Joint module and joint robot

Abstract

To provide an encoder unit which achieves high attachment efficiency.SOLUTION: A joint module includes a hollow shaft 100, a speed reducer unit 200, a motor unit 300, and an encoder unit 400. The hollow shaft has a first end and a second end. The speed reducer unit is externally fitted on the hollow shaft and the motor unit is externally fitted on the hollow shaft. A power output end of the motor unit is connected to the first end through the speed reducer unit, and the encoder unit includes an encoder attachment base, an outer ring, a middle ring, an inner ring, an input encoder disc, an output encoder disc, and an encoder read head. The inner ring is externally fitted on the second end to be connected therewith. The middle ring is externally fitted on the inner ring to be rotatably fitted. The outer ring is externally fitted on the middle ring to be rotatably fitted. The outer ring is connected to the motor unit and the output encoder disc is provided at the inner ring. The input encoder disc is provided at the middle ring. The encoder read head is attached to the encoder attachment base.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application relates to the technical field of robots, and in particular to articulated modules and articulated robots. [Background technology]

[0002] With the rapid development of industrial automation technology, articulated robots are increasingly regarded as important industrial automation equipment and are being increasingly widely applied. In articulated robots, the movements of each degree of freedom are realized by a joint module at each joint, where the joint module is an integrated structure that integrates core components such as a motor unit, an encoder unit, and a reducer unit. In related technologies, the encoder unit has many components, and installation requires sequential installation of multiple components, resulting in a complicated installation procedure. Summary of the Invention [Problem to be solved by the invention]

[0003] In view of the above, it is desired to provide a joint module that addresses the problem of the encoder unit having a large number of parts and a complicated installation procedure. [Means for solving the problem]

[0004] A joint module, a hollow shaft having a first end and a second end disposed opposite to each other along its axial direction; a reduction gear unit fitted onto the hollow shaft; a motor unit fitted onto the hollow shaft, the motor unit having a power output end connected to the first end via the reducer unit; an encoder unit including an encoder mounting base, an outer ring, a middle ring, an inner ring, an input encoder disk, an output encoder disk, and an encoder read head, wherein the inner ring is fitted onto the second end and connected thereto, the middle ring connected to the power output end is fitted onto the inner ring and rotatably engaged therewith, the outer ring is fitted onto the middle ring and rotatably engaged therewith, the outer ring is connected to the motor unit via the encoder mounting base, the output encoder disk is provided on the inner ring, the input encoder disk is provided on the middle ring, and the encoder read head is attached to the encoder mounting base.

[0005] In one embodiment, the encoder unit further includes a first rolling element provided between the inner ring and the middle ring, and the inner ring is rotatably fitted to the middle ring via the first rolling element.

[0006] In one embodiment, the inner ring is provided with a first rolling path for accommodating the first rolling element.

[0007] In one embodiment, the inner ring includes a first connection portion and a second connection portion aligned along the axial direction of the hollow shaft, the first connection portion is located closer to the motor unit than the second connection portion, the first connection portion and the second connection portion are annular, a radial dimension of the first connection portion is larger than a radial dimension of the second connection portion, the first rolling path is provided on an outer peripheral surface of the first connection portion, and the first connection portion has a first end face connected to the second connection portion, A first mounting flange extending in the axial direction is provided on the first end surface, the output encoder disk is fitted onto the first mounting flange, and the side wall of the output encoder disk is in close contact with the first end surface.

[0008] In one embodiment, the center ring is annular and has a second end face opposite the motor unit side, and the second end face is provided with a storage cavity extending along the axial direction toward the motor unit, the first connection portion is provided within the storage cavity, and a second rolling path for accommodating the first rolling element is provided on the inner wall of the storage cavity.

[0009] In one embodiment, the encoder unit further includes a rear cover located on a side of the encoder unit opposite to the motor unit side, the rear cover being fitted onto the second connection portion and connected to the encoder mounting base, A connecting member is provided between the rear cover and the second connecting portion, and the rear cover is rotatably fitted to the second connecting portion via the connecting member.

[0010] In one embodiment, the encoder unit further includes a second rolling element disposed between the middle ring and the outer ring, and the middle ring is rotatably fitted to the outer ring via the second rolling element.

[0011] In one embodiment, the center ring is provided with a third rolling path extending in the circumferential direction thereof for accommodating the second rolling elements; and / or The outer ring is provided with a fourth rolling path extending in the circumferential direction thereof for accommodating the second rolling element.

[0012] In one embodiment, the center ring is annular and has a second end face opposite the motor unit side, and a second mounting flange extending in the axial direction is provided on the second end face, and the input encoder disk is fitted onto the second mounting flange, and the side wall of the input encoder disk is in close contact with the second end face.

[0013] The present application also provides an articulated robot including a housing and the articulated module attached to the housing. [Effects of the Invention]

[0014] In the above joint module, the reducer unit and the motor unit are both fitted onto the hollow shaft, and the motor unit is connected to the reducer unit and has a power output end connected to a first end of the hollow shaft via the reducer unit, i.e., the power output from the power output end of the motor unit is reduced in speed by the reducer unit and then drives the hollow shaft to rotate. The inner ring of the encoder unit is fitted onto the second end of the hollow shaft, i.e., the power output from the power output end of the motor unit is reduced in speed by the reducer unit and then drives the hollow shaft and the inner ring to rotate, and also drives the output encoder disk attached to the inner ring to rotate, so that the output encoder disk detects the rotation angle of the hollow shaft and records the rotation speed of the hollow shaft. The middle ring is fitted onto the inner ring, and the outer ring is fitted onto the middle ring, connected to the motor unit via an encoder mounting base. The middle ring is connected to the power output end. In this way, the power output end rotates the middle ring, which in turn rotates the input encoder disk attached to the middle ring. As a result, the input encoder disk detects the rotation angle of the power output end of the motor unit and records the rotation speed of the power output end. Furthermore, the power that rotates the middle ring at the power output end is not reduced by a reducer, meaning that the rotation speed of the middle ring is always faster than the rotation speed of the inner ring. When the encoder read head reads the data on the output encoder disk, the rotation angle and rotation speed of the hollow shaft are read, and when the encoder read head reads the data on the input encoder disk, the rotation angle and rotation speed of the power output end are read. In the joint module of the present application, the inner ring, middle ring, outer ring, input encoder disk, output encoder disk, and encoder read head of the encoder unit may be assembled all at once when the related parts are shipped. When assembling the encoder unit and other components of the joint module, it is sufficient to fit the inner ring onto the second end of the hollow shaft and connect it, connect the encoder mounting base to the motor unit, and further connect the middle ring to the power output end of the motor unit, thereby reducing the number of steps for installing the encoder unit and improving installation efficiency. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a cross-sectional view of an articulation module according to an embodiment of the present application; [Figure 2] 1 is a cross-sectional view of an encoder unit according to an embodiment of the present application; [Figure 3] 2 is a cross-sectional view of an inner ring, a middle ring, and an outer ring of an encoder unit according to an embodiment of the present application. [Figure 4] 1 is a schematic diagram of the structure of an inner ring according to an embodiment of the present application. [Figure 5] 1 is a structural schematic diagram of a center wheel according to an embodiment of the present application. [Figure 6] FIG. 2 is a structural schematic diagram of an outer ring according to an embodiment of the present application. [Figure 7] 2 is a structural schematic diagram of a rear cover according to an embodiment of the present application. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] In order to make the above-mentioned objects, features, and advantages of the present application clearer and easier to understand, specific embodiments of the present application will be described in detail below with reference to the drawings. In the following description, many specific details will be described in order to facilitate a full understanding of the present application. However, the present application can be implemented in many other forms different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present application. Therefore, the present application is not limited to the specific examples disclosed below.

[0017] In addition, when terms such as "center," "longitudinal direction," "lateral direction," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial direction," "radial direction," and "circumferential direction" are used in the description of this application, the orientations and positional relationships indicated by these terms are based on the orientations and positional relationships shown in the drawings, and are merely for the convenience and simplification of the description of this application. They do not indicate or suggest that the referred-to devices or elements must have a specific orientation or be constructed or operate in a specific orientation, and therefore should not be understood as limiting this application.

[0018] Furthermore, when terms such as "first," "second," etc. are used, these terms are used for descriptive purposes only and should not be understood to indicate or suggest the relative importance or the number of such technical features. Thus, a feature qualified as "first" or "second" may explicitly or implicitly indicate the inclusion of at least one such feature. In the description of this application, when the term "plurality" is used, "plurality" means at least two, e.g., two, three, etc., unless otherwise expressly and specifically limited.

[0019] In this application, when terms such as "attached," "coupled," "connected," and "fixed" are used, these terms should be understood in a broad sense unless otherwise expressly specified or limited. Unless otherwise expressly limited, they may refer to, for example, a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, an internal communication between two elements, or an interactive relationship between two elements. Those skilled in the art will be able to understand the specific meaning of the above terms in this application depending on the context.

[0020] In this application, unless otherwise expressly specified or limited, when a first feature is described as being "above" or "below" a second feature, this means that the first and second features are in direct contact with each other or that the first and second features are in indirect contact with each other via an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it means that the first feature is directly above or diagonally above the second feature, or simply that the first feature is higher in height than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it means that the first feature is directly below or diagonally below the second feature, or simply that the first feature is lower in height than the second feature.

[0021] It should be noted that when an element is described as being "fixed" or "mounted" to another element, the element may be directly attached to the other element or may be attached via an intermediate element. When an element is considered to be "connected" to another element, the element may be directly attached to the other element or may be connected via an intermediate element. Terms such as "vertical," "horizontal," "top," "bottom," "left," "right," and similar expressions used herein are for descriptive purposes only and are not intended to be the only embodiment.

[0022] With the rapid development of industrial automation technology, articulated robots are increasingly regarded as important industrial automation equipment and are being increasingly widely applied. In articulated robots, the movements of each degree of freedom are realized by a joint module at each joint, where the joint module is an integrated structure that integrates core components such as a motor unit, an encoder unit, and a reducer unit. In related art, the encoder unit includes an encoder mounting base, an inner ring, a middle ring, an input encoder disk, an output encoder disk, an encoder readhead, a support, etc., and therefore requires a large number of components. During installation, these multiple components must be installed sequentially, making the installation procedure complicated.

[0023] The joint module is mounted in the housing and drives the joint robot to operate. In order to solve the problem that the encoder unit has a large number of parts and the mounting procedure is complicated, the present application provides, as shown in Figures 1 to 3, a hollow shaft 100 having a first end and a second end arranged opposite to each other along its axial direction, a speed reducer unit 200 fitted onto the hollow shaft 100, a motor unit 300 fitted onto the hollow shaft 100 and having a power output end connected to the first end via the speed reducer unit 200, an encoder mounting base 410, an outer ring 420, a middle ring 430, an inner ring 440, an input encoder disk 450, an output encoder disk 460, and an encoder read head 470. an encoder unit 400 including an inner ring 440 fitted on and connected to the second end, a middle ring 430 connected to the power output end and fitted on and rotatably connected to the inner ring 440, an outer ring 420 fitted on and rotatably connected to the middle ring 430, the outer ring 420 being connected to the motor unit 300 via an encoder mounting base 410, an output encoder disk 460 being provided on the inner ring 440, an input encoder disk 450 being provided on the middle ring 430, and an encoder read head 470 being attached to the encoder mounting base 410, to provide a joint module.

[0024] In the above joint module, the reducer unit 200 and the motor unit 300 are both fitted onto the hollow shaft 100, and the motor unit 300 is connected to the reducer unit 200 and has a power output end connected to a first end of the hollow shaft 100 via the reducer unit 200. That is, the power output from the power output end of the motor unit 300 is reduced by the reducer unit 200 and then drives the hollow shaft 100 to rotate. The inner ring 440 of the encoder unit 400 is fitted onto the second end of the hollow shaft 100. That is, the power output from the power output end of the motor unit 300 is reduced by the reducer unit 200 and then drives the hollow shaft 100 and the inner ring 440 to rotate, and also drives the output encoder disk 460 attached to the inner ring 440 to rotate. As a result, the output encoder disk 460 detects and displays the rotation angle of the hollow shaft 100 and records the rotation speed of the hollow shaft 100. The middle wheel 430 is fitted onto the inner wheel 440, and the outer wheel 420 is fitted onto the middle wheel 430 and connected to the motor unit 300 via an encoder mounting base. The middle wheel 430 is connected to the power output end. In this way, the power output end rotates the middle wheel 430, which also rotates the input encoder disk 450 attached to the middle wheel 430. As a result, the input encoder disk 450 detects and displays the rotation angle of the power output end of the motor unit 300 and records the number of rotations of the power output end. Furthermore, the power that rotates the middle wheel 430 at the power output end is not reduced by a reducer. That is, the rotation speed of the middle wheel 430 is always faster than the rotation speed of the inner wheel 440. When the encoder read head 470 reads the rotation angle data of the output encoder disk 460, the rotation angle and rotation speed of the hollow shaft 100 are read, and when the encoder read head 470 reads the rotation angle data of the input encoder disk 450, the rotation angle and rotation speed of the power output end are read.In the joint module of the present application, the inner ring 440, middle ring 430, outer ring 420, input encoder disk 450, output encoder disk 460, and encoder read head 470 in the encoder unit 400 may be assembled all at once when the related parts are shipped. When assembling the encoder unit 400 and other members of the joint module, it is sufficient to fit and connect the inner ring 440 to the second end of the hollow shaft 100, connect the encoder mounting base to the motor unit 300, and further connect the middle ring 430 to the power output end of the motor unit 300. This reduces the number of steps for installing the encoder unit 400 and improves installation efficiency.

[0025] Preferably, as shown in FIG. 1, the joint module further includes a brake 600, and the power output end of the motor unit 300 is connected to the middle wheel 430 of the encoder unit 400 via the brake 600, and the brake 600 is used to brake the power output end.

[0026] Preferably, as shown in FIG. 1, a wire harness 700 connected to a power source passes through the hollow shaft 100.

[0027] 2 and 3 , in some embodiments, the encoder unit 400 further includes a first rolling element 480 provided between the inner ring 440 and the middle ring 430, and the inner ring 440 is rotatably fitted to the middle ring 430 via the first rolling element 480. By providing the first rolling element 480 between the inner ring 440 and the middle ring 430, the inner ring 440 can be rotatably fitted to the middle ring 430. Specifically, the first rolling element 480 may be a ball, a needle roller, or a roller.

[0028] Preferably, side covers are provided on both sides of the first rolling element 480 along the axial direction of the hollow shaft 100, and grease or lubricating oil necessary for the rolling of the first rolling element 480 can be stored inside the side covers.

[0029] 3 and 4, the inner ring 440 is provided with a first rolling path 443 for accommodating the first rolling element 480. By providing the first rolling path 443 in the inner ring 440, it becomes easy to accommodate the first rolling element 480.

[0030] 1, 3, and 4, the inner ring 440 includes a first connection portion 441 and a second connection portion 442 that are aligned along the axial direction of the hollow shaft 100. The first connection portion 441 is located closer to the motor unit 300 than the second connection portion 442. The first connection portion 441 and the second connection portion 442 are annular, and the radial dimension of the first connection portion 441 is larger than the radial dimension of the second connection portion 442. A first rolling path 443 is provided on the outer peripheral surface of the first connection portion 441. The first connection portion 441 has a first end face 447 connected to the second connection portion 442. A first mounting flange 444 extending in the axial direction is provided on the first end face 447. The output encoder disk 460 is fitted onto the first mounting flange 444 so that its side wall is in close contact with the first end face 447. The first rolling path 443 is provided on the outer peripheral surface of the first connecting portion 441, which facilitates the storage of the first rolling element 480. The first mounting flange 444 is provided on the first end face 447 connected to the second connecting portion 442 of the first connecting portion 441, and the output encoder disk 460 is fitted onto the first mounting flange 444 and attached, and the side wall of the output encoder disk 460 is in close contact with the first end face 447, which facilitates the installation of the output encoder disk 460.

[0031] More specifically, as shown in Figures 1, 3 and 4, the first mounting flange 444 is annular, and the radial dimension of the first mounting flange 444 is smaller than the radial dimension of the first connecting portion 441 and larger than the radial dimension of the second connecting portion 442.

[0032] 2 to 4, a first axial through hole 445 is provided in a first connecting portion 441 of the inner ring 440, and a second axial through hole 446 communicating with the first axial through hole 445 is provided in a second connecting portion 442 of the inner ring 440, and the radial dimension of the first axial through hole 445 is larger than the radial dimension of the second axial through hole 446. By providing the first axial through hole 445 and the second axial through hole 446, the hollow shaft 100 is inserted through the first axial through hole 445 and the second axial through hole 446.

[0033] 1, 2, and 4, the joint module further includes a rear cover 500 located on the side of the encoder unit 400 opposite to the motor unit 300 side, the rear cover 500 fitted onto the second connecting portion 442 and connected to the encoder mounting base 410, a connecting member 510 is provided between the rear cover 500 and the second connecting portion 442, and the rear cover 500 is rotatably fitted to the second connecting portion 442 via the connecting member 510. By fitting the rear cover 500 onto the second connecting portion 442 and connecting it to the encoder mounting base 410, the side of the encoder unit 400 opposite to the motor unit 300 side is sealed by the rear cover 500 so that a sealed space is formed between the rear cover 500 and the side of the encoder unit 400 opposite to the motor unit 300 side. That is, the input encoder disk 450, the output encoder disk 460, and the encoder read head 470 are all located within the sealed space, and the input encoder disk 450, the output encoder disk 460, and the encoder read head 470 are sealed by the rear cover 500, thereby preventing external dust from entering the input encoder disk 450, the output encoder disk 460, and the encoder read head 470 and affecting the measurement accuracy of the input encoder disk 450, the output encoder disk 460, and the encoder read head 470. The connecting member 510 is provided between the rear cover 500 and the second connecting portion 442, and the rear cover 500 is rotatably fitted to the second connecting portion 442 by the connecting member 510. Specifically, the connecting member 510 may be a sliding bearing or a rolling bearing.

[0034] Preferably, as shown in FIGS. 1, 3 and 4, the second connecting portion 442 of the inner ring 440 is provided with a shoulder for axially restricting the connecting member 510.

[0035] 1, 3, and 5, the middle ring 430 is annular and has a second end face 435 opposite the motor unit 300 side, a storage cavity 431 extending axially toward the motor unit 300 is provided in the second end face 435, a first connecting portion 441 is provided in the storage cavity 431, and a second rolling path 432 for storing the first rolling element 480 is provided on the inner wall of the storage cavity 431. By providing the second rolling path 432 on the inner wall of the storage cavity 431 and inserting the first connecting portion 441 of the inner ring 440 into the storage cavity 431 of the middle ring 430, a portion of the first rolling element 480 provided in the first rolling path 443 is positioned in the second rolling path 432, and thus the middle ring 430 is rotatably fitted to the inner ring 440 by the first rolling element 480.

[0036] Specifically, when the first connecting portion 441 of the inner ring 440 is inserted into the storage cavity 431 of the middle ring 430, the first rolling path 443 and the second rolling path 432 are spaced apart in a direction perpendicular to the axial direction.

[0037] Preferably, as shown in Figures 2, 3 and 5, the inner ring 440 is provided with a third axial through hole 433 communicating with the first axial through hole 445, and the radial dimension of the third axial through hole 433 is larger than the dimension of the first axial through hole 445, and the hollow shaft 100 is inserted into the third axial through hole 433.

[0038] Specifically, as shown in FIGS. 2, 3 and 5, the third axial through-hole 433 is a stepped hole whose hole diameter decreases toward the rear cover 500 in the axial direction of the hollow shaft 100.

[0039] 2 and 3, in some embodiments, the encoder unit 400 further includes a second rolling element 490 provided between the middle ring 430 and the outer ring 420, and the middle ring 430 is rotatably fitted to the outer ring 420 via the second rolling element 490. By providing the second rolling element 490 between the middle ring 430 and the outer ring 420, the middle ring 430 can be rotatably fitted to the outer ring 420. Specifically, the second rolling element 490 may be a ball, a needle roller, or a roller.

[0040] Preferably, side covers are provided on both sides of the second rolling element 490 along the axial direction of the hollow shaft 100, and grease or lubricating oil required for the rolling of the second rolling element 490 can be stored inside the side covers.

[0041] 3 and 5, the middle ring 430 is provided with a third rolling path 434 extending in the circumferential direction thereof for accommodating the second rolling element 490. The third rolling path 434 is provided in the middle ring 430, thereby accommodating the second rolling element 490.

[0042] 3 and 6, the outer ring 420 is provided with a fourth rolling path 421 extending in the circumferential direction thereof for accommodating the second rolling element 490. The provision of the fourth rolling path 421 in the outer ring 420 allows the second rolling element 490 to be accommodated.

[0043] 3, 5, and 6, the middle ring 430 is provided with a third rolling path 434 extending in the circumferential direction thereof for accommodating the second rolling element 490, and the outer ring 420 is provided with a fourth rolling path 421 extending in the circumferential direction thereof for accommodating the second rolling element 490. The second rolling element 490 is accommodated by both the third rolling path 434 and the fourth rolling path 421. Specifically, when the outer ring 420 is fitted onto the middle ring 430, the third rolling path 434 and the fourth rolling path 421 are spaced apart in a direction perpendicular to the axial direction.

[0044] 2 and 5 , in some embodiments, the middle ring 430 is annular and has a second end face 435 opposite the motor unit 300 side, and a second mounting flange 436 extending in the axial direction is provided on the second end face 435, and the input encoder disc 450 is fitted onto the second mounting flange 436 so that its side wall is in close contact with the second end face 435. The second mounting flange 436 is protruding from the second end face 435, and the input encoder disc 450 is fitted onto the second mounting flange 436 with the side wall of the input encoder disc 450 in close contact with the second end face 435, making it easy to mount the input encoder disc 450.

[0045] As described above, as shown in Figures 2, 3 and 5, the middle ring 430 is annular and has a second end face 435 opposite the motor unit 300 side, and the second end face 435 is provided with a storage cavity 431 extending along the axial direction toward the motor unit 300, a first connection portion 441 is provided within the storage cavity 431, a second rolling path 432 is provided on the inner wall of the storage cavity 431, a fourth rolling path 421 extending circumferentially is provided on the outer peripheral surface of the middle ring 430, and a second mounting flange 436 extending in the axial direction is provided on the second end face 435.

[0046] The present application also provides an articulated robot including a housing and the above-described joint module mounted in the housing, the joint module being mounted within the housing and configured to drive and operate the articulated robot.

[0047] The constituent elements of the above embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the constituent elements in the above embodiments are described. However, as long as there is no contradiction in the combination of these constituent elements, all combinations should be considered to be within the scope described in this application.

[0048] It should be noted that the above examples merely represent some embodiments of the present application, and although the descriptions are more specific and detailed, they should not be understood as limiting the scope of the patent application. Those skilled in the art may make minor modifications and improvements without departing from the concept of the present application, and all of these fall within the scope of protection of the present application. Therefore, the scope of protection of the patent of the present application shall be governed by the scope of the appended claims. [Explanation of symbols]

[0049] 100 hollow shaft, 200 reducer unit, 300 motor unit, 400 encoder unit, 410 Encoder mounting base, 420 outer ring, 421 4th rolling path, 430 Middle wheel, 431 storage cavity, 432 Second rolling path, 433 3rd axial through hole, 434 Third rolling path, 435 second end surface, 436 second mounting flange, 440 Inner Circle, 441 first connection part, 442 second connection part, 443 First rolling path, 444 first mounting flange, 445 first axial through hole; 446 second axial through hole, 447 first end surface, 450 input encoder disk, 460 output encoder disk, 470 encoder readhead, 480 first rolling element, 490 second rolling element, 500 rear cover, 510 connecting member, 600 brake, 700 wire harness.

Claims

1. A joint module, a hollow shaft (100) having a first end and a second end arranged oppositely along its axial direction; a reduction gear unit (200) fitted onto the hollow shaft (100); a motor unit (300) fitted onto the hollow shaft (100) and having a power output end connected to the first end via the reducer unit (200); an encoder unit (400) comprising an encoder mounting base (410), an outer ring (420), a middle ring (430), an inner ring (440), an input encoder disk (450), an output encoder disk (460), and an encoder read head (470), wherein the inner ring (440) is fitted onto the second end and connected thereto, the middle ring (430) connected to the power output end is fitted onto the inner ring (440) and rotatably engaged therewith, the outer ring (420) is fitted onto the middle ring (430) and rotatably engaged therewith, the outer ring (420) is connected to the motor unit (300) via the encoder mounting base (410), the output encoder disk (460) is provided on the inner ring (440), the input encoder disk (450) is provided on the middle ring (430), and the encoder read head (470) is attached to the encoder mounting base (410); the inner ring (440) includes a first connection portion (441) and a second connection portion (442) aligned along the axial direction of the hollow shaft (100), the first connection portion (441) is located closer to the motor unit (300) than the second connection portion (442), the first connection portion (441) and the second connection portion (442) are annular, the radial dimension of the first connection portion (441) is larger than the radial dimension of the second connection portion (442), and the first connection portion (441) has a first end surface (447) connected to the second connection portion (442), The first end surface (447) is provided with a first mounting flange (444) extending in the axial direction, the output encoder disk (460) is fitted onto the first mounting flange (444), and a side wall of the output encoder disk (460) is in close contact with the first end surface (447). A joint module characterized by:

2. 2. The joint module according to claim 1, wherein the encoder unit (400) further includes a first rolling element (480) provided between the inner ring (440) and the middle ring (430), and the inner ring (440) is rotatably fitted to the middle ring (430) via the first rolling element (480).

3. The joint module according to claim 2, wherein the inner ring (440) is provided with a first rolling path (443) for accommodating the first rolling element (480).

4. The joint module according to claim 3, wherein the first rolling path (443) is provided on an outer peripheral surface of the first connecting portion (441).

5. 5. The joint module according to claim 4, wherein the middle ring (430) is annular and has a second end face (435) opposite to the motor unit (300), the second end face (435) is provided with a storage cavity (431) extending along the axial direction toward a side closer to the motor unit (300), the first connection portion (441) is provided within the storage cavity (431), and a second rolling path (432) for accommodating the first rolling element (480) is provided on an inner wall of the storage cavity (431).

6. The encoder unit (400) further includes a rear cover (500) located on the opposite side of the encoder unit (400) from the motor unit (300), the rear cover (500) being fitted onto the second connection portion (442) and connected to the encoder mounting base (410); 2. The joint module according to claim 1, wherein a connecting member (510) is provided between the rear cover (500) and the second connecting portion (442), and the rear cover (500) is rotatably fitted to the second connecting portion (442) via the connecting member (510).

7. 2. The joint module according to claim 1, wherein the encoder unit (400) further includes a second rolling element (490) provided between the middle ring (430) and the outer ring (420), and the middle ring (430) is rotatably fitted to the outer ring (420) via the second rolling element (490).

8. The center ring (430) is provided with a third rolling path (434) extending in the circumferential direction thereof for accommodating the second rolling element (490), and / or The joint module according to claim 7, characterized in that the outer ring (420) is provided with a fourth rolling path (421) extending in the circumferential direction thereof for accommodating the second rolling element (490).

9. 2. The joint module according to claim 1, wherein the middle ring (430) is annular and has a second end surface (435) opposite to the motor unit (300), the second end surface (435) is provided with a second mounting flange (436) extending in the axial direction, the input encoder disc (450) is fitted onto the second mounting flange (436), and a side wall of the input encoder disc (450) is in close contact with the second end surface (435).

10. An articulated robot comprising: a housing; and the articulated module according to any one of claims 1 to 9 attached to the housing.

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