Joint module and robot

Abstract

A joint module and a robot. The joint module comprises: a motor apparatus, a braking apparatus, a harmonic apparatus, and a hollow shaft (8); the braking apparatus is arranged at one end of the motor apparatus in the axial direction, and the harmonic apparatus is arranged at the opposite end in the axial direction; the hollow shaft (8) passes through the harmonic apparatus, the braking apparatus, and the motor apparatus; the harmonic apparatus comprises a harmonic cam (13), a harmonic flexspline (19), and a harmonic circular spline (20); the harmonic flexspline (19) is sleeved over the harmonic cam (13), and the harmonic circular spline (20) is sleeved over the harmonic flexspline (19); a second bearing (23) is arranged between the harmonic flexspline (19) and the harmonic cam (13); the harmonic circular spline (20) gear-meshes with the harmonic flexspline (19). the harmonic flexspline (19) and the harmonic circular spline (20) as a group form a harmonic output module. Said harmonic output module is pressed into a wave generator made up of the harmonic cam (13) and the second bearing (23), and the hollow shaft (8) is pressed into the harmonic output module.

Description

Joint modules and robots Technical Field

[0001] The present invention relates to the technical field of robot structure design, and in particular to a joint module and a robot. Background Art

[0002] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are gaining increasing attention and becoming more and more widely used. Joint modules are important components in robots and play a vital role in their movement. Currently, the design of robot joint modules tends to be miniaturized, so there is an urgent need for structural joint module structures.

[0003] The existing Chinese patent application document with publication number CN217801798U discloses a joint module with integrated braking and deceleration, including a housing assembly, a braking and deceleration assembly, a motor assembly, an encoder assembly and a driver assembly. The braking and deceleration assembly, the motor assembly, the encoder assembly and the driver assembly are arranged in sequence on the housing assembly; the braking and deceleration assembly includes an input shaft, an output shaft, a harmonic reducer, a brake coil, an armature and a brake part. The input shaft is rotatably sleeved on the output shaft, the output shaft is connected to the harmonic reducer, the brake coil and the armature are arranged on the end cover, the end cover is connected to the harmonic reducer, and the brake part is linked to the input shaft.

[0004] The structural design of the robot joint module in the prior art has the following main defects and needs to be improved:

[0005] 1. The joint module needs to be fixed with fasteners first, and then assembled with the joint shell using additional screw holes and fasteners. The structure is poorly compact and has a large size.

[0006] 2. When assembling the joint module, the parts need to be installed one by one, which is inconvenient.

[0007] Summary of the Invention

[0008] In view of the defects in the prior art, the purpose of the present invention is to provide a joint module and a robot.

[0009] According to the present invention, a joint module includes a motor device, a brake device, a harmonic device and a hollow shaft, wherein the brake device is arranged at one axial end of the motor device, and the harmonic device is arranged at the other axial end of the motor device, and the hollow shaft is penetrated by the harmonic device, the brake device and the motor device; the harmonic device includes a harmonic cam, a harmonic flexible pulley and a harmonic steel wheel, the harmonic flexible pulley is sleeved with the harmonic cam, the harmonic steel wheel is sleeved with the harmonic flexible pulley, a second bearing is arranged between the harmonic flexible pulley and the harmonic cam, and the harmonic steel wheel and the harmonic flexible pulley are meshed through gears; the harmonic flexible pulley and the harmonic steel wheel are combined to form a harmonic output module, the harmonic output module is pressed into a harmonic generator composed of the harmonic cam and the second bearing, and the hollow shaft is pressed into the harmonic output module.

[0010] Preferably, a cross roller bearing is further included, wherein the inner ring of the cross roller bearing is fixedly connected to the harmonic flex spline, and the outer ring of the cross roller bearing is fixedly connected to the harmonic steel wheel.

[0011] Preferably, the hollow shaft, motor device, brake device and harmonic device are all coaxially arranged; a connecting disk is coaxially arranged on the hollow shaft, and the connecting disk, the inner ring of the cross roller bearing and the harmonic flexible wheel are connected by fasteners.

[0012] Preferably, it further includes a housing, the motor device includes a stator and a rotor, the stator and the housing are fixedly connected, and a first bearing is provided in a space formed by the stator, the rotor and the brake device.

[0013] Preferably, the brake device includes a fixed base, a drive coil, an elastic member, a brake pad, a brake pad and a locking sleeve, one end of the locking sleeve extends into the rotor and is interference fit with the rotor, and the other end of the locking sleeve extends out of the rotor and is connected to the brake pad; the fixed base is fixedly connected to the housing, the drive coil is arranged on the fixed base, the brake pad and the brake pad are both arranged between the fixed base and the motor device, the brake pad is close to the fixed base relative to the brake pad, and the elastic member connects the fixed base and the brake pad.

[0014] Preferably, one end of the harmonic cam extends into the rotor and is interference-connected with the rotor. A rubber pad is provided in the rotor, and the rubber pad is provided between the harmonic cam and the locking sleeve.

[0015] Preferably, the cross-sectional profile of the locking sleeve extending out of the rotor comprises a polygon, a cavity having a similar cross-sectional profile to that of the locking sleeve is formed inside the brake pad, and the locking sleeve is sleeved in the cavity of the brake pad.

[0016] Preferably, an encoder device is further included, which includes an output-end measuring code disk, an input-end measuring code disk and an encoder circuit board, wherein the output-end measuring code disk is fixedly mounted on the hollow shaft, the input-end measuring code disk is fixedly mounted on the locking sleeve, and the encoder circuit board is arranged between the output-end measuring code disk and the input-end measuring code disk and is installed on a fixed base; and an output-end measuring encoder reader is provided on the side of the encoder circuit board close to the output-end measuring code disk, and an input-end measuring encoder reader is provided on the side of the encoder circuit board close to the input-end measuring code disk.

[0017] Preferably, a recessed mounting groove is provided on the locking sleeve, and the input-end measuring code disk is embedded and installed in the recessed mounting groove; the fixed base is annular, and a mounting portion is provided on the side of the fixed base close to the motor device, and the encoder circuit board is installed in the annular space of the fixed base through a connecting piece and the mounting portion.

[0018] A robot provided according to the present invention further includes a sensor module, which is connected to the inner ring of the cross roller bearing, the harmonic flexspline and the connecting plate through fasteners.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention improves the overall compactness of the robot joint module and reduces the overall size of the robot joint module through the structural design of the housing, motor device, brake device, harmonic device, encoder device and hollow shaft.

[0021] 2. This invention utilizes a harmonic output module consisting of a harmonic flexspline, a harmonic steel wheel, and a crossed roller bearing. The hollow shaft lip is interference-fitted into the inner ring of the harmonic flexspline. The harmonic output module is then pressed into the wave generator, which consists of a second bearing and a harmonic cam. It is then secured to the input housing using a second fastener. The second fastener further strengthens the fixing strength between the harmonic steel wheel and the outer ring of the crossed roller bearing.

[0022] 3. In the present invention, the first fastener sequentially passes through the sensor module, the inner ring of the cross roller bearing, the harmonic flexspline, and the connecting plate of the hollow shaft and fixes them. The first fastener can install the sensor module while connecting the harmonic flexspline and the inner ring of the cross roller bearing. This not only saves the number of fasteners used, but also optimizes the overall structure and enhances the overall strength.

[0023] 4. The present invention can optimize the internal space of the robot joint module and reduce the joint volume by installing bearings in the gap between the stator and the rotor. The bearings are set at the input end of the robot joint module and installed in conjunction with the braking device. The bearings are hidden in the motor without occupying additional joint length, thereby optimizing the axial size of the joint.

[0024] 5. The present invention achieves radial locking of the locking sleeve and the brake pad by setting the cross-sectional profile shape of the locking sleeve to a polygon and utilizing the locking effect of two similar polygons in cooperation, but does not limit the axial movement of the locking sleeve and the brake pad. While achieving braking of the rotor, the movement of the brake pad during braking will not damage the rotor.

[0025] 6. The present invention arranges the output end measuring code disk and the encoder circuit board in the annular space of the encoder fixed base, and arranges the input end measuring code disk in the concave mounting groove of the locking sleeve, which helps to improve the axial space utilization of the encoder structure.

[0026] 7. The present invention integrates the output-end measuring encoder head and the input-end encoder head on an encoder circuit board, and arranges the output-end measuring code disk, the encoder circuit board and the input-end measuring code disk in sequence along the axial direction of the hollow shaft, which helps to improve the overall integration of the encoder structure, helps to save the installation space of the encoder structure, and thus helps to improve space utilization.

[0027] 8. The present invention uses independent joint modules and sensor modules to enable the same joint to be equipped with different types of sensors, which helps to achieve different force control effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0029] FIG1 is a cross-sectional view of the overall structure of a robot joint module according to the present invention;

[0030] FIG2 is a schematic diagram of a cross roller bearing installation structure according to the present invention;

[0031] FIG3 is an exploded view of the overall structure of the brake pad assembly according to the present invention;

[0032] FIG4 is an external schematic diagram of the overall structure of the robot joint module according to the present invention;

[0033] FIG5 is a schematic diagram showing the overall structure of the fixed base according to the present invention;

[0034] FIG6 is a schematic diagram of the installation structure of the input end measurement code disk and the locking sleeve of the present invention;

[0035] FIG7 is a schematic diagram of the installation structure of the sensor module and the joint module according to the present invention.

[0036] As shown in the figure:

[0037] Housing 1 Brake pad 11

[0038] Output end measuring code disc 2 First bearing 12

[0039] Threaded connection sleeve 21 Harmonic cam 13

[0040] Input terminal measuring code disc 3 driving coil 14

[0041] Encoder circuit board 4 elastic member 15

[0042] Rotor 5 connecting block 16

[0043] Fixed base 6 Rubber pad 17

[0044] Mounting portion 61 Sealing ring 18

[0045] Locking sleeve 7 Harmonic flexible pulley 19

[0046] Concave mounting groove 71 Harmonic steel wheel 20

[0047] Hollow shaft 8 Cross roller bearing 22

[0048] Threaded connection section 81 Second bearing 23

[0049] Connecting plate 82 First fastener 24

[0050] Stator 9 Second fastener 25

[0051] Brake pad 10 Third fastener 26

[0052] Hollow shaft lip 101 Fourth fastener 100

[0053] Sensor module 27 DETAILED DESCRIPTION

[0054] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0055] It should be noted that the axial direction in the present application refers to the direction of the central axis of the hollow shaft 8 or the direction parallel to the central axis of the hollow shaft 8 .

[0056] As shown in Figures 1 and 2, a joint module provided according to the present invention includes a housing 1, a motor device, a brake device, a harmonic device, and a hollow shaft 8. The motor device is disposed within the housing 1, the brake device is disposed at one axial end of the motor device, and the harmonic device is disposed at the other axial end of the motor device. The harmonic device, brake device, and motor device are passed through the hollow shaft 8. The brake device acts on the rotor 5 of the motor device and can brake the rotor 5.

[0057] The harmonic device includes a harmonic cam 13, a harmonic flexspline 19, and a harmonic steel pulley 20. The harmonic cam 13 is nested within the harmonic flexspline 19, which in turn is nested within the harmonic steel pulley 20. A second bearing 23 is disposed between the harmonic flexspline 19 and the harmonic cam 13. In this application, a thin-walled bearing is preferably used for the second bearing 23. The harmonic steel pulley 20 and the harmonic flexspline 19 are meshed with gears. Specifically, the inner ring of the second bearing 23 is glued to the harmonic cam 13. The second bearing 23 and the harmonic cam 13 together form a wave generator.

[0058] The cross roller bearing 22 is also included. The cross roller bearing 22 is installed at the end of the harmonic device away from the motor device. The inner ring of the cross roller bearing 22 is fixedly connected to the harmonic flex spline 19, and the outer ring of the cross roller bearing 22 is fixedly connected to the harmonic steel wheel 20.

[0059] The harmonic flexspline 19, harmonic steel pulley 20, cross-roller bearing 22, third fastener 26, and fourth fastener 100 are assembled into a harmonic output module. The fourth fastener 100 secures the outer ring of the cross-roller bearing 22 to the harmonic steel pulley 20. Simultaneously, the third fastener 26 secures the inner ring of the cross-roller bearing 22 to the flexspline 19. The harmonic flexspline 19, harmonic steel pulley 20, and cross-roller bearing 22 are now assembled into a single unit, the harmonic output module, using the third fastener 26 and fourth fastener 100.

[0060] When installing the harmonic output module onto the joint, first insert the hollow shaft lip 101 into the inner ring of the harmonic flexspline 19 through interference fit. The harmonic output module is then pressed into the wave generator, consisting of the second bearing 23 and the harmonic cam 13, and secured to the input housing 1 via the second fastener 25. The second fastener 25 further strengthens the overall structural strength of the harmonic steel wheel 20 after it is secured to the outer ring of the cross-roller bearing 22. Furthermore, the sensor module 27, the inner ring of the cross-roller bearing 22, and the connecting plate 82 are serially secured via the first fastener 24, further enhancing the overall structural strength and integrity of the output inner ring.

[0061] It should be further explained that, in a feasible embodiment of the present application, the outer ring of the cross roller 22 can be integrally formed with the harmonic steel wheel 20, thereby eliminating the fourth fastener 100.

[0062] The hollow shaft 8, motor device, brake device, and harmonic device are all coaxially arranged. A connecting disc 82 is coaxially arranged on the hollow shaft 8. The connecting disc 82, the inner ring of the cross-roller bearing 22, and the harmonic flex spline 19 are connected by fasteners. The fastener connecting the sensor module 27, the connecting disc 82, the inner ring of the cross-roller bearing 22, and the harmonic flex spline 19 is a first fastener 24. It should be emphasized that the sensor module 27 of the present application is disposed outside the joint module. The sensor module 27 of the present application can be sequentially connected to the inner ring of the cross-roller bearing 22, the harmonic flex spline 19, and the connecting disc 82 via the first fastener 24. The threaded portion of the first fastener 24 is screwed into the thread of the connecting disc 82 and tightened.

[0063] It should be noted that the first fastener 24, the second fastener 25, the third fastener 26, and the fourth fastener 100 can all be fasteners such as bolts or screws known in the art. The first fastener 24 not only connects the harmonic flexspline 19 to the inner ring of the cross-roller bearing 22, but also mounts the sensor module 27, thereby reducing the number of fasteners used and optimizing the overall structure. The first fastener 24, the second fastener 25, the third fastener 26, and the fourth fastener 100 are all arranged at equal intervals along the circumference of the cross-roller bearing 22. The second fastener 25 is arranged alternately with the fourth fastener 100 on the circumferential edge of the cross-roller bearing 22, and the third fastener 26 is arranged alternately with the first fastener 24 on the inner ring of the cross-roller bearing 22.

[0064] Specifically, both the harmonic flexible plywood 19 and the harmonic steel wheel 20 are hollow disc-shaped thin-walled structures. The connection position between the harmonic flexible plywood 19 and the cross roller bearing 22 is set in the middle of the cross roller bearing 22, and the connection position between the harmonic steel wheel 20 and the cross roller bearing 22 is set at the circumferential edge of the cross roller bearing 22.

[0065] As shown in Figures 1, 3, 4, 5 and 6, the motor device includes a stator 9 and a rotor 5. The stator 9 is fixedly connected to the housing 1. The rotor 5 is in the shape of a hollow cylinder. One end of the harmonic cam 13 extends into the rotor 5 and is interference fit with the rotor 5. The other end of the harmonic cam 13 extends out of the rotor 5 and is connected to the harmonic flexible spline 19 through the second bearing 23. The connection between the harmonic cam 13 and the harmonic flexible spline 19 and the connection between the harmonic flexible spline 19 and the harmonic steel wheel 20 are located in the same radial plane.

[0066] A first bearing 12 is disposed within the space formed by the stator 9, rotor 5, and brake assembly. The brake assembly includes a fixed base 6, a drive coil 14, an elastic member 15, a brake pad 11, a brake lining 10, and a locking sleeve 7. One end of the locking sleeve 7 extends into the rotor 5 and forms an interference fit therewith, while the other end of the locking sleeve 7 extends beyond the rotor 5 and connects to the brake lining 10. The fixed base 6 is fixedly connected to the housing 1, the drive coil 14 is disposed on the fixed base 6, the brake pad 11 and the brake lining 10 are disposed between the fixed base 6 and the motor assembly, the brake pad 11 being closer to the fixed base 6 than the brake lining 10, and the elastic member 15 connecting the fixed base 6 and the brake pad 11. The locking sleeve 7, which extends beyond the rotor 5, has a polygonal cross-sectional profile. The interior of the brake lining 10 defines a cavity similar in shape to the cross-sectional profile of the locking sleeve 7, and the cavity of the brake lining 10 is enclosed by the locking sleeve 7.

[0067] Specifically, since there is a certain gap between the stator 9 and the rotor 5 of the motor, the technical solution of the present application utilizes the gap between the stator 9 and the rotor 5 to install the first bearing 12, which can optimize the internal space of the robot joint module and reduce the volume of the joint. The first bearing 12 is set at the input end of the robot joint module and installed in conjunction with the brake device. The first bearing 12 is hidden in the motor without occupying additional joint length, thereby optimizing the axial size of the joint. Preferably, two first bearings 12 are provided in the space formed by the brake pad assembly, the stator 9 and the rotor 5.

[0068] Specifically, one end of the locking sleeve 7 extends into the rotor 5 and forms an interference fit therewith, while the other end of the locking sleeve 7 extends beyond the end of the rotor 5. The brake pad 10 is connected to the locking sleeve 7 extending beyond the end of the rotor 5. Furthermore, the locking sleeve 7, brake pad 10, and rotor 5 are all annular and coaxially arranged. The end of the locking sleeve 7 that extends into the rotor 5 forms an interference fit therewith, while the end of the locking sleeve 7 that extends outside the rotor 5 has a diameter greater than the outer diameter of the rotor 5. This prevents direct contact between the rotor 5 and the brake pad 10, helping to prolong the service life of the rotor 5.

[0069] More specifically, the cross-sectional profile of the locking sleeve 7 extending from the end of the rotor 5 comprises a polygon. A cavity similar in shape to the cross-sectional profile of the locking sleeve 7 is formed within the interior of the brake pad 10, and the locking sleeve 7 is enclosed within the cavity of the brake pad 10. The cavity is configured to be slightly larger than the cross-sectional profile of the locking sleeve 7 extending from the end of the rotor 5. By leveraging the locking action of the two similar polygons, radial locking is achieved between the locking sleeve 7 and the brake pad 10, while no axial movement of the locking sleeve 7 or the brake pad 10 is restricted. A regular octagon is preferably employed in this application. Thus, it can be achieved that, under normal conditions, the rotor 5 rotates around the central axis, driving the locking sleeve 7 to rotate around the central axis, and then driving the brake pad 10 to rotate around the central axis; when braking, the brake pad 10 is pressed by the brake clamp 11. In the process of the brake clamp 11 pressing the brake pad 10, the brake pad 10 slides axially, and the brake pad 10 and the locking sleeve 7 produce axial relative displacement. Since the brake pad 10 and the locking sleeve 7 have a certain thickness, until the brake pad 10 is pressed and motionless, both the brake pad 10 and the locking sleeve 7 remain radially locked. At this time, braking of the rotor 5 is achieved, and the movement of the brake pad 10 during braking will not damage the rotor 5.

[0070] More specifically, the drive coil 14 is fixedly mounted on the fixed base 6, which is fixedly connected to the stator 9. The elastic member 15 is disposed between the fixed base 6 and the brake pad 11, and the elastic member 15 is in a compressed state. Preferably, a plurality of elastic members 15 are disposed on the fixed base 6 at equal intervals along the circumference of the fixed base 6. When the drive coil 14 is energized, the attractive force exerted by the drive coil 14 on the brake pad 11 overcomes the elastic force of the elastic member 15, and the brake pad 11 does not exert an axial force on the brake pad 10. When the drive coil 14 is de-energized, the brake pad 11 presses against the brake pad 10 under the force of the elastic member 15, thereby braking the vehicle.

[0071] Furthermore, the drive coil 14 is disposed within the fixed base 6 . Both the drive coil 14 and the fixed base 6 are annular in shape, and the fixed base 6 is constructed from a magnetic material. Placing the drive coil 14 within the fixed base 6 protects the drive coil 14 , and the fixed base 6 made of a magnetic material, such as iron, cobalt, nickel, or an alloy comprising one or more of these, can enhance the magnetic effect of the drive coil 14 .

[0072] Furthermore, a connecting block 16 is provided at the peripheral edge of the fixed base 6. The connecting block 16 extends along the axis of the rotor 5 toward the stator 9 and is fixedly connected to the stator 9 and / or the housing 1. Multiple connecting blocks 16 can be provided at equal intervals around the peripheral edge of the fixed base 6. Connecting the fixed base 6 to the stator 9 or the housing 1 with the connecting blocks 16 can improve the overall stability of the system. Furthermore, placing the connecting blocks 16 at the edge facilitates the avoidance of the brake pads 10 and brake cleats 11 between the fixed base 6 and the stator 9, preventing interference.

[0073] Furthermore, the brake pad 10, brake pad 11, and fixed base 6 are coaxially arranged, with the maximum diameter of the brake pad 10 being smaller than the maximum diameter of the brake pad 11. A clearance groove is formed in the brake pad 11 to allow for the connection block 16 to pass through. The brake pad 11 is annular, with an outer diameter larger than the outer diameter of the brake pad 10 and an inner diameter larger than the inner diameter of the brake pad 10 but smaller than the outer diameter of the brake pad 10. This ensures that the brake pad 11 can exert a stable force on the brake pad 10, thereby ensuring the stability of the braking system.

[0074] The harmonic cam 13, the locking sleeve 7, and the rotor 5 are all coaxially arranged. A rubber pad 17 is provided between the harmonic cam 13 and the brake pad assembly, and the rubber pad 17 is sealed to the inner wall of the rotor 5. Furthermore, sealing rings 18 can be provided at both axial ends of the rubber pad 17 to achieve a sealed connection between the sealing pad and the inner wall of the rotor 5. The rubber pad 17 and the sealing ring 18 are used to isolate the iron filings scraped off during the press-fitting process of the interference fit, thereby enclosing the metal filings generated by the interference fit of the harmonic cam 13 into the rotor 5 within the installation space of the harmonic cam 13 and the rotor 5. The metal filings generated by the interference fit of the locking sleeve 7 into the rotor 5 are also enclosed in the groove of the rubber pad 17, thereby ensuring that the grease of the harmonic is not contaminated by metal lint. This prevents metal lint from contaminating the gear grease and causing gear wear. At the same time, the sealing ring 17 is sealed to the hollow shaft 8, thereby preventing the dust ground off by the friction of the brake pad 10 from entering the harmonic side and contaminating the gear grease.

[0075] The encoder device also includes an encoder device, which includes an output-end measuring code disk 2, an input-end measuring code disk 3, and an encoder circuit board 4. The output-end measuring code disk 2 is fixedly mounted on a hollow shaft 8, and the input-end measuring code disk 3 is fixedly mounted on a locking sleeve 7. The encoder circuit board 4 is disposed between the output-end measuring code disk 2 and the input-end measuring code disk 3 and is mounted on a fixed base 6. An output-end measuring encoder reader is provided on the side of the encoder circuit board 4 near the output-end measuring code disk 2, and an input-end measuring encoder reader is provided on the side of the encoder circuit board 4 near the input-end measuring code disk 3. A recessed mounting groove 71 is provided on the locking sleeve 7, and the input-end measuring code disk 3 is embedded and mounted in the recessed mounting groove 71. The fixed base 6 is annular, and a mounting portion 61 is provided on the side of the fixed base 6 near the motor device. The encoder circuit board 4 is mounted in the annular space of the fixed base 6 through a connector that cooperates with the mounting portion 61.

[0076] More specifically, by integrating the output-end measuring encoder reader and the input-end measuring encoder reader on the same encoder circuit board 4, the circuit structure is simplified, and the output-end measuring code disk 2, the encoder circuit board 4 and the input-end measuring code disk 3 are arranged in sequence along the axial direction of the hollow shaft 8, thereby improving the overall integration of the encoder structure and saving the installation space of the encoder structure.

[0077] Specifically, the output end measuring code disk 2, the input end measuring code disk 3 and the encoder circuit board 4 are all in the shape of a disc, the hollow shaft 8 is a hollow cylinder, the middle part of the output end measuring code disk 2 is fixedly connected or integrally formed with a threaded connection sleeve 21, and one end of the hollow shaft 8 on which the output end measuring code disk 2 is mounted is provided with a threaded connection section 81, the threaded connection section 81 is arranged on the outer surface of the hollow shaft 8 along the axial direction of the hollow shaft 8, and the threaded connection sleeve 21 is threadedly connected to the threaded connection section 81. The present application proposes a feasible implementation method as follows: the hollow cylindrical threaded connection sleeve 21 is coaxially connected to the middle part of the output end measuring code disk 2 by curing glue, and then the threaded connection sleeve 21 is threadedly connected to the threaded connection section 81 on the outer surface of the hollow shaft 8, thereby achieving the output end measuring code disk 2 being installed on the hollow shaft 8 and rotating synchronously with the hollow shaft 8. And with the help of threaded matching, the output end measuring code disk 2 can be adjusted in position along the axial direction of the hollow shaft 8 within the length range of the threaded connection section 81.

[0078] The present application also proposes a feasible solution for mounting the output-end measuring code disc 2 on the hollow shaft 8 and rotating synchronously with the hollow shaft 8: a connecting sleeve is fixedly connected or integrally formed in the middle of the output-end measuring code disc 2. The connecting sleeve may not be provided with threads, and the connecting sleeve may be pressed into the hollow shaft 8 by means of interference fit. The pressing depth of the connecting sleeve on the hollow shaft 8 can also be adjusted by means of interference fit, thereby adjusting the position along the axial direction of the hollow shaft 8.

[0079] More specifically, it also includes a fixed base 6, which is in a circular ring shape. The inner ring diameter of the fixed base 6 is larger than the outer ring diameter of the output end measuring code disk 2, and the inner ring diameter of the fixed base 6 is larger than the outer ring diameter of the encoder circuit board 4.

[0080] The encoder circuit board 4 is fixedly connected to the fixed base 6 via fasteners. A mounting portion 61 extends from the annular inner wall of the fixed base 6 toward the center of the annular portion. The encoder circuit board 4 is fastened to the mounting portion 61 of the fixed base 6 via fasteners. A gasket is provided between the encoder circuit board 4 and the fixed base 6. The fasteners securely connect the encoder circuit board 4, the gasket, and the fixed base 6, which are arranged in that order.

[0081] The present application proposes a feasible installation method for the encoder circuit board 4 and the fixed base 6: three mounting parts 61 are formed on the annular inner wall of the fixed base 6 at equal intervals along the circumference of the annular inner wall, and the three mounting parts 61 are located in the same plane. The encoder circuit board 4 is placed in the annular space of the fixed base 6, and the encoder circuit board 4 is fixedly connected to the three mounting parts 61 respectively by fasteners commonly used in the prior art such as bolts, screws or nuts, and the position of the encoder circuit board 4 can be adjusted by increasing or decreasing the number of gaskets between the encoder circuit board 4 and the mounting parts 61.

[0082] As shown in Figures 1, 5 and 6, more specifically, a locking sleeve 7 is connected between the input-end measuring code disk 3 and the rotor 5 of the motor. The rotor 5 of the motor is cylindrical, and the locking sleeve 7 is also cylindrical. The diameter of one axial end of the locking sleeve 7 is larger than the diameter of the other axial end of the locking sleeve 7. The end with a smaller diameter of the locking sleeve 7 is fixedly connected to the rotor 5 of the motor, and the end with a larger diameter of the locking sleeve 7 is fixedly connected to the input-end measuring code disk 3.

[0083] Furthermore, the output-end measuring code disc 2, the input-end measuring code disc 3, the encoder circuit board 4, the hollow shaft 8, the locking sleeve 7, and the motor rotor 5 are all coaxial. The hollow shaft 8 passes through the encoder circuit board 4, the input-end measuring code disc 3, the locking sleeve 7, and the motor rotor 5, respectively, and is coaxial with the four. The output-end measuring code disc 2, the encoder circuit board 4, and the input-end measuring code disc 3 are installed in sequence along the axial direction of the hollow shaft 8. The end of the locking sleeve 7 with a smaller diameter extends into the rotational gap between the motor rotor 5 and the hollow shaft 8. The outer wall of the end of the locking sleeve 7 with a smaller diameter is close to the motor rotor 5 and has an interference fit therewith, and the inner wall of the end of the locking sleeve 7 with a smaller diameter is close to the hollow shaft 8 and has a clearance fit therewith.

[0084] Furthermore, the end of the locking sleeve 7 with a larger diameter extends out of the motor's rotor 5 and is adjacent to the encoder circuit board 4. The end of the locking sleeve 7 extending out of the motor's rotor 5 serves as a mounting base for the input-end measuring code disk 3. A recessed mounting groove 71 is provided at the end of the locking sleeve 7 extending out of the motor's rotor 5. The input-end measuring code disk 3 is embedded and mounted within the recessed mounting groove 71. The input-end measuring code disk 3 can be fastened to the locking sleeve 7 using glue or fasteners. Embedding the input-end measuring code disk 3 within the recessed mounting groove 71 of the locking sleeve 7 can reduce the axial dimension of the mounting structure and improve space utilization.

[0085] It should be further explained that the input-end measuring code disk 3 is mounted on the motor's rotor 5 via a locking sleeve 7 and can move synchronously with the motor's rotor 5. The input-end measuring code disk 3 cannot be adjusted in the axial direction of the hollow shaft 8. Since the gasket between the encoder circuit board 4 and the fixed base 6 is located between the encoder circuit board 4 and the input-end measuring code disk 3, the gap between the input-end measuring code disk 3 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 can be adjusted by increasing or decreasing the number of gaskets. Furthermore, with the help of threaded engagement, the output-end measuring code disk 2 can be adjusted in the axial direction of the hollow shaft 8 within the length of the threaded connection section 81, thereby adjusting the gap between the output-end measuring code disk 2 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 within the design range.

[0086] It should also be further explained that after the encoder device is installed in place, the output end measuring code disk 2 and the encoder circuit board 4 are both located in the annular space of the fixed base 6, and the input end measuring code disk 3 is located in the recessed mounting groove 71 of the locking sleeve 7, thereby improving the integration of the overall structure, thereby reducing the structural size and increasing the axial space utilization.

[0087] As shown in Figure 7, the present application also proposes a robot. The joint module of the present application is particularly suitable for the movable joints of the robot. The present application modularizes the joint module. When in use, the sensor module 27 can be installed on the outside of the joint module, and the sensor module 27 can be fixedly installed on the outside of the cross roller bearing 22 to form a highly modular force sensing joint. Since the joint module and the sensor module 27 are highly independent of each other, the same joint can be equipped with different types of sensors. For example, torque sensing, force sensing, and torque + force sensing sensor modules can be installed to achieve different force control effects. Furthermore, the sensor module can be unidirectional force sensing or multi-directional force sensing.

[0088] How it works

[0089] Through the structural design of the housing 1, the motor device, the brake device, the harmonic device, the encoder device and the hollow shaft 8, the overall compactness of the robot joint module is improved and the overall size of the robot joint module is reduced. During installation, the harmonic steel wheel 20 and the harmonic flexible wheel 19 are fixed one by one on the outer ring and inner ring of the cross roller bearing 22 through the fourth fastener 100 and the third fastener 26, respectively, to form an independent harmonic output module. The configuration of this output module improves the modularity of the harmonics, so that the harmonic steel wheel 20, the harmonic flexible wheel 19 and the cross roller bearing 22 can be directly asked to the harmonic supplier to help form the output module before being assembled to the joint. By outsourcing, the time and complexity of the assembly process are simplified. And because of the modular fixing function of the third fastener 26 and the fourth fastener 100, the harmonic output module as a whole can be assembled and disassembled as an independent whole on the joint, greatly simplifying the assembly complexity. Because the input module is pre-assembled as a single unit, disassembly and assembly of the joints does not affect or disrupt the precise concentricity and positional relationships between the harmonic steel pulley 20, the harmonic flex spline 19, and the cross-roller bearing 22, which have been previously adjusted by the supplier. This ensures product quality and reduces assembly costs and process complexity. Furthermore, the outer ring of the cross-roller bearing 22 can be integrally molded with the harmonic steel pulley 20, eliminating the fourth fastener 100.

[0090] First, the hollow shaft lip 101 is interference-fitted into the inner ring of the harmonic flexwheel 19. The harmonic output module is then pressed into the wave generator, which is composed of the second bearing 23 and the harmonic cam 13, and assembled and fixed to the housing 1 at the input end via the second fastener 25. The second fastener 25 further strengthens the fixing strength between the harmonic steel wheel 20 and the outer ring of the cross-roller bearing 22. The first fastener 24 is sequentially passed through the sensor module 27, the inner ring of the cross-roller bearing 22, the harmonic flexwheel 19, and the connecting plate 28 of the hollow shaft 8 and fixed. The first fastener 24 not only connects the harmonic flexwheel 19 and the inner ring of the cross-roller bearing 22, but also installs the sensor module 27. This not only reduces the number of fasteners used, but also optimizes the overall structure and strengthens the overall strength. The second fastener 25 also connects the harmonic output module to the housing 1 while connecting it. This not only reduces the use of fasteners and reduces the difficulty of assembling the robot joint module, but also improves the overall installation efficiency and overall strength of the robot joint module.

[0091] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating 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 this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0092] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A joint module, characterized in that: It comprises a motor device, a brake device, a harmonic device and a hollow shaft (8), wherein the brake device is arranged at one axial end of the motor device, the harmonic device is arranged at the other axial end of the motor device, and the hollow shaft (8) is penetrated by the harmonic device, the brake device and the motor device; The harmonic device comprises a harmonic cam (13), a harmonic flexible wheel (19) and a harmonic steel wheel (20), wherein the harmonic flexible wheel (19) is sleeved with the harmonic cam (13), and the harmonic steel wheel (20) is sleeved with the harmonic flexible wheel (19), a second bearing (23) is provided between the harmonic flexible wheel (19) and the harmonic cam (13), and the harmonic steel wheel (20) and the harmonic flexible wheel (19) are meshed with gears; The harmonic flexible wheel (19) and the harmonic steel wheel (20) are combined to form a harmonic output module, the harmonic output module is pressed into a wave generator composed of a harmonic cam (13) and a second bearing (23), and the hollow shaft (8) is pressed into the harmonic output module.

2. The joint module according to claim 1, characterized in that: It also includes a cross roller bearing (22), the inner ring of the cross roller bearing (22) is fixedly connected to the harmonic flexible wheel (19), and the outer ring of the cross roller bearing (22) is fixedly connected to the harmonic steel wheel (20).

3. The joint module according to claim 2, characterized in that: The hollow shaft (8), the motor device, the brake device, and the harmonic device are all coaxially arranged; A connecting disk (82) is coaxially arranged on the hollow shaft (8), and the connecting disk (82), the inner ring of the cross roller bearing (22) and the harmonic flexible wheel (19) are connected by fasteners.

4. The joint module according to claim 1, characterized in that: The motor device also includes a housing (1), wherein the motor device includes a stator (9) and a rotor (5), wherein the stator (9) and the housing (1) are fixedly connected, and a first bearing (12) is provided in a space formed by the stator (9), the rotor (5) and the brake device.

5. The joint module according to claim 4, characterized in that: The brake device comprises a fixed base (6), a driving coil (14), an elastic member (15), a brake cleat (11), a brake pad (10), and a locking sleeve (7), one end of the locking sleeve (7) extends into the rotor (5) and is interference-fitted with the rotor (5), and the other end of the locking sleeve (7) extends out of the rotor (5) and is connected to the brake pad (10); The fixed base (6) is fixedly connected to the housing (1), the driving coil (14) is arranged on the fixed base (6), the brake cleat (11) and the brake pad (10) are arranged between the fixed base (6) and the motor device, the brake cleat (11) is close to the fixed base (6) relative to the brake pad (10), and the elastic member (15) connects the fixed base (6) and the brake cleat (11).

6. The joint module according to claim 5, characterized in that: One end of the harmonic cam (13) extends into the rotor (5) and is interference-connected with the rotor (5); a rubber pad (17) is provided in the rotor (5); and the rubber pad (17) is provided between the harmonic cam (13) and the locking sleeve (7).

7. The joint module according to claim 5, characterized in that: The cross-sectional profile of the locking sleeve (7) extending out of the rotor (5) comprises a polygon, a cavity having a similar cross-sectional profile to that of the locking sleeve (7) is formed inside the brake pad (10), and the locking sleeve (7) is sleeved in the cavity of the brake pad (10).

8. The joint module according to claim 5, characterized in that: The device further comprises an encoder device, the encoder device comprising an output-end measuring code disc (2), an input-end measuring code disc (3), and an encoder circuit board (4), wherein the output-end measuring code disc (2) is fixedly mounted on a hollow shaft (8), the input-end measuring code disc (3) is fixedly mounted on a locking sleeve (7), and the encoder circuit board (4) is arranged between the output-end measuring code disc (2) and the input-end measuring code disc (3) and mounted on a fixed base (6); An output-end measuring encoder reader is provided on one side of the encoder circuit board (4) close to the output-end measuring code disk (2), and an input-end measuring encoder reader is provided on one side of the encoder circuit board (4) close to the input-end measuring code disk (3).

9. The joint module according to claim 8, characterized in that: The locking sleeve (7) is provided with a recessed mounting groove (71), and the input end measuring code disk (3) is embedded and mounted in the recessed mounting groove (71); The fixed base (6) is annular, and a mounting portion (61) is provided on a side of the fixed base (6) close to the motor device. The encoder circuit board (4) is mounted in the annular space of the fixed base (6) through a connecting piece and the mounting portion (61).

10. A robot, characterized in that: The joint module according to any one of claims 1 to 9 further comprises a sensor module (27), wherein the sensor module (27) is connected to the inner ring of the cross roller bearing (22), the harmonic flex spline and the connecting plate (82) through fasteners.

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