Joint module and robot

Abstract

The utility model discloses a joint module and a robot. The joint module comprises a speed reducer, a motor assembly, an encoder assembly and a driving plate which are sequentially distributed in the axial direction of the joint module. The motor assembly comprises a motor rotor fixed to the periphery of the motor shaft and a motor stator fixed to the inner ring of the motor shell. An input shaft of the speed reducer is fixedly connected with the motor shaft, an output shaft of the speed reducer penetrates through an axial center hole of the motor shaft and is connected with an output end encoder rotor, and the motor shaft is connected with an input end encoder rotor; the encoder assembly comprises an encoder support, an input end encoder rotor, an encoder stator and an output end encoder rotor which are sequentially distributed in the axial direction of the motor shaft. The encoder support is installed at one end of the motor shell, and the encoder stator is fixed to the end, away from the motor shell, of the encoder support. The two ends of the encoder stator are respectively provided with an induction coil. According to the utility model, the position distribution of the encoder stator and the encoder rotor is optimized, so that the encoder assembly outputs high-precision position signals.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, specifically to a joint module and robot. Background Technology

[0002] With the continuous development of robotics technology, collaborative robots are being used more and more widely in industrial manufacturing, service and other fields. Existing robot joint modules have relatively complex structures, many processing steps, high costs, and lack flexibility and versatility.

[0003] In existing technology, the input encoder rotor and output encoder rotor of the joint module are located on the same plane, and both are hollow encoders. The output encoder rotor is located on the inner ring of the input encoder rotor. Chinese patent document CN119772939A describes a high-precision, small, lightweight planetary joint module. This joint module details the encoders with the aforementioned positional distribution.

[0004] The encoders with the aforementioned positional distribution have poor detection accuracy, which prevents the drive board of the joint module from obtaining more accurate motor position information, thus affecting the drive board's ability to accurately control the motor.

[0005] Furthermore, for joint modules equipped with harmonic reducers, the axial and radial positioning of the wave generator within the harmonic reducer is crucial. The proper installation of this wave generator directly affects the coaxiality and axial position of the various disc-shaped and cylindrical parts within the joint module. Utility Model Content

[0006] This invention proposes a joint module and robot to solve the problem of poor encoder detection accuracy caused by the positional distribution between the encoder rotor and encoder stator in existing joint modules.

[0007] On the one hand, the present invention discloses a joint module, which includes a reducer, a motor assembly, an encoder assembly and a drive board electrically connected to the encoder assembly, arranged sequentially along its axial direction.

[0008] The motor assembly includes a motor rotor fixed to the outer periphery of the motor shaft and a motor stator fixed to the inner ring of the motor housing; the motor rotor is located in the inner ring of the motor stator.

[0009] The axial direction of the joint module is the same as the axial direction of the motor shaft;

[0010] The input shaft of the reducer is fixedly connected to the motor shaft, and an input encoder rotor is connected to the motor shaft; the output shaft of the reducer passes through the axial center hole of the motor shaft and is connected to the output encoder rotor.

[0011] The encoder assembly includes an encoder support, an input encoder rotor, an encoder stator, and an output encoder rotor, which are distributed sequentially along the axial direction of the motor shaft.

[0012] The encoder support is mounted on the end of the motor housing away from the reducer, and the encoder stator is fixed on the end of the encoder support away from the motor housing; the two ends of the encoder stator are respectively provided with induction coils that cooperate with the input encoder rotor and the output encoder rotor;

[0013] The drive plate is fixed on the encoder support and is suitable for driving the motor shaft to rotate and resolving the position signal generated by the encoder assembly. By placing the input encoder rotor and the output encoder rotor at opposite ends of the encoder stator, mutual interference between the input encoder rotor and the output encoder rotor is prevented, thereby improving the detection accuracy of the encoder assembly.

[0014] Optionally, the input encoder rotor, the encoder stator, the output encoder rotor, and the drive plate are distributed sequentially at intervals along the motor shaft axis;

[0015] The drive plate and the encoder stator are fixed to the encoder support by a connector; the connector extends axially along the motor shaft and includes a first copper stud and a second copper stud.

[0016] One end of the first copper stud passes through the drive plate and is threadedly connected to the second copper stud, so that the drive plate is clamped between the first copper stud and the second copper stud; the other end of the first copper stud passes through the encoder stator and is threadedly connected to the encoder support, so that the encoder stator is clamped between the first copper stud and the encoder support.

[0017] A rear cover is fastened to the end of the motor housing away from the reducer; the encoder assembly, the drive plate, and the connector are all housed within the rear cover, which is threadedly connected to the second copper stud by bolts. This design ensures that the rear cover, encoder assembly, and drive plate are all mounted on the encoder support.

[0018] Optionally, the reducer is a harmonic reducer, including a wave generator constituting the input shaft of the reducer and a flexible wheel cover constituting the output shaft of the reducer;

[0019] The wave generator extends axially along the motor shaft; one end of the wave generator near the encoder assembly is an encoder connection end, and the other end is a bearing connection end; the encoder connection end of the wave generator passes sequentially through the axial center hole of the motor shaft and the encoder support, and is connected to the input encoder rotor; the wave generator is fixedly connected to the motor shaft.

[0020] The flexible wheel cover extends axially along the motor shaft and includes a sealing end and an encoder connection end. The sealing end of the flexible wheel cover is installed at the end of the reducer away from the motor assembly. The encoder connection end of the flexible wheel cover passes through the axial center hole of the wave generator, the input encoder rotor, and the encoder stator in sequence, and is fixedly connected to the axial center hole of the output encoder rotor.

[0021] Optionally, a rear cover is fastened to the end of the motor housing away from the reducer; the encoder assembly and the drive board are both placed inside the rear cover;

[0022] The reducer also includes a flexible wheel and a steel wheel;

[0023] The inner ring of the flexible wheel is connected to the bearing connection end of the wave generator through the first bearing; the encoder connection end of the wave generator is connected to the inner ring of the encoder support through the second bearing.

[0024] The steel wheel is placed on the outer ring of the flexible wheel, and the steel wheel and the flexible wheel are connected by a cross roller bearing. The inner ring of the cross roller bearing is connected to the steel wheel.

[0025] The outer ring of the crossed roller bearing is smaller than the outer diameter of the joint module, and the outer ring of the crossed roller bearing is provided with a bearing mounting sleeve;

[0026] The bearing mounting sleeve, the flange of the flexible wheel, and the motor housing are distributed sequentially along the axial direction of the motor shaft, and the bearing mounting sleeve, the flange of the flexible wheel, and the motor housing are fixedly connected by the first bolt.

[0027] The sealing end of the flexible wheel cover is installed on the end of the steel wheel away from the motor assembly; the encoder connection end of the flexible wheel cover is sequentially inserted through the axial center hole of the wave generator, the input encoder rotor, the encoder stator, the output encoder rotor and the drive plate, and is connected to the axial inner hole of the rear cover through a third bearing.

[0028] Optionally, the bearing mounting sleeve is a split structure, including a gland and a bearing housing;

[0029] The gland, the bearing housing, and the flange of the flexure are sequentially distributed along the axial direction of the motor shaft; the inner side of the gland and the inner side of the bearing housing form a mounting cavity for installing the outer ring of the crossed roller bearing. This design reduces the assembly difficulty between the bearing mounting sleeve and the crossed roller bearing.

[0030] Optionally, a bearing retaining ring is provided between the flange of the flexible wheel and the motor housing;

[0031] The flange of the flexible wheel and the inner side of the motor housing form a mounting cavity, which is used to limit the axial and radial movement of the bearing retaining ring.

[0032] The first bolt's thread passes through the bearing mounting sleeve, the flexible wheel's flange, and the bearing retaining ring in sequence, and is threadedly connected to the motor housing;

[0033] The inner ring of the bearing retaining ring is connected to the outer periphery of the wave generator via a fourth bearing. Using this scheme, the mounting cavity simultaneously limits the axial and radial movement of the bearing retaining ring, thereby indirectly positioning the wave generator axially and radially, thus ensuring the coaxiality and axial position of each disc-shaped cylindrical component.

[0034] Optionally, the inner side of the rear cover and the inner side of the motor housing form a mounting cavity for radially limiting the encoder support. By employing the above scheme, the radial direction of the encoder support is limited, indirectly positioning the wave generator radially, thereby ensuring the coaxiality of each disc-shaped cylindrical component.

[0035] Optionally, the joint module further includes an adapter cylinder and a brake;

[0036] The adapter cylinder is located at one end of the motor housing near the encoder support; the encoder support is located on the inner ring of the adapter cylinder and is connected to the adapter cylinder by bolts.

[0037] The drive board and the encoder stator are both located at the end of the adapter tube away from the encoder support, and are connected to the encoder support through the adapter tube;

[0038] The brake is located on the inner ring of the adapter cylinder and between the encoder support and the input encoder rotor; the brake includes a brake stator and a brake rotor.

[0039] The brake stator is fixed to the encoder support at the end away from the motor housing;

[0040] The brake rotor is fixed to the motor shaft, and the armature of the brake rotor is positioned between the brake stator and the input encoder rotor. Using this design, the joint module and the brake form an integrated structure.

[0041] Optionally, the brake is an electromagnetic brake;

[0042] The input encoder rotor is connected to the motor shaft via an input shielding tray, and the input shielding tray is placed between the brake rotor and the input encoder rotor.

[0043] The output encoder rotor is fixedly connected to the output shaft of the reducer via an output shielding tray; the output shielding tray is positioned on the side of the output encoder rotor furthest from the encoder stator. This design prevents mutual interference between the electromagnetic brake and the encoder assembly.

[0044] On the other hand, this utility model also discloses a robot, including a body and the aforementioned joint module;

[0045] The joint module is mounted on the body.

[0046] By adopting the above technical solution, this utility model has the following beneficial effects compared with the prior art:

[0047] By placing the input encoder rotor and the output encoder rotor at opposite ends of the encoder stator, mutual interference between the input encoder rotor and the output encoder rotor is prevented, thereby improving the detection accuracy of the encoder assembly.

[0048] By setting the input encoder rotor, encoder stator and output encoder rotor at intervals, mutual interference between the input encoder rotor and the output encoder rotor can be prevented.

[0049] The flange of the flexible wheel and the inner side of the motor housing form an installation cavity, which limits the axial and radial movement of the bearing retaining ring, thereby indirectly positioning the axial and radial movement of the wave generator, thus ensuring the coaxiality and axial position of each disc-shaped cylindrical part.

[0050] The mounting cavity is formed by the inner side of the rear cover and the inner side of the motor housing, which limits the radial movement of the encoder support and indirectly positions the radial movement of the wave generator, thereby ensuring the coaxiality of each disc-shaped cylindrical part.

[0051] By integrating the brakes into the joint module, a single, integrated structure is formed;

[0052] By adding input and output shielding trays, mutual interference between the encoder and the brake can be prevented.

[0053] The above description of the disclosed content and the following description of the embodiments are intended to demonstrate and explain the spirit and principle of the present invention, and to provide a further explanation of the scope of the patent application of the present invention. Attached Figure Description

[0054] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0055] Figure 1 This is a schematic diagram (a) of the joint module in this utility model;

[0056] Figure 2 This is a schematic diagram (II) of the joint module in this utility model.

[0057] Explanation of icon numbers:

[0058] 1. Reducer; 11. Wave generator; 12. Flexible wheel cover; 13. Flexible wheel; 131. First bearing; 14. Steel wheel; 15. Cross roller bearing; 16. Pressure cap; 17. Bearing housing; 18. Bearing retaining ring; 181. Fourth bearing;

[0059] 2. Motor assembly; 21. Motor shaft; 22. Motor rotor; 23. Motor stator; 24. Motor housing;

[0060] 3. Encoder assembly; 31. Encoder support; 311. Second bearing; 32. Input encoder rotor; 33. Encoder stator; 34. Output encoder rotor; 35. Input shielding tray; 36. Output shielding tray;

[0061] 4. Driver board;

[0062] 51. First copper stud; 52. Second copper stud; 53. Rear cover; 531. Third bearing;

[0063] 61. Adapter cylinder; 62. Brake stator; 63. Brake rotor; 631. Armature; 632. Brake mounting base. Detailed Implementation

[0064] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Although the description of this utility model will be presented in conjunction with preferred embodiments, this does not mean that the features of this utility model are limited to this embodiment. On the contrary, the purpose of describing the utility model in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this utility model. To provide a deep understanding of this utility model, many specific details will be included in the following description. This utility model may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this utility model, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0065] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the utility model.

[0066] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0067] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0068] Example 1

[0069] On the one hand, this embodiment provides a joint module suitable for application in the joints of humanoid robots.

[0070] Please see Figure 1 As shown, the joint module includes a reducer 1, a motor assembly 2, an encoder assembly 3, and a drive plate 4, which are distributed sequentially along the axial direction of the joint module.

[0071] The motor assembly 2, from the inside out, includes a motor shaft 21, a motor rotor 22, a motor stator 23, and a motor housing 24. The motor stator 23 is fixed to the inner ring of the motor housing 24. The motor rotor 22 is placed on the inner ring of the motor stator 23 and fixed to the outer peripheral wall of the motor shaft 21. In this embodiment, the axial direction of the joint module is the same as the axial direction of the motor shaft 21.

[0072] The reducer 1 is located at one end of the motor housing 24. The input shaft of the reducer 1 is fixedly connected to the motor shaft 21, and the input encoder rotor 32 is connected to the motor shaft 21. The output shaft of the reducer 1 passes through the axial center hole of the motor shaft 21 and is connected to the output encoder rotor 34.

[0073] The encoder assembly 3 includes an encoder support 31, an input encoder rotor 32, an encoder stator 33, and an output encoder rotor 34, which are sequentially distributed along the axial direction of the motor shaft 21. The input encoder rotor 32, encoder stator 33, and output encoder rotor 34 constitute an encoder, which is an inductive dual encoder. Furthermore, this encoder is electrically connected to the drive board 4. The electrical connection between the encoder and the drive board 4 is prior art and will not be described in detail.

[0074] The encoder support 31 is mounted on the end of the motor housing 24 away from the reducer 1. The encoder stator 33 is fixed on the end of the encoder support 31 away from the motor housing 24. The two ends of the encoder stator 33 are respectively provided with induction coils that cooperate with the input encoder rotor 32 and the output encoder rotor 34.

[0075] In this embodiment, one end of the encoder stator 33 is provided with a first induction coil that cooperates with the input encoder rotor 32, and the other end of the encoder stator 33 is provided with a second induction coil that cooperates with the output encoder rotor 34.

[0076] The drive board 4 is fixed on the encoder support 31 and is suitable for driving the motor shaft 21 to rotate and parsing the position signal generated by the encoder. The induction coil can sense the movement of its corresponding encoder rotor and generate a corresponding induction signal to the drive board 4, thereby enabling the drive board 4 to know the position and speed of the motor assembly 2 in real time. The cooperation between the drive board 4 and the encoder is existing technology and will not be described in detail.

[0077] In this embodiment, the input encoder rotor 32, encoder stator 33, output encoder rotor 34, and drive plate 4 are sequentially spaced along the motor shaft 21. A certain distance is reserved between the input encoder rotor 32, encoder stator 33, and output encoder rotor 34 to ensure that the input encoder rotor 32 interferes with the second induction coil, and the output encoder rotor 34 interferes with the first induction coil.

[0078] In this embodiment, a rear cover 53 is fastened to the end of the motor housing 24 away from the reducer 1; the encoder assembly 3 and the drive board 4 are both placed inside the rear cover 53.

[0079] Furthermore, the reducer 1 is a harmonic reducer. The reducer 1 includes a wave generator 11, a flexible wheel cover 12, a flexible wheel 13, and a steel wheel 14. Among them, the wave generator 11 constitutes the input shaft of the reducer 1. The flexible wheel cover 12 constitutes the output shaft of the reducer 1.

[0080] A steel wheel 14 is positioned on the outer ring of a flexible wheel 13. The steel wheel 14 and the flexible wheel 13 are connected by a crossed roller bearing 15, the inner ring of which is connected to the steel wheel 14. The outer ring of the crossed roller bearing 15 is smaller than the outer diameter of the joint module, and a bearing mounting sleeve is provided on the outer ring of the crossed roller bearing 15. The bearing mounting sleeve, the flange of the flexible wheel 13, and the motor housing 24 are sequentially distributed along the axial direction of the motor shaft 21. The bearing mounting sleeve, the flange of the flexible wheel 13, and the motor housing 24 are fixedly connected by a first bolt.

[0081] Wave generator 11 extends axially along motor shaft 21. One end of wave generator 11 near encoder assembly 3 is the encoder connection end, and the other end is the bearing connection end. The bearing connection end of wave generator 11 is connected to the inner ring of flexspline 13 via a first bearing 131. The encoder connection end of wave generator 11 passes sequentially through the axial center hole of motor shaft 21 and encoder support 31, and is connected to the input encoder rotor 32. Wave generator 11 is fixedly connected to the axial center hole of motor shaft 21. The encoder connection end of wave generator 11 is connected to the inner ring of encoder support 31 via a second bearing 311.

[0082] The flexible wheel cover 12 extends axially along the motor shaft 21 and includes a sealing end and an encoder connection end. The sealing end of the flexible wheel cover 12 is installed on the end of the reducer 1 away from the motor assembly 2, that is, the sealing end of the flexible wheel cover 12 is installed on the end of the steel wheel 14 away from the motor assembly 2. The encoder connection end of the flexible wheel cover 12 passes sequentially through the axial center hole of the wave generator 11, the input encoder rotor 32, the encoder stator 33, the output encoder rotor 34, and the drive plate 4, and is connected to the axial inner hole of the rear cover 53 through the third bearing 531. The axial center hole of the output encoder rotor 34 is fixedly connected to the flexible wheel cover 12.

[0083] In this embodiment, the bearing mounting sleeve is a split structure, including a gland 16 and a bearing housing 17. The gland 16, the bearing housing 17, and the flange of the flexure 13 are distributed sequentially along the axial direction of the motor shaft 21. The inner side of the gland 16 and the inner side of the bearing housing 17 form a mounting cavity for mounting the outer ring of the crossed roller bearing 15.

[0084] A bearing retaining ring 18 is provided between the flange of the flexible wheel 13 and the motor housing 24. The flange of the flexible wheel 13 and the inner side of the motor housing 24 form a mounting cavity, which is used to limit the axial and radial movement of the bearing retaining ring 18. The inner ring of the bearing retaining ring 18 is connected to the outer periphery of the wave generator 11 through a fourth bearing 181. This mounting cavity can improve both installation efficiency and installation accuracy, resulting in better quality and performance stability of the joint module. By simultaneously limiting the axial and radial movement of the bearing retaining ring 18, the mounting cavity indirectly positions the wave generator 11 axially and radially, thereby ensuring the coaxiality and axial position of each disc-shaped cylindrical part.

[0085] In this embodiment, the screw of the first bolt passes through the bearing mounting sleeve, the flange of the flexible wheel 13 and the bearing retaining ring 18 in sequence, and is threadedly connected to the motor housing 24, thereby realizing the connection between the reducer 1 and the motor housing 24.

[0086] In this embodiment, the inner side of the rear cover 53 and the inner side of the motor housing 24 form an installation cavity, which is used to limit the radial direction of the encoder support 31, thereby ensuring the coaxiality of each disc-shaped cylindrical part.

[0087] In this embodiment, both the motor rotor 22 and the motor shaft 21 are positioned between the fourth bearing 181 and the second bearing 311.

[0088] In this embodiment, the wave generator 11 has several limiting protrusions on its outer periphery. The limiting protrusions are respectively adapted to abut against the end face of the first bearing 131 near the encoder assembly 3 and the end face of the fourth bearing 181 away from the encoder assembly 3. Through the cooperation of the first bearing 131, the fourth bearing 181 and the corresponding limiting protrusions, the axial positioning of the wave generator 11 is achieved.

[0089] Furthermore, in this embodiment, the drive board 4 and the encoder stator 33 are fixed to the encoder support 31 by a connector. The connector is located inside the rear cover 53.

[0090] The connector extends axially along the motor shaft 21 and includes a first copper stud 51 and a second copper stud 52. One end of the first copper stud 51 passes through the drive plate 4 and is threadedly connected to the second copper stud 52, so that the drive plate 4 is clamped between the first copper stud 51 and the second copper stud 52. The other end of the first copper stud 51 passes through the encoder stator 33 and is threadedly connected to the encoder support 31, so that the encoder stator 33 is clamped between the first copper stud 51 and the encoder support 31. The rear cover 53 is threadedly connected to the second copper stud 52 by bolts.

[0091] On the other hand, this embodiment also provides a robot. This robot is a humanoid robot, including a body and joint modules. The joint modules are mounted on the body.

[0092] This embodiment improves the detection accuracy of the encoder assembly by placing the input encoder rotor and the output encoder rotor at opposite ends of the encoder stator, thus preventing mutual interference between them. The input encoder rotor, encoder stator, and output encoder rotor are spaced apart to further prevent mutual interference. The flange of the flexspline forms a mounting cavity with the inner side of the motor housing, limiting the axial and radial movement of the bearing retaining ring, thereby indirectly positioning the wave generator axially and radially, ensuring the coaxiality and axial position of each disc-shaped cylindrical component. Similarly, the inner side of the rear cover forms a mounting cavity with the inner side of the motor housing, limiting the radial movement of the encoder support, indirectly positioning the wave generator radially, and ensuring the coaxiality of each disc-shaped cylindrical component.

[0093] Example 2

[0094] The difference between Embodiment 1 and Embodiment 2 is that, in Embodiment 2, the joint module further includes an adapter cylinder 61 and a brake. Both the drive plate 4 and the encoder stator 33 are connected to the encoder support 31 via the adapter cylinder 61.

[0095] Please see Figure 2 As shown, the adapter tube 61 is located at the end of the motor housing 24 near the encoder support 31. The encoder support 31 is located on the inner ring of the adapter tube 61 and is connected to the adapter tube 61 by bolts. The drive plate 4 and the encoder stator 33 are both located at the end of the adapter tube 61 away from the encoder support 31 and are connected to the encoder support 31 through the adapter tube 61.

[0096] In this embodiment, the drive board 4 and the encoder stator 33 are mounted on the adapter cylinder 61 via a first copper stud 51 and a second copper stud 52. The rear cover 53 is fastened to the end of the adapter cylinder 61 away from the encoder support 31, and the rear cover 53 is threadedly connected to the second copper stud 52 by bolts.

[0097] The brake is located within the inner ring of the adapter cylinder 61 and between the encoder support 31 and the input encoder rotor 32. The brake includes a brake stator 62 and a brake rotor 63. The brake stator 62 is fixed to the end of the encoder support 31 away from the motor housing 24. The brake rotor 63 is fixed to the outer peripheral wall of the wave generator 11, thereby fixing the brake rotor 63 to the motor shaft 21 via the wave generator 11. The armature 631 of the brake rotor 63 is located between the brake stator 62 and the input encoder rotor 32. The armature 631 is adapted to cooperate with the brake stator 62 to achieve unlocking or self-locking of the brake.

[0098] In this embodiment, the brake is an electromagnetic brake. The input encoder rotor 32 is connected to the wave generator 11 via the input shielding tray 35, thereby indirectly connecting the input encoder rotor 32 to the motor shaft 21. The input shielding tray 35 is placed between the brake rotor 63 and the input encoder rotor 32. The output encoder rotor 34 is fixedly connected to the encoder connection end of the flexspline cover 12 via the output shielding tray 36. The output shielding tray 36 is placed on the side of the output encoder rotor 34 away from the encoder stator 33.

[0099] The input shielding tray 35 and the output shielding tray 36 are both made of metal. Metal can shield external electromagnetic signals to avoid mutual interference between the inductive dual encoder and the brake in the joint module.

[0100] Furthermore, to facilitate the installation of the brake rotor 63, the brake mounting base 632 of the brake rotor 63 has a split structure. The brake mounting base 632 includes a mounting cylinder and a mounting disc. The mounting cylinder is fixedly connected to the outer peripheral wall of the wave generator 11, and the mounting disc is fixed to the end of the mounting cylinder near the input encoder rotor 32 by bolts. The armature 631 is connected to the mounting disc through a spring clip, and the armature 631 is positioned between the mounting disc and the brake stator 62.

[0101] The electromagnetic brake is existing technology, so the structure of the brake stator 62 will not be described in detail.

[0102] This embodiment integrates the brake into the joint module to form a unified structure. Interference between the encoder and brake is prevented by adding input and output shielding trays.

[0103] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. An articulating module, comprising: The reducer (1), the motor assembly (2), the encoder assembly (3) and the driving board (4) are arranged along the axis of the joint module in sequence. The motor rotor (22) is fixed on the outer periphery of the motor shaft (21), and the motor stator (23) is fixed on the inner periphery of the motor shell (24). The axis of the joint module is the same as the axis of the motor shaft (21). The input shaft of the reducer (1) is fixedly connected with the motor shaft (21), and the input end encoder rotor (32) is connected with the motor shaft (21). The encoder assembly (3) comprises an encoder support (31), an input end encoder rotor (32), an encoder stator (33) and an output end encoder rotor (34) arranged along the axis of the motor shaft (21) in sequence. The encoder support (31) is installed on the end of the motor shell (24) away from the reducer (1), and the encoder stator (33) is fixed on the end of the encoder support (31) away from the motor shell (24). The encoder stator (33) is provided with sensing coils matched with the input end encoder rotor (32) and the output end encoder rotor (34) at two ends thereof. The driving board (4) is fixed on the encoder support (31) and is adapted to drive the motor shaft (21) to rotate and analyze the position signal generated by the encoder assembly (3).

2. The joint module according to claim 1, characterized in that The input end encoder rotor (32), the encoder stator (33), the output end encoder rotor (34) and the driving board (4) are arranged along the axis of the motor shaft (21) in sequence. The driving board (4) and the encoder stator (33) are fixed on the encoder support (31) through the connecting member. The connecting member extends along the axis of the motor shaft (21) and comprises a first copper stud (51) and a second copper stud (52). One end of the first copper stud (51) penetrates through the driving board (4) and is threadedly connected with the second copper stud (52), so that the driving board (4) is clamped between the first copper stud (51) and the second copper stud (52). The other end of the first copper stud (51) penetrates through the encoder stator (33) and is threadedly connected with the encoder support (31), so that the encoder stator (33) is clamped between the first copper stud (51) and the encoder support (31). The rear cover (53) is buckled on the end of the motor shell (24) away from the reducer (1). The encoder assembly (3), the driving board (4) and the connecting member are arranged in the rear cover (53), and the rear cover (53) is threadedly connected with the second copper stud (52) through a bolt.

3. The joint module of claim 1, wherein The reducer (1) is a harmonic reducer, comprising a wave generator (11) constituting an input shaft of the reducer (1) and a flexspline cover (12) constituting an output shaft of the reducer (1); The wave generator (11) extends along the axial direction of the motor shaft (21); one end of the wave generator (11) close to the encoder assembly (3) is an encoder connecting end, and the other end is a bearing connecting end; the encoder connecting end of the wave generator (11) is sequentially arranged in the axial center hole of the motor shaft (21) and the encoder support (31), and is connected with the input end encoder rotor (32); the wave generator (11) is fixedly connected with the motor shaft (21); The flexspline cover (12) extends along the axial direction of the motor shaft (21) and comprises a sealing end and an encoder connecting end; the sealing end of the flexspline cover (12) is installed at one end of the reducer (1) away from the motor assembly (2), and the encoder connecting end of the flexspline cover (12) is sequentially arranged in the axial center hole of the wave generator (11), the input end encoder rotor (32), the encoder stator (33) and the axial center hole of the output end encoder rotor (34), and is fixedly connected with the axial center hole of the output end encoder rotor (34).

4. The joint module according to claim 3, characterized in that The motor shell (24) is provided with a rear cover (53) on the end away from the reducer (1); the encoder assembly (3) and the driving plate (4) are arranged in the rear cover (53); The reducer (1) further comprises a flexspline (13) and a steel wheel (14); The inner ring of the flexspline (13) is connected with the bearing connecting end of the wave generator (11) through a first bearing (131); the encoder connecting end of the wave generator (11) is connected with the inner ring of the encoder support (31) through a second bearing (311); The steel wheel (14) is arranged on the outer ring of the flexspline (13), the steel wheel (14) and the flexspline (13) are drivingly connected through a cross roller bearing (15), and the inner ring of the cross roller bearing (15) is connected with the steel wheel (14); The outer ring of the cross roller bearing (15) is smaller than the outer diameter of the joint module, and the outer ring of the cross roller bearing (15) is provided with a bearing mounting sleeve; The bearing mounting sleeve, the flange plate of the flexspline (13) and the motor shell (24) are sequentially arranged along the axial direction of the motor shaft (21), and the bearing mounting sleeve, the flange plate of the flexspline (13) and the motor shell (24) are fixedly connected through first bolts; The sealing end of the flexspline cover (12) is installed on the end of the steel wheel (14) away from the motor assembly (2); the encoder connecting end of the flexspline cover (12) is sequentially arranged in the axial center hole of the wave generator (11), the input end encoder rotor (32), the encoder stator (33), the output end encoder rotor (34) and the driving plate (4), and is connected with the axial inner hole of the rear cover (53) through a third bearing (531).

5. The joint module according to claim 4, characterized in that The bearing mounting sleeve is of a split structure and comprises a gland (16) and a bearing shell (17); The flange plate of the flexible gear (13) and the motor shell (24) are provided with a bearing fixing ring (18) therebetween; 6. The joint module of claim 4, wherein, The flange plate of the flexible gear (13) and the inner side of the motor shell (24) enclose an installation cavity for limiting the axial and radial directions of the bearing fixing ring (18); The screw rod of the first bolt is sequentially arranged through the bearing installation sleeve, the flange plate of the flexible gear (13) and the bearing fixing ring (18), and is threadedly connected with the motor shell (24); The inner ring of the bearing fixing ring (18) is connected with the outer periphery of the wave generator (11) through a fourth bearing (181). The inner side of the rear cover (53) and the inner side of the motor shell (24) enclose an installation cavity for limiting the radial direction of the encoder support (31).

7. The joint module of claim 4, wherein, Further comprising a transfer cylinder (61) and a brake; 8. The joint module of claim 1, wherein, The transfer cylinder (61) is arranged at one end of the motor shell (24) close to the encoder support (31); the encoder support (31) is arranged in the inner ring of the transfer cylinder (61) and is connected with the transfer cylinder (61) through a bolt; The drive plate (4) and the encoder stator (33) are both arranged at one end of the transfer cylinder (61) away from the encoder support (31) and are connected with the encoder support (31) through the transfer cylinder (61); The brake is arranged in the inner ring of the transfer cylinder (61) and between the encoder support (31) and the input end encoder rotor (32); the brake comprises a brake stator (62) and a brake rotor (63); The brake stator (62) is fixed on one end of the encoder support (31) away from the motor shell (24); The brake rotor (63) is fixed on the motor shaft (21), and an armature (631) of the brake rotor (63) is arranged between the brake stator (62) and the input end encoder rotor (32). The brake is an electromagnetic brake; 9. The joint module of claim 8, wherein, The input end encoder rotor (32) is connected with the motor shaft (21) through an input end shielding tray (35), and the input end shielding tray (35) is arranged between the brake rotor (63) and the input end encoder rotor (32); The output end encoder rotor (34) is fixedly connected with the output shaft of the speed reducer (1) through an output end shielding tray (36); the output end shielding tray (36) is arranged on one side of the output end encoder rotor (34) away from the encoder stator (33). The joint module is installed on the machine body.

10. A robot, characterized in that The joint module is installed on the machine body. ​

Images