Joint module and robot

Abstract

A joint module and a robot, relating to the technical field of robots. The joint module (10) comprises an electric motor (100), a speed reducer (200), and a resilient connecting member (300), wherein the electric motor is provided with an output shaft (110), and the speed reducer is disposed on the output shaft; the resilient connecting member is annularly arranged on the output shaft and is located between the output shaft and the speed reducer; and when a load applied to the speed reducer is greater than a first predefined value, the resilient connecting member undergoes elastic deformation so as to enable the speed reducer to rotate relative to the output shaft.

Description

Joint modules and robots

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202411934548.3, filed on December 25, 2024, the entire contents of which are incorporated herein by reference.

[0003] Technical Field

[0004] This application relates to the field of robotics technology, and in particular to a joint module and a robot. Background Technology

[0005] In existing technologies, the reducer of a robot is prone to damage when subjected to external overload impact loads. Summary of the Invention

[0006] The main purpose of this application is to propose a joint module and robot that aims to alleviate the problem of easy damage to the reducer under external overload impact loads on the joint module.

[0007] To achieve the above objectives, the joint module proposed in this application includes:

[0008] An electric motor having an output shaft;

[0009] A speed reduction device is provided on the output shaft; and

[0010] An elastic connector is arranged around the output shaft and located between the output shaft and the reduction gear; when the load on the reduction gear is greater than a first preset value, the elastic connector can undergo elastic deformation so that the reduction gear can rotate relative to the output shaft.

[0011] In one embodiment, the elastic connector includes a connecting body arranged in a ring shape and a protrusion protruding from the connecting body, the protrusion extending circumferentially along the connecting body.

[0012] In one embodiment, the protrusions are arranged in a ring shape along the circumference of the connecting body; or there are multiple protrusions, which are evenly spaced along the circumference of the connecting body.

[0013] In one embodiment, the connecting body has an inner sidewall and an outer sidewall;

[0014] The inner sidewall is provided with a plurality of protrusions, which abut against the output shaft; and / or, the outer sidewall is provided with a plurality of protrusions, which abut against the deceleration device.

[0015] In one embodiment, a plurality of protrusions are provided on the inner sidewall, the protrusions on the inner sidewall abut against the output shaft, and a recess is formed at the abutment between the output shaft and the inner sidewall.

[0016] In one embodiment, the side of the connecting body facing away from the protrusion is provided with a first groove corresponding to the position of the protrusion.

[0017] In one embodiment, the width of the first groove decreases from the connecting body toward the protrusion of the protrusion.

[0018] In one embodiment, there are multiple protrusions, and the multiple protrusions are evenly spaced along the circumference of the connecting body.

[0019] In one embodiment, the resilient connector has a break.

[0020] In one embodiment, the speed reduction device includes a device body and a cam disposed on the device body; the cam ring is disposed on the output shaft, and the elastic connector is located between the cam and the output shaft.

[0021] In one embodiment, the inner side of the cam is provided with a second groove, and the elastic connector is confined within the second groove.

[0022] In one embodiment, the speed reduction device is a harmonic reducer, a cycloidal pinwheel reducer, or an RV reducer.

[0023] In one embodiment, the elastic connector is made of spring steel.

[0024] This application also proposes a robot that includes the joint module described in any of the foregoing embodiments.

[0025] The technical solution of this application provides an elastic connector between the reducer and the output shaft of the motor. When the reducer is under a load within a preset range, the output shafts of the reducer and the motor can be connected, allowing the joint module to operate. When the load exceeds the maximum load that the joint module can withstand, the outputs of the reducer and the motor can slide relative to each other, thereby releasing the impact load. Thus, when the joint module encounters an overload, the deformation of the elastic connector acts as an overload protection device, which can alleviate the impact of the overload on the reducer without damaging it, thereby alleviating the problem that the reducer is easily damaged under external overload impact loads on the joint module. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0027] Figure 1 is a structural schematic diagram of an embodiment of the joint module provided in this application;

[0028] Figure 2 is a structural schematic diagram of an embodiment of the elastic connector in the embodiment of Figure 1;

[0029] Figure 3 is a schematic diagram of another embodiment of the elastic connector in the embodiment of Figure 1;

[0030] Figure 4 is a structural schematic diagram of another embodiment of the elastic connector in the embodiment of Figure 1;

[0031] Figure 5 is a structural schematic diagram of another embodiment of the elastic connector in the embodiment of Figure 1;

[0032] Figure 6 is a schematic diagram of the structure of one embodiment of the cam in the embodiment of Figure 1.

[0033] Explanation of icon numbers:

[0034] 10. Joint module; 100. Electric motor; 110. Output shaft; 120. Stator; 130. Rotor; 200. Reducer; 210. Cam; 211. Second groove; 220. Flexible bearing; 230. Steel wheel; 240. Cross roller bearing; 250. Flexible wheel; 260. Housing; 300. Elastic connector; 310. Connecting body; 320. Protrusion; 301. First groove; 302. Break.

[0035] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Embodiments of the present invention

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0037] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0038] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0039] A robotic arm is a biomimetic, high-speed, repetitive, and high-precision mechatronic automated device that can mimic the movements of a human hand and perform automatic grasping, handling, and other functions according to a given program, trajectory, and requirements. Mechanically, a robotic arm typically includes an upper arm, forearm, joint modules, and an end effector. These components are similar in structure to the human arm, enabling the robotic arm to mimic various human hand movements.

[0040] The joint module is responsible for driving the movement of each joint of the robotic arm. It mainly completes the rotational movement of each joint through systems such as drive motors, reduction gears and sensors. When the robot joint module is subjected to external overload impact loads, the reduction gear is prone to damage.

[0041] This application proposes a joint module designed to reduce the problem of easy damage to the deceleration device due to overload; for ease of understanding and explanation, in Figures 1 to 6 of this application, the slots are indicated by solid arrows.

[0042] Please refer to Figures 1 to 6. In one embodiment of this application, the joint module 10 includes a motor 100, a reduction gear 200, and an elastic connector 300. The motor 100 has an output shaft 110. The reduction gear 200 is disposed on the output shaft 110. The elastic connector 300 is arranged around the output shaft 110 and is located between the output shaft 110 and the reduction gear 200. When the load on the reduction gear 200 is greater than a first preset value, the elastic connector 300 can undergo elastic deformation so that the reduction gear 200 can rotate relative to the output shaft 110.

[0043] In this design, the motor 100 is the power source in the joint module 10. The output shaft 110 of the motor 100 rotates, thereby generating joint movement. Exemplarily, the motor 100 typically includes a stator 120, a rotor 130, and an output shaft 110. The stator 120 generates a rotating magnetic field through its windings, and the rotor 130 rotates under the influence of this magnetic field. The interaction of the magnetic fields between the stator 120 and the rotor 130 completes the conversion of electrical energy into mechanical energy. The rotor 130 transmits its rotational motion to the output shaft 110 through mechanical connections (such as keyways, flanges, etc.). When the output shaft 110 rotates, it transfers the rotational energy of the rotor 130 to an external load. In other words, the output shaft 110 acts as a bridge for power transmission, transmitting the rotational motion of the motor 100 to the subsequent reduction gear 200, and also serves as the connection point between the elastic connector 300 and the reduction gear 200.

[0044] The speed reduction device 200 is a mechanical transmission component located after the output shaft 110. The speed reduction device 200 enables the robotic arm joints to move at lower speeds and higher torques, meeting precision control and load requirements. There are many types of speed reduction devices 200, such as harmonic reducers, cycloidal pinwheel reducers, or RV reducers. The following will use a harmonic reducer as an example.

[0045] Harmonic reducers typically include a cam 210, a flexible bearing 220, a steel wheel 230, a crossed roller bearing 240, a flexure 250, and a housing 260. The harmonic reducer works in concert with the cam 210, flexible bearing 220, steel wheel 230, crossed roller bearing 240, flexure 250, and housing 260 to convert the input rotary motion into high-precision reduction and torque output using the harmonic drive principle.

[0046] In this embodiment, the elastic connector 300 is a ring-shaped device located between the output shaft 110 and the reduction gear 200. It is typically made of an elastic material and has a certain elastic deformation capability. This elastic material can be spring steel. The main function of the elastic connector 300 is to buffer, absorb, and adjust load changes. When the reduction gear 200 exceeds a certain value, that is, when overloaded, the elastic connector 300 can undergo elastic deformation, thereby allowing relative movement between the reduction gear 200 and the output shaft 110.

[0047] When the load on the deceleration device 200 exceeds the first preset value, it refers to the situation where the external load on the deceleration device 200 exceeds the design bearing range. This load is usually caused by external forces or objects during the operation of the robotic arm. In this embodiment, the first preset value refers to the maximum load that the deceleration device 200 can withstand.

[0048] Relative rotation refers to the rotation or sliding phenomenon of the speed reducer 200 relative to the output shaft 110. After the elastic connector 300 deforms, the speed reducer 200 can move relative to the output shaft 110 within a certain range. In this way, relative rotation prevents the speed reducer 200 from being directly subjected to mechanical impact from overload, reducing damage caused by excessive load.

[0049] The working process of the joint module 10 is as follows: Under normal working load, the motor 100 drives the reduction device 200 through the output shaft 110 to complete normal transmission; when the external load increases and exceeds the bearing capacity of the reduction device 200 (first preset value), the reduction device 200 may encounter overload pressure; at this time, the elastic connector 300 will undergo elastic deformation, so that the reduction device 200 and the output shaft 110 can generate relative rotation. In this way, the relative rotation between the reduction device 200 and the output shaft 110 can reduce the strong impact between the reduction device 200 and the output shaft 110 of the motor 100, reduce the load, and protect the reduction device 200. Thus, when the joint module 10 encounters overload, the deformation of the elastic connector 300 is equivalent to an overload protection device, which can alleviate the overload without damaging the reduction device 200, and reduce mechanical damage or unexpected shutdown.

[0050] There are many ways in which the elastic connector 300 can generate elastic deformation. For example, compression deformation, that is, under overload conditions, the annular elastic connector 300 contracts in its radial direction, thereby reducing the space occupied by the elastic connector 300 in the radial direction of the output shaft 110, and reducing the friction between the elastic connector 300 and the output shaft 110 of the motor 100, or reducing the friction between the elastic connector 300 and the reducer, which allows the reducer 200 and the output shaft 110 to generate relative rotation.

[0051] The technical solution of this application provides an elastic connector 300 between the reduction gear 200 and the output shaft 110 of the motor. When the load on the reduction gear 200 is within a preset range, the output shaft 110 of the reduction gear 200 and the motor 100 can be connected for transmission, enabling the joint module 10 to operate. When the load exceeds the maximum load that the joint module 10 can withstand, the output shafts of the reduction gear 200 and the motor 100 can slide relative to each other, thereby releasing the impact load. Thus, when the joint module 10 encounters an overload, the deformation of the elastic connector 300 acts as an overload protection device, which can alleviate the impact of the overload on the reduction gear 200 without damaging the reduction gear 200, thereby alleviating the problem that the reduction gear 200 is easily damaged under external overload impact loads on the joint module 10.

[0052] In one embodiment, the elastic connector 300 includes a connecting body 310 arranged in a ring shape and a protrusion 320 protruding from the connecting body 310, the protrusion 320 extending circumferentially along the connecting body 310.

[0053] Among them, the connecting body 310 is the main structure of the elastic connector 300, and is arranged in a ring. Its function is to connect the speed reduction device 200 and the output shaft 110 of the motor 100. The ring shape of the connecting body 310 mainly has a large contact area. When the load is small or under normal working conditions, the connecting body 310 can transmit torque.

[0054] In this embodiment, the protrusion 320 is a protruding structure provided on the connecting body 310, extending circumferentially along the connecting body 310. The shape of the protrusion 320 can be a boss or a protrusion, etc. Due to the addition of the protrusion 320, the shape of the connecting body 310 becomes relatively irregular, which makes the stress distribution in the area where the protrusion 320 is located uneven, and stress concentration is prone to occur, making the material in the area where the protrusion 320 is located more prone to elastic deformation.

[0055] Under normal operating conditions, the elastic connector 300 securely connects the speed reducer 200 and the output shaft 110 of the motor 100 together through its connecting body 310. The connecting body 310 and the protrusion 320 enable it to maintain effective torque transmission within a certain load range. When the load exceeds the preset maximum load range, the protrusion 320 is more likely to undergo elastic deformation. This allows the elastic connector 300 to only undergo minor deformation in a localized area, thus protecting the speed reducer 200. It also helps to improve the durability and stability of the elastic connector 300 and extend its service life.

[0056] In one embodiment, the protrusion 320 is arranged in a ring shape along the circumference of the connecting body 310; or there are multiple protrusions 320, which are evenly spaced along the circumference of the connecting body 310.

[0057] The protrusion 320 can be one or more. In an embodiment where there is one protrusion 320, as shown in Figures 4 and 5, the protrusion 320 is arranged in a ring shape, making the transmission between the reduction device 200 and the output shaft 110 more stable. In an embodiment where there are multiple protrusions 320, the number of protrusions 320 can be two, three, four, five, six, eight, nine, ten, eleven, twelve, thirteen, fourteen, fifteen, sixteen, seventeen, eighteen, nineteen, twenty, twenty-one, twenty-two, twenty-four, twenty-five, twenty-six, twenty-seven, twenty-eight, or thirty; furthermore, the multiple protrusions 320 are evenly spaced along the circumference of the connecting body 310, making the transmission between the reduction device 200 and the output shaft 110 more stable.

[0058] In this embodiment, when there is one protrusion 320, the protrusion 320 is arranged in a ring shape and extends circumferentially; or, there are multiple protrusions 320, which are evenly spaced along the circumference of the connecting body 310, so that the deformation of the elastic connector 300 is more uniform, which helps to evenly distribute the load to various parts of the connecting body 310 and improve the stability of the joint module 10.

[0059] Furthermore, in embodiments where there are multiple protrusions 320, the following may also be true:

[0060] In one embodiment, as shown in FIG2, the connecting body 310 has an inner sidewall and an outer sidewall, and a plurality of protrusions 320 are provided on the inner sidewall, and the protrusions 320 on the inner sidewall abut against the output shaft 110.

[0061] The protrusion 320 on the inner wall abuts against the output shaft 110, meaning that the protrusion 320 and the output shaft 110 are in direct contact and interact with each other when they come into contact. Abutment refers to two surfaces coming into close contact under a certain force or contact pressure, forming a stable contact state. This contact usually does not involve relative sliding, but rather is achieved through contact pressure, force transmission, or force application; that is, the protrusion 320 on the inner wall of the connecting body 310 directly contacts the surface of the output shaft 110, and force is transmitted through this contact under normal load. At this time, the outer wall of the connecting body 310 abuts against the reduction gear 200, or the connecting body 310 is mounted on the reduction gear 200.

[0062] Because the output shaft 110 and the protrusion 320 are highly rigid, the contact between the protrusion 320 and the output shaft 110 helps to better transmit torque. Under normal load, the inner protrusion 320 can make the connector more stable when transmitting rotational motion. Especially in high load or high torque applications, it can improve transmission efficiency and reduce energy loss.

[0063] Furthermore, a plurality of protrusions 320 are provided on the inner sidewall, and the protrusions 320 on the inner sidewall abut against the output shaft 110, and a pit is formed at the abutment between the output shaft 110 and the inner sidewall.

[0064] It is understandable that the protrusion 320 on the inner sidewall abuts against the output shaft 110. If the elastic connector 300 and the output shaft 110 move relative to each other under overload, the protrusion 320 of the elastic connector 300 will cause the surface of the output shaft 110 to wear rapidly.

[0065] In this embodiment, the protrusion 320 on the inner sidewall abuts against the output shaft 110, and a recess is formed at the abutment point between the output shaft 110 and the inner sidewall, making the elastic connector 300 and the output shaft 110 essentially fixedly connected. At this time, the bonding force between the elastic connector 300 and the output shaft 110 is greater than the overload slippage force between the elastic connector 300 and the output shaft 110 when the recess is not provided. Thus, even under overload, the elastic connector 300 and the output shaft 110 will not slip relative to each other, thereby reducing wear on the surface of the output shaft 110.

[0066] In another embodiment, as shown in FIG3, the connecting body 310 has an inner sidewall and an outer sidewall, and a plurality of protrusions 320 are provided on the outer sidewall, and the protrusions 320 on the outer sidewall abut against the deceleration device 200.

[0067] The protrusion 320 on the outer wall abuts against the speed reduction device 200, meaning that the protrusion 320 and the speed reduction device 200 are in direct contact and interact with each other when they come into contact. Abutting means that two surfaces are in close contact and form a stable contact state under a certain force or contact pressure. This contact usually does not involve relative sliding, but rather is achieved through contact pressure, force transmission, or force application. In other words, the protrusion 320 on the outer wall of the connecting body 310 is in direct contact with the surface of the speed reduction device 200. Under normal load, force is transmitted through this contact. At this time, the inner wall of the connecting body 310 abuts against the output shaft 110, or the connecting body 310 is mounted on the output shaft 110.

[0068] In this embodiment, the protrusion 320 is provided on the outer side wall. When this solution is applied to the harmonic reducer, under normal load, it can increase the contact pressure, transmission force or action force between the elastic connector 300 and the harmonic reducer, so as to achieve better force transmission under normal load.

[0069] In another embodiment, the connecting body 310 has an inner sidewall and an outer sidewall; the inner sidewall is provided with a plurality of protrusions 320, which abut against the output shaft 110; the outer sidewall is provided with a plurality of protrusions 320, which abut against the speed reduction device 200.

[0070] In another embodiment, the connecting body 310 has an inner sidewall and an outer sidewall; a plurality of protrusions 320 are provided on the inner sidewall, and the protrusions 320 on the inner sidewall abut against the output shaft 110; a plurality of protrusions 320 are provided on the outer sidewall, and the protrusions 320 on the outer sidewall abut against the speed reduction device 200. The protrusions 320 on the outer sidewall and the protrusions 320 on the inner sidewall are arranged alternately at intervals along the circumference of the connecting body 310.

[0071] In other embodiments, the connecting body 310 has an inner sidewall and an outer sidewall, and a plurality of annular protrusions 320 are provided on the inner sidewall. The plurality of annular protrusions 320 are arranged along the axial direction of the connecting body 310 and extend circumferentially along the connecting body 310.

[0072] In one embodiment, the connecting body 310 has a first groove 301 on the side facing away from the protrusion 320, corresponding to the position of the protrusion 320.

[0073] The first groove 301 provides a buffer zone for material distribution, which helps to distribute external force more evenly to other areas of the connecting body 310, thereby allowing the protrusion 320 to better adapt to deformation when subjected to overload pressure, reducing excessive deformation or damage to the elastic connector 300.

[0074] In this embodiment, the first groove 301 helps to guide deformation to the groove area under external force, rationally distributing stress and preventing excessive force on the protrusion 320, thus reducing the probability of irreversible deformation of the protrusion 320 and improving the overall structural strength. Furthermore, the first groove 301 allows the protrusion 320 and the first groove 301 to be simultaneously manufactured from a single sheet metal part through processes such as stamping. The elastic connector 300 manufactured using this method has good structural strength and rigidity.

[0075] Furthermore, the width of the first groove 301 is set to decrease from the connecting body 310 toward the protrusion of the protrusion 320.

[0076] The groove width of the first groove 301 decreases from the connecting body 310 toward the protrusion of the protrusion 320. This can be understood as the groove width of the first groove 301 decreasing progressively from the connecting body 310 toward the protrusion of the protrusion 320, or the groove width of the first groove 301 decreasing in a stepped manner from the connecting body 310 toward the protrusion of the protrusion 320. For example, the groove width of the first groove 301 includes three segments: first decreasing, then remaining unchanged, and then decreasing again.

[0077] Furthermore, using a plane passing through the axis of the elastic connector 300 as an auxiliary plane, the first groove 301 in the cross-section of the elastic connector 300 obtained by this auxiliary plane is trapezoidal, triangular, or arc-shaped. Of course, in other embodiments, the shape of the first groove 301 can also be a regular shape such as a square, or it can be other irregular shapes.

[0078] In one embodiment, the elastic connector 300 is provided with a break 302, which facilitates the installation of the elastic connector 300 between the output shaft 110 of the motor and the reduction gear 200.

[0079] The harmonic reducer 200 is the most commonly used reducer in the robot joint module 10. The harmonic reducer 200 has relatively weak impact resistance. When subjected to large load impacts, the flexible wheel 250 and flexible bearing 220 in the harmonic reducer 200 will be damaged. During the operation of robots, especially humanoid robots, the working environment often introduces large impact loads into the joint module 10, which often leads to damage to the harmonic reducer 200 in the joint module 10.

[0080] In one embodiment, the speed reduction device 200 includes a device body and a cam 210 disposed on the device body; the cam 210 is circumferentially disposed on the output shaft 110, and the elastic connector 300 is located between the cam 210 and the output shaft 110.

[0081] In this embodiment, the speed reduction device 200 is a harmonic speed reducer. In this case, the main body of the device includes a housing 260, a flexible wheel 250, a flexible bearing 220, a steel wheel 230, and a crossed roller bearing 240.

[0082] The housing 260 is the external structure of the harmonic reducer, usually made of metal, providing necessary protection and support. The housing 260 provides support and fixation for the internal components of the reducer (such as flexible bearings 220, steel wheels 230, crossed roller bearings 240, etc.), ensuring that each component maintains the correct relative position during operation. The housing 260 protects the internal components from external pollution, dust, moisture, etc., ensuring the long-term stable operation of the reducer. The housing 260 is usually connected to the input shaft and output shaft 110 of the reducer to transmit external mechanical loads.

[0083] The flex wheel 250 (also known as a wave generator) typically consists of an elliptical shape assembly and a cooperating flexible bearing 220. The flex wheel 250 is responsible for applying periodic deformation to the flexible bearing 220 during operation through its elliptical shape, causing the gear of the flexible bearing 220 to deform accordingly along the waveform of the cam 210. The function of this component is to convert the rotation at the input end into periodic deformation of the flexible bearing 220, thereby achieving high-precision deceleration and torque transmission.

[0084] The flexible bearing 220 is a thin-walled elastic gear, usually made of flexible metal material (such as high-strength steel), which has elasticity and a certain degree of flexibility. The flexible bearing 220 is responsible for receiving the wave motion from the cam 210 in the harmonic reducer. Due to its flexibility, it can deform appropriately along the waveform of the cam 210, so that the flexible bearing 220 can have good contact with the cam 210.

[0085] The steel wheel 230 is a rigid gear, typically made of a hard metal material (such as steel), with a circular shape and precise tooth profile. The teeth of the steel wheel 230 mesh with the teeth of the flexible bearing 220, receiving the motion after deformation of the flexible bearing 220 and transmitting it to the output shaft 110. The main function of the steel wheel 230 is to transmit the input motion to the output shaft 110 through its interaction with the flexible bearing 220, thus transmitting torque. The steel wheel 230 is usually fixed in the reducer housing and connected to the output shaft 110, ensuring that the reducer can reliably output torque.

[0086] Crossed roller bearings 240 are a type of precision bearing with multiple rollers that are alternately placed in multiple channels within the bearing to increase load-bearing capacity. Crossed roller bearings 240 are commonly used to reduce friction and vibration, improving the stability and accuracy of speed reducers.

[0087] The main function of the cam 210 is to slide relative to the flex wheel 250, thereby transmitting the rotation of the input shaft to the output shaft 110 through the flex wheel 250.

[0088] In this embodiment, the existing joint module 10 can be used without modifying the motor 100 or the reduction gear 200, making it easier to upgrade the already used joint module 10.

[0089] In another embodiment, as shown in FIG6, the inner side of the cam 210 is provided with a second groove 211, and the elastic connector 300 is limited to the second groove 211.

[0090] The second groove 211 can be an annular groove, as shown in Figure 6, or it can be a side plate provided on both sides of the cam 210, or it can be other shapes and structures, as long as it can confine the elastic connector 300 within the cam 210.

[0091] It is understandable that when the joint module 10 is overloaded, it will be subjected to a certain impact. This impact can be transmitted from the deceleration device 200 to the elastic connector 300, which may cause the elastic connector 300 to shift. In severe cases, it may even detach. This would mean that after the overloaded load is released, the robot or other components using the joint module 10 will basically be unable to work properly. In this embodiment, the second groove 211 can reduce the displacement or detachment of the elastic connector 300 during use, thereby improving the stability of the joint module 10.

[0092] This application also proposes a robot, which includes a joint module 10. The specific structure of the joint module 10 is as described in the above embodiments. Since this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0093] The above description is merely an exemplary embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the technical concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A joint module, wherein, The joint module includes: An electric motor having an output shaft; A speed reduction device is provided on the output shaft; and An elastic connector is arranged around the output shaft and located between the output shaft and the reduction gear; when the load on the reduction gear is greater than a first preset value, the elastic connector undergoes elastic deformation to cause the reduction gear to rotate relative to the output shaft.

2. The joint module as described in claim 1, wherein, The elastic connector includes a connecting body arranged in a ring shape and a protrusion protruding from the connecting body, the protrusion extending circumferentially along the connecting body.

3. The joint module as described in claim 2, wherein, The protrusions are arranged in a ring shape along the circumference of the connecting body; or there are multiple protrusions, which are evenly spaced along the circumference of the connecting body.

4. The joint module as described in claim 3, wherein, The connecting body has an inner wall and an outer wall; The inner sidewall is provided with a plurality of protrusions, which abut against the output shaft; and / or, the outer sidewall is provided with a plurality of protrusions, which abut against the speed reduction device.

5. The joint module as described in claim 4, wherein, The inner sidewall is provided with a plurality of protrusions, which abut against the output shaft, and a recess is formed at the abutment between the output shaft and the inner sidewall.

6. The joint module as described in claim 4, wherein, The side of the connecting body facing away from the protrusion has a first groove corresponding to the position of the protrusion.

7. The joint module as described in claim 6, wherein, The width of the first groove decreases from the connecting body toward the protrusion of the protrusion.

8. The joint module as described in claim 2, wherein, The number of protrusions is multiple, and the multiple protrusions are evenly spaced along the circumference of the connecting body.

9. The joint module as described in claim 1, wherein, The elastic connector has a break.

10. The joint module according to any one of claims 1 to 9, wherein, The speed reduction device includes a device body and a cam disposed on the device body; the cam ring is disposed on the output shaft, and the elastic connecting member is located between the cam and the output shaft.

11. The joint module as claimed in claim 10, wherein, The cam has a second groove on its inner side, and the elastic connector is confined within the second groove.

12. The joint module according to any one of claims 1 to 9, wherein, The speed reduction device is a harmonic reducer, a cycloidal pinwheel reducer, or an RV reducer.

13. The joint module according to any one of claims 1 to 9, wherein, The material of the elastic connector is spring steel.

14. A robot, wherein, The robot includes the joint module as described in any one of claims 1 to 13.

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