Joint rotor and joint module

Abstract

The joint rotor comprises a motor device, a brake device, a harmonic device and a hollow shaft, the brake device is arranged at one axial end of the motor device, the harmonic device is arranged at the other axial end of the motor device, and the hollow shaft penetrates through the harmonic device, the motor device and the brake device; the motor device comprises a stator and a rotor, a first bearing is arranged at the end, close to the harmonic device, of the motor device, the first bearing is arranged between the stator and the rotor, the rotor stretches into the brake device, and a second bearing is arranged between the end, stretching into the brake device, of the rotor and the brake device. The first bearing is installed in the gap between the rotor and the stator, the second bearing is installed in the gap between the rotor and the brake device, and the overall size of the positions, where the bearings are installed, of the two ends of the rotor does not exceed the size of the stator through the structural size design, so that the radial size of the joint module is reduced, and the structure is compact.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot structure design technical field, specifically, a joint rotor and joint module. BACKGROUND

[0002] With the rapid development of industrial automation technology, robots as an important industrial automation equipment, more and more get attention, and application is more and more widely. Joint module is an important part in robot, and it plays an important role in the movement of robot. At present, the design of robot joint module tends to miniaturization, so the structure joint module structure is urgently needed.

[0003] The existing patent application document with the publication number CN113414785B discloses a mechatronics intelligent robot joint module, which comprises a cylindrical joint shell with multiple stepped through holes; the joint input shaft and the joint output shaft are coaxially installed inside the joint shell, and the joint input shaft is sleeved on the front part of the joint output shaft; the front end of the joint output shaft is provided with a joint output flange, the joint output flange is fixed with the joint output shaft through a limiting step, and the joint output flange rotates with the joint output shaft; a first bearing is arranged between the joint output flange and the joint input shaft; a harmonic reducer, a joint motor and an encoder shaft are sequentially installed on the joint input shaft from the front end to the rear end; a driver and a brake assembly are arranged at the rear part of the joint output shaft, the driver is installed on the tail of the joint output shaft through a second bearing, the brake assembly is connected to the driver through a hollow threaded part, and after starting the brake, the brake end of the brake assembly abuts against the encoder shaft to realize braking; the driver is fixed in the inside of the joint shell through a driver mounting plate, and is used for driving the joint motor; the axial distance between the outer ring encoder and the inner ring encoder and the driver is adjusted through the driver mounting plate.

[0004] The space design of the robot joint module in the prior art leads to the large radial size of the joint module, and there is an urgent need for a joint module with small radial size. UTILITY MODEL CONTENTS

[0005] In view of the defects in the prior art, the utility model aims to provide a joint rotor and joint module.

[0006] According to the joint rotor provided by the utility model, the brake device is arranged at one end of the motor device in the axial direction, the harmonic device is arranged at the other end of the motor device in the axial direction, the hollow shaft penetrates the harmonic device, the motor device and the brake device, the motor device comprises a stator and a rotor, one end of the motor device close to the harmonic device is provided with a first bearing, the first bearing is arranged between the stator and the rotor, the rotor extends into the brake device, and a second bearing is arranged between the end of the rotor extending into the brake device and the brake device.

[0007] Preferably, the brake device comprises a brake pad, a brake clamp plate and a brake driving assembly, the brake pad is connected with the rotor, the brake driving assembly drives the brake clamp plate to press the brake pad to brake, or the brake driving assembly drives the brake clamp plate to release the brake pad to restore movement.

[0008] Preferably, the cross-sectional profile shape of the connection part of the rotor and the brake pad comprises a polygon, an internal cavity with a shape matched with the cross-sectional profile shape of the connection part of the rotor and the brake pad is formed in the brake pad, and the brake pad is sleeved on the rotor.

[0009] Preferably, the brake driving assembly comprises a driving coil, a fixed base and an elastic piece, the driving coil is fixedly arranged on the fixed base, the fixed base is fixedly connected with the stator, the elastic piece is arranged between the fixed base and the brake clamp plate, and the second bearing is arranged between the rotor and the fixed base; when the driving coil is electrified, the elastic piece is in a compression state, the attractive force of the driving coil to the brake clamp plate overcomes the elastic force of the elastic piece, and the brake clamp plate does not generate the axial force to the brake pad; when the driving coil is de-energized, the elastic piece is stretched, and the brake clamp plate presses the brake pad to brake under the action of the force of the elastic piece.

[0010] Preferably, the utility model also comprises an encoder device, the encoder device is arranged on the side of the brake device away from the motor device along the axial direction of the hollow shaft, the encoder device comprises an output end measuring code disc, an input end measuring code disc and an encoder circuit board, the output end measuring code disc is installed on the hollow shaft and rotates synchronously with the hollow shaft, the input end measuring code disc is installed on the rotor and rotates synchronously with the rotor, and the encoder circuit board is arranged between the output end measuring code disc and the input end measuring code disc; the input end measuring code disc, the rotor, the fixed base and the brake pad cooperatively form the mounting space of the second bearing.

[0011] Preferably, the utility model also comprises a shell, the shell is a mounting base, a stepped surface is arranged in the shell, an installation plate is arranged on the stepped surface, the fixed base is connected with the installation plate through fasteners, and the installation plate, the brake pad, the brake clamp plate and the fixed base are sequentially arranged along the axial direction of the hollow shaft.

[0012] Preferably, the harmonic device comprises a harmonic cam connected with the rotor, a harmonic flexspline sleeved with the harmonic cam, and a harmonic steel wheel sleeved with the harmonic flexspline, a third bearing is arranged between the harmonic flexspline and the harmonic cam, and the harmonic steel wheel is engaged with the harmonic flexspline through a gear; the stator, the rotor and the harmonic device cooperatively form a mounting space of the first bearing.

[0013] Preferably, an end of the rotor extending into the harmonic device is provided with a stop ring arranged between the hollow shaft and the rotor, an end of the harmonic device away from the motor device is provided with a cross roller bearing, the hollow shaft is provided with a connecting disc, and the inner ring of the cross roller bearing, the harmonic flexspline and the connecting disc are connected through a fastener.

[0014] Preferably, the harmonic device comprises, in a radial cross section of the hollow, the hollow shaft, the stop ring, the rotor, the harmonic cam, the third bearing, the harmonic flexspline and the harmonic steel wheel arranged in sequence from inside to outside.

[0015] According to the joint module, the sensor module is connected with the inner ring of the cross roller bearing, the harmonic flexspline and the connecting disc through a fastener.

[0016] Compared with the prior art, the joint module has the following beneficial effects:

[0017] 1. The first bearing is installed in the gap between the rotor and the stator, the second bearing is installed in the gap between the rotor and the brake device, and the overall size of the bearings installed at the two ends of the rotor is not more than the size of the stator through structure size design, thereby reducing the radial size of the joint module and making the structure compact.

[0018] 2. The annular design of the fixed base allows the space between the fixed base and the rotor to be allowed to install the second bearing, and the positioning and installation of the second bearing are realized through the threaded connection of the output end measuring code disc and the rotor.

[0019] 3. The positioning and installation of the first bearing are realized through the gap between the rotor, the stator and the harmonic device and the size design. BRIEF DESCRIPTION OF DRAWINGS

[0020] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the following drawings:

[0021] Figure 1 The present application mainly embodies the sectional view of the joint rotor overall structure.

[0022] As shown in the figure:

[0023] The housing 1 is fixed to the base 10

[0024] The hollow shaft 2 is provided with an output end measuring code disc 12

[0025] The connecting disc 21 is provided with an input end measuring code disc 13

[0026] The hollow shaft lip 22 is provided with an encoder circuit board 14

[0027] The stator 3 is provided with a mounting plate 15

[0028] The rotor 4 is provided with a harmonic cam 17

[0029] The first bearing 5 is provided with a harmonic flexspline 18

[0030] The second bearing 6 is provided with a harmonic steel wheel 19

[0031] The brake pad 7 is provided with a third bearing 20

[0032] The brake clamp plate 8 is provided with a stop ring 23

[0033] The drive coil 9 is provided with a cross roller bearing 24 DETAILED DESCRIPTION

[0034] The utility model will be described in detail below in combination with specific embodiments. The following embodiments will help the person skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that, for those skilled in the art, without departing from the concept of the utility model, a number of changes and improvements can be made. These all belong to the protection scope of the utility model.

[0035] As Figure 1 shown, according to the joint rotor 4 provided by the utility model, including housing 1, motor device, brake device, harmonic device and hollow shaft 2, housing 1 is as the installation base, brake device is arranged at the one end of motor device axial direction, harmonic device is arranged at the other end of motor device axial direction, hollow shaft 2 is arranged through harmonic device, motor device and brake device. Motor device includes stator 3 and rotor 4, and the one end of motor device close to harmonic device is provided with first bearing 5, and first bearing 5 is arranged between stator 3 and rotor 4, rotor 4 is inserted into brake device, and the one end of rotor 4 inserted into brake device and brake device is provided with second bearing 6.

[0036] The application places first bearing 5 and second bearing 6 at both ends of rotor 4 by the overall design of joint rotor 4, and reasonably utilizes the gap between rotor 4 and stator 3, the gap between rotor 4 and brake device, so as to reduce the radial dimension of joint rotor 4 as a whole.

[0037] Specifically, the motor device comprises a stator 3 and a rotor 4, the stator 3 is fixedly connected with the housing 1, and the rotor 4 is in the shape of a hollow cylinder. The rotor 4 is coaxially sleeved on the hollow shaft 2, and one end of the rotor 4 extends into the brake device, and the other end of the rotor 4 extends into the harmonic device.

[0038] The brake device comprises a brake pad 7, a brake clamp plate 8 and a brake driving assembly. The brake pad 7 is connected with the rotor 4, and the brake driving assembly drives the brake clamp plate 8 to press the brake pad 7 to brake, or the brake driving assembly drives the brake clamp plate 8 to release the brake pad 7 to restore movement. In an embodiment of the present application, the cross-sectional profile shape of the connection between the rotor 4 and the brake pad 7 comprises a polygon, the inside of the brake pad 7 is formed with a cavity with a matching shape, and the brake pad 7 is sleeved on the rotor 4, so as to realize the radial fixed connection of the brake pad 7 and the rotor 4, and the brake pad 7 can be installed through the axial direction.

[0039] The brake driving assembly comprises a driving coil 9, a fixed base 10 and an elastic member, and the driving coil 9 is fixedly arranged on the fixed base 10. The fixed base 10 is fixedly connected with the stator 3, the elastic member is arranged between the fixed base 10 and the brake clamp plate 8, and the second bearing 6 is arranged between the rotor 4 and the fixed base 10. When the driving coil 9 is electrified, the elastic member is in a compressed state, the attractive force of the driving coil 9 on the brake clamp plate 8 overcomes the elastic force of the elastic member, and the brake clamp plate 8 does not generate an axial force on the brake pad 7. When the driving coil 9 is de-energized, the elastic member is stretched, and the brake clamp plate 8 presses the brake pad 7 to brake under the action of the force of the elastic member.

[0040] The driving coil 9 is arranged in the inside of the fixed base 10, the shapes of the driving coil 9 and the fixed base 10 both comprise a ring shape, and the material of the fixed base 10 comprises a magnetic material. Arranging the driving coil 9 in the inside of the fixed base 10 can protect the driving coil 9, and the fixed base 10 made of a magnetic material, such as iron, cobalt, nickel and an alloy containing one or more of iron, cobalt and nickel, can expand the magnetic effect of the driving coil 9. The ring shape of the fixed base 10 allows the fixed base 10 and the rotor 4 to have a space allowing the second bearing 6 to be installed.

[0041] Further, a stepped surface is arranged in the housing 1, an installation plate 15 is arranged on the stepped surface, and the fixed base 10 is connected with the installation plate 15 through fasteners. The installation plate 15, the brake pad 7, the brake clamp plate 8 and the fixed base 10 are sequentially arranged along the axial direction of the hollow shaft 2. When braking, the brake clamp plate 8 presses the brake pad 7 on the installation plate 15 under the action of the force of the elastic member, so as to brake.

[0042] More specifically, the brake device further comprises an encoder device arranged on the side of the hollow shaft 2 axially away from the motor device. The encoder device comprises an output end measuring code disc 12, an input end measuring code disc 13 and an encoder circuit board 14. The output end measuring code disc 12 is mounted on the hollow shaft 2 and rotates synchronously with the hollow shaft 2. The input end measuring code disc 13 is mounted on the rotor 4 and rotates synchronously with the rotor 4. The encoder circuit board 14 is arranged between the output end measuring code disc 12 and the input end measuring code disc 13. The input end measuring code disc 13, the rotor 4, the fixed base 10 and the brake pad 7 cooperatively form a mounting space of the second bearing 6.

[0043] The output end measuring code disc 12 is connected with the hollow shaft 2 through threads. The input end measuring code disc 13 is connected with the end of the rotor 4 through threads. The input end measuring code disc 13 is close to the brake device and partially extends into the annular space of the fixed base 10. The positioning and mounting of the second bearing 6 are realized through the threaded connection between the output end measuring code disc 12 and the rotor 4.

[0044] It should be noted that the side of the encoder circuit board 14 close to the output end measuring code disc 12 is provided with an output end measuring encoder reader. The side of the encoder circuit board 14 close to the input end measuring code disc 13 is provided with an input end measuring encoder reader. The output end measuring encoder reader and the input end measuring encoder reader are integrated on the same encoder circuit board 14, which simplifies the circuit structure. The output end measuring code disc 12, the encoder circuit board 14 and the input end measuring code disc 13 are arranged in sequence along the axial direction of the hollow shaft 2, which improves the integration of the overall encoder structure and saves the mounting space of the encoder structure.

[0045] More specifically, the harmonic device comprises a harmonic cam 17, a harmonic flexspline 18 and a harmonic steel wheel 19. The harmonic cam 17 is connected with the rotor 4. The harmonic flexspline 18 is sleeved on the harmonic cam 17. The harmonic steel wheel 19 is sleeved on the harmonic flexspline 18. A third bearing 20 is arranged between the harmonic flexspline 18 and the harmonic cam 17. The harmonic steel wheel 19 is engaged with the harmonic flexspline 18 through gears. The stator 3, the rotor 4 and the harmonic device cooperatively form a mounting space of the first bearing 5. The third bearing 20 of the present application is preferably a thin-wall bearing. The harmonic steel wheel 19 is engaged with the harmonic flexspline 18 through gears. Specifically, the inner ring of the third bearing 20 is glued with the harmonic cam 17. The third bearing 20 and the harmonic cam 17 constitute a wave generator.

[0046] The cross roller bearing 24 is arranged at the end of the harmonic device away from the motor device, the inner ring of the cross roller bearing 24 is fixedly connected with the harmonic flexspline 18, and the outer ring of the cross roller bearing 24 is fixedly connected with the harmonic gear 19. The end of the rotor 4 extending into the harmonic device is provided with a stop ring 23, and the stop ring 23 is arranged between the hollow shaft 2 and the rotor 4. The hollow shaft 2 is provided with a connecting disc 21, and the inner ring of the cross roller bearing 24, the harmonic flexspline 18 and the connecting disc 21 are connected through fasteners.

[0047] The assembly of the harmonic flexspline 18, the harmonic gear 19, the cross roller bearing 24 and the fasteners constitutes a harmonic output module. The outer ring of the cross roller bearing 24 is fixed to the harmonic gear 19 by using the fasteners. Meanwhile, the inner ring of the cross roller bearing 24 is fixed to the harmonic flexspline 18 by using the fasteners. The harmonic flexspline 18, the harmonic gear 19 and the cross roller bearing 24 are assembled into an integral whole, i.e. the harmonic output module, through the fasteners.

[0048] When the harmonic output module is installed on the joint, the lip portion 22 of the hollow shaft is inserted into the inner ring of the harmonic flexspline 18 in an interference fit. Then the harmonic output module is pressed into the wave generator composed of the third bearing 20 and the harmonic cam 17, and is assembled and fixed with the shell 1 of the input end through the fasteners. This helps to further strengthen the overall structural strength of the harmonic gear 19 and the outer ring of the cross roller bearing 24 after being fixed. Further, the sensor module, the inner ring of the cross roller bearing 24 and the connecting disc 21 are sequentially connected and fixed through the fasteners, further strengthening the overall structural strength and integration of the inner ring of the output end.

[0049] It needs to be further explained that, in a feasible embodiment of the present application, the cross roller outer ring can be integrally formed with the harmonic gear 19.

[0050] The hollow shaft 2, the motor device, the brake device and the harmonic device are coaxially arranged. The connecting disc 21 is coaxially arranged on the hollow shaft 2, and the connecting disc 21, the inner ring of the cross roller bearing 24 and the harmonic flexspline 18 are connected through fasteners. It needs to be emphasized that the sensor module of the present application is arranged outside the joint module, and the sensor module of the present application can be sequentially connected with the inner ring of the cross roller bearing 24, the harmonic flexspline 18 and the connecting disc 21 through fasteners. The threaded part of the fastener is screwed into the thread of the connecting disc 21 and tightened.

[0051] It needs to be explained that the fastener of the present application can adopt the fasteners such as bolts or screws in the prior art. The fastener can install the sensor module while connecting the harmonic flexspline 18 and the inner ring of the cross roller bearing 24, thereby saving the number of fasteners and optimizing the overall structure.

[0052] Specifically, the harmonic flexspline 18 and the harmonic gear 19 are both thin-walled structures in a hollow disc shape, the connection position of the harmonic flexspline 18 with the cross roller bearing 24 is arranged at the middle part of the cross roller bearing 24, and the connection position of the harmonic gear 19 with the cross roller bearing 24 is arranged at the circumferential side edge of the cross roller bearing 24.

[0053] The harmonic device comprises, in the hollow radial cross section, in order from inside to outside: the hollow shaft 2, the stop ring 23, the rotor 4, the harmonic cam 17, the third bearing 20, the harmonic flexspline 18 and the harmonic gear 19. By arranging the second bearing 6 and the third bearing 20 in two radial planes respectively, and installing the second bearing 6 by means of the gap between the rotor 4 and the mover, the overall radial dimension is reduced.

[0054] It should be noted that the rotor 4 of the present application is an integrally formed component, the position where the rotor 4 is connected with other components is provided with a surface for connection and a stepped structure for limiting, and the maximum dimension of the rotor 4 of the present application is located at the part of the middle of the rotor 4 which is in contact with the stator 3, and the dimensions of the two ends of the rotor 4 for respectively installing the first bearing 5 and the second bearing 6 are all smaller than the dimension of the middle part of the rotor 4 which cooperates with the stator 3, so that the compact design of the joint rotor 4 of the present application is realized, and the radial dimension is reduced.

[0055] The joint module further comprises a sensor module, and the sensor module is connected with the inner ring of the cross roller bearing 24, the harmonic flexspline 18 and the connecting disc 21 through fasteners. The joint module is modularly designed, so that the sensor module can be installed outside the joint module during use, and the sensor module can be fixedly installed outside the cross roller bearing 24 to form a highly modular force sensing joint. Since the joint module and the sensor module are highly independent, the same joint can be matched with different types of sensors, for example, a torque sensing, force sensing, torque + force sensing sensor module can be installed to realize different force control effects. Further, the sensor module can be a single-direction force sensor or a multi-direction force sensor.

[0056] Working principle

[0057] Through the structural design of the shell 1, the motor device, the brake device, the harmonic device, the encoder device and the hollow shaft 2, the compactness of the whole robot joint module is improved, the first bearing 5 is installed between the rotor 4 and the stator 3, the second bearing 6 is installed at the end of the rotor 4 which extends into the brake device, and through the structural size design, the overall size of the bearings installed at the two ends of the rotor 4 does not exceed the size of the stator 3, so that the radial dimension of the joint rotor 4 is reduced.

[0058] In the description of the present application, it needs to be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0059] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An articular condyle characterized by, The motor device, the brake device, the harmonic device and the hollow shaft (2) are included, the brake device is arranged at one end of the motor device in the axial direction, the harmonic device is arranged at the other end of the motor device in the axial direction, and the hollow shaft (2) is arranged through the harmonic device, the motor device and the brake device; The motor device includes a stator (3) and a rotor (4), a first bearing (5) is arranged at one end of the motor device close to the harmonic device, the first bearing (5) is arranged between the stator (3) and the rotor (4), the rotor (4) extends into the brake device, and a second bearing (6) is arranged between the end of the rotor (4) extending into the brake device and the brake device.

2. The articular condyle of claim 1, wherein The brake device includes a brake pad (7), a brake clamp plate (8) and a brake driving assembly, the brake pad (7) is connected with the rotor (4), the brake driving assembly drives the brake clamp plate (8) to press the brake pad (7) to brake, or the brake driving assembly drives the brake clamp plate (8) to release the brake pad (7) to restore movement.

3. The articular condyle of claim 2, wherein The cross-sectional profile shape of the connection between the rotor (4) and the brake pad (7) includes a polygon, an internal cavity with a shape matched with the cross-sectional profile shape of the connection between the rotor (4) and the brake pad (7) is formed in the brake pad (7), and the brake pad (7) is sleeved on the rotor (4).

4. The articular resurfacing implant of claim 2, wherein the articular resurfacing implant is configured to be implanted in a patient's knee joint. The brake driving assembly includes a driving coil (9), a fixed base (10) and an elastic member, the driving coil (9) is fixedly arranged on the fixed base (10); The fixed base (10) is fixedly connected with the stator (3), the elastic member is arranged between the fixed base (10) and the brake clamp plate (8), and the second bearing (6) is arranged between the rotor (4) and the fixed base (10); When the driving coil (9) is electrified, the elastic member is in a compressed state, the attractive force of the driving coil (9) applied to the brake clamp plate (8) overcomes the elastic force of the elastic member, and the brake clamp plate (8) does not generate an axial force on the brake pad (7); When the driving coil (9) is de-energized, the elastic member is stretched, and the brake clamp plate (8) presses the brake pad (7) to brake under the force of the elastic member.

5. The articular condyle of claim 4, wherein An encoder device is further included, and the encoder device is arranged on the side of the brake device away from the motor device along the axial direction of the hollow shaft (2); The encoder device includes an output end measuring code disc (12), an input end measuring code disc (13) and an encoder circuit board (14), the output end measuring code disc (12) is installed on the hollow shaft (2) and rotates synchronously with the hollow shaft (2), the input end measuring code disc (13) is installed on the rotor (4) and rotates synchronously with the rotor (4), and the encoder circuit board (14) is arranged between the output end measuring code disc (12) and the input end measuring code disc (13); The input end measuring code disc (13), the rotor (4), the fixed base (10) and the brake pad (7) cooperatively form a mounting space of the second bearing (6).

6. The articular condyle of claim 4, wherein A shell (1) is further included, the shell (1) is a mounting base, a stepped surface is arranged in the shell (1), an installation plate (15) is arranged on the stepped surface, and the fixed base (10) is connected with the installation plate (15) through a fastener. The mounting plate (15), the brake pad (7), the brake clamp plate (8) and the fixed base (10) are sequentially arranged along the axial direction of the hollow shaft (2).

7. The articular condyle of claim 1, wherein The harmonic device comprises a harmonic cam (17), a harmonic flexspline (18) and a harmonic steel wheel (19), the harmonic cam (17) is connected with the rotor (4), the harmonic flexspline (18) is sleeved with the harmonic cam (17), the harmonic steel wheel (19) is sleeved with the harmonic flexspline (18), the third bearing (20) is arranged between the harmonic flexspline (18) and the harmonic cam (17), the harmonic steel wheel (19) is engaged with the harmonic flexspline (18) through gears; The stator (3), the rotor (4) and the harmonic device cooperatively form the mounting space of the first bearing (5).

8. The articular condyle of claim 7, wherein The end of the rotor (4) extending into the harmonic device is provided with a stop ring (23), and the stop ring (23) is arranged between the hollow shaft (2) and the rotor (4). The end of the harmonic device away from the motor device is provided with a cross roller bearing (24), the hollow shaft (2) is provided with a connecting disc (21), and the inner ring of the cross roller bearing (24), the harmonic flexspline (18) and the connecting disc (21) are connected through fasteners.

9. The articular condyle of claim 8, wherein The harmonic device comprises a harmonic cam (17), a harmonic flexspline (18) and a harmonic steel wheel (19), the harmonic cam (17) is connected with the rotor (4), the harmonic flexspline (18) is sleeved with the harmonic cam (17), the harmonic steel wheel (19) is sleeved with the harmonic flexspline (18), the third bearing (20) is arranged between the harmonic flexspline (18) and the harmonic cam (17), the harmonic steel wheel (19) is engaged with the harmonic flexspline (18) through gears; 10. An articulating module, comprising: The joint rotor of any one of claims 1-9 further comprises a sensor module, and the sensor module is connected with the inner ring of the cross roller bearing (24), the harmonic flexspline (18) and the connecting disc (21) through fasteners.

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