A joint module and robot

Abstract

This utility model discloses a joint module and a robot, comprising: a housing with an internal cavity; a hollow shaft disposed in the cavity; a rotor assembly disposed in the cavity; a deceleration assembly with its input end connected to the rotor assembly and its output end connected to the hollow shaft; and an encoder assembly comprising a circuit board, a first reading head, a second reading head, a first magnetic ring assembly, and a second magnetic ring assembly. The circuit board, the first magnetic ring assembly, and the second magnetic ring assembly are spaced apart along the axial direction of the joint module. The circuit board is disposed in the housing, the first reading head and the second reading head are spaced apart on the circuit board, the first magnetic ring assembly is disposed in the rotor assembly, and the second magnetic ring assembly is disposed in the hollow shaft, with the first magnetic ring assembly surrounding the outer ring of the second magnetic ring assembly.

Images