 300 to more accurately control the movement of the motor module according to the movement information of the slip ring 400 and the rotor 220 monitored by the encoder assembly 500, thereby improving the control accuracy.

[0051] Compared with gear encoders, magnetic encoders can provide higher resolution and more accurately detect rotational position and speed. They are also a contactless sensor 520 that can detect rotational position and speed through a magnetic field without directly contacting rotating parts. They can better adapt to high-speed rotational motion and have stronger resistance to external vibrations and temperature changes.

[0052] See also Figure 2 and Figure 3In one embodiment, the rotating shell 120 includes a transmission cover 121 and a second shell 122, the transmission cover 121 is connected to the second shell 122, a first connecting portion 1211 is provided on one side of the transmission cover 121, and a second connecting portion 421 matching with the first connecting portion 1211 is provided on a side of the rotating portion 420 close to the transmission cover 121; one of the first connecting portion 1211 and the second connecting portion 421 is a groove, and the other is a protrusion matching with the groove.

[0053] It is understandable that the transmission cover 121 and the slip ring 400 can be quickly assembled together through the cooperation of the groove and the protrusion; the protrusion can be a column with a polygonal cross section, and the groove can be a corresponding column, so that the transmission cover 121 can drive the slip ring 400 to rotate; for example, the protrusion can be a quadrangular prism; the transmission cover 121 and the second housing 122 can be integrally formed, or the transmission cover 121 and the second housing 122 can be connected by means of snap-fit ​​or threading. The embodiment of the utility model is not limited to this.

[0054] See also Figure 3 In one embodiment, the joint module also includes a harmonic reducer 600, which includes a rigid wheel 610, a flexible wheel 620 and a wave generator 630. The rigid wheel 610 is fixedly connected to the fixed shell 110, and the rigid wheel 610 is meshed with the flexible wheel 620; the wave generator 630 is fixedly connected to the rotor 220; the flexible wheel 620 is sleeved on the outside of the wave generator 630, and the wave generator 630 rotates to drive the flexible wheel 620 to generate deformation waves.

[0055] The joint module needs to precisely control the position, angle and speed of movement, and the harmonic reducer 600 has extremely high transmission accuracy, with the error usually ranging from a few arc seconds to tens of arc seconds, which can meet the requirements for precise positioning and motion control. Secondly, the harmonic reducer 600 can provide greater torque output at the same volume, making the robot arm more compact in volume and weight. The harmonic reducer 600 has high rigidity and can meet the rigidity requirements of the joint module. In addition, the harmonic reducer 600 uses flexible materials and special gear design, which makes the transmission process low-noise and smooth-running, reduces the impact of mechanical vibration and sound on the surrounding environment, and can meet the silent requirements of the joint module during operation.

[0056] See also Figure 2In one embodiment, a fixing plate 621 may be provided on the circumference of the flexible wheel 620, and the fixing plate 621 is fixed between the transmission cover 121 and the second housing 122, so that the transmission cover 121 and the second housing 122 rotate with the flexible wheel 620; the second housing 122 is cylindrical, and during installation, the fixing plate 621 of the flexible wheel 620 is connected to one end of the second housing 122 by threaded connection or the like, and then the transmission cover 121 is fixed on the fixing plate 621, so that the connection among the transmission cover 121, the flexible wheel 620 and the second housing 122 can be completed, making the connection more reliable; the fixing plate 621 is provided on the circumference of the flexible wheel 620, and the flexible wheel 620 can be fixed by the fixing plate 621, so as to avoid direct processing of the flexible wheel 620 body and prevent the operation of the harmonic reducer 600 from being affected. A connecting plate 1212 is connected to the transmission cover 121, and can be connected to the next joint module by the connecting plate 1212.

[0057] See also Figure 3 In one embodiment, the joint module also includes a rotor fixing part 700, which is fixedly connected to the flexible wheel 620; the rotor 220 is fixedly connected to the first end of the rotor fixing part 700, and the rotor fixing part 700 plays the role of supporting the rotor 220; the rotor fixing part 700 is cylindrical, and the rotor 220 is sleeved on the first end of the rotor fixing part 700 to facilitate the coaxial rotation of the two; a second bearing 710 can be arranged between the rotor fixing part 700 and the fixed shell 110, which is conducive to the relative rotation between the rotor fixing part 700 and the fixed shell 110; a second bearing pressure ring 720 is arranged at one end of the second bearing 710, and the second bearing pressure ring 720 plays the role of positioning and fixing the second bearing 710.

[0058] See also Figure 3 In one embodiment, the joint module also includes an expansion sleeve 730, a fixing groove is set at the second end of the rotor fixing member 700, and the expansion sleeve 730 is set inside the fixing groove to realize the connection between the rotor fixing member 700 and the expansion sleeve 730; the expansion sleeve 730 is sleeved on the outside of the wave generator 630, and the expansion sleeve 730 fastens the rotor fixing member 700 to the wave generator 630 by expansion or compression, and provides additional support and fixation to improve its stability and reliability; the expansion sleeve 730 has the advantages of easy installation, strong adaptability, and low cost.

[0059] A second aspect of the present invention provides a robotic arm, comprising a joint module of the robotic arm.

[0060] It can be understood that if the joint module of the robotic arm has the beneficial effects of the above-mentioned embodiments, then the robotic arm will correspondingly have the beneficial effects of the above-mentioned embodiments. The specific implementation methods thereof may refer to the above-mentioned embodiments, and this application will not elaborate on them.

[0061] A third aspect of the utility model provides a robot, comprising the joint module of the above-mentioned robotic arm or the above-mentioned robotic arm.

[0062] It can be understood that if the joint module and the robotic arm of the robot have the beneficial effects of the above-mentioned embodiments, then the robot will correspondingly have the beneficial effects of the above-mentioned embodiments. The specific implementation methods thereof may refer to the above-mentioned embodiments, and this application will not elaborate on them.

[0063] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A joint module of a robotic arm, characterized in that: include: The housing comprises a fixed housing and a rotating housing which rotate relative to each other; A driving assembly, comprising a stator and a rotor that rotate relative to each other, wherein the stator is connected to the fixed shell, and the rotor is used to drive the rotating shell to rotate; A driving plate, located at one end of the housing and connected to the fixed housing; A slip ring, comprising a fixed part and a rotating part that rotate relatively, wherein the fixed part is fixed to the driving plate, and the rotating part is connected to the rotating shell; The encoder assembly includes a magnetic component and a sensor, wherein the magnetic component includes a first magnetic component, which is arranged at one end of the slip ring and fixedly connected to the rotating part; the sensor is installed on the driving plate, and the sensor is suitable for detecting the rotation state of the first magnetic component.

2. The joint module of the robot arm according to claim 1, characterized in that: The fixed shell includes a first shell and a connecting shell, and the first shell and the connecting shell are connected to form an installation cavity of the drive component; the rotating shell is sleeved on the outside of the connecting shell and the rotating shell is rotatably connected to the connecting shell; a through hole is formed on the connecting shell, and the slip ring is inserted into the through hole.

3. The joint module of the robot arm according to claim 1, characterized in that: The fixing part is a sleeve, and the fixing part is sleeved on the outside of the rotating part; the fixing part is provided with a connecting protrusion at one end close to the driving plate, the connecting protrusion is connected to the driving plate, and the connecting protrusion protrudes out of the first magnetic part.

4. The joint module of the robot arm according to claim 1, characterized in that: The magnetic component further includes a second magnetic component, and the second magnetic component is fixed to the rotor; the second magnetic component is a code disk, and the first magnetic component is a magnetic steel.

5. The joint module of the robot arm according to any one of claims 1 to 4, characterized in that: The rotating shell includes a transmission cover and a second shell, the transmission cover is connected to the second shell, a first connecting part is arranged on one side of the transmission cover, and a second connecting part cooperating with the first connecting part is arranged on a side of the rotating part close to the transmission cover; one of the first connecting part and the second connecting part is a groove, and the other is a protrusion cooperating with the groove.

6. The joint module of the robot arm according to claim 5, characterized in that: The joint module also includes a harmonic reducer, which includes a rigid wheel, a flexible wheel and a wave generator, wherein the rigid wheel is fixedly connected to the fixed shell and meshes with the flexible wheel; the wave generator is fixedly connected to the rotor; the flexible wheel is sleeved on the outside of the wave generator, and the wave generator rotates to drive the flexible wheel to generate deformation waves; a fixing plate is provided on the peripheral side of the flexible wheel, and the fixing plate is fixed between the transmission cover and the second shell.

7. The joint module of the robot arm according to claim 6, characterized in that: The joint module also includes a rotor fixing piece, and the rotor fixing piece is fixedly connected to the flexible wheel; the rotor is fixedly connected to a first end of the rotor fixing piece.

8. The joint module of the robot arm according to claim 7, characterized in that: The joint module also includes a tightening sleeve, a fixing groove is arranged at the second end of the rotor fixing member, the tightening sleeve is arranged inside the fixing groove and the tightening sleeve is sleeved outside the wave generator.

9. A robotic arm, characterized in that: A joint module of a robotic arm comprising any one of claims 1 to 8.

10. A robot, characterized in that: A joint module of a robotic arm comprising any one of claims 1 to 8 or a robotic arm according to claim 9.

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