Joint module and robot

Abstract

The utility model discloses a joint module and robot. The joint module includes: rotating mechanism, rotating mechanism has pivot, harmonic wave reduction mechanism, the harmonic wave reduction mechanism includes flexible wheel, wave generator and rigid wheel, the rigid wheel is covered in the flexible wheel out, the flexible wheel is covered in the wave generator out, and torque sensing mechanism, torque sensing mechanism includes first casing, sensing element and the fixed part of suspension in first casing, first casing is connected with rotating mechanism, wave generator is connected with pivot, the fixed part is connected with first casing through support part, the fixed part is connected with rigid wheel, rigid wheel and wave generator are located between first casing and rotating mechanism, and sensing element is suitable for sensing the deflection angle of fixed part.

Description

Technical Field

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

[0002] In related technologies, joint modules typically include a motor and a reducer connected to the motor. The input end of the reducer is connected to the motor shaft to convert the high-speed rotation of the motor into low-speed, high-torque rotation. To measure the torque of the joint module, a torque sensor is usually installed at the output end of the reducer. This results in a large joint module size and low torque measurement accuracy. Utility Model Content

[0003] One objective of this invention is to provide a new technical solution for a joint module.

[0004] According to one aspect of the present invention, a joint module is provided. The joint module includes:

[0005] A rotating mechanism having a rotating shaft;

[0006] A harmonic deceleration mechanism, comprising a flexible wheel, a wave generator, and a rigid wheel, wherein the rigid wheel is sleeved outside the flexible wheel, and the flexible wheel is sleeved outside the wave generator; and

[0007] A torque sensing mechanism includes a first housing, a sensing element, and a fixed part suspended within the first housing. The first housing is connected to the rotating mechanism, the wave generator is connected to the rotating shaft, the fixed part is connected to the first housing via a support part, and the fixed part is connected to the rigid wheel. The rigid wheel and the wave generator are located between the first housing and the rotating mechanism, and the sensing element is adapted to sense the deflection angle of the fixed part.

[0008] Optionally, the sensing element includes a photoelectric sensor and a light-shielding element, either of which is connected to the fixing part, and the other of which is connected to the first housing.

[0009] Optionally, the light-shielding element includes a connecting part and a light-shielding part, the light-shielding part is connected to the connecting part, the connecting part is connected to the fixing part or the first housing, and the light-shielding part is triangular.

[0010] Optionally, the angle between the hypotenuse of the light-shielding part and the bottom edge of the light-shielding part is 45°.

[0011] Optionally, the connecting part includes a first fixing hole and a second fixing hole, the connecting part is connected to the fixing part or the first housing by bolts, and a flexible gasket is provided between the connecting part and the fixing part, or a flexible gasket is provided between the connecting part and the first housing.

[0012] Optionally, a plurality of the sensing elements are arranged circumferentially along the first housing.

[0013] Optionally, the fixing part is connected to the first housing through a plurality of the support parts, the first housing is provided with the light-shielding element, and the photoelectric sensor is provided between two adjacent support parts.

[0014] Optionally, the device also includes a circuit board, which is fixedly disposed relative to the fixing part. The circuit board is provided with the photoelectric sensor, and the circuit board and the light-shielding element are respectively located on opposite sides of the fixing part.

[0015] Optionally, it also includes an angle sensing mechanism, which includes a magnetic element and a Hall sensor, either of which is connected to the flexure, and the other of which is connected to the first housing.

[0016] Optionally, it also includes an output flange connected to the flexspline, and the magnetic element connected to the output flange.

[0017] Optionally, the system further includes a bearing and a mounting flange, wherein the output flange is connected to the mounting flange via the bearing, and the mounting flange is connected to the first housing.

[0018] Optionally, the device also includes a circuit board, which is fixedly disposed relative to the fixing part, and the Hall sensor is disposed on the circuit board.

[0019] Optionally, it also includes a baffle plate located between the rotating mechanism and the harmonic deceleration mechanism, the baffle plate covering the rigid wheel and the wave generator.

[0020] Optionally, the rotation mechanism is equipped with an angle sensor.

[0021] According to another aspect of the present invention, a robot is provided. This robot includes the joint module described in the present invention.

[0022] In this embodiment of the invention, the torque sensing mechanism indirectly senses the magnitude of the torque acting on the flexure of the harmonic reducer by sensing the rotation angle of the rigid wheel. Since the rigid wheel is not directly subjected to external forces, the torque sensing is not affected by external interference, resulting in high torque sensing accuracy. Compared to methods that directly sense the torque of the flexure, this embodiment of the invention does not occupy the installation space of the flexure. Furthermore, the wiring of the torque sensing mechanism can utilize the wiring of the rotating mechanism, simplifying the wiring design of the joint module.

[0023] In addition, the rigid wheel and wave generator are located between the first housing and the rotating mechanism, making full use of the space between the first housing and the rotating mechanism. This makes the overall size of the joint module small, which is beneficial to the miniaturization design of the joint module.

[0024] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present invention and, together with their description, serve to explain the principles of the present invention.

[0026] Figure 1 This is a perspective view of the joint module according to an embodiment of the present utility model.

[0027] Figure 2 This is a left view of the joint module according to an embodiment of the present utility model.

[0028] Figure 3 yes Figure 2 A cross-sectional view along line AA.

[0029] Figure 4 This is an exploded view of the joint module according to an embodiment of the present utility model.

[0030] Figure 5 This is a perspective view of the torque sensing mechanism and the rigid wheel according to an embodiment of the present utility model.

[0031] Figure 6 This is a perspective view of the shielding element and the flexible pad according to an embodiment of the present utility model.

[0032] Explanation of reference numerals in the attached figures:

[0033] 100. Rotating mechanism; 101. Second housing; 102. Drive plate; 103. Rotating shaft; 104. Gear assembly;

[0034] 200. Torque sensing mechanism; 201. First housing; 202. Fixing part; 203. Support part; 204. Circuit board; 205. Light-shielding element; 2051. Light-shielding part; 2052. Connecting part; 2053. First fixing hole; 2054. Second fixing hole; 206. Photoelectric sensor; 207. Flexible pad;

[0035] 300. Harmonic reduction mechanism; 301. Flexible wheel; 302. First magnetic ring; 303. Flange inner nut; 304. Hall sensor; 305. Wave generator; 306. Rigid wheel; 307. Bearing; 308. Baffle; 309. Bearing pressure plate; 310. Mounting flange; 3101. Stop structure; 311. Output flange; 3111. Annular boss. Detailed Implementation

[0036] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0037] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0038] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0039] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0040] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0041] The joint module of this utility model embodiment is described below with reference to the accompanying drawings.

[0042] According to one embodiment of the present invention, a joint module is provided. For example... Figures 1 to 4 As shown, the joint module includes:

[0043] A rotating mechanism 100, the rotating mechanism 100 having a rotating shaft 103;

[0044] A harmonic deceleration mechanism 300 includes a flexible wheel 301, a wave generator 305, and a rigid wheel 306. The rigid wheel 306 is sleeved outside the flexible wheel 301, and the flexible wheel 301 is sleeved outside the wave generator 305.

[0045] A torque sensing mechanism 200 includes a first housing 201, a sensing element, and a fixing part 202 suspended within the first housing 201. The first housing 201 is connected to the rotation mechanism 100. The wave generator 305 is connected to the rotating shaft 103. The fixing part 202 is connected to the first housing 201 via a support part 203 and is also connected to a rigid wheel 306. The rigid wheel 306 and the wave generator 305 are located between the first housing 201 and the rotation mechanism 100. The sensing element is adapted to sense the deflection angle of the fixing part 202.

[0046] Specifically, joint modules are used in robots. The joint modules output rotation, thereby enabling the swinging of components such as arms, legs, and head.

[0047] The rotating mechanism 100 is used to output rotation. Optionally, the rotating mechanism 100 includes a motor. The motor includes a stator assembly and a rotor assembly. The stator assembly includes coils. The rotor assembly includes permanent magnets. An Ampere force is generated between the energized coils and the permanent magnets, thereby driving the rotor assembly to rotate. The rotor assembly is connected to a rotating shaft 103. Rotation is output through the rotating shaft 103. The permanent magnet can be made of, but is not limited to, ferrite, neodymium iron boron, samarium cobalt, and AlNiCo materials.

[0048] The rotating shaft 103 of the rotating mechanism 100 typically operates at a high speed but with low torque, which cannot meet the usage requirements of the joint module. To solve this technical problem, the joint module is equipped with a harmonic reduction mechanism 300. The harmonic reduction mechanism 300 is connected to the rotating shaft 103. The harmonic reduction mechanism 300 can reduce the rotational speed and increase the torque, thereby enabling the joint module to output low-speed, high-torque rotation.

[0049] like Figure 3 , Figure 4As shown, the harmonic deceleration mechanism 300 includes a flexible wheel 301, a wave generator 305, and a rigid wheel 306. The wave generator 305 is used for input rotation, and the flexible wheel 301 is used for output rotation. The wave generator 305 is typically elliptical. The flexible wheel 301 is fitted around the wave generator 305, and the rigid wheel 306 is fitted around the flexible wheel 301. The wave generator 305 causes the flexible wheel 301 to generate a controllable elastic deformation wave. When the wave generator 305 is inserted into the inner circle of the flexible wheel 301 and rotates, the flexible wheel 301 will elastically deform due to the shape of the wave generator 305, becoming elliptical. The teeth at both ends of the long axis of the flexible wheel 301 fully mesh with the teeth of the rigid wheel 306, while the teeth at both ends of the short axis fully disengage from the teeth of the rigid wheel 306. As the wave generator 305 rotates, the change in the shape of the flexible wheel 301 causes the meshing position with the rigid wheel 306 to continuously change, thereby achieving a deceleration effect. The wave generator 305 is connected to the rotating shaft 103. The rotating shaft 103 drives the wave generator 305 to rotate. The rigid wheel 306 is fixedly disposed relative to the fixed part 20230 described below. The flexible wheel 301 is located at the output end of the joint module and is used to output rotation outward.

[0050] To precisely control the torque output of the joint module, the joint module is equipped with a torque sensing mechanism 200. For example... Figure 3 , Figure 4 As shown, the torque sensing mechanism 200 cooperates with the harmonic reduction mechanism 300. The torque sensing mechanism 200 includes a first housing 201, a sensing element, and a fixing part 202 suspended within the first housing 201. The first housing 201 is made of materials such as metal, ceramic, glass, or wood.

[0051] The first housing 201 has a ring-shaped structure. The first housing 201 is connected to the rotating mechanism 100. For example, the rotating mechanism 100 also includes a second housing 101 disposed outside the motor. The first housing 201 and the second housing 101 are connected. An installation space is formed inside the first housing 201 and the second housing 101. For example, the end of the second housing 101 connected to the first housing 201 forms an open cavity, with the rigid wheel 306 and the wave generator 305 partially located within this cavity and partially located within the first housing 201, thus placing them within the installation space between the first housing 201 and the second housing 101. This structure saves space in the joint module and facilitates miniaturization of the joint module design.

[0052] The first housing 201 remains fixed. A fixing part 202 is provided inside the first housing 201. The fixing part 202 is connected to the first housing 201 via a support part 203. The first housing 201 is fixed to the rotating mechanism 100 (e.g., the second housing 101) by bolts. The support part 203 allows the fixing part 202 to elastically deflect relative to the first housing 201. The fixing part 202 is sleeved on the rotating shaft 103. Optionally, a gap is formed between the rotating shaft 103 and the fixing part 202 to avoid the fixing part 202 interfering with the rotation of the rotating shaft 103.

[0053] In this embodiment, the fixed portion 202 of the torque sensing mechanism 200 is connected to the rigid wheel 306 of the harmonic reduction mechanism 300. The two are relatively stationary and can deflect synchronously. When the flexible wheel 301 is subjected to torque, since the rigid wheel 306 and the flexible wheel 301 cooperate, for example, they mesh with each other, the rigid wheel 306 will experience a reverse torque. Because the fixed portion 202 is connected to the rigid wheel 306, the reverse torque of the rigid wheel 306 is transmitted to the fixed portion 202. The fixed portion 202 is suspended within the first housing 201, and the support portion 203 can undergo elastic deformation, thereby allowing the fixed portion 202 to elastically deflect relative to the first housing 201. By sensing the deflection angle of the fixed portion 202 through a sensing element, the magnitude of the torque of the flexible wheel 301 can be calculated.

[0054] In related technologies, a torque sensor is typically installed at the output end of the reducer to measure the torque of the joint module. This requires additional wiring and connection structures for the torque sensor, resulting in a larger joint module size. Furthermore, the torque sensor occupies space and can interfere with the connection between the output end and other components.

[0055] In this embodiment of the invention, the torque sensing mechanism indirectly senses the magnitude of the torque on the flexible wheel 301 of the harmonic reduction mechanism 300 by sensing the rotation angle of the rigid wheel 306 of the harmonic reduction mechanism 300. Since the rigid wheel 306 is not directly subjected to external forces, the torque sensing is not affected by external interference, resulting in high torque sensing accuracy. Compared to the torque sensing mechanism 200, which directly senses the torque of the flexible wheel 301, the torque sensing mechanism 200 in this embodiment does not occupy the installation space of the flexible wheel 301. Furthermore, the wiring of the torque sensing mechanism 200 can utilize the wiring of the rotating mechanism 100, simplifying the wiring design of the joint module.

[0056] In addition, the rigid wheel 306 and the wave generator 305 are located between the first housing 201 and the rotating mechanism 100, making full use of the space between the first housing 201 and the rotating mechanism 100. This makes the overall size of the joint module small, which is beneficial to the miniaturization design of the joint module.

[0057] In one specific embodiment of the present invention, the sensing element includes a photoelectric sensor 206 and a light-shielding element 205. Either the light-shielding element 205 or the photoelectric sensor 206 is connected to the fixing part 202, and the other of the light-shielding element 205 or the photoelectric sensor 206 is connected to the first housing 201.

[0058] like Figure 3 , Figure 5 As shown, the photoelectric sensor 206 can convert optical signals into electrical signals. The photoelectric sensor 206 includes a transmitter and a receiver spaced apart. Light emitted from the transmitter is received by the receiver. At least a portion of a light-blocking element 205 is located between the transmitter and the receiver. The light-blocking element 205 is used to block part of the light emitted from the transmitter. In the initial state, the light-blocking element 205 blocks part of the light emitted from the transmitter. The electrical signal of the photoelectric sensor 206 in the initial state is an initial electrical signal.

[0059] When the flexible wheel 301 of the harmonic reduction mechanism 300 is subjected to torque, the rigid wheel 306 deflects at an angle relative to its initial state under the action of the reverse torque. At this time, the relative position between the light-blocking element 205 and the photoelectric sensor 206 changes. The amount of light blocking by the light-blocking element 205 changes. The change in the amount of light blocking causes a change in the amount of light received by the receiving end, thereby causing a change in the electrical signal of the photoelectric sensor 206 relative to the initial electrical signal. The magnitude of the torque on the flexible wheel 301 of the harmonic reduction mechanism 300 can be obtained based on the change in the electrical signal.

[0060] In this embodiment, a photoelectric sensor 206 is disposed on the fixing part 202. For example, the photoelectric sensor 206 is connected to the outer wall of the fixing part 202 by means of bolting, bonding, snap-fitting, riveting, etc. A light-shielding element 205 is disposed on the first housing 201. For example, the light-shielding element 205 is connected to the inner wall of the first housing 201 by means of bolting, bonding, snap-fitting, riveting, etc. Torque sensing is achieved through the photoelectric sensor 206 and the light-shielding element 205. The photoelectric sensor 206 features high sensing accuracy and small size.

[0061] In other embodiments, the photoelectric sensor 206 may be disposed on the first housing 201. The light-shielding element 205 may be disposed on the fixing part 202.

[0062] Of course, the placement of the photoelectric sensor 206 and the light-shielding element 205 is not limited here, and those skilled in the art can choose according to actual needs.

[0063] In a specific embodiment of the present invention, the light-shielding element 205 includes a connecting part 2052 and a light-shielding part 2051. The light-shielding part 2051 is connected to the connecting part 2052, and the connecting part 2052 is connected to the fixing part 202 or the first housing 201. The light-shielding part 2051 has a beveled edge.

[0064] Optionally, the light-shielding element 205 can be made of metal, plastic, ceramic, glass, wood, etc. The light-shielding element 205 can be sheet-shaped, column-shaped, etc. The connecting portion 2052 is used to connect with the fixing portion 202 or the first housing 201. The light-shielding portion 2051 is used to partially block the light emitted by the photoelectric sensor 206. The connecting portion 2052 has a set length, allowing the light-shielding portion 2051 to be located away from the rotation center of the fixing portion 202, so that there is a larger displacement between the light-shielding portion 2051 and the photoelectric sensor 206 during the deflection of the fixing portion 202, thereby improving the torque sensing accuracy.

[0065] In this embodiment, both the connecting portion 2052 and the light-shielding portion 2051 are sheet-like. For example, the light-shielding element 205 is made of a metal sheet, and the two are integrally formed; alternatively, the connecting portion 2052 and the light-shielding portion 2051 can be separately formed and then connected. The connecting portion 2052 is perpendicular to the light-shielding portion 2051. The connecting portion 2052 is connected to the fixing portion 202 or the first housing 201 by means of bolt connection, snap-fit, riveting, bonding, welding, etc.

[0066] Optionally, the connecting part 2052 is movably connected to the fixing part 202, or the connecting part 2052 is movably connected to the first housing 201. For example, the connection is made by bolts. In this way, the operator can adjust the position of the light-shielding part 2051 relative to the photoelectric sensor 206 according to actual needs to adjust the amount of light shading.

[0067] like Figure 5 , Figure 6 As shown, the light-shielding part 2051 has a beveled edge. For example, the shape of the light-shielding part 2051 can be a triangle, trapezoid, parallelogram, etc. Compared with other shapes of light-shielding parts 2051 (e.g., light-shielding parts 2051 with curved edges), the light-shielding part 2051 with a beveled edge can provide a continuously changing signal from the photoelectric sensor 206 when the angle of the light-shielding element 205 deflects, which facilitates real-time sensing of changes in the torque of the joint module.

[0068] Of course, the lengths of the connecting part 2052 and the light-shielding part 2051, as well as the angle between the connecting part 2052 and the light-shielding part 2051, are not limited here, and those skilled in the art can set them according to actual needs.

[0069] In one specific embodiment of this utility model, the angle between the hypotenuse of the light-shielding part 2051 and the bottom edge of the light-shielding part 2051 is 45°.

[0070] like Figure 6 As shown, in this embodiment, the light-shielding part 2051 is a right-angled trapezoid. The angle between the hypotenuse of the light-shielding part 2051 and the base of the light-shielding part is 45°. The base of the light-shielding part 2051 is connected to the connecting part 2052. When the light-shielding element 205 deflects, the light-shielding amount of the right-angled trapezoidal light-shielding part 2051 changes more continuously, which is more conducive to real-time monitoring of torque changes.

[0071] Of course, the light-shielding part 2051 can also be a non-right-angled trapezoid, and the angle between the hypotenuse and the bottom edge of the light-shielding part 2051 can also be other angles. Those skilled in the art can make the settings according to actual needs.

[0072] In one specific embodiment of this utility model, a plurality of the sensing elements are arranged along the circumference of the first housing 201.

[0073] like Figure 5 As shown, the first housing 201 and the fixing part 202 are generally circular or nearly circular in shape. Four support parts 203 are provided between the fixing part 202 and the first housing 201. The four support parts 203 are evenly arranged along the circumference of the fixing part 202. Four photoelectric sensors 206 are provided on the fixing part 202, and the four photoelectric sensors 206 are evenly arranged along the circumference of the fixing part 202. The four photoelectric sensors 206 are directly or indirectly provided on the fixing part 202. Four light-shielding elements 205 are bolted to the inner wall of the first housing 201. Multiple sensing elements make the torque sensing of the flexible wheel more accurate and its anti-interference ability stronger. Furthermore, by installing multiple sets of photoelectric sensors 206 at a certain angle (e.g., 90°), the blocking sequence of the light-shielding elements 205 at different positions can be detected, thereby determining the direction of the torque and achieving bidirectional torque detection.

[0074] Of course, the number of sensing elements is not limited to the above embodiments, and can also be 2, 3, 5, 6 or more. Those skilled in the art can set it according to actual needs.

[0075] In one specific embodiment of the present invention, the fixing part 202 is connected to the first housing 201 through a plurality of the supporting parts 203, the first housing 201 is provided with the light-shielding element 205, and the photoelectric sensor 206 is provided between two adjacent supporting parts 203.

[0076] like Figure 5As shown, four support portions 203 are provided between the fixing portion 202 and the first housing 201. The four support portions 203 are evenly arranged along the circumference of the fixing portion 202. The four support portions 203 make the connection between the fixing portion 202 and the first housing 201 more secure, and the fixing portion 202 experiences more balanced force when deflected. A gap is formed between two adjacent support portions 203. A light-shielding element 205 is provided in the fixing portion 202 and passes through the gap to cooperate with the photoelectric sensor 206. This arrangement makes full use of the internal space of the first housing 201, making the structure of the joint module more compact.

[0077] Optionally, the fixing part 202, the supporting part 203, and the first housing 201 are integrally formed by casting, powder metallurgy, laser cutting, plasma cutting, or other methods. This results in high connection strength, simple processing technology, and high yield. Alternatively, the fixing part 202, the supporting part 203, and the first housing 201 can be formed separately and then fixed together by welding, riveting, bolting, snap-fitting, or other methods.

[0078] Of course, the number of support parts 203 is not limited to four; it can also be one, two, three, five, six, seven, or more. Those skilled in the art can set it according to actual needs.

[0079] In one specific embodiment of the present invention, the connecting part 2052 includes a first fixing hole 2053 and a second fixing hole 2054. The connecting part 2052 is connected to the fixing part 202 or the first housing 201 by bolts. A flexible gasket 207 is provided between the connecting part 2052 and the fixing part 202, or a flexible gasket 207 is provided between the connecting part 2052 and the first housing 201.

[0080] like Figure 5 , Figure 6 As shown, the connecting part 2052 and the light-shielding part 2051 are sheet-like structures. The light-shielding part 2051 is connected to the middle of the connecting part 2052. The light-shielding part 2051 is perpendicular to the connecting part 2052. A first fixing hole 2053 and a second fixing hole 2054 are respectively provided at both ends of the connecting part 2052. Optionally, the connecting part 2052 and the light-shielding part 2051 are integrally formed from metal sheets. The connecting part 2052 is fixed to the inner wall of the first housing 201 using bolts. For example, the inner wall of the first housing 201 forms an inward protrusion. A threaded hole is provided on the protrusion. The bolt is threaded into the threaded hole to fasten the connecting part 2052 to the protrusion.

[0081] A flexible gasket 207 is provided between the connecting portion 2052 and the protrusion. Optionally, the flexible gasket 207 is made of rubber, silicone, elastomer, or other materials. The flexible gasket 207 can deform when compressed. Here, when it is necessary to adjust the position and angle of the light-shielding portion 2051, the tightness of the two bolts can be adjusted. For example, the tighter the bolts, the more severely the flexible gasket 207 is compressed, resulting in a smaller height of that end of the connecting portion 2052 relative to the first housing 201 (e.g., the protrusion); conversely, the tighter the bolts, the less severely the flexible gasket 207 is compressed, resulting in a larger height of that end of the connecting portion 2052 relative to the first housing 201 (e.g., the protrusion). By adjusting the tightness of the two bolts, the height of both ends of the connecting portion 2052 relative to the first housing 201 (e.g., the protrusion) can be effectively adjusted, thereby adjusting the position of the light-shielding portion 2051 relative to the photoelectric sensor in the initial state, and thus adjusting the amount of light blocking by the light-shielding portion 2051 in the initial state.

[0082] The light-shielding element is small in size and easy to adjust the amount of light blocking. Furthermore, the two mounting holes ensure a more secure installation.

[0083] In one specific embodiment of the present invention, the torque sensing mechanism 200 further includes a circuit board 204, which is fixedly disposed relative to the fixing part 202. The circuit board 204 is provided with the photoelectric sensor 206, and the circuit board 204 and the light-shielding element 205 are respectively located on opposite sides of the fixing part 202.

[0084] like Figures 3 to 4 As shown, circuit board 204 is a PCB board. The PCB board is circular or nearly circular in shape. A photoelectric sensor 206 is provided on circuit board 204. Threaded holes are provided on the end face of fixing part 202. Multiple threaded holes are evenly arranged around the circumference of fixing part 202. Circuit board 204 is fixed to the end face of fixing part 202 by bolts.

[0085] Here, the photoelectric sensor 206 is indirectly mounted on the fixing part 202 via the circuit board 204, so that the position of the photoelectric sensor 206 relative to the fixing part 202 is fixed. The photoelectric sensor 206 is electrically connected to external devices via the circuit board 204, eliminating the need for separate wiring. This simplifies the wiring of the photoelectric sensor 206.

[0086] Furthermore, the circuit board 204 and the light-shielding element 205 are located on opposite sides of the fixing portion 202. That is, along the axial direction of the first housing 201, i.e., the thickness direction of the fixing portion 202, the light-shielding element 205 and the circuit board 204 are spaced apart on both sides of the fixing portion 202. The connecting portion 2052 of the light-shielding element 205 is fixed to the first housing 201. The light-shielding portion 2051 extends towards the circuit board 204. A photoelectric sensor 206 is provided on the circuit board 204. The light-shielding portion 2051 and the photoelectric sensor 206 are located within the gap between two adjacent support portions 203. In this way, the light-shielding element 205 and the circuit board 204 fully utilize the internal space of the first housing 201 along the thickness direction of the fixing portion 202 without occupying the external space of the first housing 201, making the structure of the joint module more compact.

[0087] Optionally, a clearance hole is provided in the middle of the circuit board 204. The clearance hole is used to allow clearance from the rotating shaft 103 or the flexible wheel 301, etc.

[0088] Of course, the shape and size of the circuit board 204, the location and number of the photoelectric sensors 206 are not limited here, and those skilled in the art can make selections according to actual needs.

[0089] In one specific embodiment of this utility model, the joint module further includes an angle sensing mechanism, which includes a magnetic element and a Hall sensor 304. Either the magnetic element or the Hall sensor 304 is connected to the flexible wheel 301, and the other of the magnetic element or the Hall sensor 304 is connected to the first housing 201.

[0090] like Figure 3 , Figure 4 As shown, the angle sensing mechanism is used to sense the rotation angle of the flexible wheel 301. The angle sensing mechanism includes a magnetic element and a Hall sensor 304. The magnetic element is made of ferrite, neodymium iron boron, samarium cobalt, alnico, etc. The shape of the magnetic element can be strip, ring, circle, etc.

[0091] In this embodiment, the magnetic element includes a first magnetic ring 302. The first magnetic ring 302 is annular in shape. A Hall sensor 304 is disposed opposite to the first magnetic ring 302. The Hall sensor 304 is directly or indirectly disposed on the first housing 201. The positions of the Hall sensor 304 and the first housing 201 are relatively fixed. The flexible wheel is a rigid wheel 306. The first magnetic ring 302 is directly or indirectly connected to the rigid wheel 306. The first magnetic ring 302 and the rigid wheel 306 rotate synchronously.

[0092] The rotation angle of the first magnetic ring 302 can be sensed by the Hall sensor 304, thereby determining the rotation angle of the flexible wheel 301. This joint module can accurately sense the rotation angle of the flexible wheel 301.

[0093] Of course, the Hall sensor 304 can also be disposed directly or indirectly on the first housing 201. Magnetic elements can be disposed directly or indirectly on the flexible wheel 301.

[0094] In one specific embodiment of this utility model, the joint module further includes an output flange 311, which is connected to the flexible wheel 301, and the magnetic element is connected to the output flange 311.

[0095] like Figure 3 , Figure 4 As shown, the output flange 311 is used for connection to external equipment. The output flange 311 includes a top and a cylindrical portion surrounding the bottom. The top of the output flange 311 is bolted to the top of the flexible wheel 301. An inner flange nut 303 is disposed inside the flexible wheel 301. The inner flange nut 303 is connected to the output flange 311. The inner flange nut 303 and the output flange 311 clamp the top of the flexible wheel 301, thereby connecting the output flange 311 and the flexible wheel 301 together.

[0096] The first magnetic ring is sleeved on the cylindrical portion of the output flange 311. The output flange 311 can be made of metal, plastic, ceramic, glass, wood, etc. The output flange 311 has high structural strength, effectively protecting the flexible wheel 301. Furthermore, the connection strength between the output flange 311 and external equipment is high. The first magnetic ring 302 is disposed on the cylindrical portion of the output flange 311, indirectly connecting to the flexible wheel 301. The first magnetic ring 302 is fixedly disposed relative to the flexible wheel 301. The output flange 311 ensures a secure connection between the magnetic element and the flexible wheel 301.

[0097] Optionally, such as Figure 3 As shown, the output flange 311, the inner flange nut 303, and the rotating shaft 103 are coaxially arranged. Through holes are formed in the middle of the output flange 311, the middle of the inner flange nut 303, and the middle of the rotating shaft 103. These three through holes are interconnected to form a channel. This channel can be used for routing the drive board 102, circuit board 204, etc. The channel also serves to dissipate heat, improving the heat dissipation effect of the joint module.

[0098] In one specific embodiment of this utility model, the joint module further includes a bearing 307 and a mounting flange 310. The output flange 311 is connected to the mounting flange 310 through the bearing 307, and the mounting flange 310 is connected to the first housing 201.

[0099] like Figure 3 , Figure 4As shown, the cylindrical portion of the output flange 311 is fixedly connected to the inner ring of the bearing 307, for example, by an interference fit. For example, the bearing 307 is a crossed roller bearing. The bearing 307 is fitted over the output flange 311. An annular boss 3111 is formed at the open end of the output flange 311. A first magnetic ring is fitted over the annular boss 3111. The annular boss 3111 has high structural strength and a firm connection with the first magnetic ring 302. The inner ring of the bearing 307 provides a limiting effect on the annular boss 3111, resulting in high installation accuracy between the output flange 311 and the bearing 307. The outer ring of the bearing 307 is fixedly connected to the mounting flange 310. The mounting flange 310 is fitted over the bearing 307. A stop structure 3101 is formed at the outer end of the mounting flange 310. The stop structure 3101 limits the axial position of the bearing 307. The mounting flange 310 is connected to the first housing 201 by bolts. Bearing 307 makes the rotation of output flange 311 smoother. Mounting flange 310 effectively protects bearing 307.

[0100] Optionally, a bearing clamping plate 309 is provided between the bearing 307 and the first housing 201. The bearing clamping plate 309 makes the end face of the bearing 307 flush with the end face of the mounting flange 310. The stop structure 3101 of the mounting flange 310 and the bearing clamping plate 309 together limit the bearing 307, resulting in high installation accuracy of the bearing 307.

[0101] In one specific embodiment of the present invention, the torque sensing mechanism 200 further includes a circuit board 204, which is fixedly disposed relative to the fixing part 202, and the Hall sensor 304 is disposed on the circuit board 204.

[0102] like Figure 3 , Figure 4 As shown, as previously described, circuit board 204 is a PCB board. The PCB board is circular or nearly circular in shape. Threaded holes are provided on the end face of the fixing part 202. Multiple threaded holes are evenly distributed around the circumference of the fixing part 202. The circuit board 204 is fixed to the end face of the fixing part 202 by bolts.

[0103] The Hall sensor 304 is indirectly mounted on the fixing part 202 via the circuit board 204, thereby fixing the position of the Hall sensor 304 relative to the fixing part 202. The Hall sensor 304 is electrically connected to external devices via the circuit board 204, eliminating the need for separate wiring. This simplifies the wiring of the Hall sensor 304.

[0104] Here, the circuit board 204 is equipped with not only a photoelectric sensor 206 but also a Hall sensor 304. For example, the photoelectric sensor 206 and the Hall sensor 304 are located on opposite surfaces of the circuit board 204. In this way, the two sensors will not interfere with each other. Since the angle sensing mechanism reuses the circuit board 204 of the torque sensing mechanism 200, the internal space of the joint module can be effectively saved, making the structure of the joint module more compact.

[0105] In one specific embodiment of the present invention, the joint module further includes a baffle 308, which is located between the rotation mechanism 100 and the harmonic deceleration mechanism 300, and covers the rigid wheel 306 and the wave generator 305.

[0106] like Figure 3 , Figure 4 As shown, the baffle 308 has an open cavity. The rigid wheel 306 and wave generator 305 are located within the cavity. The interior of the harmonic reduction mechanism 300 contains grease for lubrication. The baffle 308 is disposed between the rotating mechanism 100 and the harmonic reduction mechanism 300, and covers the rigid wheel 306 and wave generator 305. The baffle 308 effectively prevents grease from entering the rotating mechanism 100.

[0107] Alternatively, the baffle 308 may be made of metal, plastic, rubber, silicone, ceramic, wood, etc.

[0108] Of course, the specific structure of the baffle 308 is not limited here, and those skilled in the art can choose according to actual needs.

[0109] In one specific embodiment of this utility model, the rotating mechanism 100 is provided with an angle sensor.

[0110] like Figure 3 , Figure 4 As shown, an angle sensor is used to sense the rotation angle of the rotating mechanism 100. The angle sensor includes an encoder chip and a second magnetic ring. For example, the second magnetic ring is sleeved on the end of the rotating shaft 103 facing away from the flexible wheel 301. A second housing 101 is provided outside the motor. The second housing 101 is connected to the first housing 201. A drive plate 102 is provided on the end of the second housing 101 facing away from the first housing 201. The drive plate 102 is used to connect to an external circuit. The drive plate 102 receives signals from the external circuit to drive the motor to rotate. An encoder chip is provided on the drive plate 102. The encoder chip is disposed opposite to the second magnetic ring 1031.

[0111] In this embodiment, an angle sensor is used to accurately sense the rotation angle of the rotating mechanism. The combined use of the angle sensor and the angle sensing mechanism makes the sensing of the joint module's rotation angle more accurate. Furthermore, if either the angle sensor or the angle sensing mechanism fails, the other can still sense the joint module's rotation angle, improving the reliability of the joint module's rotation angle sensing.

[0112] Optionally, such as Figure 4 As shown, the angle sensor includes an encoder chip and a magnet. A gear assembly 104 is disposed at one end of the rotating shaft 103 away from the flexible wheel 301. The dimensional assembly is rotatably connected to the motor. The gear assembly 104 includes a central gear and an encoder gear. The central gear is connected to the rotating shaft 103. The encoder gear is rotatably connected to the motor or the second housing 101. The encoder gear meshes with the central gear. A magnet is disposed on the encoder gear. The encoder chip on the drive plate 102 is disposed opposite to the magnet. The rotation angle of the rotating shaft 103 is sensed by sensing the rotation angle of the magnet through the encoder chip.

[0113] According to another embodiment of the present invention, a robot is provided. The robot includes the joint module provided by the present invention.

[0114] For example, the robot includes humanoid robots, bionic robots, industrial robotic arms, and mobile robots. This robot features precise torque sensing and a compact structure.

[0115] The above embodiments mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be elaborated here.

[0116] Although specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A joint module, characterized in that, include: A rotating mechanism (100) having a rotating shaft (103); Harmonic deceleration mechanism (300), the harmonic deceleration mechanism (300) includes a flexible wheel (301), a wave generator (305) and a rigid wheel (306), the rigid wheel (306) is sleeved outside the flexible wheel (301), and the flexible wheel (301) is sleeved outside the wave generator (305); as well as A torque sensing mechanism (200) includes a first housing (201), a sensing element, and a fixing part (202) suspended in the first housing (201). The first housing (201) is connected to the rotating mechanism (100), the wave generator (305) is connected to the rotating shaft (103), the fixing part (202) is connected to the first housing (201) through the support part (203), and the fixing part (202) is connected to the rigid wheel (306). The rigid wheel (306) and the wave generator (305) are located between the first housing (201) and the rotating mechanism (100). The sensing element is adapted to sense the deflection angle of the fixing part (202).

2. The joint module according to claim 1, characterized in that, The sensing element includes a photoelectric sensor (206) and a light-shielding element (205). Either the light-shielding element (205) or the photoelectric sensor (206) is connected to the fixing part (202), and the other of the light-shielding element (205) or the photoelectric sensor (206) is connected to the first housing (201).

3. The joint module according to claim 2, characterized in that, The light-shielding element (205) includes a connecting part (2052) and a light-shielding part (2051). The light-shielding part (2051) is connected to the connecting part (2052). The connecting part (2052) is connected to the fixing part (202) or the first housing (201). The light-shielding part (2051) is triangular.

4. The joint module according to claim 3, characterized in that, The angle between the hypotenuse of the light-shielding part (2051) and the bottom edge of the light-shielding part (2051) is 45°.

5. The joint module according to claim 3, characterized in that, The connecting part (2052) includes a first fixing hole (2053) and a second fixing hole (2054). The connecting part (2052) is connected to the fixing part (202) or the first housing (201) by bolts. A flexible gasket (207) is provided between the connecting part (2052) and the fixing part (202), or a flexible gasket (207) is provided between the connecting part (2052) and the first housing (201).

6. The joint module according to claim 1, characterized in that, A plurality of the sensing elements are arranged circumferentially along the first housing (201).

7. The joint module according to claim 2, characterized in that, The fixing part (202) is connected to the first housing (201) through a plurality of the support parts (203). The first housing (201) is provided with the light-shielding element (205), and the photoelectric sensor (206) is provided between two adjacent support parts (203).

8. The joint module according to claim 7, characterized in that, It also includes a circuit board (204), which is fixedly disposed relative to the fixing part (202). The circuit board (204) is provided with the photoelectric sensor (206). The circuit board (204) and the light-shielding element (205) are respectively located on opposite sides of the fixing part (202).

9. The joint module according to claim 1, characterized in that, It also includes an angle sensing mechanism, which includes a magnetic element and a Hall sensor (304), either of which is connected to the flexible wheel (301), and the other of which is connected to the first housing (201).

10. The joint module according to claim 9, characterized in that, It also includes an output flange (311), which is connected to the flexible wheel (301), and the magnetic element is connected to the output flange (311).

11. The joint module according to claim 10, characterized in that, The system also includes a bearing (307) and a mounting flange (310), wherein the output flange (311) is connected to the mounting flange (310) via the bearing (307), and the mounting flange (310) is connected to the first housing (201).

12. The joint module according to claim 9, characterized in that, It also includes a circuit board (204), which is fixedly disposed relative to the fixing part (202), and the Hall sensor (304) is disposed on the circuit board (204).

13. The joint module according to any one of claims 1 to 9, characterized in that, It also includes a baffle (308) located between the rotating mechanism (100) and the harmonic deceleration mechanism (300), the baffle (308) covering the rigid wheel (306) and the wave generator (305).

14. The joint module according to any one of claims 1 to 9, characterized in that, The rotating mechanism (100) is equipped with an angle sensor.

15. A robot, characterized in that, Includes the joint module as described in any one of claims 1 to 14.

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