Joint module, robot arm, robot and production system

Abstract

The utility model discloses a joint module, mechanical arm, robot and production system, the joint module includes the casing, power component and speed reducer, power component and speed reducer are established in the casing, and the speed reducer includes input shaft, fixed disc, movable disc, external gear and output gear ring, and the external gear is engaged with output gear ring, and the tooth number of external gear is less than the tooth number of output gear ring, and input shaft has eccentric shaft part, and input shaft is connected with power component, and the rotation axis of eccentric shaft part is eccentric to the rotation axis of power component and output gear ring, and eccentric shaft part rotatable and coaxially links with external gear to drive external gear and translate in output gear ring, and fixed disc is fixed relative to the casing, and movable disc links with fixed disc and external gear respectively. The joint module of the utility model has the advantages of compact structure, low processing and manufacturing cost, long service life etc.

Description

Technical Field

[0001] This utility model belongs to the field of joint module technology, and in particular to joint modules used in industrial automation, smart home and robotics fields. Specifically, it relates to a joint module, a robotic arm, a robot and a production system. Background Technology

[0002] Joint modules are widely used in industrial automation, smart homes, and robotics. In related technologies, to achieve single-stage high-ratio speed reduction, joint modules typically employ harmonic reducers and RV reducers (planetary cycloidal pinwheel reducers).

[0003] However, harmonic reducers suffer from poor shock resistance, lifespan, and reliability due to repeated deformation of the flexspline, limiting their application in high-load scenarios. Furthermore, harmonic reducers are expensive to manufacture. RV reducers, on the other hand, are large and heavy, difficult to miniaturize, and also costly. Utility Model Content

[0004] This utility model aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, embodiments of this utility model propose a joint module that is inexpensive to manufacture, small in size, and lightweight.

[0006] An embodiment of this utility model also proposes a robotic arm having the aforementioned joint module.

[0007] An embodiment of this utility model also proposes a robot having the aforementioned joint module.

[0008] An embodiment of this utility model also proposes a production system having the robot.

[0009] The joint module according to an embodiment of the present invention includes: a housing; a power component and a reducer, wherein the power component and the reducer are disposed within the housing; the reducer includes an input shaft, a fixed disk, a movable disk, an external gear, and an output gear ring; the external gear meshes with the output gear ring, and the number of teeth of the external gear is less than the number of teeth of the output gear ring; the input shaft has an eccentric shaft portion, and the input shaft is connected to the power component; the eccentric shaft portion is eccentric relative to the rotation axis of the power component and the rotation axis of the output gear ring; the eccentric shaft portion is rotatable and coaxially connected to the external gear to drive the external gear to translate within the output gear ring; the fixed disk is fixed relative to the housing; and the movable disk respectively engages with the fixed disk and the external gear.

[0010] The joint module of this utility model embodiment is equipped with a power component and a reducer. The reducer contains components such as an input shaft and a fixed plate. The eccentric shaft part of the input shaft cooperates with the external gear and the output gear ring to form an eccentric transmission mechanism, which realizes efficient speed reduction transmission. Moreover, the reducer does not have the problem of fatigue of the flexible wheel in the harmonic reducer. It has a high load-bearing capacity, can withstand greater torque overload and impact load, and has a longer service life. Furthermore, the reducer does not require multi-stage gear set reduction, reducing complex components, processing steps and assembly, reducing production complexity and error rate, improving production efficiency and reducing manufacturing costs.

[0011] In some embodiments, the external gear is translatable within the output gear ring along a first direction and a second direction orthogonal to the first direction.

[0012] In some embodiments, the moving disk is translatable relative to the fixed disk along the first direction, and the external gear is translatable relative to the moving disk along the second direction.

[0013] In some embodiments, the input shaft further includes a main shaft portion, the eccentric shaft portion is connected to the main shaft portion and is eccentric relative to the main shaft portion, the main shaft portion is connected to the power component, and the rotation axis of the main shaft portion, the power component, and the central axis of the output gear ring are coaxial.

[0014] In some embodiments, the output gear ring preferably has a mating shaft, the axis of which is coaxial with the rotation axis of the output gear ring, and the input shaft has an input shaft hole in which the mating shaft is rotatably fitted.

[0015] In some embodiments, the housing includes a box body and a lid, the box body having a first end and a second end, the lid having a mating flange that engages within the second end of the box body, the lid being connected to the second end of the box body by fasteners to close the second end of the box body, and preferably a sealing ring sealing between the lid and the box body.

[0016] In some embodiments, the cover is provided with a wiring harness hole, through which the wiring harness of the power component extends out of the housing, and the wiring harness is provided with a waterproof plug that fits into the wiring harness hole.

[0017] In some embodiments, the box is constructed in a cylindrical or square shape.

[0018] In some embodiments, the joint module further includes a mounting plate, the housing has a first end and a second end, the mounting plate is provided with a mounting flange, the mounting flange preferably being splinedly engaged within the first end of the housing, and the mounting plate and the housing are preferably sealed with a sealing ring.

[0019] In some embodiments, the first end of the housing is open, the mounting plate is provided with an annular positioning boss coaxial with the mounting flange, the outer periphery of the mounting flange is provided with an external spline, the inner wall of the housing is provided with an internal spline that mates with the external spline of the mounting flange, the annular boss is fitted inside the first end of the housing, and the end face of the annular boss abuts against the internal spline of the housing.

[0020] In some embodiments, the joint module further includes a bushing fixed within the housing, and the output gear ring has an output shaft rotatably fitted within the bushing.

[0021] In some embodiments, the power component includes an electric motor, a hydraulic motor, or a pneumatic motor.

[0022] In some embodiments, the fixed disk is preferably fixed within the housing via a spline connection.

[0023] In some embodiments, the inner wall of the housing is provided with a retaining ring groove, the retaining ring groove is provided with a retaining ring for positioning the fixed disk, and a wave spring is provided between the fixed disk and the retaining ring.

[0024] In some embodiments, the movable disk has a first mating portion and a second mating portion, the fixed disk has a third mating portion, and the external gear has a fourth mating portion. One of the first mating portion and the third mating portion, as well as one of the fourth mating portion and the second mating portion, are each constructed as a groove. The other of the first mating portion and the third mating portion, as well as the other of the fourth mating portion and the second mating portion, are each constructed as a protrusion. One of the first mating portion and the third mating portion is translatably mated within the other of the first mating portion and the third mating portion along a first direction. One of the second mating portion and the fourth mating portion is translatably mated within the other of the second mating portion and the fourth mating portion along a second direction orthogonal to the first direction.

[0025] In some embodiments, the first mating part is constructed as a groove, and the third mating part is constructed as a protrusion, the protrusion being integrally formed with the housing.

[0026] In some embodiments, the movable disk is annular, the first mating portion includes two first grooves extending along the first direction, the two first grooves being formed on the first surface of the movable disk and symmetrically arranged with respect to the center of the movable disk, the third mating portion includes two first protrusions, the two first protrusions correspondingly mating in the two first grooves, the second mating portion includes two second grooves extending along the second direction, the two second grooves being formed on the second surface of the movable disk and symmetrically arranged with respect to the center of the movable disk, and the fourth mating portion includes two second protrusions, the two second protrusions correspondingly mating in the two second grooves.

[0027] In some embodiments, the first mating portion includes two first protrusions disposed on the first surface of the moving disk and arranged symmetrically with respect to the center of the moving disk; the third mating portion includes two first grooves extending along the first direction, with the two first protrusions correspondingly mating in the two first grooves; the second mating portion includes two second protrusions disposed on the second surface of the moving disk and arranged symmetrically with respect to the center of the moving disk; and the fourth mating portion includes a second groove extending along the second direction, with the two second protrusions mating in the second groove.

[0028] In some embodiments, the movable disk is annular, the first mating portion includes two first grooves extending along the first direction, the two first grooves being formed on the first surface of the movable disk and symmetrically arranged with respect to the center of the movable disk, the third mating portion includes two first protrusions, the two first protrusions correspondingly mating in the two first grooves, the second mating portion includes two second protrusions, the two second protrusions being disposed on the second surface of the movable disk and symmetrically arranged with respect to the center of the movable disk, and the fourth mating portion includes a second groove extending along the second direction, the two second protrusions mating in the second groove.

[0029] In some embodiments, the movable disk is annular, the first mating portion includes two first protrusions, which are disposed on the first surface of the movable disk and symmetrically arranged with respect to the center of the movable disk; the third mating portion includes two first grooves extending along the first direction, which are correspondingly mated in the two first grooves; the second mating portion includes two second grooves extending along the second direction, which are formed on the second surface of the movable disk and symmetrically arranged with respect to the center of the movable disk; and the fourth mating portion includes two second protrusions, which are correspondingly mated in the two second grooves.

[0030] The robotic arm of this utility model embodiment may include the joint module described in any of the above embodiments.

[0031] The robot of this utility model embodiment may include the joint module described in any of the above embodiments.

[0032] The production system proposed in this embodiment may include the robotic arm and / or the robot described in any of the above embodiments. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the joint module according to an embodiment of the present invention.

[0034] Figure 2 This is an axial cross-sectional view of the joint module according to an embodiment of the present invention.

[0035] Figure 3 This is an exploded view of the joint module according to an embodiment of the present invention.

[0036] Figure 4 This is an exploded view of the joint module of this utility model embodiment from another perspective.

[0037] Figure 5 yes Figure 3 A magnified view of part A in the image.

[0038] Figure 6 This is a schematic diagram of the structure of the first type of reducer of the joint module in this utility model embodiment.

[0039] Figure 7 This is a schematic diagram of the structure of the second type of reducer of the joint module in this utility model embodiment.

[0040] Figure 8 This is a schematic diagram of the structure of the third type of reducer in the joint module of this utility model embodiment.

[0041] Figure 9 This is a structural schematic diagram of the fourth type of reducer for the joint module in this utility model embodiment.

[0042] Figure 10 This is a structural schematic diagram of the fifth type of reducer for the joint module in this utility model embodiment.

[0043] Figure 11 This is a schematic diagram of the structure of the input shaft of the joint module according to an embodiment of the present invention.

[0044] Figure 12 This is a schematic diagram of the robotic arm according to an embodiment of the present invention.

[0045] Figure 13 This is a schematic diagram of the robot according to an embodiment of the present invention.

[0046] Figure label:

[0047] Joint module 100;

[0048] 1. Housing; 11. Box body; 12. Box cover; 121. Wiring harness hole; 122. Mating flange; 13. Sealing ring;

[0049] Power component 2; wiring harness 21; waterproof plug 22;

[0050] Reducer 3; Input shaft 31; Eccentric shaft part 311; Main shaft part 312; Input shaft hole 313; Connecting part 314;

[0051] Fixed disk 32; third mating part 321; moving disk 33; first mating part 331; second mating part 332; external gear 34; fourth mating part 341; output gear ring 35; mating shaft 351; internal gear ring 352; output shaft 353;

[0052] Mounting plate 4; Annular positioning boss 41; Mounting flange 42;

[0053] Fastener 5; Snap ring 6; Wave spring 7; Bushing 8;

[0054] 200 robotic arms;

[0055] Robot 300. Detailed Implementation

[0056] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0057] like Figures 1-11 As shown, the joint module 100 of this utility model embodiment includes a housing 1, a power component 2, and a reducer 3.

[0058] The power unit 2 and the reducer 3 are housed in the housing 1. The reducer 3 includes an input shaft 31, a fixed disk 32, a moving disk 33, an external gear 34, and an output gear ring 35. The external gear 34 meshes with the output gear ring 35. The number of teeth of the external gear 34 is less than the number of teeth of the output gear ring 35. The input shaft 31 has an eccentric shaft portion 311. The input shaft 31 is connected to the power unit 2. The eccentric shaft portion 311 is eccentric relative to the rotation axis of the power unit 2 and the rotation axis of the output gear ring 35. The eccentric shaft portion 311 is rotatable and coaxially connected to the external gear 34 to drive the external gear 34 to translate within the output gear ring 35. The fixed disk 32 is fixed relative to the housing 1. The moving disk 33 cooperates with the fixed disk 32 and the external gear 34 respectively.

[0059] Specifically, such as Figures 1-4As shown, both the power component 2 and the reducer 3 can be housed inside the housing 1, which protects the power component 2 and the reducer 3 from interference and damage from the external environment, such as dust and moisture, ensuring that the power component 2 and the reducer 3 have a compact structure, save installation space, and improve overall stability and reliability.

[0060] The reducer 3 mainly consists of an input shaft 31, a fixed disc 32, a moving disc 33, an external gear 34, and an output gear ring 35. The power unit 2 is connected to the input shaft 31. After the power unit 2 is started, it drives the input shaft 31 to start rotating. An eccentric shaft portion 311 is provided at the right end of the input shaft 31. The eccentric shaft portion 311 can be designed as an eccentric wheel. The rotation center of the eccentric shaft portion 311 is eccentric to the rotation axis of the power unit 2, that is, the rotation center of the eccentric shaft portion 311 is spaced apart from the rotation axis of the power unit 2. The eccentric shaft portion 311 passes through the power unit 2 in sequence. The fixed disk 32 and the movable disk 33 are inserted into the central hole of the external gear 34, which is also located in the output gear ring 35. The rotation center of the eccentric shaft 311 is coaxial with the central hole of the external gear 34. The outer circumferential surface of the eccentric shaft 311 abuts against the inner circumferential surface of the central hole of the external gear 34, and the eccentric shaft 311 can rotate within the central hole of the external gear 34. The rotation center of the eccentric shaft 311 is also eccentric relative to the central axis of the output gear ring 35, that is, the rotation center of the eccentric shaft 311 and the central axis of the output gear ring 35 are spaced apart.

[0061] The fixed disk 32 is annular and fixedly installed inside the housing 1. The movable disk 33 is also annular and is also located inside the housing 1. The outer diameter of the movable disk 33 is smaller than the diameter of the fixed disk 32. The movable disk 33 is located between the fixed disk 32 and the external gear 34, and its two sides are respectively engaged with the fixed disk 32 and the external gear 34.

[0062] When the input shaft 31 rotates via the eccentric shaft 311, the eccentric shaft 311 drives the external gear 34 to rotate as well. However, under the combined action of the fixed disk 32 and the moving disk 33, the external gear 34 cannot rotate on its own axis; the eccentric shaft 311 can only rotate within the central hole of the external gear 34. The eccentric shaft 311 drives the external gear 34 to translate inwards, in other words, it pushes the external gear 34 to revolve within the output gear ring 35, meaning the external gear 34 translates circumferentially within the output gear ring 35. Since the external gear 34 meshes with the output gear ring 35, the movement of the external gear 34 drives the output gear ring 35 to rotate. Because the number of teeth on the external gear 34 is less than the number of teeth on the output gear ring 35, according to the principle of gear transmission, the revolving motion of the external gear 34 forces the output gear ring 35 to rotate at a lower speed, ultimately achieving the function of speed reduction transmission.

[0063] In the design architecture of reducer 3, the fixed disk 32 and the moving disk 33 transform the revolution and rotation of the external gear 34 driven by the input shaft 31 into a single revolution motion around the output gear ring 35, thereby effectively regulating the speed of the external gear 34 and achieving effective speed reduction regulation of the external gear 34. At the same time, reducer 3 constructs a low-tooth-difference reduction structure through the number of teeth and meshing relationship between the external gear 34 and the output gear ring 35. According to the transmission principle of the low-tooth-difference reduction structure, it has the characteristic of a large reduction ratio. Therefore, reducer 3 also has the characteristic of a large reduction ratio, which can fully meet the needs of various application scenarios with strict requirements for transmission speed ratio.

[0064] The joint module 100 of this utility model embodiment is provided with an input shaft 31, a fixed disk 32, a movable disk 33, an external gear 34, and an output gear ring 35. An eccentric transmission mechanism is formed by the cooperation of the eccentric shaft portion 311 of the input shaft 31 with the external gear 34 and the output gear ring 35. When the input shaft 31 rotates through the eccentric shaft portion 311, the eccentric shaft portion 311 drives the external gear 34 to rotate. Due to the restriction of the fixed disk 32 and the movable disk 33, the external gear 34 cannot rotate on its own axis and can only revolve within the output gear ring 35. This transmission method achieves efficient speed reduction transmission. The number of teeth of the external gear 34 is less than the number of teeth of the output gear ring 35. According to the gear transmission principle, the revolve motion of the external gear 34 forces the output gear ring 35 to rotate at a low speed, ensuring the speed reduction efficiency of the reducer 3.

[0065] The joint module 100 of this utility model embodiment is equipped with a reducer 3. By closely arranging components such as the input shaft 31, fixed disk 32, moving disk 33, external gear 34, and output gear ring 35, space is fully utilized and the overall volume of the reducer 3 is reduced. Compared with the harmonic reducer 3 and RV reducer 3 in related technologies, since the input shaft 31, fixed disk 32, moving disk 33, external gear 34, and output gear ring 35 are all rigid, the problem of easy fatigue of the flexible gear in the harmonic reducer 3 is not present. This significantly improves the load-bearing capacity of the reducer 3, enabling it to withstand greater torque overload and impact load, and improves the service life and operational stability of the reducer 3. In addition, the reducer 3 does not need to be equipped with multi-stage gear sets for reduction, avoiding the use of too many complex components, reducing processing steps and assembly, reducing the complexity and error rate in the production process, thereby improving production efficiency and reducing manufacturing costs.

[0066] In summary, the joint module 100 of this utility model embodiment has advantages such as compact structure, low processing and manufacturing cost, and long service life.

[0067] In some embodiments, the external gear 34 is translatable within the output gear ring 35 along a first direction and a second direction orthogonal to the first direction. Specifically, both the first and second directions are perpendicular to the left-right direction and are also perpendicular to each other (e.g., the first direction is the up-down direction, and the second direction is the front-back direction). Under the action of the fixed disk 32 and the moving disk 33, the external gear 34 translates along at least one of the first and second directions, thereby causing the external gear 34 to translate within the output gear ring 35 along the circumference of the output gear ring 35.

[0068] In some embodiments, the movable disk 33 is translatable relative to the fixed disk 32 along a first direction, and the external gear 34 is translatable relative to the movable disk 33 along a second direction. Specifically, the movable disk 33 is movable within the housing 1 relative to the fixed disk 32 along the first direction. The external gear 34 is connected to the movable disk 33 and is movable relative to the movable disk 33 along the second direction. Thus, the external gear 34 can move via the movable disk 33 in at least one of the first and second directions, thereby enabling the external gear 34 to revolve within the output gear ring 35.

[0069] In some embodiments, the input shaft 31 further includes a main shaft portion 312, an eccentric shaft portion 311 connected to and eccentrically positioned relative to the main shaft portion 312, the main shaft portion 312 connected to the power component 2, and the main shaft portion 312 coaxial with the rotation axis of the power component 2 and the central axis of the output gear ring 35. Specifically, as Figure 3 , Figure 4 and Figure 8 As shown, the main shaft 312 is a transmission shaft extending in the left-right direction. The main shaft 312 is located on the left side of the eccentric shaft 311 and is connected to the eccentric shaft 311. The axis of the main shaft 312 is coaxial with the rotation axis of the power unit 2 and the central axis of the output gear ring 35. Thus, the main shaft 312 can be easily connected to the power unit 2, improving the ease and efficiency of the installation of the input shaft 31. The rotation center of the main shaft 312 and the rotation center of the eccentric shaft 311 are spaced apart. Thus, the power unit 2 drives the eccentric shaft 311 to perform eccentric motion through the main shaft 312.

[0070] In some embodiments, the output gear ring 35 preferably has a mating shaft 351, the axis of which is coaxial with the rotation axis of the output gear ring 35, and the input shaft 31 has an input shaft hole 313, in which the mating shaft 351 is rotatably fitted. Specifically, as shown in the figure... Figure 3 and Figure 4As shown, the left end of the output gear ring 35 is provided with a mating shaft 351, the axis of which is coaxial with the rotation axis of the input shaft 31. The right end of the eccentric shaft portion 311 of the input shaft 31 is provided with an input shaft hole 313, the central axis of which is coaxial with the rotation axis of the input shaft 31. The eccentric shaft portion 311 passes through the fixed disk 32 and the moving disk 33 in sequence and is inserted into the external gear 34. The external gear 34 is inserted into the output gear ring 35 and the mating shaft 351 is inserted into the input shaft hole 313, thereby ensuring the rotation center of the input shaft 31. The input shaft hole 313 of the external gear 34 is coaxial, which ensures the installation accuracy of the reducer 3, avoids installation errors caused by misalignment of the axes, ensures the accurate relative position of each component of the reducer 3 during operation, reduces vibration, noise and wear caused by improper installation, and extends the service life of the reducer 3. In addition, the mating shaft 351 can rotate in the input shaft hole 313, which ensures the transmission efficiency of the input shaft 31, prevents the input shaft 31 from driving the output gear ring 35 to rotate, and improves the deceleration stability of the reducer 3.

[0071] In some embodiments, the housing 1 includes a box body 11 and a box cover 12. The box body 11 has a first end and a second end. The box cover 12 is provided with a mating flange 122, which fits inside the second end of the box body 11. The box cover 12 is connected to the second end of the box body 11 by a fastener 5 to close the second end of the box body 11. Preferably, a sealing ring 13 seals between the box cover 12 and the box body 11. Specifically, as shown... Figures 1-4 As shown, the first end of the housing 11 is the left end of the housing 11, and the second end of the housing 11 is the right end of the housing 11. The power component 2 and the reducer 3 are installed inside the housing 11. The right end of the housing cover 12 is provided with a mating flange 122. The housing cover 12 is located at the left end of the housing 11, and the mating flange 122 passes through the housing 11. The left end face of the housing 11 is provided with a threaded through hole. Fasteners 5 (e.g., bolts or screws) pass through the through hole and are threaded into the threaded through hole, thereby allowing the housing cover 12 to be detachably installed at the left end of the housing 11. In addition, a sealing ring 13 is provided between the housing 11 and the cover 12. The sealing ring 13 is fitted on the right end of the cover 12 and located inside the left end of the housing 11, so that the sealing ring 13 tightly fills the gap between the cover 12 and the housing 11. This can effectively prevent external dust, moisture, debris and other objects from entering the housing 11. At the same time, it can also prevent the leakage of lubricating oil and other substances inside the housing 11, thereby maintaining a sealed space inside the housing 11 and ensuring the normal operation of key components such as the power component 2 and the reducer 3 installed inside the housing 11.

[0072] In some embodiments, the cover 12 is provided with a wiring harness hole 121, through which the wiring harness 21 of the power component 2 extends out of the housing 1. The wiring harness 21 is provided with a waterproof plug 22 that fits into the wiring harness hole 121. Specifically, as shown in Figure 1 and Figure 2 As shown, the cover 12 is provided with a wiring harness hole 121 that runs through the cover 12 in the inward and outward directions. One end of the wiring harness 21 passes through the cover 12 and is connected to the power component through the wiring harness hole 121, while the other end of the wiring harness 21 is connected to the external equipment. In this way, the wiring harness hole 121 reduces the bending and tangling of the wiring harness 21, reduces the loss and interference during the transmission of the wiring harness 21, and ensures that the external equipment can provide continuous and stable power, air or liquid supply to the power component 2 through the wiring harness hole 121.

[0073] The waterproof plug 22 can be made of rubber or heat-resistant and insulating silicone. The wire harness 21 is threaded through the waterproof plug 22. The waterproof plug 22 is located inside the housing 11, and a part of the waterproof plug 22 passes through the wire harness hole 121. Thus, the waterproof plug 22 seals the wire harness hole 121, preventing external moisture, dust and other impurities from entering the housing 11 through the wire harness hole 121 and damaging the power components, thereby extending the service life of the power components.

[0074] In some embodiments, the number of wire harness holes 121 can be multiple and the same as the number of wire harnesses 21. Multiple wire harness holes 121 are arranged at intervals along the circumference of the cover 12, and a wire harness 21 is inserted into each wire harness hole 121, so that the distribution of wire harnesses 21 inside the device is more uniform and orderly, reducing the mutual crossing and interference between wire harnesses 21, and reducing the risk of faults such as short circuits and signal interference caused by the tangling of wire harnesses 21.

[0075] In some embodiments, the housing 11 is cylindrical or rectangular. Specifically, as shown below... Figure 1 As shown, the inner wall of the housing 11 is a cylindrical or square tube extending in the left and right direction, which facilitates the installation and manufacturing of the power component 2 and the reducer 3, ensuring the assembly efficiency of the power component 2 and the reducer 3. In addition, the cylindrical or square tube structure facilitates precision machining such as turning and boring, reducing the processing and manufacturing cost of the housing 11 and making the housing 11 more rationally designed.

[0076] In some embodiments, the joint module 100 further includes a mounting plate 4, the housing 1 has a first end and a second end, the mounting plate 4 is provided with a mounting flange 42, the mounting flange 42 is preferably splinedly engaged within the first end of the housing 1, and a sealing ring 13 is preferably used to seal between the mounting plate 4 and the housing 1. Specifically, as Figures 1-5As shown, the first end of the housing 11 is the left end of the housing 11, and the second end of the housing 11 is the right end of the housing 11. The outer circumferential contour of the mounting flange 42 matches the inner circumferential contour of the right end of the housing 11. The mounting plate 4 is inserted into the right end of the housing 11 through its mounting flange 42 and is connected by a spline, thereby achieving circumferential positioning between the mounting plate 4 and the housing 11 and preventing the mounting plate 4 from rotating inside the housing 11. A sealing ring 13 is provided between the mounting plate 4 and the housing 11. The sealing ring 13 is sleeved on the left end of the mounting plate 4 and located inside the right end of the housing 11, so that the seal is tight. The sealing ring 13 tightly fills the gap between the mounting plate 4 and the housing 11, effectively preventing external dust, moisture, debris, etc. from entering the housing 11. It also prevents the leakage of lubricating oil and other substances inside the housing 11, thus maintaining a sealed space inside the housing 11. This provides a strong guarantee for the normal operation of key components such as the power component 2 and the reducer 3 installed inside the housing 11, ensuring that a relatively closed space is formed inside the housing 11, effectively preventing dust, debris, etc. from entering the housing 11, and ensuring the normal operation of the power component 2 and the reducer 3.

[0077] In some embodiments, the first end of the housing 1 is open, the mounting plate 4 is provided with an annular positioning boss 41 coaxial with the mounting flange 42, the outer periphery of the mounting flange 42 is provided with an external spline, the inner wall of the housing 1 is provided with an internal spline that mates with the external spline of the mounting flange 42, the annular boss mates within the first end of the housing 1, and the end face of the annular boss abuts against the internal spline of the housing 1. Specifically, as shown... Figure 3 and Figure 5 As shown, the outer peripheral surface of the mounting flange 42 is provided with an external spline, and the right end of the housing 11 is open and the inner wall surface is provided with an internal spline. The mounting flange 42 and the housing 11 are circumferentially positioned by the engagement of the internal and external splines, thereby preventing the mounting plate 4 from rotating on the housing 11. The annular positioning boss 41 is provided on the left end face of the mounting plate 4, and the axis of the annular positioning boss 41 coincides with the axis of the mounting flange 42. The annular positioning boss 41 is provided on the mounting plate 4 and the mounting flange 42. Between the flanges, the diameter of the outer peripheral surface of the annular positioning boss 41 is larger than the diameter of the mounting flange 42 shown. Therefore, when the mounting plate 4 is installed on the housing 11, the annular positioning boss 41 passes through the housing 11 and the left end face of the annular positioning boss 41 abuts against the right end face of the inner spline of the housing 11. Thus, the axial positioning of the mounting plate 4 is achieved by the annular positioning boss 41, which effectively restricts the movement of the mounting plate 4 in the axial direction and enhances the stability and reliability of the joint module 100.

[0078] In some embodiments, the joint module 100 further includes a bushing 8, which is fixed within the housing 1, and the output gear ring 35 has an output shaft 353 rotatably fitted within the bushing 8. Specifically, as Figure 3As shown, the output gear ring 35 includes an internal gear ring 352 and an output shaft 353. The output shaft 353 is located at the right end of the internal gear ring 352 and is connected to the internal gear ring 352. The external gear 34 is located inside the internal gear ring 352 and meshes with the internal gear ring 352. The output shaft 353 is connected to external equipment, and can drive the external equipment to be connected through the output shaft 353, thus ensuring the output efficiency of the power output unit. The bushing 8 is an annular bushing 8 extending in the left and right direction and is fitted inside the mounting flange 42. The output shaft 353 passes through the bushing 8 and can rotate inside the bushing 8, thereby reducing the wear of the housing 11 and extending the service life of the housing 11.

[0079] In some embodiments, the power component 2 includes an electric motor, a hydraulic motor, or a pneumatic motor. Thus, the power component 2 can be selected from electric motors, hydraulic motors, or pneumatic motors according to actual needs. For example, an electric motor can convert electrical energy into mechanical energy, has high control precision and fast response, and is suitable for scenarios requiring high power stability and accuracy. A hydraulic motor outputs high torque through a hydraulic system and is often used in high-load drive applications. A pneumatic motor uses compressed air as power, has a simple structure and good explosion-proof performance, and can be used in flammable and explosive environments, thus making the power component 2 more rationally configured.

[0080] In some embodiments, the fixed disk 32 is preferably fixed within the housing 1 via a spline connection. Specifically, as shown... Figures 1-4 As shown, the outer wall of the fixed disk 32 is provided with an external spline, and the inner wall of the housing 1 is provided with an internal spline. The fixed disk 32 is fixed by the cooperation of the internal spline and the external spline to prevent the fixed disk 32 from rotating inside the housing 1, so that the fixed disk 32 is installed inside the housing 1.

[0081] In some embodiments, the inner wall of the housing 1 is provided with a retaining ring groove, and a retaining ring 6 for positioning the fixing disk 32 is provided in the retaining ring groove. A wave spring 7 is provided between the fixing disk 32 and the retaining ring 6. Specifically, as shown in the figure Figure 3 and Figure 4As shown, the inner wall of the housing 11 has two retaining ring grooves extending circumferentially along the housing 11. The two retaining ring grooves are spaced apart in the left-right direction. The fixing plate 32 is located between the two retaining ring grooves. There are two retaining rings 6, which are respectively set in the two retaining ring grooves. A part of the left retaining ring 6 is set in the left retaining ring groove, and the other part of the left retaining ring 6 protrudes from the left retaining ring groove and is located on the left side of the fixing plate 32. The wave spring 7 is located between the left retaining ring 6 and the fixing plate 32, and the left and right sides of the wave spring 7 abut against the left retaining ring 6 and the fixing plate 32 respectively. A part of the right retaining ring 6 is set in the right retaining ring groove. Another part protrudes from the right retaining ring groove and is located on the right side of the fixed plate 32. The right retaining ring 6 abuts against the right fixed plate 32, thereby positioning the fixed plate 32 by the two retaining rings 6 on the left and right. Since the reducer 3 will generate axial vibration during operation, the wave spring 7, as an elastic element, can absorb part of the vibration energy generated by the reducer 3, reduce the transmission of vibration to the housing 1, and thus reduce the overall noise. In addition, the elastic deformation provides a continuous rightward preload force, which can eliminate the assembly gap of the reducer 3 to prevent loosening. Through dynamic elastic compensation, it adapts to the slight changes in size during long-term operation, improving the smoothness and reliability of the joint module 100 operation.

[0082] In some embodiments, a fixing plate 32 is provided inside the housing 1, and the power component 2 is mounted on the fixing plate 32. The fixing plate 32 is preferably connected to the housing 1 via a spline connection to fix the power component 2 inside the housing 1. Specifically, as shown... Figures 1-4 As shown, the fixed plate 32 is a circular plate and is located between the power component 2 and the reducer 3. The fixed plate 32 can be connected to the power component 2 by screws or bolts. The outer circumferential surface of the fixed plate 32 is provided with external splines, and the housing 11 is provided with internal splines. Through the meshing of the external splines and internal splines, the relative rotation of the power component 2 in the housing 1 is effectively prevented, and the precise circumferential positioning of the power component 2 is achieved, ensuring the long-term stable operation of the power component 2 in the housing 1.

[0083] In some embodiments, the movable disk 33 has a first mating portion 331 and a second mating portion 332, the fixed disk 32 has a third mating portion 321, and the external gear 34 has a fourth mating portion 341. One of the first mating portions 331 and the third mating portions 321, as well as one of the fourth mating portions 341 and the second mating portions 332, are all constructed as grooves. The other of the first mating portions 331 and the third mating portions 321, as well as the other of the fourth mating portions 341 and the second mating portions 332, are all constructed as protrusions. One of the first mating portions 331 and the third mating portions 321 is translatably mated in the other of the first mating portions 331 and the third mating portions 321 along a first direction. One of the second mating portions 332 and the fourth mating portions 341 is translatably mated in the other of the second mating portions 332 and the fourth mating portions 341 along a second direction orthogonal to the first direction.

[0084] Specifically, such as Figures 3-7 As shown, the first mating part 331 is located on the left side of the moving plate 33, the second mating part 332 is located on the right side of the moving plate 33, the right side of the fixed plate 32 has a third mating part 321, and the left side of the external gear 34 has a fourth mating part 341. The first mating part 331 and the third mating part 321 are mated, and the first mating part 331 is translated relative to the third mating part 321 in a first direction. The second mating part 332 and the fourth mating part 341 are mated, and the second mating part 332 is translated relative to the fourth mating part 341 in a second direction. The first mating part 331 and the third mating part 321 can be set according to the actual situation, for example... For example, the first mating part 331 is a groove and the third mating part 321 is a protrusion, or the first mating part 331 is a protrusion and the third mating part 321 is a groove, with the protrusion passing through the groove and moving within the groove in the first direction. The fourth mating part 341 and the second mating part 332 can be configured according to actual conditions. For example, the second mating part 332 is a groove and the fourth mating part 341 is a protrusion, or the second mating part 332 is a protrusion and the fourth mating part 341 is a groove, with the protrusion passing through the groove and moving within the groove in the second direction. This makes the arrangement of the moving plate 33, the external gear 34 and the fixed plate 32 more reasonable.

[0085] In some embodiments, the first mating part 331 is configured as a groove, and the third mating part 321 is configured as a protrusion, with the protrusion integrally formed with the housing 1. Specifically, the third mating part 321 is a protrusion, and the protrusion is integrally formed with the housing 1, thereby eliminating the splicing and connection process between the protrusion and the housing 1, simplifying the installation process of the protrusion and the housing 1, improving production efficiency, and reducing production costs.

[0086] In some embodiments, the thickness of the external gear 34 is not less than the thickness of the output gear ring 35, so that when the external gear 34 is installed inside the output gear ring 35, the external gear 34 protrudes from inside the output gear ring 35. Specifically, the dimension of the external gear 34 in the left-right direction is greater than the dimension of the output gear ring 35 in the left-right direction. Thus, when the external gear 34 is installed inside the output gear ring 35, the left end face of the external gear 34 protrudes from the left end of the output gear ring 35, preventing interference between the moving disc 33 and the output gear ring 35 during movement, and ensuring the reduction efficiency of the reducer 3.

[0087] In some embodiments, the movable disk 33 is annular. The first mating portion 331 includes two first grooves extending along a first direction, formed on the first surface of the movable disk 33 and symmetrically arranged with respect to the center of the movable disk 33. The third mating portion 321 includes two first protrusions correspondingly mated within the two first grooves. The second mating portion 332 includes two second grooves extending along a second direction, formed on the second surface of the movable disk 33 and symmetrically arranged with respect to the center of the movable disk 33. The fourth mating portion 341 includes two second protrusions correspondingly mated within the two second grooves. Specifically, as shown... Figures 3-6 As shown, the movable disk 33 can be annular. The output shaft 353 of the power component 2 passes through the movable disk 33 and is mounted inside the output gear ring 35. The first surface is the left side of the movable disk 33, and the second surface is the right side of the movable disk 33. The first mating part 331 includes two first grooves, both of which are formed on the left side of the movable disk 33 and extend along a first direction. The two first grooves are symmetrically arranged around the center of the movable disk 33. The second mating part 332 includes two second grooves, both of which are formed on the right side of the movable disk 33 and extend along a second direction. The two second grooves are symmetrically arranged around the center of the movable disk 33. The third mating part 321 includes two first protrusions, both extending along a first direction and symmetrically arranged on the left side of the fixed disk 32 along the center of the moving disk 33. The fourth mating part 341 includes two second protrusions, both extending along a second direction and symmetrically arranged on the right side of the external gear 34 along the center of the moving disk 33. Thus, through the engagement of the first groove and the first protrusion, the moving disk 33 moves relative to the fixed disk 32 in the first direction, and through the engagement of the second groove and the second protrusion, the external gear 34 moves relative to the moving disk 33 in the second direction.

[0088] In some embodiments, the movable disk 33 is annular, the first mating part 331 includes two first protrusions, which are disposed on the first surface of the movable disk 33 and arranged symmetrically with respect to the center of the movable disk 33, the third mating part 321 includes two first grooves extending along the first direction, and the two first protrusions are correspondingly mated in the two first grooves, the second mating part 332 includes two second protrusions, which are disposed on the second surface of the movable disk 33 and arranged symmetrically with respect to the center of the movable disk 33, and the fourth mating part 341 includes a second groove extending along the second direction, and the two second protrusions are mated in the second groove.

[0089] Specifically, such as Figure 7As shown, the first surface is the left side of the moving disk 33, and the second surface is the right side of the moving disk 33. The first mating part 331 includes two first protrusions, both of which are formed on the left side of the moving disk 33 and extend along the first direction. The two first protrusions are symmetrically arranged around the center of the moving disk 33. The second mating part 332 includes two second protrusions, both of which are formed on the right side of the moving disk 33 and extend along the second direction. The two second protrusions are symmetrically arranged around the center of the moving disk 33. The third mating part 321 includes two first grooves, both of which extend along the first direction and are symmetrically arranged around the center of the moving disk 33 on the left side of the fixed disk 32. The fourth mating part 341 includes two second grooves, both of which extend along the second direction and are symmetrically arranged around the center of the moving disk 33 on the right side of the external gear 34. Thus, through the engagement of the first grooves and the first protrusions, the moving disk 33 moves relative to the fixed disk 32 in the first direction, and through the engagement of the second grooves and the second protrusions, the external gear 34 moves relative to the moving disk 33 in the second direction.

[0090] In some embodiments, the movable disk 33 is annular, the first mating part 331 includes two first grooves extending along a first direction, the two first grooves are formed on the first surface of the movable disk 33 and are symmetrically arranged with respect to the center of the movable disk 33, the third mating part 321 includes two first protrusions, the two first protrusions are correspondingly mated in the two first grooves, the second mating part 332 includes two second protrusions, the two second protrusions are disposed on the second surface of the movable disk 33 and are symmetrically arranged with respect to the center of the movable disk 33, and the fourth mating part 341 includes a second groove extending along a second direction, the two second protrusions are mated in the second groove.

[0091] Specifically, such as Figure 8 As shown, the first surface is the left side of the moving disk 33, and the second surface is the right side of the moving disk 33. The first mating part 331 includes two first grooves, both of which are formed on the left side of the moving disk 33 and extend along the first direction. The two first grooves are symmetrically arranged around the center of the moving disk 33. The second mating part 332 includes two second protrusions, both of which are formed on the right side of the moving disk 33 and extend along the second direction. The two second protrusions are symmetrically arranged around the center of the moving disk 33. The third mating part 321 includes two first protrusions, both of which extend along the first direction and are symmetrically arranged around the center of the moving disk 33 on the left side of the fixed disk 32. The fourth mating part 341 includes two second grooves, both of which extend along the second direction and are symmetrically arranged around the center of the moving disk 33 on the right side of the external gear 34. Thus, through the engagement of the first grooves and the first protrusions, the moving disk 33 moves relative to the fixed disk 32 in the first direction, and through the engagement of the second grooves and the second protrusions, the external gear 34 moves relative to the moving disk 33 in the second direction.

[0092] In some embodiments, the movable disk 33 is annular. The first mating portion 331 includes two first protrusions disposed on the first surface of the movable disk 33 and symmetrically arranged with respect to the center of the movable disk 33. The third mating portion 321 includes two first grooves extending along a first direction, with the two first protrusions correspondingly mating within the two first grooves. The second mating portion 332 includes two second grooves extending along a second direction, formed on the second surface of the movable disk 33 and symmetrically arranged with respect to the center of the movable disk 33. The fourth mating portion 341 includes two second protrusions correspondingly mating within the two second grooves. Specifically, as shown... Figure 9 As shown, the first surface is the left side of the moving disk 33, and the second surface is the right side of the moving disk 33. The first mating part 331 includes two first protrusions, both of which are formed on the left side of the moving disk 33 and extend along the first direction. Two first grooves are symmetrically arranged around the center of the moving disk 33. The second mating part 332 includes two second grooves, both of which are formed on the right side of the moving disk 33 and extend along the second direction. The two second grooves are symmetrically arranged around the center of the moving disk 33. The third mating part 321 includes two first grooves, both of which extend along the first direction and are symmetrically arranged around the center of the moving disk 33 on the left side of the fixed disk 32. The fourth mating part 341 includes two second protrusions, both of which extend along the second direction and are symmetrically arranged around the center of the moving disk 33 on the right side of the external gear 34. Thus, through the engagement of the first grooves and the first protrusions, the moving disk 33 moves relative to the fixed disk 32 in the first direction. The engagement of the second grooves and the second protrusions causes the external gear 34 to move relative to the moving disk 33 in the second direction.

[0093] In some embodiments, the first groove and the second groove can be either a rectangular groove or a circular groove, and the first protrusion and the second protrusion can be either a rectangular block or a cylindrical block, thereby making the arrangement of the first groove, the second groove, the first protrusion and the second protrusion more reasonable.

[0094] It is worth noting that: the internal spline of this utility model embodiment may include at least two internal spline grooves, and correspondingly, the external spline may include at least two external spline grooves. For example, the inner wall of the housing 1 is provided with at least two internal spline grooves that extend along its axial direction and are spaced apart along the circumference of the housing 1. The portion between the two internal spline grooves can be called internal spline teeth. Either the power component 2 and the reducer 3 has two external spline grooves, and the portion between the two external spline grooves is called external spline teeth. This situation can also be called a protrusion and groove fit, and in this application, it is also called a spline connection.

[0095] The robotic arm 200 of this embodiment includes a joint module 100 according to any of the above embodiments. Specifically, as shown... Figure 9As shown, the robotic arm 200 includes multiple joint modules 100. Through the drive of the joint modules 100, the robotic arm 200 can perform various actions and operations.

[0096] like Figure 10 As shown, the robot 300 of this embodiment includes a joint module 100 according to any of the above embodiments. Thus, by driving the joint module 100, the robot 300 can perform various actions.

[0097] It is understood that the robotic arm 200 and robot 300 of this utility model embodiment are not limited to the forms shown in the figures.

[0098] The production system of this utility model embodiment includes a robotic arm 200 or a robot 300 according to the above embodiments. For example, the production system of this utility model embodiment can be an automobile production line or other product production line, wherein the robotic arm 200 and / or robot 300 can be used to pick up automobile parts and / or assemble automobiles and their components.

[0099] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0100] 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0101] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0102] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0103] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0104] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A joint module, characterized in that, include: case; A power component and a reducer are disposed within the housing. The reducer includes an input shaft, a fixed disc, a movable disc, an external gear, and an output gear ring. The external gear meshes with the output gear ring, and the number of teeth on the external gear is less than the number of teeth on the output gear ring. The input shaft has an eccentric shaft portion, which is connected to the power component. The eccentric shaft portion is eccentric relative to the rotation axis of the power component and the rotation axis of the output gear ring. The eccentric shaft portion is rotatable and coaxially connected to the external gear to drive the external gear to translate within the output gear ring. The fixed disc is fixed relative to the housing, and the movable disc engages with both the fixed disc and the external gear.

2. The joint module according to claim 1, characterized in that, The external gear can translate within the output gear ring along a first direction and a second direction orthogonal to the first direction.

3. The joint module according to claim 2, characterized in that, The moving disk is translatable relative to the fixed disk along the first direction, and the external gear is translatable relative to the moving disk along the second direction.

4. The joint module according to claim 1, characterized in that, The input shaft also includes a main shaft portion, the eccentric shaft portion is connected to the main shaft portion and is eccentric relative to the main shaft portion, the main shaft portion is connected to the power component, and the rotation axis of the main shaft portion, the power component, and the central axis of the output gear ring are coaxial.

5. The joint module according to claim 1, characterized in that, The output gear ring preferably has a mating shaft, the axis of which is coaxial with the rotation axis of the output gear ring, and the input shaft has an input shaft hole, in which the mating shaft is rotatably fitted.

6. The joint module according to claim 1, characterized in that, The housing includes a box body and a box cover. The box body has a first end and a second end. The box cover is provided with a mating flange. The mating flange fits into the second end of the box body. The box cover is connected to the second end of the box body by fasteners to close the second end of the box body. Preferably, a sealing ring seals between the box cover and the box body.

7. The joint module according to claim 6, characterized in that, The cover is provided with a wiring harness hole, through which the wiring harness of the power component extends out of the housing, and the wiring harness is provided with a waterproof plug that fits into the wiring harness hole.

8. The joint module according to claim 6, characterized in that, The box structure is cylindrical or square.

9. The joint module according to claim 1, characterized in that, The joint module also includes a mounting plate. The housing has a first end and a second end. The mounting plate is provided with a mounting flange. The mounting flange is preferably splined and fitted into the first end of the housing. The mounting plate and the housing are preferably sealed with a sealing ring.

10. The joint module according to claim 9, characterized in that, The first end of the housing is open. The mounting plate is provided with an annular positioning boss coaxial with the mounting flange. The outer periphery of the mounting flange is provided with an external spline. The inner wall of the housing is provided with an internal spline that mates with the external spline of the mounting flange. The annular boss is fitted inside the first end of the housing, and the end face of the annular boss abuts against the internal spline of the housing.

11. The joint module according to claim 1, characterized in that, The joint module also includes a bushing, which is fixed inside the housing, and the output gear ring has an output shaft that is rotatably fitted inside the bushing.

12. The joint module according to claim 1, characterized in that, The power components include electric motors, hydraulic motors, or pneumatic motors.

13. The joint module according to claim 1, characterized in that, The fixed plate is preferably fixed inside the housing via a spline connection.

14. The joint module according to claim 1, characterized in that, The inner wall of the housing is provided with a retaining ring groove, and a retaining ring for positioning the fixed plate is provided in the retaining ring groove. A wave spring is provided between the fixed plate and the retaining ring.

15. The joint module according to any one of claims 1-14, characterized in that, The moving disc has a first mating part and a second mating part, the fixed disc has a third mating part, and the external gear has a fourth mating part. One of the first and third mating portions, and one of the fourth and second mating portions, are each constructed as a groove; the other of the first and third mating portions, and the other of the fourth and second mating portions, are each constructed as a protrusion. One of the first mating part and the third mating part is translatably mated within the other of the first mating part and the third mating part along a first direction, and one of the second mating part and the fourth mating part is translatably mated within the other of the second mating part and the fourth mating part along a second direction orthogonal to the first direction.

16. The joint module according to claim 15, characterized in that, The first mating part is constructed as a groove, and the third mating part is constructed as a protrusion, the protrusion being integrally formed with the shell.

17. The joint module according to claim 15, characterized in that, The movable disk is annular, and the first mating portion includes two first grooves extending along the first direction. The two first grooves are formed on the first surface of the movable disk and are arranged symmetrically with respect to the center of the movable disk. The third mating part includes two first protrusions, which are correspondingly fitted into the two first grooves. The second mating portion includes two second grooves extending along the second direction, the two second grooves being formed on the second surface of the movable disk and arranged symmetrically with respect to the center of the movable disk. The fourth mating part includes two second protrusions, which are correspondingly mated in the two second grooves.

18. The joint module according to claim 15, characterized in that, The movable disk is annular, and the first mating part includes two first protrusions, which are disposed on the first surface of the movable disk and arranged symmetrically with respect to the center of the movable disk. The third mating part includes two first grooves extending along the first direction, and the two first protrusions correspondingly engage within the two first grooves. The second mating part includes two second protrusions, which are disposed on the second surface of the moving disk and arranged symmetrically with respect to the center of the moving disk. The fourth mating part includes a second groove extending along the second direction, and two second protrusions mating within the second groove.

19. The joint module according to claim 15, characterized in that, The movable disk is annular, and the first mating portion includes two first grooves extending along the first direction. The two first grooves are formed on the first surface of the movable disk and are arranged symmetrically with respect to the center of the movable disk. The third mating part includes two first protrusions, which are correspondingly fitted into the two first grooves. The second mating part includes two second protrusions, which are disposed on the second surface of the moving disk and arranged symmetrically with respect to the center of the moving disk. The fourth mating part includes a second groove extending along the second direction, and two second protrusions mating within the second groove.

20. The joint module according to claim 15, characterized in that, The movable disk is annular, and the first mating part includes two first protrusions, which are disposed on the first surface of the movable disk and arranged symmetrically with respect to the center of the movable disk. The third mating part includes two first grooves extending along the first direction, and the two first protrusions correspondingly engage within the two first grooves. The second mating portion includes two second grooves extending along the second direction, the two second grooves being formed on the second surface of the movable disk and arranged symmetrically with respect to the center of the movable disk. The fourth mating part includes two second protrusions, which are correspondingly mated in the two second grooves.

21. A robotic arm, characterized in that, Includes the joint module according to any one of claims 1-20.

22. A robot, characterized in that, Includes the joint module according to any one of claims 1-20.

23. A production system, characterized in that, Includes the robotic arm according to claim 21 and / or the robot according to claim 22.

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