CN115488870A

CN115488870A - Large-hollow robot joint module and cooperative robot

Info

Publication number: CN115488870A
Application number: CN202211362430.9A
Authority: CN
Inventors: 陈显威; 杨昊; 沈晓龙
Original assignee: Shenzhen Tongchuan Technology Co ltd
Current assignee: Shenzhen Tongchuan Technology Co ltd
Priority date: 2022-11-02
Filing date: 2022-11-02
Publication date: 2022-12-20

Abstract

The application relates to a large-hollow robot joint module and a cooperative robot, wherein the joint module comprises a shell, a harmonic speed reducer, an electromagnetic brake, a hollow motor, a hollow output flange shaft and a hollow straight-tube-shaped integrated rotor shaft; the integrated rotor shaft is fixedly arranged in an inner rotor of the motor, a cam shaft is integrally formed at the front end of the integrated rotor shaft, a wave generator is fixedly arranged on the cam shaft, a shaft body of an output flange shaft is rotatably arranged on the inner side of the integrated rotor shaft, and a friction plate of an electromagnetic brake is fixedly arranged on the integrated rotor shaft. The layout of the hollow motor, the harmonic speed reducer and the electromagnetic brake is improved, and the limitation of the electromagnetic brake and the harmonic speed reducer on the hollow aperture is well eliminated; through the improvement, the whole cavity aperture that can obviously enlarge of joint module under the unchangeable condition of appearance diameter to make it possess higher suitability, it is little to have solved traditional robot joint module cavity aperture well, and the pain point of line difficulty is walked to inside.

Description

Large-hollow robot joint module and cooperative robot

Technical Field

The application relates to the technical field of robots, in particular to a joint module of a large hollow robot and a cooperative robot.

Background

The joint module is widely applied to the fields of robots, numerical control machines, aircrafts, nonstandard equipment and the like, particularly applied to the field of robots, such as bionic robots, mechanical arms, exoskeletons and the like. The line of walking of robot is arranged and joint design is the core problem in robot technical field, and the cable of traditional robot directly ties up in the robot body outside, can lead to the whole outward appearance effect variation of robot on the one hand like this, and on the other hand also can lead to the cable to appear colliding easily in the robot motion process, draw and hang and lead to the damage.

Therefore, the hollow joint module is produced by transportation and mainly comprises a shell, a hollow motor, a motor rotor shaft, a harmonic speed reducer, a hollow output shaft, a flange plate and a brake, wherein the hollow motor drives the motor rotor shaft to rotate, and the motor rotor shaft drives the output shaft to rotate through the harmonic speed reducer, so that power output is realized.

The demand of current market to the robot is more and more diversified, and consequently more to the functional requirement of the terminal tongs of robot, this cable that just leads to connecting terminal tongs, trachea quantity obviously increase, and the big hollow joint module that can walk the line in inside is the market needs, but current joint module receives the overall arrangement restriction of cavity motor, harmonic speed reducer machine and stopper, hardly further widens the aperture of cavity hole, remains to be improved.

Disclosure of Invention

The invention provides a large-hollow robot joint module and a cooperative robot, and aims to solve the technical problems that the hollow aperture of the existing joint module is small and wiring inside the existing joint module is difficult.

On one hand, the large hollow robot joint module provided by the application adopts the following technical scheme: a large-hollow robot joint module comprises a shell, a harmonic speed reducer, an electromagnetic brake, a hollow motor, a hollow output flange shaft and a hollow straight-barrel-shaped integrated rotor shaft;

the hollow motor comprises an outer stator of the motor and a hollow inner rotor of the motor, the outer stator of the motor is fixedly arranged in the shell, and the integrated rotor shaft is fixedly arranged in the inner rotor of the motor;

the harmonic speed reducer comprises a rigid gear, a flexible gear, a wave generator and a crossed roller bearing, wherein an outer ring of the crossed roller bearing is fixedly arranged on the outer side of the front end of a shell, the rigid gear is fixedly arranged on an inner ring of the crossed roller bearing, the flexible gear is fixedly arranged on the shell, the wave generator is sleeved in the flexible gear, a cam shaft is integrally formed at the front end of the integrated rotor shaft, and the wave generator is fixedly arranged on the cam shaft;

the flange plate of the output flange shaft is fixedly connected with the rigid wheel, and the shaft body of the output flange shaft is rotationally arranged on the inner side of the integrated rotor shaft;

the electromagnetic brake comprises a brake body, a friction plate and an armature, wherein the brake body is fixedly arranged on the shell, the armature is arranged on the brake body, and the friction plate is fixedly arranged on the integrated rotor shaft.

By adopting the technical scheme, the layout of the hollow motor, the harmonic speed reducer and the electromagnetic brake is greatly improved, the electromagnetic brake is adopted, the friction plate is directly fixed on the integrated rotor shaft, a friction plate back plate and a rotor square hub are not arranged, the rotor square hub is a main bottleneck for limiting the hollow aperture of the joint, and after the rotor square hub is removed, the spare space can be completely used for amplifying the aperture of the middle hole, so that the limitation of the brake on the hollow aperture is well relieved; the camshaft is integrally formed at the front end of the integrated rotor shaft, which is equivalent to the fact that a motor rotor shaft and a camshaft of a harmonic speed reducer in the prior art are integrated, a shaft connecting part between the motor rotor shaft and the camshaft is omitted, and a space is reserved for amplifying a hollow aperture; through the improvement, the whole shape of integral type rotor shaft could be designed to the straight tube-shape of cavity, and the whole cavity aperture that can obviously enlarge of joint module is under the unchangeable condition of appearance diameter to make it possess higher suitability, solved well that traditional robot joint module cavity aperture is little, and the pain point of line difficulty is walked to inside.

Preferably, the front end of the integrated rotor shaft is provided with a first shaft shoulder, and the wave generator is fixed at the front end of the first shaft shoulder.

By adopting the technical scheme, the wave generator can be installed from the front end.

Preferably, the joint module comprises a front end bearing, a rear end bearing and a front end bearing fixing plate, inner rings of the front end bearing and the rear end bearing are sleeved on the integrated rotor shaft, the front end bearing fixing plate is fixedly arranged on the shell, and the front end bearing fixing plate is used for limiting the front end bearing; the integrated rotor shaft is also provided with a second shaft shoulder, and the front end bearing is fixed at the rear end of the second shaft shoulder; the integrated rotor shaft is also provided with a third shaft shoulder, the friction plate is fixed at the rear end of the third shaft shoulder, and the third shaft shoulder is lower than the second shaft shoulder; the integrated rotor shaft is also provided with a fourth shaft shoulder, the rear end bearing is fixed at the rear end of the fourth shaft shoulder, and the fourth shaft shoulder is lower than the third shaft shoulder; the inner side of the brake body is also used for limiting a rear end bearing.

Through adopting above-mentioned technical scheme, front end bearing and rear end bearing support as the rotation of integral type rotor shaft, and is more steady when can guaranteeing the rotation of integral type rotor shaft, can bear great radial force.

Preferably, the electromagnetic brake is an electromagnetic brake for power-off braking.

Through adopting above-mentioned technical scheme, when the power failure of joint module, armature pops out, and the pressfitting prevents that integral type rotor shaft from rotating on the friction disc, guarantees indirectly through the harmonic speed reducer that joint module output can not produce the position and remove because of the outage.

Preferably, a wave spring is further arranged between the brake body and the rear end bearing and used for limiting the axial movement of the integrated rotor shaft.

Through adopting above-mentioned technical scheme, the wave spring can inject the axial float of integral type rotor shaft.

Preferably, the joint module further comprises a circuit board mounting seat, an encoder reading plate, an input encoder coded disc and an output encoder coded disc, the input encoder coded disc is fixedly arranged at the shaft end of the integrated rotor shaft, the output encoder coded disc is arranged at the shaft end of the output flange shaft, the circuit board mounting seat is fixedly arranged on the shell, the encoder reading plate is arranged on the circuit board mounting seat, and the encoder reading plate is provided with the input encoder and the output encoder which are respectively used for reading data of the input encoder coded disc and the output encoder coded disc so as to obtain the angular positions of the integrated rotor shaft and the output flange shaft; the input encoder code disc and the output encoder code disc are arranged in an inner-outer nested mode.

Through adopting above-mentioned technical scheme, the angular position of integral type rotor shaft and output flange axle can be known to this application, forms the input/output closed loop. The code disc of the input encoder and the code disc of the output encoder are arranged in an inner-outer nested manner, the diameters of the code disc of the input encoder and the code disc of the output encoder can be increased, the axial size occupied by a code reading plate of the encoder is saved, and space is reserved for large-joint hollow aperture.

Preferably, an annular mounting wall is arranged on the output encoder code disc, and the annular mounting wall is fixedly arranged on the outer wall of the shaft end of the output flange shaft; and an inner step for avoiding the annular mounting wall is arranged at the shaft end of the integrated rotor shaft.

By adopting the technical scheme, the external diameter of the integrated rotor shaft is prevented from being enlarged, and the external diameter of the shell is prevented from being enlarged indirectly.

Preferably, the joint module further comprises a rear cover and a driving plate, the driving plate is arranged on the circuit board mounting seat, and the rear cover is arranged on the shell and used for covering the circuit board mounting seat, the encoder reading plate, the input encoder coded disc and the output encoder coded disc.

Through adopting above-mentioned technical scheme, make joint module more clean and tidy on the whole.

Preferably, the motor rotor is fixedly connected with the integrated rotor shaft through glue adhesion, and the wave generator is fixedly connected with the integrated rotor shaft through interference fit.

Through adopting above-mentioned technical scheme, simplify connection structure to avoid influencing the external diameter size of integral type rotor shaft.

On the other hand, the cooperative robot provided by the application adopts the following technical scheme: a collaborative robot comprising a large hollow robot joint module as described above.

In summary, the present application includes at least one of the following beneficial technical effects:

1. this application has carried out great improvement to hollow motor, harmonic speed reducer machine and electromagnetic braking ware overall arrangement, has solved electromagnetic braking ware, harmonic speed reducer machine to the restriction in cavity aperture betterly, and it is little to have solved traditional robot joint module cavity aperture well, and the pain point of line difficulty is walked to inside.

2. The method and the device can obtain the angle positions of the integrated rotor shaft and the output flange shaft to form an input and output closed loop; the input encoder code disc and the output encoder code disc are arranged in an inner-outer nested manner, the diameters of the input encoder code disc and the output encoder code disc can be increased, the axial size occupied by the encoder reading plate is saved, and space is reserved for increasing the joint hollow aperture.

Drawings

Fig. 1 illustrates a perspective view of a large hollow robot joint module according to an embodiment of the present application;

FIG. 2 is a schematic view of a large hollow robot joint module according to an embodiment of the present application;

FIG. 3 is a schematic cross-sectional view of a prior art electromagnetic brake;

fig. 4 is a schematic cross-sectional view illustrating an electromagnetic brake according to an embodiment of the present application.

Description of reference numerals: 1. a housing; 2. a harmonic speed reducer; 21. a rigid wheel; 22. a flexible gear; 23. a wave generator; 24. a crossed roller bearing; 3. an electromagnetic brake; 31. a brake body; 32. a friction plate; 33. an armature; 34. a friction plate back plate; 35. a rotor square hub; 4. a hollow motor; 41. an outer stator of the motor; 42. an inner rotor of the motor; 5. an output flange shaft; 51. a flange plate; 52. a shaft body; 6. an integrated rotor shaft; 61. a camshaft; 62. a first shoulder; 63. a second shoulder; 64. a third shoulder; 65. a fourth shoulder; 66. an inner step; 7. a front end bearing; 8. a rear end bearing; 9. a front end bearing fixing plate; 10. a wave spring; 11. a circuit board mounting base; 12. an encoder reading board; 13. inputting a coded disc of an encoder; 14. outputting a coded disc of an encoder; 141. an annular mounting wall; 15. a rear cover; 16. a drive plate.

Detailed Description

The present application is described in further detail below with reference to figures 1-4.

Referring to fig. 1, 2 and 4, as an embodiment of the cooperative robot and the large hollow robot joint module thereof according to the present application, the cooperative robot includes a large hollow robot joint module including a housing 1, a harmonic reducer 2, an electromagnetic brake 3, a hollow motor 4, a hollow output flange shaft 5 and a hollow straight cylindrical integrated rotor shaft 6.

The harmonic speed reducer 2 has the advantages of high bearing capacity, large transmission ratio, small volume and light weight, and the electromagnetic brake 3 has the advantages of compact structure, simplicity in operation, sensitivity in response, long service life and reliability in use, and is suitable for being applied to joint modules of cooperative robots with high requirements on volume.

Referring to fig. 2, the hollow motor 4 includes a motor outer stator 41 and a hollow motor inner rotor 42, the motor outer stator 41 is fixedly disposed in the housing 1, and the integrated rotor shaft 6 is fixedly disposed in the motor inner rotor 42. Motor inner rotor 42 can rotate in the outer stator 41 of motor, and motor inner rotor 42 drives integral type rotor shaft 6 again and rotates, motor rotor prefers through glue bonding and integral type rotor shaft 6 fixed connection, and the connected mode is simple, need not design too much axial and radial cooperation structure.

Referring to fig. 2, the harmonic reducer 2 includes a rigid gear 21, a flexible gear 22, a wave generator 23 and a crossed roller bearing 24, an outer ring of the crossed roller bearing 24 is fixedly disposed on the outer side of the front end of the housing 1, the rigid gear 21 is fixedly disposed on an inner ring of the crossed roller bearing 24, the flexible gear 22 is fixedly disposed on the housing 1, the wave generator 23 is sleeved in the flexible gear 22, a cam shaft 61 is integrally formed at the front end of the integrated rotor shaft 6, and the wave generator 23 is fixedly disposed on the cam shaft 61. When the integrated rotor shaft 6 rotates, the cam shaft 61 at the front end rotates together, the cam shaft 61 drives the wave generator 23 to rotate, and the wave generator 23 makes the flexible wheel 22 flexibly deform, so that the rigid wheel 21 is driven to rotate. Because the outer ring of the crossed roller bearing 24 is fixedly arranged outside the front end of the shell 1, the whole harmonic speed reducer 2 is not arranged inside the shell 1, and the limitation of the harmonic speed reducer 2 on the hollow aperture is better eliminated.

Referring to fig. 2, the flange 51 of the output flange shaft 5 is fixedly connected to the rigid wheel 21, and the shaft body 52 of the output flange shaft 5 is rotatably disposed inside the integrated rotor shaft 6; the output flange shaft 5 is the power input end of the joint module, the flange plate 51 and the shaft body 52 are integrally designed, a connecting structure is not required to be arranged, the size is easy to control, the structure is simple, and the strength is high.

Referring to fig. 3, a conventional electromagnetic brake in the prior art includes a brake body 31, an armature 33, a square rotor hub 35, a friction plate 32 and a friction plate back plate 34, and this component of the square rotor hub 35 is a main factor that affects the inability of the electromagnetic brake to enlarge the aperture of the central hole.

Referring to fig. 2 and 4, the electromagnetic brake 3 includes a brake body 31, a friction plate 32, and an armature 33, the brake body 31 is fixedly disposed on the housing 1, the armature 33 is disposed on the brake body 31, and the friction plate 32 is fixedly disposed on the integrated rotor shaft 6. The friction plate 32 and the friction plate back plate 34 in the prior art are combined together to form a brake disc, the thickness can be greatly reduced, and the brake disc is fixed on the integrated rotor shaft 6, so that the brake disc cannot move along the axial direction, and the brake disc is compact in matching and is quieter; this feature of the rotor square hub 35 is eliminated, providing a convenient condition for enlarging the hollow bore diameter.

The electromagnetic brake 3 is an electromagnetic brake for power-off braking. When the joint module is powered on, the brake body 31 attracts the armature 33, so that the armature 33 is separated from the friction plate 32, and when the joint module is powered off, the armature 33 is popped up and pressed on the friction plate 32 to prevent the integrated rotor shaft 6 from rotating, and the output end of the joint module is indirectly ensured not to move due to power failure through the harmonic reducer 2.

Referring to fig. 2, the front end of the integrated rotor shaft 6 is provided with a first shoulder 62, the wave generator 23 is fixed at the front end of the first shoulder 62, that is, the wave generator 23 is installed at the front end of the integrated rotor shaft 6, and the wave generator 23 and the integrated rotor shaft 6 are fixedly connected through interference fit, so that the connection structure is simplified, and the outer diameter of the integrated rotor shaft 6 is not affected.

Referring to fig. 2, the joint module includes a front end bearing 7, a rear end bearing 8 and a front end bearing fixing plate 9, inner rings of the front end bearing 7 and the rear end bearing 8 are all sleeved on the integrated rotor shaft 6, the front end bearing fixing plate 9 is fixedly arranged on the housing 1, and the front end bearing fixing plate 9 is used for limiting the front end bearing 7; the integrated rotor shaft 6 is also provided with a second shoulder 63, and the front end bearing 7 is fixed at the rear end of the second shoulder 63; the integrated rotor shaft 6 is also provided with a third shaft shoulder 64, the friction plate 32 is fixed at the rear end of the third shaft shoulder 64, and the third shaft shoulder 64 is lower than the second shaft shoulder 63; the integrated rotor shaft 6 is further provided with a fourth shaft shoulder 65, the rear end bearing 8 is fixed at the rear end of the fourth shaft shoulder 65, and the fourth shaft shoulder 65 is lower than the third shaft shoulder 64; the inner side of the brake body 31 is also used for limiting the rear end bearing 8.

Front end bearing 7 and rear end bearing 8 support as the rotation of integral type rotor shaft 6, and more steady when can guaranteeing integral type rotor shaft 6 to rotate can bear great radial force. A wave spring 10 is also provided between the brake body 31 and the rear end bearing 8 for limiting axial play of the integrated rotor shaft 6. Because the second shoulder 63, the third shoulder 64 and the fourth shoulder 65 are sequentially lowered, the front end bearing, the hollow motor 4, the friction plate 32 and the rear end bearing 8 can be sequentially installed from the rear end of the integrated rotor shaft 6, and the problems of assembly and fixation of the front end bearing 7, the friction plate 32 and the rear end bearing 8 are well solved.

Referring to fig. 2, the joint module further includes a circuit board mounting seat 11, an encoder reading plate 12, an input encoder coded disc 13 and an output encoder coded disc 14, the input encoder coded disc 13 is fixedly arranged at a shaft end of the integrated rotor shaft 6, the output encoder coded disc 14 is arranged at a shaft end of the output flange shaft 5, the circuit board mounting seat 11 is fixedly arranged on the housing 1, the encoder reading plate 12 is arranged on the circuit board mounting seat 11, the encoder reading plate 12 is provided with an input encoder and an output encoder, which are respectively used for reading data of the input encoder coded disc 13 and the output encoder coded disc 14 to obtain an angle position of the integrated rotor shaft and the output flange shaft 5; the input encoder code wheel 13 and the output encoder code wheel 14 are arranged in an inner-outer nested manner.

The angular position of the integrated rotor shaft 6 and the output flange shaft 5 can be obtained, and an input and output closed loop is formed. The input encoder coded disc 13 and the output encoder coded disc 14 are arranged in an inner-outer nested mode (the output encoder coded disc 14 is sleeved on the inner ring of the input encoder coded disc 13), the diameters of the input encoder coded disc 13 and the output encoder coded disc 14 can be increased, the axial size occupied by the encoder reading plate 12 is saved, and space is reserved for increasing the joint hollow aperture.

The reading directions of the input encoder coded disc 13 and the output encoder coded disc 14 face the same direction along the axial direction and both face the rear end, the input encoder and the output encoder are arranged on the encoder reading plate 12 and are positioned on the same plane, and the axial size of the encoder reading plate 12 is reduced while the input and output aperture is enlarged.

Referring to fig. 2, an annular mounting wall 141 is arranged on the output encoder code disc 14, and the annular mounting wall 141 is fixedly arranged on the outer wall of the shaft end of the output flange shaft 5; the shaft end of the integrated rotor shaft is provided with an inner step 66 for avoiding the annular mounting wall 141. Avoiding enlarging the outer diameter of the integrated rotor shaft 6 and indirectly avoiding enlarging the outer diameter of the housing 1.

Referring to fig. 2, the joint module further includes a rear cover 15 and a driving board 16, the driving board 16 is disposed on the circuit board mounting base 11, and the rear cover 15 is disposed on the housing 1 and is used for covering the circuit board mounting base 11, the encoder reading board 12, the input encoder code wheel 13, and the output encoder code wheel 14.

The implementation principle of the application is as follows: the layout of the hollow motor 4, the harmonic speed reducer 2 and the electromagnetic brake 3 is greatly improved, the electromagnetic brake 3 is adopted, the friction plate 32 is directly fixed on the integrated rotor shaft 6, a back plate of the friction plate 32 and a square hub 35 of the rotor are not arranged, the square hub 35 of the rotor is a main bottleneck for limiting the hollow aperture of the joint, and after the square hub 35 of the rotor is removed, the spare space can be completely used for amplifying the aperture of the middle hole, so that the limitation of the brake on the hollow aperture is well removed; the camshaft 61 is integrally formed at the front end of the integrated rotor shaft 6, which is equivalent to integrating the rotor shaft of the motor with the camshaft 61 of the harmonic speed reducer 2 in the prior art, so that a shaft connecting part between the two is omitted, and a space is reserved for enlarging a hollow aperture, in addition, the outer ring of the crossed roller bearing 24 is fixedly arranged at the outer side of the front end of the shell 1, the whole harmonic speed reducer 2 is not arranged in the shell 1, and the limitation of the harmonic speed reducer 2 on the hollow aperture is better solved; through the improvement, the whole shape of the integrated rotor shaft 6 can be designed into a hollow straight cylinder shape, and the whole joint module can obviously enlarge the hollow aperture under the condition that the appearance diameter is not changed, so that the joint module has higher applicability, and well solves the problems that the hollow aperture of the traditional robot joint module is small and the internal wiring is difficult to pain.

The above are preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A large-hollow robot joint module is characterized by comprising a shell (1), a harmonic speed reducer (2), an electromagnetic brake (3), a hollow motor (4), a hollow output flange shaft (5) and a hollow straight-barrel-shaped integrated rotor shaft (6);

the hollow motor (4) comprises a motor outer stator (41) and a hollow motor inner rotor (42), the motor outer stator (41) is fixedly arranged in the shell (1), and the integrated rotor shaft (6) is fixedly arranged in the motor inner rotor (42);

the harmonic speed reducer (2) comprises a rigid gear (21), a flexible gear (22), a wave generator (23) and a crossed roller bearing (24), wherein an outer ring of the crossed roller bearing (24) is fixedly arranged on the outer side of the front end of the shell (1), the rigid gear (21) is fixedly arranged on an inner ring of the crossed roller bearing (24), the flexible gear (22) is fixedly arranged on the shell (1), the wave generator (23) is sleeved in the flexible gear (22), a cam shaft (61) is integrally formed at the front end of the integrated rotor shaft (6), and the wave generator (23) is fixedly arranged on the cam shaft (61);

the flange plate (51) of the output flange shaft (5) is fixedly connected with the rigid wheel (21), and the shaft body (52) of the output flange shaft (5) is rotatably arranged on the inner side of the integrated rotor shaft (6);

the electromagnetic brake (3) comprises a brake body (31), a friction plate (32) and an armature (33), wherein the brake body (31) is fixedly arranged on the shell (1), the armature (33) is arranged on the brake body (31), and the friction plate (32) is fixedly arranged on the integrated rotor shaft (6).

2. The large-hollow robot joint module according to claim 1, characterized in that the front end of the integrated rotor shaft (6) is provided with a first shoulder (62), and the wave generator (23) is fixed at the front end of the first shoulder (62).

3. The large-hollow robot joint module according to claim 1, wherein the joint module comprises a front end bearing (7), a rear end bearing (8) and a front end bearing (7) fixing plate, inner rings of the front end bearing (7) and the rear end bearing (8) are sleeved on the integrated rotor shaft (6), the front end bearing (7) fixing plate is fixedly arranged on the shell (1), and the front end bearing (7) fixing plate is used for limiting the front end bearing (7); a second shaft shoulder (63) is further arranged on the integrated rotor shaft (6), and the front end bearing (7) is fixed at the rear end of the second shaft shoulder (63); a third shaft shoulder (64) is further arranged on the integrated rotor shaft (6), the friction plate (32) is fixed to the rear end of the third shaft shoulder (64), and the third shaft shoulder (64) is lower than the second shaft shoulder (63); a fourth shaft shoulder (65) is further arranged on the integrated rotor shaft (6), the rear end bearing (8) is fixed at the rear end of the fourth shaft shoulder (65), and the fourth shaft shoulder (65) is lower than the third shaft shoulder (64); the inner side of the brake body (31) is also used for limiting the rear end bearing (8).

4. Large hollow robot joint module according to claim 1, characterized in that the electromagnetic brake (3) is a power-off braking electromagnetic brake (3).

5. Big hollow robot joint module according to claim 2, characterized in that a wave spring (10) is further provided between the brake body (31) and the rear end bearing (8) for limiting the axial play of the integrated rotor shaft (6).

6. The large hollow robot joint module according to claim 1, further comprising a circuit board mounting base (11), an encoder reading board (12), an input encoder code disc (13) and an output encoder code disc (14), wherein the input encoder code disc (13) is fixedly arranged at the shaft end of the integrated rotor shaft (6), the output encoder code disc (14) is arranged at the shaft end of the output flange shaft (5), the circuit board mounting base (11) is fixedly arranged on the housing (1), the encoder reading board (12) is arranged on the circuit board mounting base (11), and the encoder reading board (12) is provided with an input encoder and an output encoder for reading data of the input encoder code disc (13) and the output encoder code disc (14) respectively to obtain the angular positions of the integrated rotor shaft (6) and the output flange shaft (5); the input encoder coded disc (13) and the output encoder coded disc (14) are arranged in an inner-outer nested mode.

7. The large hollow robot joint module as claimed in claim 6, characterized in that the output encoder code disc (14) is provided with an annular mounting wall (141), and the annular mounting wall (141) is fixedly arranged on the outer wall of the shaft end of the output flange shaft (5); and an inner step (66) used for avoiding the annular mounting wall (141) is arranged at the shaft end of the integrated rotor shaft (6).

8. The large-hollow robot joint module according to claim 6, further comprising a rear cover (15) and a driving board (16), wherein the driving board (16) is disposed on the circuit board mounting seat (11), and the rear cover (15) is disposed on the housing (1) for covering the circuit board mounting seat (11), the encoder reading board (12), the input encoder code wheel (13) and the output encoder code wheel (14).

9. The large-hollow robot joint module according to claim 1, wherein the motor rotor is fixedly connected with the integrated rotor shaft (6) by glue bonding, and the wave generator (23) and the integrated rotor shaft (6) are fixedly connected by interference fit.

10. A collaborative robot comprising a large hollow robot joint module according to any one of claims 1 to 9.