Harmonic drive joint module and robot

Abstract

A harmonic drive joint module and a robot. The harmonic drive joint module comprises a joint housing, a harmonic drive, a power assembly, a torque sensor (13) and an electric drive assembly. Integrating all of the harmonic drive, the power assembly, the torque sensor (13) and the electric drive assembly with the joint housing can effectively reduce the size and weight of the harmonic drive joint module. When the harmonic drive is affected by an external force, the torque of a flexspline (6) changes, and the torque sensor (13) can feed back torque information of the harmonic drive joint module in real time. Thus, on the basis of a measurement result of the torque sensor (13), a worker can control the harmonic drive joint module to respond to different torque. Providing the electric drive assembly can ensure that the harmonic drive joint module promptly responds to different torque information, ensuring the normal use of the harmonic drive joint module and allowing a robot to promptly and adaptively adjust its behaviors.

Description

A harmonic deceleration joint module and robot Technical Field

[0001] The present invention relates to the technical field of mechanical transmission, and in particular to a harmonic deceleration joint module and a robot. Background Art

[0002] At present, legged robot joints often use a planetary reducer solution, which has a small reduction ratio and large backlash, resulting in low control accuracy and heavy joint weight. Existing harmonic reducer joints have low integration of reducer and motor, large size and weight, and low torque estimation accuracy. The main manifestation is that it is difficult to provide real-time feedback on the torque information of the harmonic reducer joint during operation, resulting in the harmonic reducer joint being unable to respond to different torque information in a timely manner, affecting the use of the harmonic reducer and making it impossible for the robot to make timely adaptive adjustments to its own behavior.

[0003] Summary of the Invention

[0004] The technical problem to be solved by the present invention is: how to solve the problems of low integration, large size and weight, and untimely torque information feedback in the prior art.

[0005] In order to solve the above technical problems, the present invention provides a harmonic deceleration joint module, comprising:

[0006] joint housing;

[0007] A harmonic reducer is provided at one end of the joint housing, the harmonic reducer comprising a wave generator, a flexspline, a steel wheel, and a cross-roller bearing assembly, the cross-roller bearing assembly being connected to the joint housing, the flexspline being capable of flexible deformation, the outer circumferential surface of the wave generator abutting against the inner wall of the flexspline, the steel wheel being connected to the cross-roller bearing assembly, and the outer circumferential surface of the flexspline being in differential tooth meshing connection with the inner wall of the steel wheel;

[0008] a power assembly, disposed in the joint housing, connected to the wave generator, and configured to drive the wave generator to rotate;

[0009] a torque sensor, disposed in the joint housing and connected to the joint housing, the end of the flexspline being connected to the torque sensor, the torque sensor being used to detect and obtain the torque of the flexspline; and

[0010] The electric drive assembly is arranged in the joint housing and is used to control the power assembly according to the torque of the flexible wheel obtained by the torque sensor.

[0011] Further preferably, the joint housing includes a middle joint housing and a lower joint housing, the middle joint housing is provided with a first cavity and a second cavity, the torque sensor is fixed in the first cavity, the harmonic reducer is provided directly above the first cavity, the power assembly is provided on the inner side of the joint housing, the lower joint housing is provided with a third cavity, and the electric drive assembly is provided in the third cavity.

[0012] Further preferably, the crossed roller bearing assembly includes a crossed roller bearing outer ring, a crossed roller bearing inner ring, and a crossed roller bearing roller arranged between the crossed roller bearing outer ring and the crossed roller bearing inner ring, the flexible spline is fixedly connected to the crossed roller bearing inner ring, and the crossed roller bearing outer ring is fixedly connected to the end of the joint middle shell.

[0013] Further preferably, the power assembly includes:

[0014] a motor stator, the motor stator being disposed in the second cavity and fixedly connected to the inner wall of the joint middle housing, the inner wall of the motor stator being provided with a permanent magnet;

[0015] a motor rotor, the motor rotor being arranged inside the motor stator and being controlled by the permanent magnet; and

[0016] An input shaft is connected to the motor rotor, one end of the input shaft extends into the first cavity, and the wave generator is fixedly connected to the input shaft.

[0017] Further preferably, the power assembly also includes an output end cover and an output shaft, the output end cover is fixedly connected to the inner ring of the cross roller bearing, the output shaft is arranged on the inner side of the input shaft, one end of the output shaft is fixedly connected to the output end cover, and the other end is rotatably connected to the inner wall of the input shaft.

[0018] Further preferably, the electric drive assembly includes a magnetic bead, a magnetic ring, a drive plate and an encoder arranged in the third cavity, the magnetic bead is connected to the end of the output shaft, and the magnetic ring is connected to the end of the input shaft; the encoder is a dual encoder, and the dual encoder is used to respectively obtain the rotational speed and absolute position of the magnetic bead and the magnetic ring, and transmit the obtained data to the drive plate.

[0019] Further preferably, the torque sensor includes a boss portion and a central area portion, the boss portion is fixedly connected to the middle shell of the joint, the central area portion is provided with a flexspline plate, the flexspline plate is used to cooperate with the torque sensor to fix the flexspline, and a strain gauge is provided inside the torque sensor.

[0020] Further preferably, the harmonic reducer further includes a flexible bearing, and the flexible bearing is provided between the wave generator and the flexspline.

[0021] Further preferably, the steel wheel and the inner ring of the cross roller bearing are an integrally formed structure.

[0022] In order to solve the above technical problems, the present invention also provides a robot, which includes a robot body and the above-mentioned harmonic deceleration joint module, and the harmonic deceleration joint module is installed on the robot body.

[0023] Compared with the prior art, the harmonic deceleration joint module and robot provided by the present invention have the following advantages:

[0024] The present invention integrates the harmonic reducer, the power component torque sensor and the electric drive component on the joint housing, which can effectively reduce the size and reduce the weight of the harmonic reduction joint module. Since the flexible wheel can undergo flexible deformation, when the harmonic reducer is affected by external force, the torque of the flexible wheel changes. The torque sensor can provide real-time feedback on the torque information of the harmonic reduction joint module and transmit the torque change information to the electric drive component. On the one hand, the staff can control the harmonic reduction joint module to respond to different torques based on the detection results of the torque of the flexible wheel by the torque sensor, which is convenient for use. On the other hand, the provision of the electric drive component can ensure that the harmonic reduction joint module responds to different torque information in a timely manner, ensure the normal use of the harmonic reduction joint module, and enable the robot to make adaptive adjustments to its own behavior in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] FIG1 is an exploded schematic diagram of the harmonic deceleration joint module according to the first embodiment.

[0026] FIG2 is a front view of the harmonic reduction joint module according to the first embodiment.

[0027] FIG3 is a cross-sectional view of the AA section in FIG2 .

[0028] FIG4 is a schematic structural diagram of the harmonic reducer according to the first embodiment.

[0029] FIG5 is a schematic structural diagram of the power assembly according to the first embodiment.

[0030] FIG6 is a schematic structural diagram of the torque sensor according to the first embodiment.

[0031] FIG7 is a schematic structural diagram of the electric drive assembly according to the first embodiment.

[0032] FIG8 is a front view of the harmonic reduction joint module according to the second embodiment.

[0033] FIG9 is a cross-sectional view taken along line BB in FIG8 .

[0034] In the figure: 1. Output end cover; 2. Wave generator; 3. Output shaft; 4. First metal sealing ring; 5. Flexible bearing; 6. Flexspline; 7. Steel wheel; 8. Output end dynamic seal; 9. Crossed roller bearing roller; 10. Crossed roller bearing outer ring; 11. Flexspline plate; 12. Crossed roller bearing inner ring; 13. Torque sensor; 131. Boss part; 132. Center area part; 14. Second metal sealing ring; 15. Third metal sealing ring; 16. First deep groove ball bearing; 17. Motor stator; 18. Motor rotor; 19. Joint lower housing; 20. Drive plate; 21. Encoder; 22. Second deep groove ball bearing; 23. Joint lower end cover; 24. Magnetic beads; 25. Magnetic ring; 26. Third deep groove ball bearing; 27. Permanent magnet; 28. Joint middle housing; 29. ​​Input shaft; 12′, Crossed roller bearing inner ring (with steel wheel). DETAILED DESCRIPTION

[0035] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like used in the present invention to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] 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 the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0038] Furthermore, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0039] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0040] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0041] Example 1

[0042] As shown in Figures 1 to 7, this embodiment 1 provides a harmonic deceleration joint module, including a joint housing, a harmonic reducer, a power assembly, a torque sensor 13 and an electric drive assembly, wherein the harmonic reducer, the power assembly, the torque sensor 13 and the electric drive assembly are all integrated on the joint housing, which can effectively reduce the size of the harmonic deceleration joint module and reduce its weight.

[0043] In some embodiments, the joint housing includes a middle joint housing 28 and a lower joint housing 19, the middle joint housing 28 is provided with a first cavity with an opening facing upward and a second cavity with an opening facing downward, and the first cavity and the second cavity are connected, the torque sensor 13 is fixed in the first cavity, the harmonic reducer is provided directly above the first cavity, the power assembly is provided in the second cavity, at least part of the power assembly extends to the first cavity and is connected to the harmonic reducer, the lower joint housing 19 is provided with a third cavity, and the electric drive assembly is provided in the third cavity. Specifically, the joint housing also includes a lower joint end cover 23, and the lower joint end cover 23 is provided at the bottom of the lower joint housing 19, so that the third cavity forms an enclosed space, thereby preventing the electric drive assembly from being interfered with by the outside world. This embodiment can integrate the harmonic reducer, power assembly, torque sensor 13 and electric drive assembly into the joint housing by opening cavities on the middle joint housing 28 and the lower joint housing 19, which can effectively reduce the size of the harmonic reduction joint module and reduce its weight.

[0044] In some embodiments, the harmonic reducer is arranged at one end of the joint housing, specifically, directly above the first cavity. The harmonic reducer includes a wave generator 2, a flexible spline 6, a steel wheel 7, and a cross-roller bearing assembly. The flexible spline 6 can undergo flexible deformation; wherein the cross-roller bearing assembly is connected to the joint housing, the outer peripheral surface of the wave generator 2 abuts against the inner wall of the flexible spline 6, the steel wheel 7 is connected to the cross-roller bearing assembly, and the outer peripheral surface of the flexible spline 6 is differentially meshed with the inner wall of the steel wheel 7; the torque sensor 13 is fixedly arranged in the first cavity, and the end of the flexible spline 6 is connected to the torque sensor 13. The torque sensor 13 is used to detect and obtain the force of the flexible spline 6 Torque, so that when the harmonic reducer is affected by external force, the torque of the flexible wheel 6 changes due to deformation, and the torque sensor 13 can feedback the torque information of the harmonic reduction joint module in real time, and transmit the torque change information to the electric drive component. The staff can control the harmonic reduction joint module to respond to different torques according to the detection result of the torque of the flexible wheel 6 by the torque sensor 13, which is convenient for use. The electric drive component can ensure that the harmonic reduction joint module responds to different torque information in time, ensures the normal use of the harmonic reduction joint module, and enables the robot to make adaptive adjustments to its own behavior in time.

[0045] In other embodiments, the flexible spline 6 is made of a deformable metal material.

[0046] In the above embodiment, the cross-section of the wave generator 2 can be designed to be elliptical, and the outer peripheral surface of the wave generator 2 is abutted against the inner side wall of the flexible wheel 6 through the flexible bearing 5. Specifically, in order to achieve differential tooth meshing connection between the outer peripheral surface of the flexible wheel 6 and the inner wall of the steel wheel 7, the outer peripheral surface of the flexible wheel 6 is provided with first teeth along the circumferential direction, and the inner wall of the steel wheel 7 is provided with second teeth along the circumferential direction, wherein the first teeth and the second teeth can mesh with each other. Since the cross-section of the wave generator 2 is an elliptical structure, the differential tooth meshing connection between the flexible wheel 6 and the steel wheel 7 can be achieved during the rotation of the wave generator 2. The torque of the flexible wheel 6 can be detected by the torque sensor 13. Therefore, when the harmonic reduction joint module is affected by external force, the torque of the flexible wheel 6 changes. The staff can control the harmonic reduction joint module to respond to different torques based on the detection result of the torque of the flexible wheel 6 by the torque sensor 13, which is convenient for use.

[0047] In other embodiments, the flexspline 6 is a cup-shaped structure, so that the flexspline 6 can be connected to the torque sensor 13 while satisfying the differential tooth engagement of the steel wheel 7 .

[0048] In the above embodiment, the crossed roller bearing assembly includes a crossed roller bearing outer ring 10, a crossed roller bearing inner ring 12, and a crossed roller bearing roller 9 arranged between the crossed roller bearing outer ring 10 and the crossed roller bearing inner ring 12. The flexible spline 6 is fixedly connected to the crossed roller bearing inner ring 12, and the crossed roller bearing outer ring 10 is fixedly connected to the end of the joint middle shell 28. It should be noted that, in this embodiment, the crossed roller bearing inner ring 12 and the flexible spline 6 are independent components, and the sealing of the steel wheel 7 and the crossed roller bearing inner ring 12 needs to be considered during assembly.

[0049] In other embodiments, an output end dynamic seal 8 is provided on the upper edge of the junction of the outer ring 10 of the crossed roller bearing and the inner ring 12 of the crossed roller bearing. The function of the dynamic seal is to seal the gap between the joint surfaces of the outer ring 10 of the crossed roller bearing and the inner ring 12 of the crossed roller bearing, isolate or cut off the leakage channel, increase the resistance in the leakage channel, and prevent the leakage of lubricating oil in the roller 9 of the crossed roller bearing.

[0050] In some embodiments, a power assembly is disposed in the joint housing, and the power assembly is used to drive the wave generator 2 to rotate; specifically, the power assembly includes a motor stator 17, a motor rotor 18, an input shaft 29, an output end cover 1 and an output shaft 3, wherein the motor stator 17 is disposed in the second cavity and is fixedly connected to the inner wall of the joint middle shell 28, the inner wall of the motor stator 17 is provided with a permanent magnet 27, the motor rotor 18 is disposed on the inner side of the motor stator 17 and is controlled by the permanent magnet 27, that is, the motor rotor 18 can rotate at high speed under the action of the magnetic field of the permanent magnet 27.

[0051] In the above embodiment, the input shaft 29 is connected to the motor rotor 18, with one end of the input shaft 29 extending into the first cavity. The wave generator 2 is fixedly connected to the input shaft 29, the output end cover 1 is fixedly connected to the inner ring 12 of the cross-roller bearing, and the output shaft 3 is disposed inside the input shaft 29. One end of the output shaft 3 is fixedly connected to the output end cover 1, and the other end is rotatably connected to the inner wall of the input shaft 29. Therefore, when the motor rotor 18 rotates, it drives the input shaft 29 to rotate at a constant speed. Since the wave generator 2 is fixedly connected to the input shaft 29, the wave generator 2 also rotates at a constant speed. Furthermore, since the output end cover 1, the steel wheel 7, and the inner ring 12 of the cross-roller bearing are all fixedly connected, when the wave generator 2 rotates, the cup-shaped flexspline 6 of the harmonic reducer undergoes micro-deformation due to the differential tooth meshing connection between the flexspline 6 and the steel wheel 7. The torque of the flexspline 6 is transmitted to the torque sensor 13, which then converts the acquired torque into an electrical signal and transmits it to the electric drive assembly, thereby achieving a force control function.

[0052] In some embodiments, the torque sensor 13 is an end panel having a strain gauge provided therein, specifically, including a boss portion 131 and a center area portion 132. The boss portion 131 is fixedly connected to the middle joint housing 28, and the center area portion 132 is provided with a flexible pulley plate 11. The flexible pulley plate 11 is used to cooperate with the torque sensor 13 to fix the flexible pulley 6, thereby ensuring that the torque sensor 13 can detect the deformation torque of the flexible pulley 6 in real time. When the cup body of the flexible pulley 6 and the steel wheel 7 is slightly deformed due to gear meshing, the flexible pulley 6 is slightly deformed, and the torque will be transmitted to the torque sensor 13. The resistance value of the internal strain gauge changes due to the mechanical deformation of the strain bridge, and is transmitted to the drive plate 20 in the form of an electrical signal to realize the force control function.

[0053] In other embodiments, the torque sensor 13 can also transmit the detection results to a mobile terminal (for example, a mobile phone APP, a computer, etc.). After receiving the detection results, the mobile terminal automatically compares them with the deformation rules under normal conditions, and obtains the difference between the actual deformation and the deformation under normal conditions. By performing signal processing, data analysis and other operations on the difference, the size of the external force can be obtained. When subjected to different external force sizes, the harmonic deceleration joint module is controlled to make different responses, which facilitates the use of the harmonic deceleration joint module.

[0054] In some embodiments, after the output end cover 1 is connected to the output shaft 3, in order to prevent the wave generator 2 from being interfered with by the outside world, a convex ring is provided on one end surface of the output end cover 1 facing the wave generator 2, and the wave generator 2 is fitted and connected to the convex ring in the circumferential direction, and a first metal sealing ring 4 is provided between the convex ring and the wave generator 2, so that the wave generator 2 is in a closed space.

[0055] In some embodiments, a through hole is provided in the middle of the torque sensor 13, and the input shaft 29 is arranged through the through hole. At least one metal sealing ring is provided between the torque sensor 13 and the outer peripheral wall of the input shaft 29. In this embodiment, two metal sealing rings are preferably provided, such as the second metal sealing ring 14 and the third metal sealing ring 15 in Figure 3. The metal sealing rings can prevent the leakage of lubricating oil, and can reduce the abrasion between the torque sensor 13 and the input shaft 29, avoid axial movement of the input shaft 29, and ensure the stable rotation of the input shaft 29.

[0056] In some embodiments, in order to further improve the stability of the input shaft 29 , a first deep groove ball bearing 16 is further provided between the input shaft 29 and the joint middle housing 28 .

[0057] In some embodiments, a second deep groove ball bearing 22 is sleeved on the outer wall of the end of the output shaft 3 away from the output end cover 1, and the second deep groove ball bearing 22 abuts against the inner wall of the input shaft 29. By providing the second deep groove ball bearing 22, the stable rotation of the output shaft 3 can be ensured without interfering with the rotation of the input shaft 29, so as to reduce the speed from the input shaft 29, amplify the torque, and provide sufficient torque at the output end by cooperating with the output end cover 1.

[0058] In some embodiments, in order to further improve the stability of the input shaft 29 and provide support for the input shaft 29 , a third deep groove ball bearing 26 is further provided between the input shaft 29 and the joint lower housing 19 .

[0059] In some embodiments, the electric drive assembly is disposed in the third cavity of the lower joint housing 19, which facilitates wiring while reducing the axial size of the harmonic deceleration joint module. The electric drive assembly is used to control the power assembly based on the torque of the flexible wheel 6 obtained by the torque sensor 13.

[0060] In the above embodiment, specifically, the electric drive assembly includes a magnetic bead 24, a magnetic ring 25, a drive plate 20 and an encoder 21 arranged in the third cavity. The magnetic bead 24 is connected to the end of the output shaft 3, and its rotation speed is consistent with the output shaft 3. The magnetic ring 25 is connected to the end of the input shaft 29, and its rotation speed is consistent with the rotation speed of the input shaft 29; the encoder 21 is a dual encoder, which is used to obtain the rotation speed and absolute position of the magnetic bead 24 and the magnetic ring 25 respectively, and transmit the obtained data to the drive plate 20, and the magnetic bead 24, the magnetic ring 25, and the drive plate 20 are connected to the magnetic bead 24, the magnetic ring 25, and the drive plate 20. The encoder 21 is integrated in the third cavity of the lower shell 19 of the joint, which can reduce the axial size of the harmonic deceleration joint module. This solution adopts a dual encoder, using two chips to read the rotation speed and absolute position from the magnetic bead 24 and the magnetic ring 25 respectively, and convert the read data into an electrical signal and transmit it to the drive board 20, so as to ensure that the harmonic deceleration joint module can respond to different torque information in time, ensure the normal use of the harmonic deceleration joint module, and enable the robot to make adaptive adjustments to its own behavior in time.

[0061] Example 2

[0062] The difference between the harmonic deceleration joint module provided in Example 2 and Example 1 is that:

[0063] As shown in Figures 8 and 9, in this second embodiment, the steel wheel 7 and the inner ring 12 of the crossed roller bearing in the first embodiment are designed as an integrally formed structure, forming a crossed roller bearing inner ring (with steel wheel) 12'. Since the crossed roller bearing inner ring (with steel wheel) 12' is connected to the output end cover 1, the flexible spline 6 transmits torque to the crossed roller bearing inner ring (with steel wheel) 12' through gear meshing, thereby achieving torque output. The advantage of designing the steel wheel 7 and the inner ring 12 of the crossed roller bearing as an integrally formed structure in this embodiment is that the sealing between the steel wheel 7 and the inner ring 12 of the crossed roller bearing does not need to be considered, thus saving assembly steps.

[0064] Example 3

[0065] A robot includes a robot body and the harmonic deceleration joint module of Example 1 or Example 2. The harmonic deceleration joint module is installed on the robot body. In this way, while ensuring that the harmonic deceleration joint module can respond to different torque information in a timely manner, the robot can make adaptive adjustments to its own behavior in a timely manner.

[0066] The working process of the present invention is as follows: please refer to Figures 1 to 7. The motor rotor 18 rotates at a high speed under the action of the magnetic field of the permanent magnet 27, driving the input shaft 29 and the wave generator 2 to rotate at a constant speed. Since the outer peripheral surface of the flexible wheel 6 is differentially meshed with the inner wall of the steel wheel 7, the differential meshing connection between the flexible wheel 6 and the steel wheel 7 can be achieved during the rotation of the wave generator 2, resulting in a micro-deformation of the flexible wheel 6 with a cup-shaped structure. The torque of the flexible wheel 6 will be transmitted to the torque sensor 13, and then the torque sensor 13 will convert the acquired torque into an electrical signal and transmit it to the drive plate 20, thereby realizing the function of force control. In addition, since the steel wheel 7 can drive the inner ring 12 of the cross roller bearing to rotate, and the output end cover 1 is fixedly connected to the inner ring 12 of the cross roller bearing, for this reason, the power of the input shaft 29 passes through the wave generator 2, The flexible wheel 6, the steel wheel 7 and the inner ring 12 of the cross roller bearing are then transmitted to the output end cover 1, thereby achieving the purpose of deceleration. Then, a dual encoder is used, and two chips are used to read the rotation speed and absolute position from the magnetic bead 24 and the magnetic ring 25 respectively, and the read data is converted into an electrical signal and transmitted to the drive board 20, so as to ensure that the harmonic deceleration joint module can respond to different torque information in time, ensure the normal use of the harmonic deceleration joint module, and enable the robot to make adaptive adjustments to its own behavior in time.

[0067] In summary, the embodiment of the present invention provides a harmonic deceleration joint module and a robot, which can effectively reduce the size and weight of the harmonic deceleration joint module by integrating the harmonic reducer, the power component torque sensor and the electric drive component on the joint housing. Since the flexible wheel 6 can undergo flexible deformation, when the harmonic reducer is affected by external force, the torque of the flexible wheel 6 changes, and the torque sensor 13 can provide real-time feedback on the torque information of the harmonic deceleration joint module and transmit the torque change information to the electric drive component. On the one hand, the staff can control the harmonic deceleration joint module to respond to different torques based on the detection result of the torque of the flexible wheel 6 by the torque sensor 13, which is convenient for use. On the other hand, the provision of the electric drive component can ensure that the harmonic deceleration joint module responds to different torque information in a timely manner, ensure the normal use of the harmonic deceleration joint module, and enable the robot to make adaptive adjustments to its own behavior in a timely manner.

[0068] The above description is only a preferred embodiment of the present invention. It should be noted that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be considered as the scope of protection of the present invention. The basic principles, main features and advantages of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above preferred embodiments. The examples should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention.

[0069] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A harmonic reduction joint module, characterized in that Comprising: Joint housing; A harmonic reducer, provided at one end of the joint housing, the harmonic reducer includes a wave generator, a flexspline, a circular spline, and a crossed roller bearing assembly, the crossed roller bearing assembly is connected to the joint housing, the flexspline can undergo flexible deformation, the outer peripheral surface of the wave generator abuts against the inner wall of the flexspline, the circular spline is connected to the crossed roller bearing assembly, and the outer peripheral surface of the flexspline is connected to the inner wall of the circular spline by differential tooth meshing; A power assembly, provided inside the joint housing, the power assembly is connected to the wave generator, and the power assembly is used to drive the wave generator to rotate; A torque sensor, provided inside the joint housing and connected to the joint housing, the end of the flexspline is connected to the torque sensor, and the torque sensor is used to detect and obtain the torque of the flexspline; And An electric drive assembly, provided inside the joint housing, for controlling the power assembly according to the torque of the flexspline obtained by the torque sensor.

2. The harmonic reduction joint module according to claim 1, characterized in that, The joint housing includes a joint middle housing and a joint lower housing, the joint middle housing is provided with a first cavity and a second cavity, the torque sensor is fixedly provided inside the first cavity, the harmonic reducer is provided directly above the first cavity, the power assembly is provided inside the joint housing, the joint lower housing is provided with a third cavity, and the electric drive assembly is provided inside the third cavity.

3. The harmonic reduction joint module according to claim 2, characterized in that, The crossed roller bearing assembly includes a crossed roller bearing outer ring, a crossed roller bearing inner ring, and crossed roller bearing rollers provided between the crossed roller bearing outer ring and the crossed roller bearing inner ring, the flexspline is fixedly connected to the crossed roller bearing inner ring, and the crossed roller bearing outer ring is fixedly connected to the end of the joint middle housing.

4. A harmonic reduction joint module according to claim 2, characterized in that, The power assembly includes: A motor stator, the motor stator is provided inside the second cavity and fixedly connected to the inner wall of the joint middle housing, and permanent magnets are provided on the inner wall of the motor stator; A motor rotor, the motor rotor is provided inside the motor stator and controlled by the permanent magnets; and An input shaft, the input shaft is connected to the motor rotor, one end of the input shaft extends into the first cavity, and the wave generator is fixedly connected to the input shaft.

5. A harmonic reduction joint module according to claim 4, wherein, The power assembly further includes an output end cover and an output shaft, the output end cover is fixedly connected to the crossed roller bearing inner ring, the output shaft is provided inside the input shaft, one end of the output shaft is fixedly connected to the output end cover, and the other end is rotatably connected to the inner wall of the input shaft.

6. The harmonic reduction joint module according to claim 5, characterized in that, The electric drive assembly includes a magnetic bead, a magnetic ring, a drive board, and an encoder provided inside the third cavity, the magnetic bead is connected to the end of the output shaft, and the magnetic ring is connected to the end of the input shaft; the encoder is a dual encoder, and the dual encoder is used to respectively obtain the rotational speed and absolute position of the magnetic bead and the magnetic ring, and transmit the obtained data to the drive board.

7. The harmonic reduction joint module according to claim 2, wherein The torque sensor includes a boss portion and a central region portion. The boss portion is fixedly connected to the middle housing of the joint. The central region portion is provided with a flexspline plate, which is used to cooperate with the torque sensor to fix the flexspline. Strain gauges are provided inside the torque sensor.

8. A harmonic reduction joint module according to claim 1, wherein The harmonic reducer further includes a flexure bearing, which is arranged between the wave generator and the flexspline.

9. The harmonic reduction joint module according to claim 3, characterized in that, The steel wheel and the inner ring of the crossed roller bearing are integrally formed.

10. A robot, characterized in that, The robot includes a robot body and the harmonic reduction joint module according to any one of claims 1-9 above. The harmonic reduction joint module is installed on the robot body.

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