Joint module and robot

Abstract

The utility model relates to the technical field of robots, in particular to a joint module and a robot, and solves the problems that the axial size of the joint module is large, and miniaturization is difficult to realize. The joint module comprises a power assembly, a rigid wheel, a wave generator, a flexible wheel and a brake assembly. The flexible gear comprises a first forming part and a second forming part which are connected with each other, and the second forming part and the first forming part form a containing cavity. The brake assembly is arranged in the containing cavity, the space of the containing cavity of the flexible gear is fully utilized, the situation that the brake assembly additionally occupies the axial space of the joint module is avoided, the axial size of the joint module is reduced, and miniaturization of the joint module is easy to achieve.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, specifically to a joint module and a robot. Background Technology

[0002] Miniaturization is a perennial theme in humanoid robot joint modules. Braking structures are a crucial component of these modules. In practical applications, braking structures are typically used to control the movement and stopping of the joint modules. For example, in an emergency, the braking structure can quickly activate, stopping the joint module and preventing collisions or other hazards. Similarly, after a robot completes a movement, the braking structure can hold the joint module in its current position, preventing displacement due to external forces or gravity.

[0003] However, in related technologies, the braking structure of the joint module is generally a braking component installed at the end of the motor. The braking component occupies a large axial space of the joint module, resulting in a large axial dimension of the joint module, which makes it difficult to achieve miniaturization. Utility Model Content

[0004] In view of this, the present disclosure provides a joint module and a robot that solves the problem that the axial dimension of the joint module is large and difficult to miniaturize.

[0005] In a first aspect, embodiments of this disclosure provide a joint module, comprising: a power assembly including a fixed assembly and a motion assembly, the fixed assembly driving the motion assembly to rotate about a central axis; a rigid wheel connected to the fixed assembly; a wave generator disposed on the inner ring of the rigid wheel and connected to the motion assembly, rotating about the central axis under the drive of the motion assembly; a flexible wheel including a first component and a second component connected to each other, the first component extending axially along the rigid wheel and disposed between the rigid wheel and the wave generator, the outer surface of the first component partially engaging with the inner surface of the rigid wheel, the second component extending from the first component toward the central axis and forming a receiving cavity with the first component, the receiving cavity being located on the side of the second component near the wave generator; and a braking assembly disposed in the receiving cavity, the braking assembly including a stator structure and a mover structure, the stator structure being connected to the flexible wheel, the mover structure being connected to the wave generator, the stator structure being capable of applying braking force to the mover structure.

[0006] In some embodiments, the second component extends radially along the rigid wheel.

[0007] In some embodiments, the stator structure has a threaded portion, and the second component has a first locking hole; the joint module further includes: a hollow shaft, on which the wave generator, the braking assembly, and the flexible wheel are all sleeved, the hollow shaft includes an annular protrusion extending between the second component and the stator structure, and the annular protrusion has a second locking hole; an annular output member, sleeved on the hollow shaft and adjacent to the side of the flexible wheel away from the annular protrusion, the annular output member having a third locking hole; and a locking member, including a limiting portion and a threaded portion connected to each other, the limiting portion abutting against the side of the annular output member away from the second component, the threaded portion passing sequentially through the third locking hole, the first locking hole, and the second locking hole, and being threaded to the threaded portion.

[0008] In some embodiments, the outer surface of the annular output member has a first raceway, and the joint module further includes: a bearing outer ring connected to the fixing component, the inner surface of the bearing outer ring having a second raceway; a plurality of rollers, each roller having at least a portion of its structure disposed in the first raceway and at least a portion of its structure disposed in the second raceway, the rollers being capable of rolling within the first raceway and the second raceway.

[0009] In some embodiments, the hollow shaft has a through hole extending along the central axis and a wire-passing hole connecting the outer surface of the hollow shaft and the through hole, the wire-passing hole being disposed on the annular protrusion; the joint module further includes: a drive plate, connected to the fixing component and disposed at one end of the hollow shaft; wherein, the cable of the braking component passes through the wire-passing hole into the through hole and is connected to the drive plate through the through hole.

[0010] In some embodiments, the joint module further includes at least one strain gauge attached to the second component, the strain gauge being configured to detect stress on the second component.

[0011] In some embodiments, the number of strain gauges is multiple, and the multiple strain gauges are evenly distributed circumferentially along the central axis.

[0012] In some embodiments, the fixing component includes: a housing including an annular outer shell and an extension connected to the annular outer shell, the extension extending from the annular outer shell toward the central axis; a stator connected within the annular outer shell; the moving component includes: a rotor rotatably disposed with the stator and rotating about the central axis under the drive of the stator; a rotor shaft connected to the rotor and rotating with the rotor; the joint module further includes: a hollow shaft, the rotor shaft, the wave generator, the braking component, and the flexible wheel are all sleeved on the hollow shaft and arranged sequentially along the axial direction of the hollow shaft; a first bearing, the outer ring of the first bearing connected to the extension, the inner ring of the first bearing connected to the rotor shaft, and the orthographic projection of the first bearing along the radial direction of the annular outer shell onto the stator is at least partially located on the stator; a second bearing, the outer ring of the second bearing connected to the rotor shaft, the inner ring of the second bearing connected to the hollow shaft, and the orthographic projection of the second bearing along the radial direction of the annular outer shell onto the stator is at least partially located on the stator.

[0013] In some embodiments, the hollow shaft is connected to a flexible wheel, and the joint module further includes: a first code disk disposed at the end of the rotor shaft away from the wave generator; a second code disk disposed at the end of the hollow shaft near the rotor shaft; a drive plate connected to the fixing assembly and adjacent to the end of the hollow shaft near the rotor shaft; a first encoder disposed on the side of the drive plate near the rotor shaft and corresponding to the first code disk, configured to determine the rotational position of the rotor shaft by means of the first code disk; and a second encoder disposed on the side of the drive plate near the hollow shaft and corresponding to the second code disk, configured to determine the rotational position of the hollow shaft by means of the second code disk.

[0014] Secondly, embodiments of this disclosure provide a robot, including the joint module mentioned in the first aspect.

[0015] The joint module provided in this embodiment includes a power assembly, a rigid wheel, a wave generator, a flexible wheel, and a braking assembly. The flexible wheel includes a first component and a second component connected to each other, with the second component and the first component forming a receiving cavity. The braking assembly is disposed in the receiving cavity, making full use of the space of the receiving cavity of the flexible wheel, avoiding the braking assembly from occupying additional axial space of the joint module, reducing the axial dimension of the joint module, and facilitating the miniaturization of the joint module. Attached Figure Description

[0016] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to offer a further understanding of the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts.

[0017] Figure 1 The diagram shown is a structural schematic of a joint module provided in an embodiment of this disclosure.

[0018] Figure 2 The image shown is a front view of a joint module provided in an embodiment of this disclosure.

[0019] Figure 3 The image shown is an embodiment of this disclosure. Figure 2 The joint module shown is a cross-sectional view along the AA direction.

[0020] Figure 4 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of a portion of the joint module in region B.

[0021] Figure 5 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of a portion of the joint module in region C.

[0022] Figure 6 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of the joint module in region D.

[0023] Figure 7 The diagram shown is a schematic of a flexible wheel and strain gauge provided in an embodiment of this disclosure.

[0024] Figure 8 The image shown is a right view of a flexible wheel and strain gauge provided in an embodiment of this disclosure.

[0025] Figure 9 The diagram shown is a schematic diagram of a hollow shaft provided in an embodiment of this disclosure.

[0026] Figure 10 The diagram shown is a schematic diagram of a housing provided in an embodiment of this disclosure.

[0027] Figure 11 The diagram shown is a structural schematic of a robot provided in one embodiment of this disclosure.

[0028] Figure label:

[0029] 1. Robot; 10. Joint module; 100. Power assembly; 110. Fixing assembly; 111. Housing; 1111. Annular outer shell; 1112. Extension; 112. Stator; 120. Motion assembly; 121. Rotor; 122. Rotor shaft; 210. Rigid wheel; 220. Wave generator; 230. Flexible wheel; 231. First component; 232. Second component; 2321. First locking hole; 233. Receiving cavity; 240. Braking assembly; 241. Stator structure; 2411. Threaded part; 242. Moving part structure; 243. Cable; 310. Hollow shaft ; 311, Annular protrusion; 3111, Second locking hole; 312, Through hole; 313, Wire hole; 320, Annular output component; 321, Third locking hole; 322, First raceway; 330, Locking component; 331, Limiting part; 332, Screw connection part; 340, Bearing outer ring; 341, Second raceway; 350, Roller; 360, Drive plate; 370, First bearing; 380, Second bearing; 410, Strain gauge; 510, First code disk; 520, Second code disk; 530, First encoder; 540, Second encoder; 610, End cap; L, Central axis. Detailed Implementation

[0030] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0031] Figure 1 The diagram shown is a structural schematic of a joint module provided in an embodiment of this disclosure. Figure 2 The image shown is a front view of a joint module provided in an embodiment of this disclosure. Figure 3 The image shown is an embodiment of this disclosure. Figure 2 The joint module shown is a cross-sectional view along the AA direction. Figure 4 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of a portion of the joint module in region B. Figures 1 to 4 As shown, the joint module 10 includes a power assembly 100, a rigid wheel 210, a wave generator 220, a flexible wheel 230, and a braking assembly 240.

[0032] The power assembly 100 includes a stationary assembly 110 and a motion assembly 120. The stationary assembly 110 drives the motion assembly 120 to rotate about a central axis L. Exemplarily, the power assembly 100 is a motor, the stationary assembly 110 is the motor housing and stator, and the motion assembly 120 is the motor rotor and rotor bushing. Exemplarily, the power assembly 100 can also be other structures capable of outputting rotational force, such as a rotary electric cylinder.

[0033] The rigid wheel 210 is connected to the fixed assembly 110. The wave generator 220 is disposed within the inner ring of the rigid wheel 210 and connected to the motion assembly 120, rotating about the central axis L under the drive of the motion assembly 120. The flexible wheel 230 includes a first component 231 and a second component 232 connected to each other. The first component 231 extends axially along the rigid wheel 210 and is disposed between the rigid wheel 210 and the wave generator 220. The outer surface of the first component 231 partially engages with the inner surface of the rigid wheel 210. The second component 232 extends from the first component 231 toward the central axis L and forms a receiving cavity 233 with the first component 231, the receiving cavity 233 being located on the side of the second component 232 closest to the wave generator 220.

[0034] Exemplarily, the rigid wheel 210, wave generator 220, and flexible wheel 230 constitute a harmonic reducer, i.e., a reduction structure. Exemplarily, the inner surface of the rigid wheel 210 has teeth for meshing, and the outer surface of the flexible wheel 230 has teeth for meshing. Partial teeth on the outer surface of the flexible wheel 230 mesh with partial teeth on the inner surface of the rigid wheel 210 to achieve force transmission. Specifically, the wave generator 220 is connected to the motion assembly 120 and rotates around the central axis L under the drive of the motion assembly 120. The wave generator 220 compresses the flexible wheel 230, causing partial teeth on the outer surface of the flexible wheel 230 to mesh with partial teeth on the inner surface of the rigid wheel 210. Since the rigid wheel 210 is connected to the fixed assembly 110, i.e., the rigid wheel 210 is fixed, the flexible wheel 230 rotates around the central axis L, thereby achieving rotational force output.

[0035] Figure 7 The diagram shown is a schematic representation of a flexible wheel and strain gauge provided in an embodiment of this disclosure. Exemplarily, as... Figure 3 and Figure 7 As shown, the flexible wheel 230 is cup-shaped, and the harmonic reducer composed of the rigid wheel 210, wave generator 220, and flexible wheel 230 is a cup-shaped harmonic reducer. Exemplarily, the harmonic reducer composed of the rigid wheel 210, wave generator 220, and flexible wheel 230 can also be other types of harmonic reducers, such as a top hat-shaped harmonic reducer. The cup-shaped harmonic reducer has the characteristics of simple structure and small size, making it easier to achieve lightweighting and miniaturization, further improving the lightweighting and miniaturization of the joint module 10.

[0036] like Figure 4As shown, the braking assembly 240 is disposed in the receiving cavity 233. The braking assembly 240 includes a stator structure 241 and a mover structure 242. The stator structure 241 is connected to the flexible wheel 230, and the mover structure 242 is connected to the wave generator 220. The stator structure 241 is capable of applying braking force to the mover structure 242.

[0037] Braking assembly 240 is a device that functions to decelerate, stop, or maintain a stopped state of a moving part. Exemplarily, braking assembly 240 can be an electromagnetic brake, a friction brake, a hydraulic brake, etc. Taking an electromagnetic brake as an example, the stator structure 241 can be a structure such as an excitation coil and an iron core, and the mover structure 242 can be a structure such as an armature. When energized, the stator structure 241 can attract the mover structure 242, that is, apply braking force to the mover structure 242, causing the wave generator 220 connected to the mover structure 242 to decelerate or stop. When de-energized, the stator structure 241 separates from the mover structure 242, allowing the mover structure 242 to rotate with the wave generator 220.

[0038] For example, the stator structure 241 and the flexible wheel 230 can be connected by bolts or screws, or by gluing or snap-fitting. The mover structure 242 and the wave generator 220 can be connected by bolts or screws, or by gluing or snap-fitting.

[0039] In related technologies, the braking structure of a joint module is generally installed at the end of the motor. The braking component occupies a large axial space of the joint module, resulting in a large axial dimension of the joint module, which makes it difficult to achieve miniaturization. However, the joint module 10 of this application sets the braking component 240 in the receiving cavity 233, making full use of the space of the receiving cavity 233 of the flexible wheel 230, avoiding the additional occupation of the axial space of the joint module 10 by the braking component 240, reducing the axial dimension of the joint module 10, and making it easier to achieve miniaturization of the joint module 10.

[0040] For example, the second component 232 extends from the first component 231 toward the central axis L, and the extension direction of the second component 232 may intersect the central axis L. For example, the extension direction of the second component 232 forms an acute angle, an obtuse angle, or a right angle with the central axis L.

[0041] In some embodiments, such as Figure 4 As shown, the second component 232 extends radially along the rigid wheel 210, that is, the extension direction of the second component 232 is perpendicular to the central axis L, so that the second component 232 occupies as little space as possible in the direction parallel to the central axis L, that is, the axial space occupied by the second component 232 on the joint module 10 is further reduced, thereby further reducing the axial dimension of the joint module 10.

[0042] Figure 5The image shown is an embodiment of this disclosure. Figure 3 The image shows a partial enlarged view of the joint module in region C. In some embodiments, such as... Figure 5 As shown, the stator structure 241 has a threaded portion 2411. The second component 232 has a first locking hole 2321. Exemplarily, the threaded portion 2411 may be a threaded hole. Exemplarily, the first locking hole 2321 may be a through hole or a threaded hole that penetrates the second component 232 in a direction parallel to the central axis L.

[0043] The joint module 10 also includes a hollow shaft 310, an annular output component 320, and a locking component 330. The wave generator 220, braking assembly 240, and flexible wheel 230 are all fitted onto the hollow shaft 310.

[0044] Figure 9 The diagram shown is a schematic representation of a hollow shaft provided in an embodiment of this disclosure. Figure 9 As shown, the hollow shaft 310 includes an annular protrusion 311 that extends between the second component 232 and the stator structure 241. The annular protrusion 311 has a second locking hole 3111. Exemplarily, the second locking hole 3111 may be a through hole or a threaded hole extending through the annular protrusion 311 in a direction parallel to the central axis L.

[0045] The annular output member 320 is sleeved on the hollow shaft 310 and adjacent to the side of the flexible wheel 230 away from the annular protrusion 311. The annular output member 320 has a third locking hole 321. Exemplarily, the third locking hole 321 may be a through hole or a threaded hole that penetrates the annular output member 320 in a direction parallel to the central axis L.

[0046] The locking member 330 includes a limiting portion 331 and a threaded portion 332 connected to each other. The limiting portion 331 abuts against the side of the annular output member 320 away from the second component 232. The threaded portion 332 passes sequentially through the third locking hole 321, the first locking hole 2321, and the second locking hole 3111, and is threaded to the threaded portion 2411. Exemplarily, the locking member 330 is a bolt or screw, etc.

[0047] By using a single locking element 330 to lock the annular output element 320, flexible wheel 230, hollow shaft 310, and stator structure 241, the need to use multiple locking structures to lock the annular output element 320, flexible wheel 230, hollow shaft 310, and stator structure 241 sequentially is avoided. This reduces the number of locking structures, further saves axial space, and thus further reduces the axial dimension of the joint module 10.

[0048] In addition, the limiting part 331 of the locking member 330 is located on the side of the annular output member 320 away from the second component 232, which avoids the limiting part 331 occupying the receiving cavity 233 and provides sufficient space for the braking assembly 240.

[0049] In addition, while ensuring the strength of the annular protrusion 311, the size of the annular protrusion 311 in the direction parallel to the central axis L can be reduced, so that the size of the annular protrusion 311 in the direction parallel to the central axis L is as small as possible, thereby further reducing the axial dimension of the joint module 10.

[0050] In some embodiments, such as Figure 4 As shown, the outer surface of the annular output component 320 has a first raceway 322, and the joint module 10 also includes a bearing outer ring 340 and a plurality of rollers 350.

[0051] The bearing outer ring 340 is connected to the fixing assembly 110, and the inner surface of the bearing outer ring 340 has a second raceway 341. At least a portion of the structure of each roller 350 is disposed in the first raceway 322, and at least a portion of the structure of each roller 350 is disposed in the second raceway 341, and the roller 350 is capable of rolling within the first raceway 322 and the second raceway 341.

[0052] For example, the bearing outer ring 340, multiple rollers 350, and annular output member 320 form a roller bearing. For example, the multiple rollers 350 may be arranged in a cross configuration, such that the bearing outer ring 340, multiple rollers 350, and annular output member 320 form a crossed roller bearing.

[0053] The annular output component 320 also functions as the inner ring of a bearing, reducing the axial limiting structure of the inner ring of the bearing, reducing the axial dimension of the deceleration structure, and thus reducing the axial dimension of the joint module 10.

[0054] In addition, the outer ring of the bearing also functions as the housing of the deceleration structure, reducing the axial limiting structure on the outer ring of the bearing, reducing the axial dimension of the deceleration structure, and thus reducing the axial dimension of the joint module 10.

[0055] In some embodiments, such as Figure 3 and Figure 4 As shown, the hollow shaft 310 has a through hole 312 extending along the central axis L, and a wire hole 313 connecting the outer surface of the hollow shaft 310 and the through hole 312.

[0056] The joint module 10 also includes a drive plate 360. The drive plate 360 ​​is connected to the fixing assembly 110 and is disposed at one end of the hollow shaft 310. The cable 243 of the braking assembly 240 passes through the through hole 313 into the through hole 312 and is connected to the drive plate 360 ​​through the through hole 312, facilitating the wiring of the braking assembly 240. Exemplarily, the cable 243 of the braking assembly 240 may be a wire for energizing the braking assembly 240 and / or a signal line for communication between the braking assembly 240 and the braking assembly 240.

[0057] In some embodiments, such as Figure 4 As shown, the wire hole 313 is provided on the annular protrusion 311, so that the wire can be routed at the annular protrusion 311 without occupying the axial space of the hollow shaft 310, further reducing the axial dimension of the joint module 10.

[0058] Figure 7 The diagram shown is a schematic representation of a flexible wheel and strain gauge according to an embodiment of this disclosure. In some embodiments, such as Figure 7 As shown, the joint module 10 also includes at least one strain gauge 410. The strain gauge 410 is attached to the second component 232. The strain gauge 410 is configured to detect the stress on the second component 232, thereby directly detecting the stress on the second component 232 of the flexible wheel 230, achieving integrated joint output torque detection instead of relying on an external torque sensor. This saves space in the joint module 10 and reduces its weight and cost.

[0059] The strain gauge 410 is a sensor element used to measure the strain on the surface of an object, and it has wide applications in mechanical testing, structural health monitoring, and materials performance research. The working principle of the strain gauge 410 is based on the resistive strain effect of metals. Specifically, when a metal is deformed under external force, its length and cross-sectional area change, resulting in a change in its resistance. For most metallic materials, within the elastic range of the material, there is an approximately linear relationship between the relative change in resistance and strain. By measuring the change in resistance of the strain gauge 410, the strain on the surface of the object can be calculated.

[0060] For example, the cable of strain gauge 410 can also pass through the through hole 313 into the through hole 312 and be connected to the drive board 360 through the through hole 312, which facilitates the routing of the strain gauge 410. For example, the cable of strain gauge 410 can be a signal line for communication between strain gauge 410 and other components.

[0061] Figure 8 The image shown is a right view of a flexible wheel and strain gauge provided according to an embodiment of this disclosure. In some embodiments, such as Figure 8 As shown, there are multiple strain gauges 410, which are evenly distributed circumferentially along the central axis L. This even distribution of multiple strain gauges 410 allows for the analysis and compensation of the deformation difference between two symmetrical strain gauges 410, reducing manufacturing errors and inherent strain gauge errors, thereby improving the accuracy of stress detection.

[0062] For example, the number of strain gauges 410 can be 2, 4, 6, 8, etc., and this application does not make a specific limitation.

[0063] Figure 10The diagram shown is a schematic representation of a housing provided according to an embodiment of this disclosure. In some embodiments, such as Figure 3 As shown, the fixing assembly 110 includes a housing 111 and a stator 112. (As indicated...) Figure 3 and Figure 10 As shown, the housing 111 includes an annular outer shell 1111 and an extension 1112 connected to the annular outer shell 1111. The extension 1112 extends from the annular outer shell 1111 toward the central axis L. The stator 112 is connected inside the annular outer shell 1111.

[0064] For example, the extension 1112 extends from the annular outer shell 1111 toward the central axis L, and the extension direction of the extension 1112 may intersect the central axis L. For example, the extension direction of the extension 1112 forms an acute angle, an obtuse angle, or a right angle with the central axis L.

[0065] In some embodiments, such as Figure 4 As shown, the extension 1112 extends radially along the rigid wheel 210, that is, the extension direction of the extension 1112 is perpendicular to the central axis L, so that the extension 1112 occupies as little space as possible in the direction parallel to the central axis L, that is, the axial space occupied by the extension 1112 on the joint module 10 is further reduced, thereby further reducing the axial dimension of the joint module 10.

[0066] The motion assembly 120 includes a rotor 121 and a rotor shaft 122. The rotor 121 is rotatably disposed from the stator 112 and rotates about a central axis L under the drive of the stator 112. The rotor shaft 122 is connected to the rotor 121 and rotates with the rotor 121. For example, as... Figure 3 As shown, the stator 112, rotor 121 and rotor shaft 122 are all annular structures.

[0067] The joint module 10 also includes a hollow shaft 310, a first bearing 370, and a second bearing 380. The rotor shaft 122, wave generator 220, braking assembly 240, and flexible wheel 230 are all fitted onto the hollow shaft 310 and arranged sequentially along the axial direction of the hollow shaft 310. The outer ring of the first bearing 370 is connected to the extension 1112, and the inner ring of the first bearing 370 is connected to the rotor shaft 122. The orthographic projection of the first bearing 370 along the radial direction of the annular housing 1111 onto the stator 112 is at least partially located on the stator 112. The outer ring of the second bearing 380 is connected to the rotor shaft 122, and the inner ring of the second bearing 380 is connected to the hollow shaft 310. The orthographic projection of the second bearing 380 along the radial direction of the annular housing 1111 onto the stator 112 is at least partially located on the stator 112.

[0068] The orthographic projection of the first bearing 370 along the radial direction of the annular housing 1111 onto the stator 112 is at least partially located on the stator 112, and the orthographic projection of the second bearing 380 along the radial direction of the annular housing 1111 onto the stator 112 is at least partially located on the stator 112. That is, the first bearing 370 and the second bearing 380 are at least partially located on the inner ring of the stator 112, so that the first bearing 370 and the second bearing 380 make full use of the axial space of the inner ring of the stator 112, reducing the occupation of additional axial space.

[0069] For example, the orthographic projection of the first bearing 370 along the radial direction of the annular housing 1111 onto the stator 112 is entirely located on the stator 112, and the orthographic projection of the second bearing 380 along the radial direction of the annular housing 1111 onto the stator 112 is entirely located on the stator 112. That is, the first bearing 370 and the second bearing 380 are both located on the inner ring of the stator 112, which allows the first bearing 370 and the second bearing 380 to make fuller use of the axial space of the inner ring of the stator 112, further reducing the occupation of additional axial space.

[0070] For example, the first bearing 370 and the second bearing 380 can be ball bearings, roller bearings, combination bearings, etc.

[0071] Figure 6 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of a portion of the joint module in region D. In some embodiments, such as... Figure 6 As shown, the joint module 10 also includes a first code disk 510, a second code disk 520, a drive board 360, a first encoder 530, and a second encoder 540.

[0072] The first code disk 510 is located at the end of the rotor shaft 122 furthest from the wave generator 220. The second code disk 520 is located at the end of the hollow shaft 310 closest to the rotor shaft 122.

[0073] The drive plate 360 ​​is connected to the fixed assembly 110 and is adjacent to the end of the hollow shaft 310 near the rotor shaft 122.

[0074] The first encoder 530 is disposed on the side of the drive plate 360 ​​near the rotor shaft 122 and corresponds to the first code disk 510. It is configured to determine the rotational position of the rotor shaft 122 through the first code disk 510, that is, to detect the rotational position of the input end of the joint module 10. Exemplarily, the first code disk 510 is an incremental code disk, an absolute code disk, etc. Exemplarily, the first encoder 530 is a photoelectric reader, a magnetoelectric reader, an inductive reader, etc.

[0075] The second encoder 540 is disposed on the side of the drive plate 360 ​​near the hollow shaft 310 and corresponds to the second code disk 520. It is configured to determine the rotational position of the hollow shaft 310 via the second code disk 520. The hollow shaft 310 is connected to the flex wheel 230; therefore, the second encoder 540 can determine the rotational position of the flex wheel 230 via the second code disk 520, i.e., detect the rotational position of the output end of the joint module 10. Exemplarily, the second code disk 520 is an incremental code disk, an absolute code disk, etc. Exemplarily, the second encoder 540 is a photoelectric reader, a magnetoelectric reader, an inductive reader, etc.

[0076] The first code disk 510 is located at the end of the rotor shaft 122 away from the wave generator 220, and the second code disk 520 is located at the end of the hollow shaft 310 close to the rotor shaft 122. That is, the first code disk 510 and the second code disk 520 are both located at the same end of the joint module 10, which makes it convenient to install the first code disk 510 and the second code disk 520 on the same plane perpendicular to the central axis L or on two planes with a small distance between them perpendicular to the central axis L, so as to save the space occupied by the first code disk 510 and the second code disk 520 in the extension direction of the central axis L, and further reduce the axial dimension of the joint module 10.

[0077] In some embodiments, such as Figure 6 As shown, the first code disk 510 and the second code disk 520 are mounted on the same plane perpendicular to the central axis L, which further reduces the space occupied by the first code disk 510 and the second code disk 520 in the extension direction of the central axis L, and further reduces the axial dimension of the joint module 10.

[0078] In some embodiments, such as Figure 6 As shown, the first encoder 530 and the second encoder 540 are mounted on the same plane perpendicular to the central axis L, which further reduces the space occupied by the first encoder 530 and the second encoder 540 in the extension direction of the central axis L, and further reduces the axial dimension of the joint module 10.

[0079] In some embodiments, the joint module 10 further includes an end cap 610. The end cap 610 is connected to the annular housing 1111 and is disposed on the side of the drive plate 360 ​​away from the stator 112. Exemplarily, the drive plate 360 ​​may be mounted on the end cap 610.

[0080] Figure 11 The diagram shown is a structural schematic of a robot provided in one embodiment of this disclosure. Figure 11 As shown, robot 1 includes the joint module 10 in the above embodiments. Exemplarily, robot 1 is a humanoid robot, collaborative robot, transport robot, etc.

[0081] Since robot 1 includes joint module 10, robot 1 has all the technical features and effects of joint module 10, which will not be described in detail here.

[0082] In the embodiments of this disclosure, unless the form of connection is explicitly defined, the connection can be a detachable connection such as a bolt and nut, screw, clip, or magnetic connection. In some connections where there is no particular requirement for a non-detachable fit, a non-detachable connection can be achieved through welding, bonding, or other methods.

[0083] The terms "an embodiment" or "embodiment" used in this specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0084] It should be understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0085] Furthermore, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of a component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of components in use or operation other than those shown in the figures. Devices may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0086] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0087] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications or equivalent substitutions made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. An articulating module, comprising: include: A power assembly includes a fixed component and a moving component, wherein the fixed component drives the moving component to rotate about a central axis; Rigid wheel, connected to the fixed component; A wave generator is disposed on the inner ring of the rigid wheel and connected to the motion component, and rotates around the central axis under the drive of the motion component; The flexible wheel includes a first component and a second component that are connected to each other. The first component extends along the axial direction of the rigid wheel and is disposed between the rigid wheel and the wave generator. The outer side of the first component partially engages with the inner side of the rigid wheel. The second component extends from the first component toward the central axis and forms a receiving cavity with the first component. The receiving cavity is located on the side of the second component closer to the wave generator. A braking assembly is disposed in the receiving cavity. The braking assembly includes a stator structure and a mover structure. The stator structure is connected to the flexible wheel, and the mover structure is connected to the wave generator. The stator structure is capable of applying braking force to the mover structure.

2. The joint module according to claim 1, characterized in that, The second component extends radially along the rigid wheel.

3. The joint module according to claim 1, characterized in that, The stator structure has a threaded portion, and the second component has a first locking hole; The joint module also includes: The hollow shaft, the wave generator, the braking assembly, and the flexible wheel are all sleeved on the hollow shaft. The hollow shaft includes an annular protrusion that extends between the second component and the stator structure. The annular protrusion has a second locking hole. An annular output component is sleeved on the hollow shaft and adjacent to the side of the flexible wheel away from the annular protrusion. The annular output component has a third locking hole. The locking member includes a limiting part and a screwed part connected to each other. The limiting part abuts against the side of the annular output member away from the second component. The screwed part passes through the third locking hole, the first locking hole and the second locking hole in sequence, and is screwed to the threaded part.

4. The joint module according to claim 3, characterized in that, The outer surface of the annular output component has a first raceway, and the joint module further includes: The bearing outer ring is connected to the fixing assembly, and the inner surface of the bearing outer ring has a second raceway; A plurality of rollers, each roller having at least a portion of its structure disposed in a first raceway and each roller having at least a portion of its structure disposed in a second raceway, the rollers being capable of rolling within the first raceway and the second raceway.

5. The joint module according to claim 3, characterized in that, The hollow shaft has a through hole extending along the central axis, and a wire-passing hole connecting the outer surface of the hollow shaft and the through hole, the wire-passing hole being disposed on the annular protrusion; The joint module also includes: A drive plate, connected to the fixing component, is disposed at one end of the hollow shaft; The cable of the braking assembly passes through the through hole into the through hole and is connected to the drive plate through the through hole.

6. The joint module according to any one of claims 1 to 5, characterized in that, Also includes: At least one strain gauge is attached to the second component, the strain gauge being configured to detect stress on the second component.

7. The joint module according to claim 6, characterized in that, The strain gauges are multiple, and the multiple strain gauges are evenly distributed circumferentially along the central axis.

8. The joint module according to claim 1, characterized in that, The fixing component includes: The housing includes an annular outer shell and an extension connected to the annular outer shell, the extension extending from the annular outer shell toward the central axis; The stator is connected inside the annular housing; The motion component includes: The rotor is rotatably disposed with respect to the stator and rotates about the central axis under the drive of the stator; A rotor shaft is connected to the rotor and rotates with the rotor. The joint module also includes: The hollow shaft, the rotor shaft, the wave generator, the braking assembly, and the flexible wheel are all sleeved on the hollow shaft and arranged sequentially along the axial direction of the hollow shaft; A first bearing, the outer ring of which is connected to the extension, the inner ring of which is connected to the rotor shaft, and the orthographic projection of the first bearing along the radial direction of the annular housing onto the stator is at least partially located on the stator; The second bearing has an outer ring connected to the rotor shaft and an inner ring connected to the hollow shaft. The orthogonal projection of the second bearing along the radial direction of the annular housing onto the stator is at least partially located on the stator.

9. The joint module according to claim 8, characterized in that, The hollow shaft is connected to the flexible wheel, and the joint module further includes: The first code disk is located at the end of the rotor shaft away from the wave generator; The second code disk is disposed at one end of the hollow shaft near the rotor shaft; A drive plate is connected to the fixing assembly and is adjacent to the end of the hollow shaft near the rotor shaft; A first encoder is disposed on the side of the drive plate near the rotor shaft and is configured to determine the rotational position of the rotor shaft by means of the first code disk. The second encoder is disposed on the side of the drive plate near the hollow shaft and is configured to determine the rotational position of the hollow shaft by means of the second code disk.

10. A robot, characterized in that, include: The joint module according to any one of claims 1 to 9.

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