Joint module, robot arm and robot

Abstract

The application relates to the technical field of robots, in particular to a joint module, a mechanical arm and a robot. The joint module comprises a speed reduction assembly, a driving assembly and an integrated structure, and the driving assembly is connected with the speed reduction assembly. The driving assembly and the speed reduction assembly are both connected with the integrated structure, and the integrated structure is configured to control the driving assembly to drive the speed reduction assembly to rotate at a reduced speed and detect the positions of the driving assembly and the speed reduction assembly. The joint module, the mechanical arm and the robot provided by the application reduce the axial size of the joint module and improve the torque density of the joint module.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more particularly to a joint module, a robotic arm, and a robot. Background Technology

[0002] The joint module is the core motion unit of the robot, which ensures high precision and stability of robot motion control by reducing speed and increasing torque.

[0003] In existing technology, the joint module includes a motor, a reducer, an encoder, and a drive board connected in series. The drive board is electrically connected to the motor to control its rotation. The reducer reduces the motor's speed and amplifies its torque, which is then transmitted to the load through the reducer's output. The encoder is used to detect the position of the outputs of the motor and the reducer.

[0004] However, the existing joint modules have a large axial dimension, resulting in a low torque density. Utility Model Content

[0005] This application provides a joint module, a robotic arm, and a robot, which reduces the axial dimension of the joint module and increases its torque density.

[0006] In the first aspect, the joint module provided in this application includes a deceleration component, a drive component, and an integrated structure, wherein the drive component is connected to the deceleration component.

[0007] Both the drive assembly and the deceleration assembly are connected to an integrated structure, which is configured to control the drive assembly to drive the deceleration assembly to decelerate and rotate, and to detect the positions of the drive assembly and the deceleration assembly.

[0008] In one possible implementation, the joint module provided in this application has an integrated structure including an encoding component and an integrated component, the integrated component being electrically connected to a drive component to control the drive component to drive the deceleration component to decelerate and rotate.

[0009] Both the drive assembly and the deceleration assembly are connected to the encoding assembly to drive the encoding assembly to rotate. The rotating encoding assembly is used to sense the integrated component to detect the position of the drive assembly and the deceleration assembly.

[0010] In one possible implementation, the joint module provided in this application has driving components and sensing components on the integrated component, and driving components are provided on both opposite sides of the integrated component.

[0011] The driving components are electrically connected to the driving assembly, and the sensing components are used to provide sensing for the encoding assembly.

[0012] In one possible implementation, the joint module provided in this application includes a first encoder and a second encoder, with the first encoder sleeved on the outside of the second encoder.

[0013] The drive component is connected to the first encoder to drive the first encoder to rotate. The first encoder is used to sense the integrated component to detect the position of the drive component.

[0014] The deceleration assembly is connected to the second encoder to drive the second encoder to rotate. The second encoder is used to sense the integrated component to detect the position of the deceleration assembly.

[0015] In one possible implementation, the joint module provided in this application includes a deceleration component comprising a wave generator, a flexible component, a rigid component, and a first bearing. The first bearing is sleeved on the wave generator, the flexible component is sleeved on the first bearing, and the rigid component is meshed with the flexible component.

[0016] The drive assembly is connected to the wave generator, and the flexible member is configured to drive the rigid member to rotate at a deceleration relative to the wave generator when the drive assembly drives the wave generator to rotate.

[0017] The rigid component is connected to the encoding assembly to drive the encoding assembly to rotate.

[0018] In one possible implementation, the joint module provided in this application further includes a first support member, which includes a first support portion and a second support portion connected to the first support portion.

[0019] The wave generator is sleeved on the first support part, the drive assembly is sleeved on the wave generator, the rigid part is connected to the second support part, and the wave generator, driven by the drive assembly, drives the rigid part to decelerate and rotate through the flexible part.

[0020] The first support is connected to the encoding component, and the rigid component drives the encoding component to rotate through the second support and the first support.

[0021] In one possible implementation, the joint module provided in this application further includes a housing and a second bearing. The housing is fitted onto the drive assembly, and the flexible component and the integrated component are both connected to the housing.

[0022] The second bearing is located between the drive assembly and the housing.

[0023] In one possible implementation, the joint module provided in this application further includes a brake, which is sleeved on the wave generator. The flexible member has a receiving cavity for accommodating the brake and / or coding assembly. The brake is used to brake the rotation of the wave generator.

[0024] In one possible implementation, the joint module provided in this application includes a driving component comprising a stationary component and a rotating component, wherein the stationary component is fitted onto the rotating component, and the rotating component is connected to a deceleration component.

[0025] The integrated component is electrically connected to the stationary component to drive the rotating component and the deceleration assembly to rotate via the stationary component.

[0026] In one possible implementation, the joint module provided in this application further includes a second support member, a rotating member connected to the second support member, a deceleration assembly connected to the second support member, and the rotating member drives the deceleration assembly to decelerate and rotate through the second support member.

[0027] The encoding component is connected to the second support member, and the rotating member drives the encoding component to rotate through the second support member.

[0028] Secondly, this application provides a robotic arm, including a robotic arm body and any of the joint modules provided in the first aspect above disposed on the robotic arm body.

[0029] Thirdly, this application provides a robot including any of the joint modules provided in the first aspect above, and / or the robotic arm provided in the second aspect above.

[0030] The joint module, robotic arm, and robot provided in this application include a joint module comprising a reduction gear assembly, a drive assembly, and an integrated structure. The drive assembly is connected to the reduction gear assembly. Both the drive assembly and the reduction gear assembly are connected to the integrated structure, which is configured to control the drive assembly to drive the reduction gear assembly to rotate at reduced speed and to detect the positions of the drive assembly and the reduction gear assembly. In this way, the integrated structure improves space utilization, thereby reducing the axial dimension of the joint module and increasing its torque density. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the internal structure of the joint module provided in the embodiments of this application;

[0033] Figure 2 for Figure 1 A schematic diagram of the integrated structure;

[0034] Figure 3 for Figure 2 A structural diagram from another angle.

[0035] Explanation of reference numerals in the attached figures:

[0036] 100 - Reduction assembly; 110 - Wave generator; 120 - Flexible component; 121 - Receiving cavity; 130 - Rigid component; 140 - First bearing;

[0037] 200 - Drive assembly; 210 - Stationary component; 220 - Rotating component;

[0038] 300-Integrated Structure;

[0039] 310 - Encoding component; 311 - First encoding element; 312 - Second encoding element;

[0040] 320 - Integrated components; 321 - Drive components; 322 - Sensing components;

[0041] 400 - First support member; 410 - First support section; 420 - Second support section;

[0042] 500 - Housing; 510 - First outer shell; 520 - Second outer shell; 530 - Third outer shell;

[0043] 600 - Second bearing;

[0044] 700-Brake;

[0045] 800 - Second support component; 810 - Motor bracket; 820 - Encoder bracket;

[0046] 900-Flange.

[0047] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0048] First, those skilled in the art should understand that these embodiments are merely for explaining the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0049] Secondly, it should be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0050] Furthermore, it should be noted that in the description of this application, the terms "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0051] Furthermore, 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0052] As shown in the background section, in the prior art, the motor, reducer, encoder and drive board are connected in series, which makes the axial dimension of the joint module large and results in a low torque density.

[0053] Based on this, the joint module, robotic arm, and robot provided in this application include a joint module with a reduction gear assembly, a drive assembly, and an integrated structure. The drive assembly is connected to the reduction gear assembly. Both the drive assembly and the reduction gear assembly are connected to the integrated structure, which is configured to control the drive assembly to drive the reduction gear assembly to rotate at reduced speed and to detect the positions of the drive assembly and the reduction gear assembly. In this way, the integrated structure improves space utilization, thereby reducing the axial dimension of the joint module and increasing its torque density.

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0055] Reference Figure 1 As shown, the joint module provided in this application includes a deceleration assembly 100, a drive assembly 200, and an integrated structure 300, wherein the drive assembly 200 is connected to the deceleration assembly 100.

[0056] Both the drive assembly 200 and the deceleration assembly 100 are connected to the integrated structure 300, which is configured to control the drive assembly 200 to drive the deceleration assembly 100 to rotate at a reduced speed and to detect the positions of the drive assembly 200 and the deceleration assembly 100.

[0057] It should be noted that the joint modules provided in this application embodiment include, but are not limited to, those used in robotic arms and robots.

[0058] Specifically, the drive component 200 is the power source of the joint module. The drive component 200 can convert electrical energy into mechanical energy and output a higher speed and a relatively smaller torque.

[0059] For example, the drive component 200 can be a brushless DC motor or an AC servo motor, or other drive devices. This application embodiment does not impose too many restrictions on this.

[0060] The high speed and low torque output of the drive assembly 200 are not suitable for direct use by robot (or robotic arm) joints. The drive assembly 200 is connected to the reduction assembly 100, which receives the high-speed input from the drive assembly 200 and reduces the speed to the required range while increasing the output torque to meet the needs of the robot (or robotic arm) to lift its arm or move objects.

[0061] For example, the deceleration component 100 can be a harmonic reducer or other types of reducers, and the embodiments of this application do not impose too many restrictions on this.

[0062] In its implementation, the drive component 200 is both mechanically and electrically connected to the integrated structure 300. The integrated structure 300 can be electrically connected to the main controller of the robot (or robotic arm). The integrated structure 300 receives instructions from the main controller of the robot (or robotic arm) and then generates corresponding control signals. Since the integrated structure 300 is electrically connected to the drive component 200, it transmits the control signals to the drive component 200, thereby controlling the rotation of the drive component 200.

[0063] Since both the drive assembly 200 and the deceleration assembly 100 are connected to the integrated structure 300, the integrated structure 300 can detect the positions of the drive assembly 200 and the deceleration assembly 100. It then feeds the signals back to the robot's (or robotic arm's) main controller, achieving closed-loop control and thus dynamically adjusting the speed and torque of the drive assembly 200 and the deceleration assembly 100.

[0064] It should be noted that torque density refers to the maximum torque that the joint module can output per unit volume.

[0065] Understandably, compared to the prior art where the motor, reducer, encoder, and drive board are connected in series, the axial dimension of the joint module is relatively large, resulting in a lower torque density. The joint module in this embodiment, by setting an integrated structure 300 to simultaneously realize the functions of the encoder and drive board, saves the axial space required by the drive board, improves space utilization, thereby reducing the axial dimension of the joint module and increasing its torque density.

[0066] It should also be noted that the axial direction refers to the length direction of the joint module, which is... Figure 1 The middle arrow indicates the Y direction.

[0067] In some embodiments, refer to Figure 1 As shown, the integrated structure 300 includes an encoding component 310 and an integrated component 320. The integrated component 320 is electrically connected to the drive component 200 to control the drive component 200 to drive the deceleration component 100 to decelerate and rotate.

[0068] Both the drive assembly 200 and the deceleration assembly 100 are connected to the encoding assembly 310 to drive the encoding assembly 310 to rotate. The rotating encoding assembly 310 is used to sense the integrated component 320 to detect the position of the drive assembly 200 and the deceleration assembly 100.

[0069] Specifically, the integrated component 320 is electrically connected to the drive component 200. The integrated component 320 can transmit control signals to the drive component 200, thereby controlling the rotation of the drive component 200. Since the drive component 200 is connected to the reduction component 100, the reduction component 100 decelerates and rotates under the drive of the drive component 200.

[0070] Both the drive assembly 200 and the deceleration assembly 100 are connected to the encoding assembly 310. The drive assembly 200 and the deceleration assembly 100 can drive the encoding assembly 310 to rotate. The rotating encoding assembly 310 is used to sense the integrated component 320, thereby detecting the position of the drive assembly 200 and the deceleration assembly 100.

[0071] In this way, the integrated component 320 can control the rotation of the drive component 200 and can also work with the encoder component 310 to detect the position of the drive component 200 and the deceleration component 100, saving the axial space required by the drive board, improving the space utilization, thereby reducing the axial dimension of the joint module and increasing the torque density.

[0072] In some embodiments, refer to Figure 2 and Figure 3 As shown, the integrated component 320 has a driving component 321 and a sensing component 322. The driving component 321 is electrically connected to the driving assembly 200, and the sensing component 322 is used for sensing by the encoding assembly 310.

[0073] Specifically, by providing a driving element 321 and a sensing element 322 on the integrated component 320, the driving element 321 can transmit control signals to the driving assembly 200, thereby controlling the rotation of the driving assembly 200.

[0074] The sensing element 322 is used to sense the rotating encoding component 310, thereby detecting the position of the drive component 200 and the deceleration component 100.

[0075] In this way, by integrating the drive component 321 and the sensing component 322 onto the integrated component 320, the axial space required by the drive board is saved, the space utilization rate is improved, thereby reducing the axial dimension of the joint module and increasing the torque density.

[0076] In some embodiments, refer to Figure 2 and Figure 3 As shown, the integrated component 320 has driving components 321 on both opposite sides.

[0077] This improves the utilization rate of the integrated component 320 and reduces its surface area, which in turn reduces its radial radius (i.e., ...). Figure 1 The size (in the X direction as indicated by the middle arrow) increases the torque density of the joint module.

[0078] In a specific implementation, the integrated component 320 can be a circuit board. In the prior art, when the sensing element 322 is located on the first side of the circuit board, the second side of the circuit board is locally thinned or reinforced to improve its resistance to deformation, resulting in a localized recess on the second side. Therefore, in addition to providing the driving element 321 on the first side of the circuit board, this embodiment can also rationally arrange the driving element 321 in the localized recess on the second side of the circuit board, improving the utilization rate of the integrated component 320 while avoiding additional increases in the Y-direction dimension of the circuit board.

[0079] In some embodiments, refer to Figure 1 As shown, the encoding component 310 includes a first encoding element 311 and a second encoding element 312, with the first encoding element 311 sleeved on the outside of the second encoding element 312.

[0080] The drive assembly 200 is connected to the first encoder 311 to drive the first encoder 311 to rotate. The first encoder 311 is used to sense the integrated assembly 320 to detect the position of the drive assembly 200.

[0081] The deceleration assembly 100 is connected to the second encoder 312 to drive the second encoder 312 to rotate. The second encoder 312 is used to sense the integrated assembly 320 to detect the position of the deceleration assembly 100.

[0082] In a specific implementation, the first encoder 311 can be the outer rotor of a magnetic encoder, and the second encoder 312 can be the inner rotor of a magnetic encoder, with a gap between the outer rotor and the inner rotor. The integrated component 320 is a circuit board, and the sensing element 322 is a Hall element or a magnetoresistive sensor, with multiple sensing elements 322 on the integrated component 320.

[0083] The outer rotor is connected to the drive assembly 200, and can rotate at high speed under the drive of the drive assembly 200. A multi-pole ring magnet can be embedded in the outer rotor, and a high-frequency alternating magnetic field is generated in the surrounding space when the outer rotor rotates.

[0084] The inner rotor is connected to the reduction gear assembly 100, and can rotate under the drive of the reduction gear assembly 100. The inner rotor can use a magnetically conductive material or auxiliary magnetic poles to modulate the distribution of the outer rotor's magnetic field and generate a low-frequency magnetic field signal.

[0085] The integrated component 320 has a high-speed channel (Hall element) and a low-speed channel (magnetoresistive sensor), enabling dual-channel signal acquisition. The high-speed channel detects the high-frequency signal generated by the outer rotor, which is used to detect the position of the drive assembly 200. The low-speed channel detects the low-frequency signal modulated by the inner rotor, which is used to detect the position of the reduction gear assembly 100. It should be noted that magnetic encoders are a technology well-known to those skilled in the art and will not be described in detail here.

[0086] In some embodiments, refer to Figure 1 As shown, the deceleration assembly 100 includes a wave generator 110, a flexible member 120, a rigid member 130, and a first bearing 140. The first bearing 140 is sleeved on the wave generator 110, the flexible member 120 is sleeved on the first bearing 140, and the rigid member 130 is meshed with the flexible member 120.

[0087] The drive assembly 200 is connected to the wave generator 110, and the flexible member 120 is configured to drive the rigid member 130 to rotate relative to the wave generator 110 at a reduced speed when the drive assembly 200 drives the wave generator 110 to rotate.

[0088] The rigid component 130 is connected to the encoding component 310 to drive the encoding component 310 to rotate.

[0089] In a specific implementation, the end of the wave generator 110 is elliptical. The flexible member 120 can be a thin-walled flexible metal cylinder, and its shape can be cup-shaped or top-hat-shaped. The outer wall of the flexible member 120 is machined with external teeth. The rigid member 130 is a rigid ring, and its inner wall has internal teeth. The number of internal teeth in the rigid member 130 can be two more than the number of external teeth in the flexible member 120. The first bearing 140 can be a crossed roller bearing or a flexible bearing, or other types of bearings. This application embodiment does not impose too many restrictions on this.

[0090] The wave generator 110 is connected to the drive assembly 200, and the wave generator 110 inputs the high-speed rotational motion of the drive assembly 200 into the deceleration assembly 100.

[0091] The inner ring of the first bearing 140 can be fixed to the end of the wave generator 110, and the outer ring of the first bearing 140 contacts the inner wall of the flexible member 120. When the wave generator 110 rotates, the wave generator 110 uses its elliptical end to periodically squeeze the flexible member 120 through the first bearing 140 during the rotation process, causing the flexible member 120 to undergo elastic deformation.

[0092] During the engagement of the external teeth of the flexible member 120 with the internal teeth of the rigid member 130, the flexible member 120 undergoes a staggered tooth movement through continuous elastic deformation, thereby driving the rigid member 130 to rotate at a reduced speed relative to the wave generator 110. The rigid member 130, as the output end, can transmit power to the load.

[0093] The rigid member 130 is connected to the encoding component 310. The encoding component 310 rotates under the drive of the rigid member 130 and can detect the position of the rigid member 130 by sensing the sensing element 322, which is to detect the position output by the deceleration component 100.

[0094] In some embodiments, the joint module further includes a torque sensor connected to the rigid member 130, which is used to detect the torque output by the deceleration assembly 100.

[0095] In some embodiments, refer to Figure 1 As shown, the joint module also includes a first support member 400, which includes a first support portion 410 and a second support portion 420 connected to the first support portion 410.

[0096] The wave generator 110 is sleeved on the first support part 410, the drive assembly 200 is sleeved on the wave generator 110, the rigid member 130 is connected to the second support part 420, and the wave generator 110 is driven by the drive assembly 200, which drives the rigid member 130 to decelerate and rotate through the flexible member 120.

[0097] The first support part 410 is connected to the encoding component 310, and the rigid member 130 drives the encoding component 310 to rotate through the second support part 420 and the first support part 410.

[0098] In a specific implementation, the first support 410 can be bolted to the second encoder 312 of the encoder assembly 310, and the second support 800 can be pinned to the rigid member 130. The drive assembly 200 rotates, causing the wave generator 110 to rotate at high speed. The wave generator 110 forces the flexible member 120 to undergo elastic deformation. According to the harmonic deceleration principle, the deformation of the flexible member 120 forces the rigid member 130 to produce a significantly decelerated rotational motion in the same direction as the wave generator 110. It should be noted that the harmonic deceleration principle is a well-known technique to those skilled in the art and will not be elaborated upon further.

[0099] The rigid member 130 rotates, causing the second support part 420 fixed to it to rotate. The second support part 420 is connected to the first support part 410, so the second support part 420 drives the first support part 410 to rotate.

[0100] The first support part 410 is connected to the second encoding element 312 (i.e., the inner rotor) of the encoding assembly 310, and the rotation of the first support part 410 drives the inner rotor of the encoding assembly 310 to rotate.

[0101] It should be noted that the second support part 420 is connected to the rigid member 130, which can also separate the deceleration assembly 100 from the external environment, thus serving as a dustproof and sealing function. A hollow channel can be provided in the center of the first support part 410 for internal wiring of the robot (or robotic arm).

[0102] It should also be noted that the first support portion 410 and the second support portion 420 can be connected by welding or integrally formed. The integrated component 320 can be ring-shaped, and the ring-shaped integrated component 320 is sleeved on the first support portion 410, with a gap between the integrated component 320 and the first support portion 410.

[0103] In some embodiments, refer to Figure 1 As shown, the joint module also includes a housing 500, which is fitted onto the drive assembly 200. The flexible component 120 and the integrated component 320 are both connected to the housing 500.

[0104] Understandably, by setting up the housing 500, the internal drive components 200 and integrated structure 300 can be protected from external environmental damage such as dust, moisture, and impacts from foreign objects.

[0105] The flexible member 120 is connected to the housing 500, which can fix the flexible member 120. When the wave generator 110 drives the flexible member 120 to deform, the flexible member 120 itself will not rotate, but will convert its elastic deformation into driving the rigid member 130, forcing the rigid member 130 and the first support member 400 to decelerate and rotate.

[0106] The integrated component 320 is connected to the housing 500, which can fix the integrated component 320. The integrated component 320 controls the rotation of the drive component 200 and reads the signal fed back by the encoding component 310 to realize closed-loop control.

[0107] In a specific implementation, the housing 500 includes a first outer shell 510, a second outer shell 520, and a third outer shell 530. The first outer shell 510, the second outer shell 520, and the third outer shell 530 can be integrally formed or sequentially assembled; this embodiment does not impose excessive limitations on this. Understandably, the first outer shell 510, the second outer shell 520, and the third outer shell 530 can increase the contact area along the heat conduction path, enhancing the heat exchange efficiency between the joint module and the external environment, thereby enabling the joint module to dissipate heat quickly.

[0108] For example, the first housing 510, the second housing 520 and the third housing 530 may be made of a material with good thermal conductivity, such as aluminum alloy.

[0109] The joint module also includes a flange 900, which connects the flexible component 120 to the first housing 510. The flange 900 not only provides support but can also be used to connect to the robotic arm body or robot body. The integrated component 320 can be bolted to the third housing 530 or connected in other ways. The third housing 530 can be connected to the first support 410 (the end away from the second support 420) via a bearing.

[0110] In some embodiments, the integrator 320 has a status indicator light, and the third housing 530 may have a through hole for exposing the status indicator light and some larger electronic components of the integrator 320.

[0111] In some embodiments, refer to Figure 1 As shown, the joint module also includes a second bearing 600, which is disposed between the drive assembly 200 and the housing 500.

[0112] Thus, the second bearing 600 separates the drive assembly 200 from the housing 500, enabling motion separation between the drive assembly 200 and the housing 500. In specific implementations, the number of second bearings 600 can be one, two, or more than two; this application embodiment does not impose excessive restrictions on this.

[0113] In some embodiments, refer to Figure 1 As shown, the joint module also includes a brake 700, which is connected to the wave generator 110 and is used to brake the rotation of the wave generator 110.

[0114] In a specific implementation, the brake 700 can be an electromagnetic powder brake 700. The brake 700 includes a brake stator and a brake rotor. The brake stator is connected to the housing 500, and the brake rotor is connected to the wave generator 110.

[0115] When there is no magnetic force between the brake stator and the brake rotor, the brake rotor can detach from the brake stator and rotate freely, at which time the wave generator 110 rotates normally.

[0116] When there is a magnetic force between the brake stator and the brake rotor, the brake rotor will engage with the brake stator under the action of electromagnetic force, causing the rotating wave generator 110 to stop, thus realizing the braking function.

[0117] It should be noted that the electromagnetic powder brake 700 is a technology well known to those skilled in the art, and will not be described in detail here.

[0118] In some embodiments, refer to Figure 1 As shown, the brake 700 is sleeved on the wave generator 110, and the flexible member 120 has a receiving cavity 121 for accommodating the brake 700 and / or the coding assembly 310.

[0119] It should be noted that placing the brake 700 and / or the encoder assembly 310 within the receiving cavity 121 of the flexible member 120 can fully utilize the internal space of the flexible member 120, improve the space utilization rate, thereby reducing the axial dimension of the joint module and further improving the torque density.

[0120] It should also be noted that the brake 700 is located between the drive assembly 200 and the reduction assembly 100, which can reduce the length of the braking arm, thereby reducing the response time and error of the braking process.

[0121] In some embodiments, refer to Figure 1 As shown, the drive assembly 200 includes a stationary component 210 and a rotating component 220. The stationary component 210 is sleeved on the rotating component 220, and the rotating component 220 is connected to the deceleration assembly 100.

[0122] The integrated component 320 is electrically connected to the stationary component 210 to drive the rotating component 220 and the reduction assembly 100 to rotate via the stationary component 210.

[0123] In a practical implementation, the drive component 200 can be a motor, the stationary component 210 is the motor stator, and the rotating component 220 is the motor rotor. The motor stator includes an iron core made of laminated silicon steel sheets and copper coils (windings) embedded therein. The motor stator is fitted onto the motor rotor, and the motor stator encloses the internal motor rotor.

[0124] The housing 500 is fitted and fixedly connected to the motor stator, which remains stationary. The integrated component 320 is electrically connected to the motor stator, and it supplies current to the windings of the motor stator, thereby generating a rotating magnetic field that drives the motor rotor to rotate. It should be noted that motors are a technology well-known to those skilled in the art and will not be described in detail here.

[0125] The motor rotor is connected to the wave generator 110 of the reduction assembly 100. When the motor rotor starts to rotate under the action of the magnetic field generated by the motor stator, the motor rotor drives the wave generator 110 to rotate, thereby inputting power to the reduction assembly 100.

[0126] In some embodiments, refer to Figure 1 As shown, the joint module also includes a second support member 800, a rotating member 220 connected to the second support member 800, and a deceleration assembly 100 connected to the second support member 800. The rotating member 220 drives the deceleration assembly 100 to decelerate and rotate through the second support member 800.

[0127] The encoding component 310 is connected to the second support member 800, and the rotating member 220 drives the encoding component 310 to rotate through the second support member 800.

[0128] In a specific implementation, the second support member 800 includes a motor bracket 810 and an encoder bracket 820. The motor bracket 810 is sleeved and fixedly connected to the wave generator 110 of the reduction assembly 100, and the rotating member 220 is sleeved and fixedly connected to the motor bracket 810. The rotating member 220 can transmit power to the reduction assembly 100 through the motor bracket 810.

[0129] The motor bracket 810 is connected to the encoder bracket 820. The first encoder 311 of the encoder assembly 310 is connected to the encoder bracket 820. The rotating member 220 drives the first encoder 311 to rotate through the motor bracket 810 and the encoder bracket 820. The first encoder 311 senses the integrated member 320 to detect the position of the rotating member 220.

[0130] This application also provides a robotic arm, including a robotic arm body and a joint module disposed on the robotic arm body.

[0131] The specific structure and working method of the joint module have been described in detail in the above embodiments, and will not be repeated here.

[0132] This application also provides a robot, including a joint module and / or a robotic arm.

[0133] Those skilled in the art will understand that the joint module, robotic arm, and robot provided in this application include a joint module comprising a deceleration assembly 100, a drive assembly 200, and an integrated structure 300. The drive assembly 200 is connected to the deceleration assembly 100. Both the drive assembly 200 and the deceleration assembly 100 are connected to the integrated structure 300, which is configured to control the drive assembly 200 to drive the deceleration assembly 100 to rotate at reduced speed and to detect the positions of the drive assembly 200 and the deceleration assembly 100. Thus, the integrated structure 300 improves space utilization, thereby reducing the axial dimension of the joint module and increasing its torque density.

[0134] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0135] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application.

[0136] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. Without departing from the principles of this application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of this application.

Claims

1. A joint module, characterized in that, include: Speed ​​reduction assembly (100); A drive assembly (200) is connected to the reduction assembly (100); An integrated structure (300) is provided, wherein the drive component (200) and the deceleration component (100) are both connected to the integrated structure (300). The integrated structure (300) is configured to control the drive component (200) to drive the deceleration component (100) to decelerate and rotate, and to detect the positions of the drive component (200) and the deceleration component (100).

2. The joint module according to claim 1, characterized in that, The integrated structure (300) includes an encoding component (310) and an integrated component (320), the integrated component (320) being electrically connected to the drive component (200) to control the drive component (200) to drive the deceleration component (100) to decelerate and rotate; Both the drive assembly (200) and the deceleration assembly (100) are connected to the encoding assembly (310) to drive the encoding assembly (310) to rotate. The rotating encoding assembly (310) is used to sense the integrated component (320) to detect the position of the drive assembly (200) and the deceleration assembly (100).

3. The joint module according to claim 2, characterized in that, The integrated component (320) has a driving element (321) and a sensing element (322), and the driving element (321) is provided on both opposite sides of the integrated component (320). The driving component (321) is electrically connected to the driving assembly (200), and the sensing component (322) is used for sensing by the encoding assembly (310).

4. The joint module according to claim 2, characterized in that, The encoding component (310) includes a first encoding element (311) and a second encoding element (312), wherein the first encoding element (311) is sleeved on the outside of the second encoding element (312); The drive assembly (200) is connected to the first encoder (311) to drive the first encoder (311) to rotate. The first encoder (311) is used to sense the integrated component (320) to detect the position of the drive assembly (200). The deceleration assembly (100) is connected to the second encoder (312) to drive the second encoder (312) to rotate. The second encoder (312) is used to sense the integrated component (320) to detect the position of the deceleration assembly (100).

5. The joint module according to any one of claims 2 to 4, characterized in that, The deceleration assembly (100) includes a wave generator (110), a flexible component (120), a rigid component (130), and a first bearing (140). The first bearing (140) is sleeved on the wave generator (110), the flexible component (120) is sleeved on the first bearing (140), and the rigid component (130) is engaged with the flexible component (120). The drive assembly (200) is connected to the wave generator (110), and the flexible member (120) is configured to drive the rigid member (130) to decelerate relative to the wave generator (110) when the drive assembly (200) drives the wave generator (110) to rotate. The rigid member (130) is connected to the encoding component (310) to drive the encoding component (310) to rotate.

6. The joint module according to claim 5, characterized in that, It also includes a first support member (400), which includes a first support portion (410) and a second support portion (420) connected to the first support portion (410). The wave generator (110) is sleeved on the first support part (410), the drive assembly (200) is sleeved on the wave generator (110), the rigid member (130) is connected to the second support part (420), and the wave generator (110) is driven by the drive assembly (200) to drive the rigid member (130) to decelerate and rotate through the flexible member (120); The first support (410) is connected to the encoding component (310), and the rigid member (130) drives the encoding component (310) to rotate through the second support (420) and the first support (410).

7. The joint module according to claim 5, characterized in that, It also includes a housing (500) and a second bearing (600), the housing (500) being sleeved on the drive assembly (200), and the flexible member (120) and the integrated member (320) being connected to the housing (500); The second bearing (600) is disposed between the drive assembly (200) and the housing (500).

8. The joint module according to claim 5, characterized in that, It also includes a brake (700) sleeved on the wave generator (110), and the flexible member (120) has a receiving cavity (121) for receiving the brake (700) and / or the coding assembly (310), and the brake (700) is used to brake the wave generator (110) to rotate.

9. A robotic arm, characterized in that, It includes a robotic arm body and a joint module as described in any one of claims 1 to 8 disposed on the robotic arm body.

10. A robot, characterized in that, Includes the joint module as described in any one of claims 1 to 8, and / or the robotic arm as described in claim 9.

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