A reducer, joint module and robot

Abstract

The utility model discloses a kind of reducer, joint module and robot, comprising: reduction assembly, the reduction assembly includes output end;Torque sensor, the torque sensor includes: output flange, the output flange is connected with the output end, the output flange is equipped with at least one strain beam;At least one strain gauge, the strain gauge is located in the strain beam;Circuit board, the circuit board is located in the output flange, and the circuit board is electrically connected with the strain gauge.The technical scheme provided in the application, torque sensor detects the torque change of itself, to detect the output torque of reduction assembly.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a reducer, a joint module, and a robot. Background Technology

[0002] In related technologies, for joint modules, the torque detection component is usually set in the motor part, which can only detect the torque of the high-speed part. The reducer of the joint module can only play a role in deceleration and cannot detect the output torque of the reducer. When the reducer fails, the process quality monitoring of the reducer cannot be performed, and the torque detection sensor located at the high-speed end cannot react quickly. Utility Model Content

[0003] The purpose of this application is to provide a speed reducer, a joint module, and a robot.

[0004] According to a first aspect of the embodiments of this application, a speed reducer is provided, comprising: A speed reduction assembly, the speed reduction assembly including an output terminal; Torque sensor, the torque sensor comprising: An output flange is connected to the output end, and the output flange is provided with at least one strain beam; At least one strain gauge is disposed on the strain beam; A circuit board is disposed on the output flange and is electrically connected to the strain gauge.

[0005] Optionally, the reducer includes a temperature sensor located on the reduction assembly.

[0006] Optionally, the reducer includes an iron content sensor, which is disposed on the reducer assembly.

[0007] Optionally, the output flange has at least two grooves, and the strain beam is formed between the two grooves, with the circuit board disposed in one of the grooves.

[0008] Optionally, the output flange has a plurality of grooves, the openings of the grooves are located on the end face of the output flange, the plurality of grooves are spaced apart around the circumference of the output flange, and a strain beam is formed between two adjacent grooves; The torque sensor includes a plurality of strain gauges, all of which are electrically connected to the circuit board, and each strain beam is provided with at least one strain gauge.

[0009] Optionally, the torque sensor further includes a potting portion that surrounds the circuit board to seal it.

[0010] Optionally, the reducer further includes a housing, the interior of which forms a receiving cavity; The deceleration assembly includes a support bearing cover, a deceleration part, and a first support bearing. The deceleration part is disposed in the receiving cavity. The support bearing cover is connected to the housing. The support bearing cover and the deceleration part cooperate through the first support bearing. The temperature sensor is disposed on the side of the support bearing cover facing the deceleration part.

[0011] Optionally, the reducer further includes a housing, the interior of which forms a receiving cavity; The deceleration assembly includes a support bearing cover, a deceleration part, and a first support bearing. The deceleration part is located in the receiving cavity. The support bearing cover is connected to the housing. The support bearing cover and the deceleration part cooperate through the first support bearing. The iron content sensor is located on the side of the support bearing cover facing the deceleration part.

[0012] Optionally, the reducer further includes a housing, an iron content sensor, and a temperature sensor, with the interior of the housing forming a receiving cavity; The deceleration assembly includes a support bearing cover, a deceleration part, and a first support bearing. The deceleration part is located in the receiving cavity. The support bearing cover is connected to the housing. The support bearing cover and the deceleration part cooperate through the first support bearing. The iron content sensor is located on the side of the support bearing cover facing the deceleration part. The temperature sensor is located on the side of the support bearing cover facing the deceleration part. The iron content sensor and the temperature sensor are spaced apart.

[0013] Optionally, the reducer further includes a hollow shaft and a main control board. The main control board is located at the end of the support bearing cover away from the reduction section. The hollow shaft and the reduction section are connected through a second support bearing. The hollow shaft is fixedly connected to the output flange. The connection harness between the main control board and the torque sensor passes through the hollow shaft. The temperature sensor and the iron content sensor are electrically connected to the main control board.

[0014] Optionally, the output flange is located at the end of the housing away from the support bearing cover, and the output flange is rotatably connected to the housing via a crossed roller bearing.

[0015] Optionally, the deceleration unit is a harmonic deceleration unit.

[0016] According to a second aspect of the embodiments of this application, a joint module is provided, including the reducer as described above.

[0017] According to a third aspect of the embodiments of this application, a robot is provided, comprising: The aforementioned speed reducer; or The aforementioned joint module.

[0018] One technical advantage of this application embodiment is that by placing a torque sensor at the output end of the deceleration component to detect the output torque of the deceleration unit, if the deceleration component malfunctions, the torque sensor can quickly detect its own torque change, thereby enabling immediate shutdown and avoiding safety accidents.

[0019] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0021] Figure 1 This is a schematic diagram of the reducer in the embodiments of this application; Figure 2 This is a schematic diagram of the reducer in the embodiments of this application; Figure 3 This is a schematic diagram of the reducer in the embodiments of this application; Figure 4 for Figure 3 Sectional view at point AA; Figure 5 This is a schematic diagram of the torque sensor in the embodiments of this application; Figure 6 This is a schematic diagram of the torque sensor in the embodiments of this application; Figure 7 This is a schematic diagram of the torque sensor in the embodiments of this application; Figure 8 for Figure 7 The sectional view at point BB.

[0022] Explanation of reference numerals in the attached diagram: Reducer 100; Torque sensor 1; Output flange 11; Groove 111; Opening 1111; Strain beam 112; Hollow shaft hole 113; Output end mechanical interface 114; Flexible wheel mechanical interface 115; Circuit board 12; Strain gauge 13; Shell 2; Receiving cavity 21; Hollow shaft 3; wiring channel 31; Reduction assembly 4; support bearing cover 41; first support bearing 42; second support bearing 43; reduction section 44; wave generator 441; flexible wheel 442; rigid wheel 443; Main control board 5; Temperature sensor 6; Iron content sensor 7; Inner ring pressure ring 8; Outer ring pressure ring 9; Crossed roller bearing 10. Detailed Implementation

[0023] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0024] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0025] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0026] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0028] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention 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 invention.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] like Figures 1-8 As shown, according to a first aspect of the present application, a speed reducer 100 is provided, including a speed reduction assembly 4 and a torque sensor 1. The speed reduction assembly 4 includes an output end. The torque sensor 1 includes an output flange 11, at least one strain gauge 13, and a circuit board 12. The output flange 11 is connected to the output end and is provided with at least one strain beam 112. The strain gauge 13 is disposed on the strain beam 112, and the circuit board 12 is disposed on the output flange 11. The circuit board 12 is electrically connected to the strain gauge 13.

[0032] like Figure 4 As shown, the reducer 100 includes a reduction assembly 4 and a torque sensor 1; wherein, the reduction assembly 4 includes an output end, the output flange 11 of the torque sensor 1 is connected to the output end, the output flange 11 is used for external load, the torque sensor 1 can output the rotational force output by the reduction assembly 4, and the torque sensor 1 can detect the torque it receives.

[0033] Specifically, the torque sensor 1 includes an output flange 11, at least one strain gauge 13, and at least one circuit board 12. This can be understood as the torque sensor 1 including one, two, or more strain gauges 13. The strain gauges 13 are disposed on the strain beam 112 and are electrically connected to the circuit board 12. The strain beam 112 deforms with changes in load, and the strain gauges 13 can detect minute changes in the strain beam 112. The circuit board 12 detects the magnitude of this minute deformation of the strain beam 112 through the strain gauges 13, and calculates the magnitude of the output force through a series of signal processing steps, thereby realizing the detection of the output torque of the reducer 100.

[0034] The reducer 100 of this application detects the output torque of the reducer 100 by setting a torque sensor 1 at the output end of the reducer assembly 4. The torque sensor 1 serves as the output component of the reducer 100, eliminating the need for additional output components, thereby reducing the number of parts and the weight of the reducer 100. Furthermore, if the reducer assembly 4 malfunctions, the torque sensor 1 can quickly detect its own torque change, thereby stopping the machine immediately and preventing safety accidents.

[0035] like Figure 4 As shown, in an optional embodiment, the reducer 100 includes a temperature sensor 6, which is disposed on the reducer assembly 4. Specifically, the temperature sensor 6 is used to detect the temperature of the grease when the reducer assembly 4 is working, and to reflect the ambient temperature of the reducer assembly 4, so as to facilitate temperature compensation of the reducer assembly 4.

[0036] In one optional embodiment, the reducer 100 includes an iron content sensor 7, which is disposed on the reducer assembly 4; specifically, the iron content sensor 7 is used to detect the iron powder content in the grease of the reducer assembly 4, and to reflect the wear condition of the reducer assembly 4.

[0037] like Figure 4 As shown, in an optional embodiment, the circuit board 12 is disposed on the output flange 11. This can be understood as the circuit board 12 being disposed within the groove 111 opened in the output flange 11, or disposed outside the groove 111.

[0038] like Figures 5-8 As shown, in an optional embodiment, the output flange 11 has at least two grooves 111, and a strain beam 112 is formed between the two grooves 111. The circuit board 12 is disposed in one of the grooves 111. Specifically, the output flange 11 having at least two grooves 111 can be understood as having two, three, or more grooves 111. In this embodiment, the output flange 11 having two grooves 111 is used as an example. The depth direction of the grooves 111 is the same as the axial direction of the reducer 100. The opening 1111 of the grooves 111 is located at the end of the output flange 11 away from the reduction assembly 4. The two grooves 111 are arranged at intervals along the axial direction of the output flange 11. The two grooves 111 are not connected. A spacer plate is formed between the two grooves 111. The spacer plate is the strain beam 112. The number of strain beams 112 can be one or two.

[0039] To further explain, strain gauge 13 is disposed on strain beam 112, and circuit board 12 is disposed in groove 111; specifically, circuit board 12 is disposed in groove 111, strain gauge 13 is located in groove 111 and disposed on strain beam 112, and strain gauge 13 is electrically connected to circuit board 12; in this embodiment, the circuit board 12 is disposed in groove 111, which provides mounting space for circuit board 12, thereby making the structure of torque sensor 1 more compact; and both circuit board 12 and strain gauge 13 are in groove 111, which facilitates electrical connection between circuit board 12 and strain gauge 13.

[0040] like Figures 5-8As shown, in an optional embodiment, the output flange 11 has a plurality of grooves 111, the openings 1111 of the grooves 111 are located on the end face of the output flange 11, the plurality of grooves 111 are circumferentially spaced around the output flange 11, and a strain beam 112 is formed between two adjacent grooves 111; specifically, the output flange 11 has a plurality of grooves 111, and the number of grooves 111 is greater than two; the openings 1111 of the grooves 111 are located on the end face of the output flange 11, that is, the depth direction of the grooves 111 is the same as the axial direction of the output flange 11; the plurality of grooves 111 are circumferentially spaced around the output flange 11, and a spacer plate is formed between two adjacent grooves 111, the spacer plate being a strain beam 112.

[0041] To further explain, the torque sensor 1 includes a plurality of strain gauges 13, all of which are electrically connected to the circuit board 12. Each strain beam 112 is provided with at least one strain gauge 13. Specifically, since a strain beam 112 is formed between two adjacent grooves 111, multiple grooves 111 can also form multiple strain beams 112. Each groove 111 is provided with at least one strain gauge 13, and each strain beam 112 is provided with at least one strain gauge 13, thereby enabling the detection of minute changes generated by each strain beam 112, and thus improving the detection accuracy.

[0042] In one alternative embodiment, the torque sensor 1 further includes a potting portion that surrounds the circuit board 12 to seal the circuit board 12; specifically, the potting portion is used to seal the circuit board 12 to protect the circuit board 12 from grease contamination of the circuit board 12 by the deceleration assembly 4.

[0043] like Figure 4 As shown, in one specific embodiment, the reducer 100 further includes a housing 2, the interior of which forms a receiving cavity 21. The reduction assembly 4 includes a support bearing cover 41, a reduction section 44, and a first support bearing 42. The reduction section 44 is disposed in the receiving cavity 21. The support bearing cover 41 is connected to the housing 2. The support bearing cover 41 and the reduction section 44 cooperate through the first support bearing 42. The temperature sensor 6 is disposed on the side of the support bearing cover 41 facing the reduction section 44. In this embodiment, the temperature sensor 6 is used to detect the grease temperature of the reduction section 44 to reflect the ambient temperature of the reduction section 44, so as to compensate for the temperature of the friction force of the reduction section 44 during operation, so as to avoid the temperature of the reduction section 44 being too high and affecting the operation of the reduction section 44.

[0044] like Figure 4As shown, in another specific embodiment, the reducer 100 further includes a housing 2, the interior of which forms a receiving cavity 21. The reduction assembly 4 includes a support bearing cover 41, a reduction section 44, and a first support bearing 42. The reduction section 44 is located in the receiving cavity 21. The support bearing cover 41 is connected to the housing 2. The support bearing cover 41 and the reduction section 44 cooperate through the first support bearing 42. The iron content sensor 7 is located on the side of the support bearing cover 41 facing the reduction section 44. Specifically, the iron content sensor 7 is used to detect the iron powder content in the grease of the reduction section 44, thereby detecting the wear condition of the reduction section 4 and predicting the lifespan of the reduction section 44, so as to facilitate timely inspection, maintenance, and replacement of the reduction section 44.

[0045] like Figure 4 As shown, in another specific embodiment, the reducer 100 further includes a housing 2, an iron content sensor 7, and a temperature sensor 6. The housing 2 forms a receiving cavity 21. The reduction assembly 4 includes a support bearing cover 41, a reduction section 44, and a first support bearing 42. The reduction section 44 is located in the receiving cavity 21. The support bearing cover 41 is connected to the housing 2, and the support bearing cover 41 and the reduction section 44 cooperate via the first support bearing 42. The iron content sensor 7 is located on the side of the support bearing cover 41 facing the reduction section 44, and the temperature sensor 6 is located on the support shaft. The cover 41 faces the side of the deceleration unit 44, and the iron content sensor 7 and the temperature sensor 6 are arranged at intervals. Specifically, the temperature sensor 6 is used to detect the temperature of the grease in the deceleration unit 44, reflecting the ambient temperature of the deceleration unit 44, so as to compensate for the temperature of the friction force of the deceleration unit 44 during operation, so as to avoid the temperature of the deceleration unit 44 being too high and affecting its operation. The iron content sensor 7 is used to detect the iron powder content in the grease of the deceleration unit 44, thereby detecting the wear condition of the deceleration unit 44, and predicting the life of the deceleration unit 44, so as to facilitate timely inspection, maintenance and replacement of the deceleration unit 44.

[0046] like Figure 4As shown, in an optional embodiment, the reducer 100 further includes a hollow shaft 3 and a main control board 5. The main control board 5 is located at the end of the support bearing cover 41 away from the reduction section 44. The hollow shaft 3 and the reduction section 44 are connected via a second support bearing 43. The hollow shaft 3 is fixedly connected to the output flange 11. The connecting wire harness of the main control board 5 and the torque sensor 1 passes through the hollow shaft 3. The temperature sensor 6 and the iron content sensor 7 are electrically connected to the main control board 5. Specifically, the hollow shaft 3 is located in the receiving cavity 21, and a wiring channel 31 is formed inside the hollow shaft 3. The hollow shaft 3 and the reduction section... 44 is rotatably connected via the second support bearing 43, and the hollow shaft 3 is fixedly connected to the output flange 11. Therefore, the hollow shaft 3 will rotate together with the output flange 11. Since the main control board 5 and the torque sensor 1 are located at opposite ends of the housing 2, the connecting wire harness between the main control board 5 and the torque sensor 1 will pass through the wiring channel 31 of the hollow shaft 3, and the hollow shaft 3 can provide wiring space for the connecting wire harness. The temperature sensor 6 and the iron content sensor 7 are both electrically connected to the main control board 5. The temperature sensor 6 transmits the detection signal to the main control board 5, the iron content sensor 7 transmits the detection signal to the main control board 5, and the torque sensor 1 transmits the detection signal to the main control board 5.

[0047] like Figure 4 As shown, in an optional embodiment, the output flange 11 is located at the end of the housing 2 away from the support bearing cover 41, and the output flange 11 is rotatably connected to the housing 2 via a crossed roller bearing 10. Specifically, the output flange 11 is located in the receiving cavity 21, at the end of the housing 2 away from the support bearing cover 41, and serves as the output part of the reducer 100. The inner ring of the crossed roller bearing 10 mates with the outer ring of the output flange 11, and the outer ring of the crossed roller bearing 10 mates with the inner wall of the housing 2. The bending moment transmitted by the external load can be transmitted to the housing 2 through the crossed roller bearing 10 to avoid affecting the strain gauge beam 112, thereby filtering out forces in the non-torque direction to avoid affecting the detection accuracy of the torque sensor 1.

[0048] In one alternative embodiment, the deceleration unit 44 may be a planetary deceleration unit.

[0049] In another alternative embodiment, the deceleration unit 44 is a harmonic deceleration unit.

[0050] like Figures 1-8As shown, the harmonic deceleration unit includes a wave generator 441, a rigid wheel 443, and a flexible wheel 442. Specifically, the rigid wheel 443 is located inside the receiving cavity 21 and fixed to the inner wall of the housing 2 by screws; the outer ring of the flexible wheel 442 meshes with the rigid wheel 443, and the inner ring of the flexible wheel 442 is connected to the hollow shaft 3; the wave generator 441 is located in the receiving cavity 21, the inner ring of the second support bearing 43 cooperates with the hollow shaft 3, and the outer ring of the second support bearing 43 cooperates with the wave generator 441. The hollow shaft 3 has a stepped surface, which can limit the axial movement of the second support bearing 43; the inner ring of the first support bearing 42 cooperates with the wave generator 441, and the outer ring of the first support bearing 42 cooperates with the support bearing cover 41. The end face of the wave generator 441 can limit the axial movement of the first support bearing 42. The support bearing cover 41 is fixedly connected to the housing 2; the temperature sensor 6 and the iron content sensor 7 are installed on the support bearing cover 41. Facing the deceleration unit 44, the main control board 5 is located on the side of the support bearing cover 41 away from the deceleration unit 44. The main control board 5 transmits power and communicates with external components through the electrical interface on the main control board 5. The outer ring of the output flange 11 mates with the inner ring of the crossed roller bearing 10 and is fixed by the inner ring pressure ring 8. The outer ring of the crossed roller bearing 10 mates with the inner wall of the housing 2 and is fixed by the outer ring pressure ring 9. The output flange 11 is provided with a hollow shaft hole 113. The hollow shaft 3 passes through the hollow shaft hole 113 of the output flange 11 and is fixedly connected to the output flange 11. The two ends of the output flange 11 are respectively provided with an output end mechanical interface 114 and a flexible wheel mechanical interface 115. The output end mechanical interface 114 is used to connect an external load. The flexible wheel 442 is the output end of the deceleration unit 44 and is connected to the flexible wheel mechanical interface 115. The wave generator 441 is the input end of the deceleration unit 44 and is used to connect with the motor components.

[0051] According to a second aspect of the embodiments of this application, a joint module is provided, including the reducer 100 described above.

[0052] According to a third aspect of the embodiments of this application, a robot is provided, comprising: The aforementioned reducer 100; or The aforementioned joint module.

[0053] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A speed reducer, characterized in that, include: A speed reduction assembly, the speed reduction assembly including an output terminal; Torque sensor, the torque sensor comprising: An output flange is connected to the output end, and the output flange is provided with at least one strain beam; At least one strain gauge is disposed on the strain beam; A circuit board is disposed on the output flange and is electrically connected to the strain gauge.

2. The reducer according to claim 1, characterized in that, The reducer includes a temperature sensor, which is located on the reducer assembly.

3. The reducer according to claim 1, characterized in that, The reducer includes an iron content sensor, which is located in the reducer assembly.

4. The reducer according to claim 1, characterized in that, The output flange has at least two grooves, and the strain beam is formed between the two grooves. The circuit board is disposed in one of the grooves.

5. The reducer according to claim 4, characterized in that, The output flange has a plurality of grooves, the openings of the grooves are located on the end face of the output flange, the plurality of grooves are spaced apart around the circumference of the output flange, and a strain beam is formed between two adjacent grooves; The torque sensor includes a plurality of strain gauges, all of which are electrically connected to the circuit board, and each strain beam is provided with at least one strain gauge.

6. The reducer according to claim 1, characterized in that, The torque sensor also includes a potting portion that surrounds the circuit board to seal it.

7. The reducer according to claim 2, characterized in that, The reducer also includes a housing, the interior of which forms a receiving cavity; The deceleration assembly includes a support bearing cover, a deceleration part, and a first support bearing. The deceleration part is disposed in the receiving cavity. The support bearing cover is connected to the housing. The support bearing cover and the deceleration part cooperate through the first support bearing. The temperature sensor is disposed on the side of the support bearing cover facing the deceleration part.

8. The reducer according to claim 3, characterized in that, The reducer also includes a housing, the interior of which forms a receiving cavity; The deceleration assembly includes a support bearing cover, a deceleration part, and a first support bearing. The deceleration part is located in the receiving cavity. The support bearing cover is connected to the housing. The support bearing cover and the deceleration part cooperate through the first support bearing. The iron content sensor is located on the side of the support bearing cover facing the deceleration part.

9. The reducer according to claim 1, characterized in that, The reducer also includes a housing, an iron content sensor, and a temperature sensor, with the housing having an internal cavity. The deceleration assembly includes a support bearing cover, a deceleration part, and a first support bearing. The deceleration part is located in the receiving cavity. The support bearing cover is connected to the housing. The support bearing cover and the deceleration part cooperate through the first support bearing. The iron content sensor is located on the side of the support bearing cover facing the deceleration part. The temperature sensor is located on the side of the support bearing cover facing the deceleration part. The iron content sensor and the temperature sensor are spaced apart.

10. The reducer according to claim 9, characterized in that, The reducer also includes a hollow shaft and a main control board. The main control board is located at the end of the support bearing cover away from the reduction section. The hollow shaft and the reduction section are connected by a second support bearing. The hollow shaft is fixedly connected to the output flange. The connection harness between the main control board and the torque sensor passes through the hollow shaft. The temperature sensor and the iron content sensor are electrically connected to the main control board.

11. The reducer according to any one of claims 7-10, characterized in that, The output flange is located at the end of the housing away from the support bearing cover, and the output flange is rotatably connected to the housing via a crossed roller bearing.

12. The reducer according to claim 9, characterized in that, The deceleration unit is a harmonic deceleration unit.

13. A joint module, characterized in that, Includes the speed reducer as described in any one of claims 1-12.

14. A robot, characterized in that, include: The speed reducer as described in any one of claims 1-12; or The joint module as described in claim 13.

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