Joints and robotic arms
By introducing a bearing to connect the output flange and the mounting housing in the joint, and setting the code disk on the bearing in the encoder assembly, the relative runout problem between the code disk and the reader is solved, achieving higher detection accuracy and motion control accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN YUEJIANG TECH CO LTD
- Filing Date
- 2025-06-23
- Publication Date
- 2026-07-14
AI Technical Summary
When the joint is running, the relative jumping of the code disk and the code reader causes a large detection error in the code reader.
By introducing a bearing in the joint, the output flange is rotatably connected to the mounting housing via the bearing. The code disk of the encoder assembly is mounted on the bearing. By utilizing the rigidity and stability of the bearing, the code disk and the reader maintain a relatively stable motion state, reducing the degree of vibration.
It reduces the detection error of the barcode reader and improves the motion control accuracy and dynamic response performance of the joint, especially in high-frequency, high-precision motion control scenarios, where it exhibits higher control bandwidth and control margin.
Smart Images
Figure CN224489170U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of joint technology, specifically to joints and robotic arms. Background Technology
[0002] The joint includes a mounting housing, a drive mechanism, an output flange, and an encoder assembly. The drive mechanism is mounted on the mounting housing, and the output flange is connected to the drive mechanism. The drive mechanism can drive the output flange to rotate. The encoder assembly includes a code disk and a code reader. The code reader is used to detect the code disk. The code disk is fixed relative to the output flange, and the code reader is fixed relative to the mounting housing.
[0003] During the operation of the joint, the researchers found that the code disk and the code reader would bounce relative to each other, resulting in a large detection error for the code reader. Utility Model Content
[0004] This application provides an articulation and robotic arm designed to reduce the relative jumping between the code disk and the reader, thereby reducing the error in the reader's detection.
[0005] To achieve the above objectives, according to a first aspect of this application, a joint is provided, comprising:
[0006] Mounting housing;
[0007] The drive mechanism is mounted on the mounting housing;
[0008] An output flange is connected to the drive mechanism, which can drive the output flange to rotate.
[0009] The bearing, wherein the output flange is rotatably connected to the mounting housing via the bearing; and
[0010] An encoder assembly includes a code disk and a code reader, the code reader being used to read the encoded information from the code disk, the code disk being disposed on the bearing;
[0011] The output flange, the bearing, and the encoder assembly are arranged in sequence. During the rotation of the output flange relative to the mounting housing, the code disk can be driven to rotate synchronously through the bearing.
[0012] Optionally, the bearing includes a first ring and a second ring that are rotatable relative to each other. The first ring is fixedly connected to the output flange and the code disk, and the second ring is fixed relative to the mounting housing and the code reader.
[0013] Optionally, the joint further includes a hollow shaft having a first end and a second end disposed opposite to each other, wherein the output flange, the bearing and the encoder assembly are sequentially disposed on the hollow shaft in the direction from the first end to the second end;
[0014] The bearing also includes rollers, and the first ring body is rotatably connected to the second ring body through the rollers;
[0015] In the axial direction of the hollow shaft, the minimum distance between the encoder and the center of the roller is D1, and the minimum distance between the output flange and the second end of the hollow shaft is D2.
[0016] Wherein, D1 and D2 satisfy the following relationship: 1 / 20≤D1 / D2≤3 / 20;
[0017] And / or, the encoder disk is closer to the bearing than the hollow shaft.
[0018] Optionally, the driving mechanism includes a driving component, which is a motor, and in the axial direction of the joint, the encoder is closer to the bearing than the motor;
[0019] And / or, the joint further includes a hollow shaft and a brake, the hollow shaft having a first end and a second end disposed opposite to each other, the output flange, the bearing, the encoder assembly and the brake being sequentially disposed on the hollow shaft in the direction from the first end to the second end.
[0020] Optionally, the encoder assembly further includes a first adapter, through which the code disk is mounted on the first ring body.
[0021] Optionally, the encoder assembly further includes a second adapter, through which the code reader is mounted on the second ring body;
[0022] And / or, the mounting housing is fixedly connected to the second ring body via the second adapter.
[0023] Optionally, the drive mechanism includes a drive component and a reducer. The reducer includes a fixed part and a transmission part. The fixed part is connected to the transmission part in a driving connection. The drive component is connected to the output flange through the transmission part. The fixed part is fixed to the second ring body.
[0024] Optionally, the reducer is configured as a harmonic reducer, the fixed part is configured as a rigid wheel, the transmission part includes a flexible wheel and a wave generator, the wave generator is connected to the rigid wheel through the flexible wheel, the wave generator is connected to the drive member, and the flexible wheel is connected to the output flange.
[0025] Optionally, the encoder assembly further includes a second adapter, the rotation axis of the output flange extends along a first direction, the second adapter is spaced apart from the bearing in the first direction, the rigid wheel is disposed between the bearing and the second adapter and connects the bearing and the second adapter, and the code disk and the code reader are mounted between the second adapter and the first ring body.
[0026] Optionally, the bearing is configured as a crossed roller bearing, and / or the output flange is configured as a torque sensor.
[0027] According to a second aspect of this application, a robotic arm is provided, including the aforementioned joint.
[0028] In the joint of this application embodiment, the bearing provides stable support and constraint for the relative movement of the code disk and the code reader, so that the code disk and the code reader can maintain a relatively stable motion state during the operation of the joint, thereby reducing the degree of relative jump between the code disk and the code reader, and thus reducing the detection error of the code reader.
[0029] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description
[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0031] Figure 1 This is an exploded structural diagram of a joint provided in an exemplary embodiment of this application.
[0032] Figure 2 yes Figure 1 Cross-sectional view of the middle joint after assembly;
[0033] Figure 3 yes Figure 2 Enlarged view of point A in the middle;
[0034] Figure 4 yes Figure 2 Enlarged view of point B in the middle;
[0035] Figure 5 yes Figure 1 A cross-sectional view of the middle joint after assembly.
[0036] Explanation of reference numerals in the attached figures:
[0037] 100, Joint; 200, Housing; 300, Mounting Housing; 400, Drive Mechanism; 410, Drive Component; 420, Reducer; 430, Fixing Part; 431, Rigid Wheel; 440, Transmission Part; 441, Flexible Wheel; 442, Wave Generator; 500, Bearing; 510, First Ring Body; 520, Second Ring Body; 530, Roller; 600, Encoder Assembly; 610, Code Disc; 620, Code Reader; 630, First Adapter; 640, Second Adapter; 700, Output Flange; 800, Hollow Shaft; 900, Brake. Detailed Implementation
[0038] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of the present utility model and are not intended to limit the present utility model. In the present utility model, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in actual use or operation, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.
[0039] In the first aspect of this application, reference is made to Figures 1 to 4 This application discloses a joint 100, which may include a mounting housing 300, a drive mechanism 400, an output flange 700, a bearing 500, and an encoder assembly 600. The drive mechanism 400 is mounted on the mounting housing 300. The output flange 700 is connected to the drive mechanism 400, and the drive mechanism 400 can drive the output flange 700 to rotate. The output flange 700 is rotatably connected to the mounting housing 300 via the bearing 500.
[0040] The encoder assembly 600 may include a code disk 610 and a code reader 620. The code reader 620 is used to read the encoded information of the code disk 610. The code disk 610 is mounted on the bearing 500. During the rotation of the output flange 700 relative to the mounting housing 300, the code disk 610 can be driven to rotate synchronously through the bearing 500.
[0041] For example, bearing 500 may have an inner ring and an outer ring that can rotate relative to each other, and output flange 700 may be mounted on one end face of the outer ring and kept relatively fixed to the outer ring. Then, encoder 610 may be mounted on the other end face of the outer ring and kept relatively fixed to the outer ring. In other words, encoder 610 may be able to keep relatively fixed to the output flange 700.
[0042] The inner ring of bearing 500 can be kept relatively fixed with the mounting housing 300, so that the output flange 700 can rotate relative to the mounting housing 300, and the encoder 610 can also be kept relatively fixed with the mounting housing 300.
[0043] During the rotation of the output flange 700, the outer ring will rotate along with the output flange 700, and the code disk 610 will also rotate along with the outer ring. The motion state of the code disk 610 can represent the motion state of the output flange 700, and the code information of the code disk 610 can be read by the code reader 620 to accurately obtain the motion state of the output flange 700 in real time.
[0044] It is worth noting that by mounting the code disk 610 on the bearing 500, the rigidity and rotational stability of the bearing 500 are effectively utilized, allowing the code disk 610 to maintain relatively smooth rotation as it follows the bearing 500. Furthermore, the bearing 500 provides stable support and constraint for the relative movement of the code disk 610 and the code reader 620, enabling them to maintain a relatively stable motion state during the operation of the joint 100. This reduces the degree of relative jump between the code disk 610 and the code reader 620, thereby reducing the detection error of the code reader 620.
[0045] In addition, the bearing 500 provides stable support and constraint for the relative movement of the output flange 700 and the mounting shell 300, so that the output flange 700 and the mounting shell 300 can maintain a relatively stable movement state during the operation of the joint 100, which is conducive to the joint 100 outputting power more smoothly through the output flange 700.
[0046] It is worth mentioning that, due to the reduction in the detection error of the code reader 620, the joint 100 can use an encoder assembly 600 with higher detection accuracy. Furthermore, the encoder assembly 600 can be configured as, but is not limited to, an optical encoder, a capacitive encoder, or a magnetic encoder.
[0047] Furthermore, in some embodiments, the joint 100 also includes a housing 200, and a mounting shell 300 is disposed within the housing 200. However, the design is not limited thereto; in some other embodiments, the housing 200 and the mounting shell 300 are integrally formed.
[0048] In some embodiments, the bearing 500 includes a first ring 510 and a second ring 520 that are rotatable relative to each other. The first ring 510 is fixedly connected to the output flange 700 and the code disk 610, and the second ring 520 is fixed relative to the mounting housing 300 and the code reader 620.
[0049] For example, the second ring 520 can be directly or indirectly fixedly connected to the mounting shell 300, and the second ring 520 can be directly or indirectly fixedly connected to the code reader 620.
[0050] In this way, the encoder assembly 600 can read the rotation state of the code disk 610 with relatively accurate accuracy, thereby facilitating the precise acquisition of the rotation state of the output flange 700.
[0051] It is understood that one of the first ring body 510 and the second ring body 520 is the outer ring of the bearing 500, and the other is the inner ring of the bearing 500. In one example, the first ring body 510 is the outer ring of the bearing 500, and the second ring body 520 is the inner ring of the bearing 500; in another example, the first ring body 510 is the inner ring of the bearing 500, and the second ring body 520 is the outer ring of the bearing 500.
[0052] Reference Figure 5 In some embodiments, the joint 100 further includes a hollow shaft 800, which has a first end and a second end disposed opposite to each other. In the direction from the first end to the second end, an output flange 700, a bearing 500, and an encoder assembly 600 are sequentially disposed on the hollow shaft 800. The bearing 500 further includes a roller 530, and a first ring body 510 is rotatably connected to a second ring body 520 through the roller 530. In the axial direction of the hollow shaft 800, the minimum distance between the center of the code disk 610 and the center of the roller 530 is D1, and the minimum distance between the output flange 700 and the second end of the hollow shaft 800 is D2.
[0053] Wherein, D1 and D2 satisfy the following relationship: 1 / 20≤D1 / D2≤3 / 20;
[0054] And / or, the encoder 610 is closer to the bearing 500 than the hollow shaft 800.
[0055] It should be noted that the minimum distance between the center of the encoder 610 and the roller 530 is D1. D1 refers to the distance between the end face of the encoder 610 closest to the bearing 500 and the center of the roller 530 along the axial direction of the hollow shaft 800. The minimum distance between the output flange 700 and the second end of the hollow shaft 800 is D2. D2 refers to the distance between the end of the output flange 700 closest to the second end of the hollow shaft 800 and the second end of the hollow shaft 800 along the axial direction of the hollow shaft 800.
[0056] The output flange 700 is usually installed at the first end of the hollow shaft 800. By limiting the ratio of D1 to D2 to a certain range, the encoder 610 can be made to be closer to the bearing 500 and closer to the output flange 700.
[0057] From the perspective of torque transmission accuracy, the rotational motion of the output flange 700 can be transmitted to the code disk 610 with a shorter torque transmission path, greatly reducing the error accumulation effect caused by the extension of the mechanical transmission chain. In high-precision mechanical systems, any tiny error can be amplified step by step, and shortening the torque transmission path can effectively suppress this error amplification, ensuring that the rotation of the code disk 610 and the rotation of the output flange 700 are highly consistent in both timing and spatial position, ensuring that the signal acquired by the code reader 620 can accurately reflect the true kinematic parameters of the output flange 700.
[0058] At the structural dynamics level, the code disk 610, located near the output end, is at the end of the entire transmission system, far from components such as the drive mechanism 400 that could become vibration sources. This significantly reduces the amplitude and frequency of environmental vibrations affecting the code disk 610, effectively controlling its radial runout during rotation. Specifically, reduced radial runout means that the distance fluctuation from each point on the edge of the code disk 610 to the rotation center axis is smaller during rotation, directly improving the signal-to-noise ratio and stability of the reader 620's detection signal.
[0059] At the control and feedback level, the closer proximity of the encoder 610 to the output end makes the feedback loop of the joint 100 system closer to the controlled object (output flange 700). In feedback control, the timeliness and accuracy of the feedback signal are crucial. The close proximity of the encoder 610 to the output end minimizes the delay of the feedback signal. The controller performs calculations and makes decisions based on more real-time and accurate feedback information, thereby enabling faster correction of motion deviations of the output flange 700 and achieving more precise closed-loop control. This significantly improves the motion control accuracy and dynamic response performance of the joint 100. Especially in high-frequency, high-precision motion control scenarios, the advantages of this layout will be further amplified, providing the joint 100 with higher control bandwidth and better control margin.
[0060] It is worth noting that by limiting the D1 / D2 ratio to a range of 1 / 20 to 3 / 20, the code disk 610 can be placed closer to the bearing 500 and the output flange 700. Sufficient space is provided between the code disk 610 and the bearing 500. This also facilitates the placement of the adapter for fixing the code disk 610 to the bearing 500. This not only ensures the stability and reliability of the code disk 610's fixation to the bearing 500, guaranteeing its structural strength and rigidity, and ensuring the code disk 610's stability on the bearing 500, reducing feedback and / or reading errors of the encoded information caused by vibration, but also keeps the torque transmission path between the output flange 700 and the code disk 610 within a shorter range. This shortens the torque transmission path, reduces accumulated errors, improves the fidelity of the encoded information feedback and / or reading, and enhances the motion control accuracy and dynamic performance of the joint 100 system.
[0061] If the D1 / D2 ratio is less than 1 / 20, it will compress the arrangement space of the adapter fixed to the bearing 500 on the code disk 610, restricting its structural design and making it difficult to guarantee strength and rigidity. An unstable adapter may cause the code disk 610 to loosen or shift under high-speed rotation or complex stress conditions, affecting the stability and reliability of the feedback and / or reading of the encoded information from the encoder assembly 600, and consequently affecting the normal operation of the joint 100 system.
[0062] If the D1 / D2 ratio is greater than 3 / 20, the distance between the code disk 610 and the output flange 700 is too large, wasting the internal axial space of the joint 100 and increasing the overall size and weight. This prolongs the torque transmission path, introducing cumulative errors such as axial runout, radial runout, and angular deviation, reducing the encoder's detection accuracy, and may also affect the positioning accuracy and repeatability of the joint 100.
[0063] Therefore, limiting the D1 / D2 ratio to between 1 / 20 and 3 / 20 is an effective way to achieve the optimal balance between the fixed reliability of the encoder disk 610, space utilization efficiency, and the accuracy of coded information feedback and / or reading. This range ensures that the adapter has reasonable structural dimensions, guarantees the stable installation of the encoder disk 610, optimizes the spatial layout, shortens the torque transmission path, and reduces error sources. This helps improve the overall performance of the joint 100 system, including motion control accuracy, dynamic response speed, and stability, meeting the needs of high-speed, high-precision industrial robot applications.
[0064] In some embodiments, the drive mechanism 400 includes a drive member 410, which is a motor, and the encoder 610 is closer to the bearing 500 than the motor in the axial direction of the joint 100.
[0065] And / or, the joint 100 further includes a hollow shaft 800 and a brake 900, the hollow shaft 800 having a first end and a second end disposed opposite to each other, and in the direction from the first end to the second end, the output flange 700, the bearing 500, the encoder assembly 600 and the brake 900 are sequentially disposed on the hollow shaft 800.
[0066] In some embodiments, the encoder assembly 600 further includes a first adapter 630, through which the code disk 610 is mounted on the first ring body 510.
[0067] This allows the code disk 610 and the first ring body 510 to be connected together without changing the structure of the row code disk 610 and / or the first ring body 510. This helps to reduce the difficulty of adapting the row code disk 610 and / or the first ring body 510.
[0068] In some embodiments, the encoder assembly 600 further includes a second adapter 640, through which the code disk 610 is mounted on the second ring body 520.
[0069] This allows the barcode reader 620 and the second ring body 520 to be connected together without changing the structure of the row barcode reader 620 and / or the second ring body 520. This helps to reduce the difficulty of adapting the row barcode reader 620 and / or the second ring body 520.
[0070] In some embodiments, the encoder assembly 600 further includes a second adapter 640, through which the mounting housing 300 is mounted on the second ring body 520.
[0071] This allows the mounting housing 300 and the second ring body 520 to be connected together without changing the structure of the row mounting housing 300 and / or the second ring body 520. This helps to reduce the difficulty of adapting the row mounting housing 300 and / or the second ring body 520.
[0072] In some embodiments, the drive mechanism 400 includes a drive member 410 and a reducer 420. The reducer 420 includes a fixed part 430 and a transmission part 440. The fixed part 430 is movably connected to the transmission part 440. The drive member 410 is connected to the output flange 700 through the transmission part 440. The fixed part 430 is fixed to the second ring body 520.
[0073] Thus, the second ring 520 does not provide support for the reducer 420, which helps to make the reducer 420 run stably.
[0074] In some embodiments, the drive element 410 is configured as a motor.
[0075] There are many types of reducers 420. In some embodiments, the reducer 420 is configured as a harmonic reducer 420, the fixed part 430 is configured as a rigid wheel 431, the transmission part 440 includes a flexible wheel 441 and a wave generator 442, the wave generator 442 is connected to the rigid wheel 431 through the flexible wheel 441, the wave generator 442 is connected to the drive member 410, and the flexible wheel 441 is connected to the output flange 700.
[0076] However, the design of this application is not limited to this. In some other embodiments, the reducer 420 is configured as a planetary reducer 420, the fixed part 430 is configured as an internal gear ring, and the transmission part 440 includes a sun gear, planet gears and a planet carrier. The connection relationship between the reducer 420 and the drive member 410 and the output flange 700 can be, but is not limited to, with reference to related technologies, and will not be described in detail here.
[0077] In some embodiments, the encoder assembly 600 further includes a second adapter 640, the rotation axis of the output flange extends along a first direction, the second adapter 640 is spaced apart from the bearing 500 in the first direction, a rigid wheel 431 is disposed between the bearing 500 and the second adapter 640 and connects the bearing 500 and the second adapter 640, the second adapter 640 is also connected to the mounting housing 300, and the code disk 610 and the code reader 620 are mounted between the second adapter 640 and the first ring body 510.
[0078] Thus, the rigid wheel 431 is reused as a component that creates a gap between the bearing 500 and the second adapter 640 in the first direction, providing space for the mounting of the code disk 610 and the code reader 620. This facilitates a simplification of the structure of the joint 100.
[0079] In one example, the encoder assembly 600 further includes a first adapter 630 disposed between a second adapter 640 and a first ring body 510. The first adapter 630 is disposed on the first ring body 510, the code disk 610 is mounted on the first ring body 510 via the first adapter 630, and the code reader 620 is disposed on the side of the second adapter 640 near the first adapter 630.
[0080] In some embodiments, bearing 500 is configured as a crossed roller bearing. The high rigidity of the crossed roller bearing helps to reduce the runout of the code disk 610 relative to the code reader 620.
[0081] In some embodiments, the output flange 700 is configured as a torque sensor.
[0082] According to a second aspect of this application, a robotic arm is provided, which includes the aforementioned joint 100. This robotic arm possesses all the beneficial effects of the aforementioned joint 100, which will not be elaborated further herein.
[0083] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0084] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.
[0085] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.
[0086] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.
Claims
1. A joint, characterized in that, include: Mounting housing; The drive mechanism is mounted on the mounting housing; An output flange is connected to the drive mechanism, which can drive the output flange to rotate. The bearing is used to rotatably connect the output flange to the mounting housing. as well as An encoder assembly includes a code disk and a code reader, the code reader being used to read the encoded information from the code disk, the code disk being disposed on the bearing; The output flange, the bearing, and the encoder assembly are arranged in sequence. During the rotation of the output flange relative to the mounting housing, the code disk can be driven to rotate synchronously through the bearing.
2. The joint according to claim 1, characterized in that, The bearing includes a first ring and a second ring that can rotate relative to each other. The first ring is fixedly connected to the output flange and the code disk, and the second ring is fixed relative to the mounting housing and the code reader.
3. The joint according to claim 2, characterized in that, The joint also includes a hollow shaft, which has a first end and a second end that are disposed opposite to each other. In the direction from the first end to the second end, the output flange, the bearing and the encoder assembly are sequentially disposed on the hollow shaft. The bearing also includes rollers, and the first ring body is rotatably connected to the second ring body through the rollers; In the axial direction of the hollow shaft, the minimum distance between the encoder and the center of the roller is D1, and the minimum distance between the output flange and the second end of the hollow shaft is D2. Wherein, D1 and D2 satisfy the following relationship: 1 / 20≤D1 / D2≤3 / 20; And / or, the encoder disk is closer to the bearing than the hollow shaft.
4. The joint according to claim 1, characterized in that, The driving mechanism includes a driving component, which is a motor. In the axial direction of the joint, the encoder is closer to the bearing than the motor. And / or, the joint further includes a hollow shaft and a brake, the hollow shaft having a first end and a second end disposed opposite to each other, the output flange, the bearing, the encoder assembly and the brake being disposed sequentially on the hollow shaft in the direction from the first end to the second end.
5. The joint according to claim 2, characterized in that, The encoder assembly further includes a first adapter, through which the code disk is mounted on the first ring.
6. The joint according to claim 2, characterized in that, The encoder assembly further includes a second adapter, through which the code reader is mounted on the second ring body; And / or, the mounting housing is fixedly connected to the second ring body via the second adapter.
7. The joint according to claim 2, characterized in that, The drive mechanism includes a drive component and a reducer. The reducer includes a fixed part and a transmission part. The fixed part is connected to the transmission part in a driving connection. The drive component is connected to the output flange through the transmission part. The fixed part is fixed to the second ring body.
8. The joint according to claim 7, characterized in that, The reducer is configured as a harmonic reducer, the fixed part is configured as a rigid wheel, the transmission part includes a flexible wheel and a wave generator, the wave generator is connected to the rigid wheel through the flexible wheel, the wave generator is connected to the drive component, and the flexible wheel is connected to the output flange.
9. The joint according to claim 8, characterized in that, The encoder assembly further includes a second adapter, the rotation axis of the output flange extends along a first direction, the second adapter is spaced apart from the bearing in the first direction, the rigid wheel is disposed between the bearing and the second adapter and connects the bearing and the second adapter, and the code disk and the code reader are mounted between the second adapter and the first ring body.
10. The joint according to any one of claims 1 to 9, characterized in that, The bearing is configured as a crossed roller bearing, and / or the output flange is configured as a torque sensor.
11. A robotic arm, characterized in that... Includes the joint as described in any one of claims 1 to 10.