Robot joint module

Abstract

The utility model relates to the technical field of robots, in particular to a robot joint module which comprises a motor assembly, a friction type brake assembly, a harmonic reducer and a shaft set penetrating through the motor assembly, the friction type brake assembly and the harmonic reducer which are arranged from top to bottom, and the brake assembly comprises a brake pad, a brake pad fixing piece and a brake body. Wherein the brake pad fixing piece is fixed to the input shaft, the outer edge of the brake pad fixing piece extends to the outer surface of the shell in the diameter direction and is fixedly connected with the shell, the brake pad is connected to the lower end face of the brake body, and the brake pad and the upper end face of the brake body form a brake face. According to the robot joint module, due to the fact that the friction type brake assembly is adopted, the brake pad can automatically hold the brake body tightly for braking when power is off, and therefore safety and reliability are greatly improved.

Description

Technical Field

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

[0002] With the rapid development of automation technology, robots, as an important automation equipment, are gaining more and more attention and are being used more and more widely. As an important branch of robots, medical robots are developing rapidly. More and more medical robots are being developed and put into the market after rigorous testing, becoming a powerful assistant for frontline medical staff and patients.

[0003] Due to the particularity of medical application scenarios, there are many stringent requirements for the safety and reliability of medical robots, and the core component that determines the motion performance of medical robots is the joint module. Therefore, the operating accuracy and reliability of the joint module of medical robots are required to be high. In the robot joint module of the related technology, when the motor rotor and the input shaft of the reducer are matched, due to the large coaxiality error between the two, the joint module generates a large vibration during operation, affecting the operating accuracy of the joint module. For another example, the robot joint module of the related technology does not have sufficient safety measures. When the hospital suddenly loses power, the joint module lacks electrical energy, which will cause the medical equipment originally carried at the end of the medical robot arm to suddenly fall, thus putting doctors and patients in an unsafe situation. Utility Model Content

[0004] In view of this, the utility model provides a robot joint module, which at least partially solves the problems existing in the prior art.

[0005] A robot joint module comprises a motor assembly, a friction brake assembly, a harmonic reducer and a shaft group passing through the motor assembly, the friction brake assembly and the harmonic reducer arranged from top to bottom, wherein:

[0006] The motor assembly includes a housing, a rotor, and a stator, wherein the housing is a cylindrical metal structure, and the stator is arranged on the inner wall of the housing;

[0007] The brake assembly comprises a brake pad, a brake pad fixing part, and a brake body, wherein the brake body and the brake pad fixing part are both flange-shaped structures, and the rotor is sleeved on the brake pad fixing part;

[0008] The harmonic reducer includes a flexible wheel, a steel wheel, a reducer bearing, and a wave generator.

[0009] The shaft group comprises an input shaft and an output shaft which are coaxially arranged, wherein the output shaft is a hollow shaft, and the input shaft is sleeved on the output shaft.

[0010] Both the brake pad fixing member and the brake body are sleeved on the middle part of the input shaft. Among them, the brake pad fixing member is fixed on the input shaft, the outer edge of the brake body extends along the diameter direction to the outer surface of the housing and is fixedly connected to the housing, and the brake pad is connected to the lower end face of the brake pad fixing member and forms a braking surface with the upper end face of the brake body.

[0011] Preferably, the outer edge of the flexspline extends along the diameter direction to the outer surface of the housing and is fixedly connected to the housing, the brake body and the outer ring of the reducer bearing.

[0012] Preferably, the outer surface of the housing is provided with heat dissipation ribs in the shape of convex ribs or gratings.

[0013] Preferably, the lower end of the output shaft is of a flange-like structure, and the upper end face of the output shaft flange is fixedly connected to the steel wheel and the inner ring of the reducer bearing.

[0014] Preferably, a heat-conducting adhesive is provided between the brake body and the housing, and / or between the brake body and the flexspline.

[0015] Preferably, the housing and the brake body are of an integral metal structure.

[0016] Preferably, the shaft group further includes an input locking nut and a first input bearing. A positioning shoulder is provided in the middle part of the input shaft, and the lower end face of the brake pad fixing member abuts against the shoulder.

[0017] Preferably, the upper end of the input shaft is provided with a first thread matching the input locking nut. The input locking nut is connected to the upper end of the input shaft through the first thread, and the lower end of the locking nut abuts against the upper end of the brake pad fixing member.

[0018] Preferably, the lower end of the input shaft is provided with a mounting flange, and the wave generator is assembled on the mounting flange and forms a harmonic reducer with the flexspline, the steel wheel and the reducer bearing.

[0019] Preferably, the upper end of the input locking nut is provided with an annular boss. An outer-edge bearing mounting position and an inner-edge bearing mounting position are respectively provided on the outer edge and the inner edge of the annular boss. The inner ring of the first input bearing is mounted on the outer-edge bearing mounting position, and the outer ring of the first input bearing is matched with the inner wall of the upper end of the housing.

[0020] Preferably, the shaft group further includes an output locking nut and a first output bearing. An output bearing mounting position is provided on the outer edge of the output locking nut, and the first output bearing is arranged at the output bearing mounting position and the inner-edge bearing mounting position.

[0021] Preferably, the upper end of the output shaft is higher than the upper end of the input shaft, and a second thread matching the output locking nut is provided at the upper end of the output shaft.

[0022] Preferably, the shaft group further includes a second input bearing. A second input bearing mounting position for mounting the second input bearing is provided on the lower end face of the brake body, and the inner ring of the second input bearing is fixedly mounted on the input shaft.

[0023] Preferably, sealing rings are provided between the flexspline and the brake body and between the steel wheel and the flange-like structure of the output shaft, and a differential pressure sealing structure is provided between the inner surface of the input shaft and the outer surface of the output shaft.

[0024] For the robot joint module of the present invention, due to the adoption of a friction braking component, the brake pads will automatically hold the brake body for braking when power is off, so the safety and reliability are greatly increased;

[0025] In addition, since the braking component is arranged in the middle of the input shaft, when braking, the input shaft is more evenly stressed, the shaft runout is smaller, and the braking stability is good. Moreover, because the brake body extends to the outer surface of the housing along the diameter direction, it not only has a larger volume and higher heat capacity, but also has fast heat dissipation, greatly improving the adaptability of the robot joint module and enhancing the reliability. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 It is a three-dimensional schematic diagram of the robot joint module according to the embodiment of the present invention;

[0028] Figure 2 It is a cross-sectional schematic diagram of the robot joint module according to the embodiment of the present invention;

[0029] Figure 3 It is an overall exploded view of the robot joint module according to the embodiment of the present invention;

[0030] Figure 4 It is a schematic diagram of the braking component of the robot joint module according to the embodiment of the present invention;

[0031] Figure 5 It is an exploded view of the braking component of the robot joint module according to the embodiment of the present invention;

[0032] Figure 6 Exploded view of the harmonic reducer of the robot joint module according to the embodiment of the present utility model;

[0033] Figure 7 Exploded view of the shaft group of the robot joint module according to the embodiment of the present utility model;

[0034] Figure 8 Schematic diagram of the differential pressure sealing structure of the robot joint module according to the embodiment of the present utility model Figure 1 ;

[0035] Figure 9 Schematic diagram of the differential pressure sealing structure of the robot joint module according to the embodiment of the present utility model Figure 2 ;

[0036] Figure 10 Cross-sectional view schematic of another embodiment of the robot joint module according to the embodiment of the present invention Figure 1 ;

[0037] Figure 11 Cross-sectional view schematic of another embodiment of the robot joint module according to the embodiment of the present invention Figure 1 ;

[0038] Figure 12 Cross-sectional view schematic of still another embodiment of the robot joint module according to the embodiment of the present invention Figure 2 ;

[0039] Figure 13 Cross-sectional view schematic of still another embodiment of the robot joint module according to the embodiment of the present invention Figure 2 。

[0040] Explanation of reference numerals:

[0041] 1 - Motor assembly, 11 - Housing, 12 - Rotor, 13 - Stator;

[0042] 2 - Brake assembly, 21 - Brake pad fixing member, 22 - Brake pad, 221 - Boss, 23 - Brake body, 231 - Second bearing mounting position, 232 - Annular groove;

[0043] 3 - Harmonic reducer, 31 - Flexspline, 32 - Circular spline, 33 - Reducer bearing, 34 - Wave generator;

[0044] 4 - Shaft group, 41 - Input shaft, 411 - Positioning shaft shoulder, 412 - First thread, 42 - Input locking nut, 43 - First input bearing, 44 - Second input bearing, 45 - Output shaft, 451 - Second thread, 46 - Output locking nut, 47 - First output bearing;

[0045] 5 - Sealing gap, 51 - Counterbore, 52 - Frustum, 53 - Shaft shoulder. Detailed implementation manners

[0046] The embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

[0047] It should be noted that, without conflict, the following embodiments and the features in the embodiments may be combined with each other; and, based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present disclosure.

[0048] It should be noted that the following describes various aspects of the embodiments within the scope of the appended claims. It will be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present disclosure, those skilled in the art should understand that one aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of the aspects described herein may be used to implement the device and / or practice the method. Additionally, this device may be implemented and this method may be practiced using other structures and / or functionality in addition to one or more of the aspects described herein.

[0049] Figures 1 to 7 Shown in the three-dimensional schematic diagram, cross-sectional schematic diagram, overall explosion diagram and explosion diagrams of each component of the robot joint module according to the embodiment of the present utility model, the robot joint module will be described in detail below with reference to the accompanying drawings.

[0050] See Figures 1 to 5 As shown, the robot joint module described in this embodiment includes a motor assembly 1, a friction brake assembly 2, a harmonic reducer 3 arranged from top to bottom, and a shaft group 4 passing through the motor assembly 1, the friction brake assembly 2 and the harmonic reducer 3. Among them: the motor assembly 1 includes a housing 11, a rotor 12, and a stator 13; the brake assembly 2 includes a brake pad 22, a brake pad fixing member 21, and a brake body 23; the harmonic reducer 3 includes a flexspline 31, a circular spline 32, a reducer bearing 33, and a wave generator 34; the shaft group 4 includes an input shaft 41 and an output shaft 45 arranged coaxially, and also includes an input locking nut 42, a first input bearing 43, a second input bearing 44, an output locking nut 46, and a first output bearing 47;

[0051] Among them, the stator 13 is provided with a winding coil, the rotor 12 is a permanent magnet, the output shaft 45 is a hollow shaft, the input shaft 41 is sleeved on the output shaft 45, the housing 11 is a cylindrical metal structure, and the stator 13 is arranged on the inner wall of the housing 11; both the brake body 23 and the brake pad fixing member 21 are flange-like structures, the stator 13 is sleeved on the brake pad fixing member 21, both the brake pad fixing member 21 and the brake body 23 are sleeved on the middle part of the input shaft 41, the brake pad fixing member 21 is fixed on the input shaft 41, the outer edge of the brake body 23 extends in the diameter direction to the outer surface of the housing 11 and is fixedly connected to the housing 11, and the brake pad 22 is connected to the lower end surface of the brake pad fixing member 21 and forms a braking surface with the upper end surface of the brake body 23.

[0052] For the above-mentioned robot joint module, due to the adoption of the friction braking component 2 with a built-in permanent magnet, when energized, the coil generates magnetic force to cancel the magnetic force of the permanent magnet, so that the robot joint module operates normally. On the contrary, when powered off, the coil is powered off and has no magnetic force to cancel the magnetic force of the permanent magnet, and the permanent magnet adsorbs the brake spring piece, thereby performing braking, that is, when powered off, the brake pad 22 will automatically hold the brake body 23 for braking, so the safety and reliability are greatly increased; in addition, because the braking component 2 is arranged in the middle of the input shaft 41, when braking, the input shaft 41 is more evenly stressed and the shaft runout is smaller, and the braking stability is good. Moreover, because the brake body 23 extends in the diameter direction to the outer surface of the housing 11, it not only has a large volume and a high heat capacity, but also has fast heat dissipation, greatly improving the adaptability of the robot joint module and enhancing the reliability.

[0053] Referring to Figure 1 、 Figure 3 As can be seen, the outer surface of the housing 11 is provided with ribbed heat dissipation ribs, and the stator 13 is arranged on the inner wall of the housing 11. Therefore, the heat generated by the stator 13 during operation can be quickly dissipated through the heat dissipation ribs of the housing 11, and heat accumulation will not occur inside the joint, greatly improving the working environment of the motor component 1 and the braking component 2. In addition, the heat dissipation ribs of the housing 11 can also act as reinforcing ribs. On the premise of ensuring the strength of the housing 11, the weight of the housing 11 is reduced, not only reducing the material cost of the housing 11, but also reducing the inertia of the joint when moving with the robotic arm and reducing the control difficulty of the robotic arm. In other embodiments, the heat dissipation ribs on the outer surface of the housing 11 can also be grid-shaped. In some other embodiments, the housing 11 and the brake body 23 are an integral metal structure.

[0054] Referring to Figure 3 、 Figure 6It can be seen that an installation flange is provided at the lower end of the input shaft 41. The wave generator 34 is assembled on the installation flange and forms a harmonic reducer 3 together with the flexspline 31, the circular spline 32, and the reducer bearing 33. The upper end surface of the flange of the output shaft 45 is fixedly connected to the inner rings of the circular spline 32 and the reducer bearing 33. Moreover, the outer edge of the flexspline 31 extends in the diameter direction to the outer surface of the housing 11 and is fixedly connected to the housing 11, the brake body 23, and the outer ring of the reducer bearing 33. A heat-conducting adhesive is provided between the brake body 23 and the housing 11, and / or between the brake body 23 and the flexspline 31.

[0055] With the above structure, the heat generated by the harmonic reducer 3 during operation can, on the one hand, be transferred to the outer surface of the robot joint through the flexspline 31, on the other hand, be dissipated through the circular spline 32 and the reducer bearing 33, and can also be dissipated through the flange-like structure at the lower end of the output shaft 45.

[0056] In summary, in the embodiment of the present utility model, although the friction braking assembly 2 that is extremely likely to generate a large amount of heat is adopted and the braking assembly 2 is arranged between the motor assembly 1 and the harmonic reducer 3, however, because heat dissipation ribs are provided on the outer surface of the housing 11, the heat generated by the stator 13 can be quickly dissipated. The outer edge of the brake body 23 of the braking assembly extends all the way to the outer edge of the housing 11, with a high heat capacity and can also quickly dissipate the heat of the braking assembly. Coupled with the three heat dissipation routes of the harmonic reducer 3, the heat dissipation capacity of the robot joint described in this embodiment is extremely excellent. Therefore, it can not only have the high safety and high reliability of the friction braking assembly 2, but also prevent the working environment of the joint from deteriorating due to heat accumulation inside the robot joint.

[0057] As is well known, a harmonic drive reducer relies on the wave generator 34 being assembled with a flexible bearing to cause the flexspline 31 to generate controllable elastic deformation and mesh with the circular spline to achieve the purpose of speed reduction transmission. In order to achieve controllable elastic deformation, various measures need to be taken. On the one hand, the material of the flexspline 31 is set as a thin steel sheet, and the outer shape is set as a flared shape. Refer to Figure 5 It can be seen that the opening is larger the closer it is to the circular spline 32. Therefore, the position of the wave generator 34 in the flexspline 31 needs to be maintained. If the position is too low, it is easy to cause the flexspline 31 to crack. If the position is too high, the torque will be insufficient and the desired transmission efficiency cannot be achieved. And the wave generator 34 is assembled on the installation flange at the lower end of the input shaft 41. Therefore, the assembly accuracy of the input shaft 41 in the vertical direction will directly affect the service life and transmission efficiency of the harmonic reducer 3.

[0058] Refer to Figure 2 、 Figure 3It can be seen that a positioning shoulder 411 is provided in the middle of the input shaft 41. The brake pad fixing member 21 is sleeved on the input shaft 41 and its lower end surface abuts against the positioning shoulder 411. A first thread 412 matching the input locking nut 42 is provided at the upper end of the input shaft 41. The input locking nut 42 is connected to the upper end of the input shaft 41 through the first thread 412, and the lower end of the locking nut abuts against the upper end of the brake pad fixing member 21. From the above structure, it can be seen that as long as the position accuracy of the positioning shoulder 411 on the input shaft 41, the length accuracy of the brake pad fixing member 21, and the height accuracy of the input locking nut 42 are ensured, the height accuracy of the top surface of the input locking nut 42 relative to the bottom surface of the wave generator 34 can be ensured.

[0059] An annular boss is provided at the upper end of the input locking nut 42. An outer edge bearing mounting position and an inner edge bearing mounting position are respectively provided at the outer edge and the inner edge of the annular boss. The inner ring of the first input bearing 43 is mounted in the outer edge bearing mounting position, and the outer ring of the first input bearing 43 is matched with the inner wall of the upper end of the housing 11. Therefore, as long as the assembly accuracy of the outer ring of the first input bearing 43 on the inner wall of the upper end of the housing 11 can be ensured, the assembly accuracy of the input shaft 41 in the vertical direction can be ensured, and further the wave generator 34 can be installed in a suitable position.

[0060] As can be seen from the above, for the robot joint described in this embodiment, mainly by ensuring the installation accuracy of the wave generator 34 at the bottom end of the input shaft 41, the machining accuracy of the positioning shoulder 411, and the machining accuracy of the mounting position of the first input bearing 43, and then cooperating with the machining accuracy of the height of the brake pad fixing member 21 and the input locking nut 42, the assembly accuracy of the wave generator 34 can be ensured, greatly reducing the difficulty of assembling the robot joint, reducing the errors caused by human factors, and further ensuring the service life and transmission efficiency of the harmonic reducer 3, and improving the qualified rate of the product.

[0061] Refer to Figure 2 、 Figure 4 and Figure 7 It can be seen that a second input bearing mounting position 441 for installing the second input bearing 44 is provided on the lower end surface of the brake body 23. The inner ring of the second input bearing 44 is fixedly installed on the input shaft 41. The second input bearing 44 is located at a position slightly below the middle of the input shaft 41. Together with the first input bearing 43 at the top of the input locking nut 42, it constitutes a double-bearing support for the input shaft 41. Since the braking surface of the braking assembly 2 and the rotor 12 of the motor assembly 1 are both arranged between the double bearings of the input shaft 41, this double-bearing structure of the input shaft 41 can greatly improve the stability of motor drive and braking, prevent the input shaft 41 from jumping or shaking, and greatly reduce the vibration of the input shaft 41;

[0062] Refer to Figure 2 、 Figure 3 、 Figure 7It can be seen that the lower end of the output shaft 45 is a flange-like structure. The upper end face of the flange of the output shaft 45 is directly fixedly connected to the inner rings of the steel wheel 32 and the reducer bearing 33, that is, a bearing is provided at the lower end of the output shaft 45. The upper end of the output shaft 45 is higher than the upper end of the input shaft 41, and a second thread 451 matching the output locking nut 46 is provided at the upper end of the output shaft 45. An output bearing mounting position is provided on the outer edge of the output locking nut 46, and the first output bearing 47 is arranged in the output bearing mounting position and the inner edge bearing mounting position, that is, a bearing is provided at the top end of the output shaft 45. Therefore, the output shaft 45 forms a double-bearing support through the reducer bearing 33 and the first output bearing 47. This structure greatly reduces the vibration of the output shaft 45 and can effectively prevent the output shaft 45 from jumping or jittering, ensuring the coaxiality with the input shaft 41.

[0063] As can be seen from the above, the double-bearing structure of the input shaft 41 and the double-bearing structure of the output shaft 45 together constitute the four-bearing support structure of the robot joint described in this embodiment, greatly improving the force-bearing environment of the input shaft 41 and the output shaft 45, enhancing the coaxiality and stability of the input shaft 41 and the output shaft 45, reducing the vibration during operation, and thus improving the control accuracy of the robot joint and extending the service life of the robot joint.

[0064] Refer to Figure 2 It can be seen that sealing rings are provided between the flexspline 31 and the brake body 23, and between the steel wheel 32 and the flange-like structure of the output shaft 45. Together with the sealing rings between the flexspline 31 and the outer ring of the reducer, and between the steel wheel 32 and the inner ring of the reducer, Figure 8 、 Figure 9 it constitutes the sealing of the grease in the harmonic reducer 3.

[0065] Since the input shaft 41 and the output shaft 45 are coaxially sleeved together, in order to prevent the grease in the harmonic reducer 3 from leaking out from the gap between the inner surface of the input shaft 41 and the outer surface of the output shaft 45, a differential pressure sealing structure is provided between the inner surface of the input shaft 41 and the outer surface of the output shaft 45.

[0066] As Figure 8 、 Figure 9 shown, in this embodiment, the differential pressure sealing structure includes three counterbores 51 formed on the inner surface of the input shaft 41, and the inner diameter of the counterbores 51 gradually decreases from bottom to top. A shaft shoulder 53 corresponding to the counterbores 51 is formed on the outer surface of the output shaft 45. A sealing gap 5 is formed between the shaft shoulder 53 and the corresponding counterbore 51, and the size of the sealing gap 5 gradually becomes smaller from bottom to top. In other embodiments, this sealing gap 5 can also remain unchanged.

[0067] When the robot joint operates, the grease penetrates into the above-mentioned sealing gap 5. The input shaft 41 rotates at a high speed, and then drives the grease attached to its inner wall to rotate along the outer edge of the output shaft 45 within the sealing gap 5. Since the inner diameter of the counterbore 51 of the input shaft 41 gradually decreases from bottom to top, when the output shaft 45 rotates, the linear velocity of the inner surface of the counterbore 51 also gradually decreases from bottom to top, and the rotational speed of the driven grease within the sealing gap 5 also gradually decreases from bottom to top. According to Bernoulli's principle, the greater the flow rate, the smaller the pressure. Therefore, the pressure within the above-mentioned sealing gap 5 gradually increases from bottom to top, thus forming a pressure difference and constituting a differential pressure sealing structure.

[0068] For the above-mentioned differential pressure sealing structure, no additional seal is required between the input shaft 41 and the output shaft 45. Therefore, there is no friction between the output shaft 45 and the output shaft 45, which not only improves the transmission efficiency, but also has high reliability, almost no need for maintenance, and a long service life.

[0069] Figure 10 、 Figure 11 Figures 10 and 11 are two cross-sectional schematic views of another embodiment of the robot joint module described in the embodiment of the present invention. As shown in the figure, in this embodiment, the output shaft 45 is a straight shaft, and the counterbore 51 of the input shaft 41 and the outer surface of the output shaft 45 form a sealing gap 5 that gradually becomes smaller from bottom to top;

[0070] Figure 12 、 Figure 13 Figures 12 and 13 are two cross-sectional schematic views of still another embodiment of the robot joint module described in the embodiment of the present invention. As shown in the figure, in this embodiment, a frustum 52 is formed on the outer surface of the output shaft 45, and a sealing gap 5 that gradually becomes smaller from bottom to top is formed between the counterbore 51 of the input shaft 41 and the frustum 52;

[0071] In some other embodiments, the differential pressure sealing structure is that a tapered barrel-shaped through hole is formed on the inner surface of the input shaft 41, and the inner diameter of the through hole gradually decreases from bottom to top. A frustum 52 corresponding to the through hole is formed on the outer surface of the output shaft 45. At this time, the sealing gap 5 can be kept consistent up and down or gradually become smaller from bottom to top; or, a tapered barrel-shaped through hole is formed on the inner surface of the input shaft 41, and the inner diameter of the through hole gradually decreases from bottom to top. The output shaft 45 is a straight shaft, and a sealing gap 5 is formed between the through hole and the outer surface of the output shaft 45.

[0072] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A robot joint module, characterized in that, It includes a motor assembly (1), a friction brake assembly (2), a harmonic reducer (3) arranged from top to bottom, and a shaft group (4) passing through the motor assembly (1), the friction brake assembly (2) and the harmonic reducer (3), where: The motor assembly (1) includes a housing (11), a rotor (12), and a stator. Among them, the housing (11) is a cylindrical metal structure, and the stator (13) is arranged on the inner wall of the housing (11); The brake assembly (2) includes brake pads (22), a brake pad fixing member (21), and a brake body (23). Among them, both the brake body (23) and the brake pad fixing member (21) are flange-like structures, and the rotor (12) is sleeved on the brake pad fixing member (21); The harmonic reducer (3) includes a flexspline (31), a circular spline (32), a reducer bearing (33), and a wave generator (34), The shaft group (4) includes an input shaft (41) and an output shaft (45) arranged coaxially. Among them, the output shaft (45) is a hollow shaft, and the input shaft (41) is sleeved on the output shaft (45), Both the brake pad fixing member (21) and the brake body (23) are sleeved on the middle part of the input shaft (41). Among them, the brake pad fixing member (21) is fixed on the input shaft (41), the outer edge of the brake body (23) extends in the diameter direction to the outer surface of the housing (11) and is fixedly connected to the housing (11), and the brake pads (22) are connected to the lower end surface of the brake pad fixing member (21) and form a braking surface with the upper end surface of the brake body (23).

2. The robot joint module according to claim 1, wherein The outer edge of the flexspline (31) extends in the diameter direction to the outer surface of the housing (11) and is fixedly connected to the housing (11), the brake body (23), and the outer ring of the reducer bearing (33).

3. The robot joint module according to claim 1 or 2, characterized in that, The outer surface of the housing (11) is provided with convex rib-shaped or grid-shaped heat dissipation ribs.

4. The robot joint module according to claim 2, wherein, The lower end of the output shaft (45) is a flange-like structure, and the upper end surface of the flange of the output shaft (45) is fixedly connected to the circular spline (32) and the inner ring of the reducer bearing (33).

5. The robot joint module according to claim 4, wherein Thermal conductive glue is provided between the brake body (23) and the housing (11), and / or between the brake body (23) and the flexspline (31).

6. The robot joint module according to claim 1, wherein The housing (11) and the brake body (23) are of an integral metal structure.

7. The robot joint module according to claim 1, characterized in that, The shaft group (4) further includes an input locking nut (42) and a first input bearing (43). A positioning shoulder (411) is provided in the middle of the input shaft (41), and the lower end surface of the brake pad fixing member (21) abuts against the positioning shoulder (411).

8. The robot joint module according to claim 7, wherein, The upper end of the input shaft (41) is provided with a first thread (412) matching the input locking nut (42). The input locking nut (42) is connected to the upper end of the input shaft (41) through the first thread (412), and the lower end of the locking nut abuts against the upper end of the brake pad fixing member (21).

9. The robot joint module according to claim 8, wherein An installation flange is provided at the lower end of the input shaft (41), and the wave generator (34) is assembled to the installation flange and forms a harmonic reducer (3) together with the flexspline (31), the circular spline (32), and the reducer bearing (33).

10. The robot joint module according to claim 9, wherein An annular boss is provided at the upper end of the input locking nut (42). An outer-edge bearing installation position and an inner-edge bearing installation position are respectively provided at the outer edge and the inner edge of the annular boss. The inner ring of the first input bearing (43) is installed in the outer-edge bearing installation position, and the outer ring of the first input bearing (43) is fitted with the inner wall of the upper end of the housing (11).

11. The robot joint module according to claim 10, wherein The shaft group (4) further includes an output locking nut (46) and a first output bearing (47). An output bearing installation position is provided at the outer edge of the output locking nut (46), and the first output bearing (47) is arranged in the output bearing installation position and the inner-edge bearing installation position.

12. The robot joint module according to claim 11, wherein, The upper end of the output shaft (45) is higher than the upper end of the input shaft (41), and a second thread (451) matching the output locking nut (46) is provided at the upper end of the output shaft (45).

13. The robot joint module according to claim 1, characterized in that, The shaft group (4) further includes a second input bearing (44). A second input bearing installation position (441) for installing the second input bearing (44) is provided on the lower end surface of the brake body (23), and the inner ring of the second input bearing (44) is fixedly installed on the input shaft (41).

14. The robot joint module according to claim 1, wherein Sealing rings are respectively provided between the flexspline (31) and the brake body (23) and between the flange-like structure of the circular spline (32) and the output shaft (45). A differential pressure sealing structure is provided between the inner surface of the input shaft (41) and the outer surface of the output shaft (45).

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