CN115674259A

CN115674259A - Mechanical arm and joint module thereof

Info

Publication number: CN115674259A
Application number: CN202211263525.5A
Authority: CN
Inventors: 张明; 姜宇; 王重彬; 雷应波; 叶伟智; 王伦
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Shenzhen Yuejiang Technology Co Ltd
Priority date: 2022-10-08
Filing date: 2022-10-08
Publication date: 2023-02-03
Also published as: WO2024074153A1

Abstract

The application mainly relates to a mechanical arm and a joint module thereof, wherein a driving component of the joint module comprises an output shaft, a lower bearing seat and a lower bearing, the output shaft forms an outer stepped surface between a middle fixing section and the lower fixing section, the lower bearing is nested on the lower fixing section, a lower cylindrical part of the lower bearing seat is nested on the lower bearing, an inner ring and an outer ring of the lower bearing are respectively supported on the outer stepped surface and a lower flange part of the lower bearing seat, the outer stepped surface and the lower flange part are positioned on two sides of the lower bearing, so that in the assembling process of the driving component, the lower bearing can be nested on the lower fixing section along the assembling direction, then the lower bearing seat is nested on the lower bearing along the assembling direction or the lower bearing and the output shaft are integrally nested in the lower cylindrical part along the opposite direction of the assembling direction, the lower bearing can be pressed on the lower fixing section instead of being pressed on a clamping ring as the related technology, the clamping ring does not need to bear pressure in the assembling process, and the reliability of the clamping ring is favorably ensured.

Description

Mechanical arm and joint module thereof

Technical Field

The application relates to the technical field of mechanical arms, in particular to a mechanical arm and a joint module thereof.

Background

With the continuous development of science and technology, the mechanical arm is required to replace the monotonous, high-repeatability and high-risk work in the production and manufacturing process so as to improve the automation degree and reduce the labor cost, and the mechanical arm and an operator are required to realize the man-machine cooperation so as to cooperatively complete the special tasks with higher difficulty, complexity and high precision. Therefore, the performance and reliability of the driving components in the joint module of the robot arm are very important. Based on this, the bearing will generally be installed on drive assembly's the output shaft to be connected with relevant casing through a bearing frame, the inner circle of bearing still can be carried out axial spacing by outer ladder face on the output shaft and the snap ring of being connected with the output shaft, the outer lane of bearing still can be carried out axial spacing by flange on the bearing frame and the clamping ring of being connected with the bearing frame. However, in the related art, the flange on the bearing seat and the outer stepped surface on the output shaft are located on the same side of the bearing, so that the bearing is pressed on the snap ring when the bearing seat and the bearing are assembled, the snap ring can bear large pressure, and the risk of structural failure exists to a certain extent.

Disclosure of Invention

The embodiment of the application provides a joint module of arm, joint module includes drive assembly, drive assembly includes the output shaft, step and lower bearing, the output shaft divides into middle canned paragraph and lower canned paragraph along its axial, the external diameter of middle canned paragraph is greater than the external diameter of canned paragraph down, so that the output shaft forms first outer ladder face between middle canned paragraph and lower canned paragraph, the step includes lower tube-shape portion, and lower fixed part and lower flange portion of being connected with buckling respectively with the both ends of lower tube-shape portion, lower flange portion and lower fixed part are reverse to be extended, the bearing nests under on the canned paragraph, the inner circle of lower bearing supports on first outer ladder face, lower tube-shape portion nests on the lower bearing, the outer lane of lower bearing supports on lower flange portion, first outer ladder face and lower flange portion lie in the both sides of lower bearing on the axial of output shaft.

The embodiment of the application further provides a mechanical arm, and the mechanical arm comprises the joint module in the embodiment.

The beneficial effect of this application is: in the joint module provided by the application, the first outer stepped surface formed on the output shaft and the lower flange part of the lower bearing seat are positioned on two sides of the lower bearing in the axial direction of the output shaft, so that in the process of assembling the driving assembly, the lower bearing can be firstly nested on the lower fixed section of the output shaft along the assembling direction, then the lower bearing seat is nested on the lower bearing along the assembling direction or the lower bearing and the output shaft are integrally embedded in the lower cylindrical part of the lower bearing seat along the reverse direction of the assembling direction, therefore, no matter how to assemble the lower bearing seat and the lower bearing, the lower bearing can be pressed on the lower fixed section, but not on the clamping ring as in the related technology, the clamping ring does not need pressure in the assembling process, the reliability of the clamping ring is favorably ensured, and the yield of the driving assembly is increased.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a robot arm according to an embodiment of the present disclosure;

FIG. 2 is a schematic cross-sectional view of an embodiment of a joint module according to the present disclosure;

FIG. 3 is a cross-sectional structural schematic view of one embodiment of a drive assembly and joint housing provided herein;

FIG. 4 is a cross-sectional structural schematic view of an embodiment of a lower bearing housing provided herein;

FIG. 5 is a cross-sectional structural schematic view of an embodiment of an upper bearing housing provided herein;

FIG. 6 is a cross-sectional structural schematic view of an embodiment of a speed reduction assembly provided herein;

FIG. 7 is an exploded view of one embodiment of a brake assembly provided herein;

FIG. 8 is a cross-sectional structural schematic view of an embodiment of a braking assembly and a coding assembly provided herein;

FIG. 9 is a schematic illustration of a top view of one embodiment of a friction plate as provided herein;

FIG. 10 is a schematic top view of an embodiment of an adapter provided herein;

FIG. 11 is a cross-sectional structural view of an embodiment of an adapter provided herein;

FIG. 12 is a cross-sectional structural view of one embodiment of a stent provided herein;

FIG. 13 is a cross-sectional view of an embodiment of a joint module according to the present disclosure;

FIG. 14 is a schematic exploded view of an embodiment of a coding assembly provided herein;

FIGS. 15 (a) and (b) are schematic structural diagrams of various embodiments of the spindle and output shaft connector provided in the present application;

FIG. 16 is a schematic cross-sectional view of an embodiment of a coding assembly provided herein;

FIG. 17 is a cross-sectional structural view of an embodiment of an adapter provided herein;

FIG. 18 is a schematic cross-sectional diagram of an embodiment of a coding assembly provided in the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be noted that the following examples are only illustrative of the present application, and do not limit the scope of the present application. Likewise, the following examples are only some examples and not all examples of the present application, and all other examples obtained by a person of ordinary skill in the art without any inventive work are within the scope of the present application.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

With reference to fig. 1, the mechanical arm 10 may include a plurality of joint modules 11, a plurality of connecting arms 12, and a plurality of base 13, and the joint modules 11 and the connecting arms 12 may be directly or indirectly connected to the base 13 according to a certain arrangement, so that the end of the mechanical arm 10 away from the base 13 has different degrees of freedom and positions in a three-dimensional space, thereby meeting the operation requirements of various application scenarios. The robot arm 10 may be an industrial robot arm. Compared with other mechanical arms such as an educational tabletop mechanical arm, the tail end of the industrial mechanical arm is heavier in grabbed objects and larger in load, so that the structure of the joint module 11 and the like needs to be reasonably designed.

Illustratively, in conjunction with fig. 2, the joint module 11 may include a joint housing 111, a driving assembly 112, a decelerating assembly 113, a braking assembly 114, and an encoding assembly 115. The joint housing 111 may also serve as a housing of the driving component 112, that is, the related structure of the driving component 112 may be directly mounted on the joint housing 111, and the structures of the decelerating component 113, the braking component 114, the encoding component 115, and the like may also be directly or indirectly mounted on the joint housing 111 according to a certain assembly sequence, so that the joint module 11 is structurally integrated, that is, an "integrated joint module". Therefore, the structure of the joint module 11 is simplified, and the cost of the joint module 11 is reduced. Of course, in other embodiments, such as those with less integration requirements, the driving assembly 112 may have a housing body independent of the joint housing 111, that is, the driving assembly 112 may be used separately after being separated from the joint housing 111.

Further, the driving component 112 is mainly used for driving the joint module 11 or the connecting arm 12 connected thereto to rotate, the decelerating component 113 is mainly used for implementing different rotational speed matching and torque transmission between the structures of the joint module 11 and the connecting arm 12, etc., the braking component 114 is mainly used for implementing switching between the rotating state and the braking state of the driving component 112, and the encoding component 115 is mainly used for detecting the rotating state, such as the rotational speed and the angular position, of at least one of the driving component 112 and the decelerating component 113. The decelerating component 113 and the braking component 114 may be disposed on opposite sides of the driving component 112, and the encoding component 115 may be disposed on a side of the braking component 114 facing away from the driving component 112.

As an example, in conjunction with fig. 2 and 3, the joint housing 111 may include a first housing 1111 and a second housing 1112 connected to the first housing 1111, which may form a cavity structure having a certain volume. Wherein, the inner side of the first shell 1111 may be provided with an annular support 1113, and the area of the annular support 1113 has a thicker wall thickness relative to other areas of the first shell 1111, so as to increase the local structural strength of the first shell 1111; the outer side of the first housing 1111 may be provided with a mounting location for connection to the joint module 11 or the connection arm 12, which may also have a thicker wall thickness in the area compared to the other areas of the first housing 1111, in order to increase the structural strength of the first housing 1111 locally. Based on this, compared with the second housing 1112, the first housing 1111 may have higher structural strength regardless of material or structural design. Thus, different shells in the joint shell 111 are designed differently according to actual use requirements, and the cost of the joint module 11 is favorably reduced. Further, the second housing 1112 may cover the coding assembly 115 to protect the internal structure of the joint module 11.

As an example, referring to fig. 3, the driving assembly 112 may include an output shaft 1121, a rotor 1122 connected to the output shaft 1121, a stator 1123 embedded in an annular bearing block 1113, a lower bearing housing 1124 and an upper bearing housing 1125 connected to opposite sides of the annular bearing block 1113 in an axial direction of the output shaft 1121, respectively, and a lower bearing 1126 embedded in the lower bearing housing 1124 and an upper bearing 1127 embedded in the upper bearing housing 1125, the rotor 1122 being located inside the stator 1123. Wherein, the inner ring and the outer ring of the lower bearing 1126 are respectively connected with the output shaft 1121 and the lower bearing seat 1124, and the inner ring and the outer ring of the upper bearing 1127 are respectively connected with the output shaft 1121 and the upper bearing seat 1125, that is, the lower bearing 1126 and the upper bearing 1127 are further nested on the output shaft 1121 and respectively located at two sides of the rotor 1122 in the axial direction of the output shaft 1121. Further, the rotor 1122 can include magnets and the stator 1123 can include coils, which can eliminate structural elements such as carbon brushes and can facilitate simplifying routing of the drive assembly 112, thereby reducing the cost of the drive assembly 112. In order to meet the requirement of the rotation speed of the driving assembly 112 and the power output thereof, the number of the magnets may be multiple, and the number of the coils may also be multiple. Accordingly, deceleration assembly 113 and braking assembly 114 may be coupled to opposite ends of output shaft 1121, respectively, and encoding assembly 115 may be coupled to an end of output shaft 1121 adjacent to braking assembly 114.

It should be noted that: in the embodiment of the present application, all the directional indicators (such as upper, lower, left, right, front, and rear … …) are used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in fig. 2), and if the specific posture is changed, the directional indicator is changed accordingly. For example: the components such as the "lower bearing seat", "upper bearing seat", "lower bearing", and "upper bearing" shown in fig. 3 may correspond to the "front bearing seat", "rear bearing seat", "front bearing", and "rear bearing" or may correspond to the "left bearing seat", "right bearing seat", "left bearing", and "right bearing" after the joint module in fig. 2 rotates by 90 degrees.

In some embodiments, one of the lower bearing seat 1124 and the upper bearing seat 1125 may be a unitary structural member with the first housing 1111, and the other may be a separate structural member, and the two may be connected by one or a combination of assembling methods such as gluing, clamping, welding, screwing, etc. Thus, the assembly efficiency of the driving assembly 112 is improved.

In some embodiments, the lower bearing housing 1124 and the upper bearing housing 1125 may be separate structural members with respect to the joint housing 111, and both may be connected to the annular bearing platform 1113 by one or a combination of adhesive bonding, clamping, welding, screwing, and the like. Similarly, the first housing 1111, the lower bearing housing 1124 and the upper bearing housing 1125 may be designed differently in terms of material, structural design and forming process thereof, which is advantageous to reduce the cost of the joint module 11.

Illustratively, in connection with FIG. 3, the lower bearing housing 1124 may be a separate structural member, and the lower bearing housing 1124 may thus be secured to the joint housing 111 by fasteners 1161. Specifically, fasteners 1161 pass through lower bearing housing 1124 and connect with annular bearing stand 1113 to hold lower bearing housing 1124 against annular bearing stand 1113. Similarly, upper bearing housing 1125 may be a separate structural member, and upper bearing housing 1125 may therefore be secured to joint housing 111 by another fastener. Wherein, lower bearing seat 1124 and upper bearing seat 1125 can be radially limited by different positions of first housing 1111 in the radial direction of output shaft 1121.

Further, the output shaft 1121 may be divided along its axial direction into a lower fixing section 11211, an upper fixing section 11212, and an intermediate fixing section 11213 between the lower fixing section 11211 and the upper fixing section 11212, and an outer diameter of the intermediate fixing section 11213 may be respectively greater than the outer diameter of the lower fixing section 11211 and the outer diameter of the upper fixing section 11212, so that the output shaft 1121 forms a first outer stepped surface 11214 between the intermediate fixing section 11213 and the lower fixing section 11211 and a second outer stepped surface 11215 between the intermediate fixing section 11213 and the upper fixing section 11212. Wherein, the rotor 1122 can be fixed on the middle fixing section 11213, the lower bearing 1126 and the upper bearing 1127 can be respectively nested on the lower fixing section 11211 and the upper fixing section 11212, the inner ring of the lower bearing 1126 can be supported on the first outer stepped surface 11214, and the inner ring of the upper bearing 1127 can be supported on the second outer stepped surface 11215. Further, the driving assembly 112 may include a lower snap ring 11281 connected to the lower fastening section 11211, for example, a lower snap ring 11281 is snapped into a retaining groove of the lower fastening section 11211, and a lower snap ring 11281 may clamp an inner ring of the lower bearing 1126 together with the middle fastening section 11213. Similarly, the drive assembly 112 may include an upper snap ring coupled to the upper stationary section 11212, which may grip the inner race of the upper bearing 1127 along with the intermediate stationary section 11213.

Further, the output shaft 1121 may be provided in a hollow structure so as to provide a wiring structure of the joint module 11. Wherein the inner diameter of the lower fixed section 11211 may be smaller than the inner diameter of the intermediate fixed section 11213 so that the end of the lower fixed section 11211 has a sufficient wall thickness to assemble the input shaft of the reduction gear assembly 113.

As an example, referring to fig. 4 and 3, the lower bearing housing 1124 may include a lower cylindrical portion 11241 and a lower fixing portion 11242 bent and connected to one end of the lower cylindrical portion 11241, the lower fixing portion 11242 extending to the outside of the lower cylindrical portion 11241 to be connected to the joint housing 111, the lower cylindrical portion 11241 being nested on the lower bearing 1126. Specifically, the fastener 1161 passes through the lower fixing portion 11242 and is connected to the annular bearing stand 1113 to press the lower bearing stand 1124 against the annular bearing stand 1113; the lower cylindrical portion 11241 is connected to the outer ring of the lower bearing 1126. One end of the fastener 1161, which is not inserted into the annular bearing 1113, may not protrude out of the lower bearing seat 1124, that is, one side of the fastener 1161 facing the speed reduction assembly 113 may be sunk into the lower bearing seat 1124 or flush with the end surface of the lower bearing seat 1124, which not only facilitates the subsequent assembly of the speed reduction assembly 113, but also facilitates the increase of the structural compactness of the joint module 11.

Further, the lower bearing housing 1124 may include a lower flange portion 11243 bent to be connected to the other end of the lower cylindrical portion 11241, the lower flange portion 11243 and the lower fixing portion 11242 may extend in opposite directions, and the outer race of the lower bearing 1126 may be supported on the lower flange portion 11243. In this regard, the drive assembly 112 may include a lower retainer ring 11282 connected to the lower retainer 11242, and a lower retainer ring 11282 may clamp the outer race of the lower bearing 1126 together with the lower flange 11243. The lower pressing ring 11282 may not protrude from the lower fixing portion 11242, so as to prevent the lower pressing ring 11282 from structurally interfering with or colliding with a structural member such as the rotor 1122.

In some embodiments, such as fig. 13, the first outer stepped surface 11214 and the lower flange 11243 may be located on the same side of the lower bearing 1126 in the axial direction of the output shaft 1121, such as the side of the lower bearing 1126 facing the upper bearing 1127. Accordingly, lower snap ring 11281 and lower snap ring 11282 may be located on the same side of lower bearing 1126 in the axial direction of output shaft 1121, e.g., the side of lower bearing 1126 facing away from upper bearing 1127. At this time, the lower bearing 1126 may be at least partially located on a side of the lower fixing portion 11242 facing away from the deceleration assembly 113 (i.e., another side of the lower fixing portion 11242 facing the brake assembly 114), for example, the lower bearing 1126 partially overlaps the annular support 1113 when orthographically projected to the inner side of the joint housing 111 along the radial direction of the output shaft 1121. A certain safety distance may be reserved between the rotor 1122 or the stator 1123 and the related structures of the lower bearing 1126 and the lower bearing housing 1124 in the radial direction of the output shaft 1121, and the related structures of the lower bearing 1126 and the lower bearing housing 1124 may also extend into a gap between the rotor 1122 and the stator 1123 in the axial direction of the output shaft 1121, so as to avoid structural interference or collision of related structural members. In this regard, the lower bearing 1126 may be located outside the reduction assembly 113 when the reduction assembly 113 is assembled on the side of the lower bearing housing 1124. In this manner, the need for assembly of the lower bearing 1126 extending into the speed reduction assembly 113 is eliminated, allowing for more flexibility in the selection of the speed reduction assembly 113. Further, in the process of assembling the driving assembly 112, the lower bearing 1126 may be nested on the lower fixing section 11211 of the output shaft 1121 along the assembling direction, and then the lower snap ring 11281 is snapped in the limit groove of the lower fixing section 11211, so that the lower snap ring 11281 and the middle fixing section 11213 clamp the inner ring of the lower bearing 1126 together; then, the lower bearing seat 1124 is nested on the lower bearing 1126 along the reverse direction of the assembly direction, or the lower bearing 1126 and the output shaft 1121 are integrally embedded in the lower cylindrical portion 11241 of the lower bearing seat 1124 along the assembly direction, and the lower pressing ring 11282 is fixed on the lower fixing portion 11242 of the lower bearing seat 1124, so that the lower pressing ring 11282 and the lower flange portion 11243 of the lower bearing seat 1124 clamp the outer ring of the lower bearing 1126 together. Obviously, no matter how the lower bearing seat 1124 and the lower bearing 1126 are assembled, the lower bearing 1126 is pressed against the lower snap ring 11281, so that the lower snap ring 11281 can bear large pressure during the assembly process, and the risk of structural failure exists to some extent.

In some embodiments, such as fig. 2 and 3, the first outer stepped surface 11214 and the lower flange 11243 may be located on both sides of the lower bearing 1126 in the axial direction of the output shaft 1121. Accordingly, lower snap ring 11281 and lower snap ring 11282 may be located on both sides of lower bearing 1126 in the axial direction of output shaft 1121. At this point, the lower bearing 1126 may be at least partially located on a side of the lower retainer 11242 facing away from the upper bearing housing 1125, i.e., the lower bearing 1126 is at least partially located outside of the driver assembly 112. In other words, orthographic projections of the stator 1123 and the lower bearing 1126 in the radial direction of the output shaft 1121 may not overlap, that is, the stator 1123 and the lower bearing 1126 are provided at an interval in the axial direction of the output shaft 1121. In this regard, lower bearing 1126 may be located at least partially within reduction assembly 113 when reduction assembly 113 is assembled on the side of lower bearing housing 1124. In this manner, there is no concern about structural interference or collision of the lower bearing 1126 and the associated structure of the lower bearing housing 1124 with the rotor 1122 or the stator 1123, so that the drive assembly 112 is more compact in the axial and radial directions of the output shaft 1121, thereby allowing the drive assembly 112 to design a larger-sized rotor 1122 or stator 1123. Further, in the process of assembling the driving assembly 112, the lower bearing 1126 may be nested on the lower fixing section 11211 of the output shaft 1121 along the assembling direction, and then the lower snap ring 11281 is snapped in the limit groove of the lower fixing section 11211, so that the lower snap ring 11281 and the middle fixing section 11213 clamp the inner ring of the lower bearing 1126 together; then, the lower bearing housing 1124 is fitted on the lower bearing 1126 in the aforementioned assembling direction or the lower bearing 1126 and the output shaft 1121 are fitted as a whole in the lower cylindrical portion 11241 of the lower bearing housing 1124 in the direction opposite to the aforementioned assembling direction, and the lower retainer ring 11282 is fixed to the lower fixing portion 11242 of the lower bearing housing 1124 so that the lower retainer ring 11282 sandwiches the outer race of the lower bearing 1126 together with the lower flange portion 11243 of the lower bearing housing 1124. Obviously, no matter how the lower bearing seat 1124 and the lower bearing 1126 are assembled, the lower bearing 1126 is pressed on the lower fixing section 11211 instead of the lower snap ring 11281, so that the lower snap ring 11281 bears lower pressure in the assembling process, and the reliability of the lower snap ring 11281 is guaranteed.

As an example, referring to fig. 5 and 3, the upper bearing housing 1125 may include an upper cylindrical portion 11251 and an upper fixing portion 11252 bent and connected to one end of the upper cylindrical portion 11251, the upper fixing portion 11252 extending to the outside of the upper cylindrical portion 11251 to be connected to the joint housing 111, and the upper cylindrical portion 11251 nested on the upper bearing 1127. Specifically, a fastener passes through the upper fixing portion 11252 and is connected to the annular bearing block 1113 to press the upper bearing block 1125 against the annular bearing block 1113; the upper cylindrical portion 11251 is connected to an outer ring of the upper bearing 1127. Wherein upper bearing 1127 may be at least partially positioned within drive assembly 112 to facilitate subsequent assembly of structural components such as brake assembly 114. Further, the orthographic projections of the upper bearing 1127 and the stator 1123 along the radial direction of the output shaft 1121 may be partially overlapped, for example, the relevant structures of the upper bearing 1127 and the upper bearing seat 1125 extend into the gap between the output shaft 1121 and the stator 1123 along the axial direction of the output shaft 1121, which not only can avoid the structural interference or collision of the relevant structural members, but also is beneficial to increase the structural compactness of the joint module 11.

Further, the upper bearing housing 1125 may include an upper annular stopper portion 11253 connected to the upper fixing portion 11252, and the upper annular stopper portion 11253 may radially stopper a structural member such as the brake assembly 114 in a radial direction of the output shaft 1121, which will be described later as an example.

Based on the above description, and with reference to fig. 2 to 6, the joint housing 111 may double as a housing of the driving assembly 112, so that the performance test can be performed after the components of the driving assembly 112 are assembled with the joint housing 111. Among other things, the fastener 1161 may fix the lower bearing housing 1124 on the joint housing 111, and the upper bearing housing 1125 may be fixed on the joint housing 111 by another fastener. In this regard, fasteners 1162 may secure the reduction assembly 113 to the joint housing 111 and through the lower bearing housing 1124; fasteners 1163 may secure input shaft 1131 of reduction assembly 113 to output shaft 1121. In other words, the driving assembly 112 may be detachably connected to the joint housing 111 by the fastener 1161, and the decelerating assembly 113 may be detachably connected to the joint housing 111 and the driving assembly 112 by the fastener 1162 and the fastener 1163, respectively, so that the respective structural members in the joint module 11 are modularized. In the related art, the output shaft of the driving assembly 112 and the input shaft of the speed reduction assembly 113 are an integral structure, for example, the rotor 1122 of the driving assembly 112 is fixed on the input shaft of the speed reduction assembly 113, that is, the driving assembly 112 does not have a separate output shaft, which makes it difficult to perform a related performance test on the driving assembly 112. Different from the related art: in the present application, the output shaft 1121 of the driving assembly 112 and the input shaft 1131 of the speed reducing assembly 113 may be separate structural members, and they are detachably connected by the fastening member 1163, which not only allows the driving assembly 112 and the speed reducing assembly 113 to respectively perform related performance tests before assembly, but also facilitates later maintenance, and simultaneously facilitates reducing vibration and noise of the speed reducing assembly 113.

Illustratively, a fastener 1161 passes through the lower fixture 11242 and connects with the annular platform 1113 to press the lower bearing housing 1124 against the annular platform 1113. The fastening member 1162 passes through the speed reduction assembly 113 and the lower fixing portion 11242 in sequence and is connected to the annular support base 1113 to press the speed reduction assembly 113 and the lower bearing housing 1124 against the annular support base 1113, that is, the speed reduction assembly 113 and the lower bearing housing 1124 are fixed to the annular support base 1113 together by the fastening member 1162. Further, the input shaft 1131 may be configured as a hollow structure, so as to facilitate the routing structure of the joint module 11; and the inner side of the input shaft 1131 is provided with an annular bearing 11311. Wherein, the output shaft 1121 is inserted into the input shaft 1131, the end surface of the output shaft 1121 abuts against the annular bearing platform 11311, and the fastener 1163 connects the annular bearing platform 11311 and the output shaft 1121 along the axial direction of the output shaft 1121, that is, the fastener 1163 fixes the input shaft 1131 on the end of the lower fixing section 11211. In this way, output shaft 1121 can be radially limited by input shaft 1131, and the coaxiality between input shaft 1131 and output shaft 1121 can be increased.

Further, output shaft 1121 may extend out of lower bearing housing 1124, and the fitting surface between input shaft 1131 and output shaft 1121 may be located within reduction assembly 113 in the axial direction of output shaft 1121, so that lower bearing 1126 and the associated structure of lower bearing housing 1124 are located at least partially within reduction assembly 113.

By way of example, in conjunction with fig. 6 and 2, the reduction assembly 113 may include a wave generator 1132 connected to the input shaft 1131, a flexspline 1133 nested on the wave generator 1132, and a rigid spline 1134 nested on the flexspline 1133. Wherein the rigid gear 1134 is partially engaged with the flexible gear 1133 to facilitate the speed reduction assembly 113 to achieve the corresponding transmission ratio. Further, the speed reducing assembly 113 may include a flange 1135, and the flange 1135 may be used as an output end of the speed reducing assembly 113 to connect with other joint modules 11 or the connecting arm 12.

In some embodiments, the flexspline 1133 may be provided in a cylindrical configuration. In this regard, the side walls of the flexspline 1133 partially engage the rigid spline 1134 and the bottom wall of the flexspline 1133 is connected to the flange 1135. Accordingly, the rigid wheel 1134 may be secured to the annular bearing platform 1113 by fasteners 1162.

In some embodiments, the flexspline 1133 may be provided as a hollow top hat type structure. Based on this, the speed reduction assembly 113 may include an outer bearing 1136, and the flexible gear 1133 may include a cylindrical engaging portion 11331 and an annular folded portion 11332 connected to one end of the cylindrical engaging portion 11331 in a folded manner, where the annular folded portion 11332 extends toward the outside of the cylindrical engaging portion 11331. The cylindrical engaging portion 11331 is partially engaged with the rigid wheel 1134, the annular folded portion 11332 is connected to the outer ring of the outer bearing 1136, and the rigid wheel 1134 is connected to the inner ring of the outer bearing 1136. Further, fasteners 1162 secure one of the inner and outer races of the outer bearing 1136 to the annular platform 1113, and the flange 1135 is coupled to the other of the inner and outer races of the outer bearing 1136.

Based on the above description, and with reference to fig. 2, 3 and 6, the related structures of the lower bearing 1126 and the lower bearing seat 1124 may be at least partially located within the speed reduction assembly 113, for example, the lower bearing 1126 is located on the inner side of the flexspline 1133 facing away from the rigid spline 1134 in the radial direction of the output shaft 1121, so that the lower bearing 1126 encroaches on the inner space of the speed reduction assembly 113 to some extent. Based on this, in order to avoid the structural interference or collision between the related structures of the lower bearing 1126 and the lower bearing seat 1124 and the flexspline 1133 or the input shaft 1131, the technical solutions easily conceived by those skilled in the art are: the radial dimension of the reduction gear assembly 113 is increased to increase the clearance between the flexspline 1133 and the input shaft 1131 in the radial direction of the output shaft 1121, thereby reserving a sufficient safety distance. The difference is that: in the present application, referring to fig. 4, the thickness of the lower cylindrical portion 11241 in the radial direction of the output shaft 1121 is smaller than the thickness of the lower flange portion 11243 in the axial direction of the output shaft 1121 and the thickness of the lower fixing portion 11242 in the axial direction of the output shaft 1121, that is, the lower cylindrical portion 11241 is thinned, so that not only the aforementioned interference or collision can be avoided, but also the radial dimension of the speed reduction assembly 113 can be taken into consideration. The corners of the lower cylindrical portion 11241 and the lower fixing portion 11242 away from the lower bearing 1126 side can be rounded to avoid large stress concentration, so as to increase the structural strength and reliability of the lower bearing seat 1124.

Further, referring to fig. 6, the reduction assembly 113 may include a hollow shaft 1137 and an inner bearing 1138, one end of the hollow shaft 1137 is connected to the flange 1135, and the inner ring and the outer ring of the inner bearing 1138 are connected to the hollow shaft 1137 and the input shaft 1131, respectively. With reference to fig. 2, the hollow shaft 1137 passes through the input shaft 1131, the output shaft 1121 and the brake assembly 114 in sequence until inserted into the encoding assembly 115. Therefore, the arrangement of the routing structure of the joint module 11 is facilitated, and the abrasion of the routing structure is reduced. In addition, encoding assembly 115 may also facilitate detecting the rotational speed and/or angular position of the output (e.g., flange 1135) of speed reduction assembly 113.

Illustratively, with reference to fig. 6 and 2, the fasteners 1162 secure the outer race of the outer bearing 1136 to the annular platform 1113, and the flange 1135 is connected to the inner race of the outer bearing 1136 by a rigid wheel 1134. Among other things, fasteners 1164 may secure the ring-shaped folds 11332 to the outer race of the outer bearing 1136 to allow the speed reduction assembly 113 to be tested for related performance. Accordingly, fasteners 1162 pass through the outer race of outer bearing 1136, annular flap 11332 and lower bearing housing 1124 in sequence and engage annular bearing 1113 to hold reduction assembly 113 and lower bearing housing 1124 against annular bearing housing 1113. Further, referring to fig. 4, the lower bearing seat 1124 (specifically, the lower fixing portion 11242 thereof) is provided with an avoiding hole 11244, and a portion of the fastener 1164 protruding from the annular turnover portion 11332 may be located in the avoiding hole 11244, so as to increase the structural compactness of the joint module 11. Preferably, relief hole 11244 may extend through lower fixing portion 11242 in the axial direction of output shaft 1121 to allow fastener 1164 to contact annular shelf 1113 via relief hole 11244, which facilitates heat dissipation from reduction assembly 113 and thus increases the reliability of reduction assembly 113.

Further, with reference to fig. 2, 3 and 6, the assembly directions of the fastener 1164 and the fastener 1161 are reversed, and the assembly directions of the fastener 1162 and the fastener 1161 are the same, so as to allow the components of the driving assembly 112 and the decelerating assembly 113 to be assembled with the joint housing 111 in a certain sequential order.

Further, the fasteners 1161, the fasteners 1162, and the fasteners 1164 may be respectively disposed at intervals in plural around the output shaft 1121, and between two fasteners 1164 adjacently disposed around the output shaft 1121, the number of the fasteners 1162 may be greater than the number of the fasteners 1161. Thus, the fasteners 1161 can fix the lower bearing seat 1124 on the annular bearing platform 1113, the number of the fasteners 1161 can meet the requirement that the drive assembly 112 can be subjected to performance test alone, the fasteners 1164 can fix the annular turnover part 11332 on the outer ring of the outer bearing 1136, and the number of the fasteners can also meet the requirement that the speed reduction assembly 113 can be subjected to performance test alone; finally, the speed reduction assembly 113 and the lower bearing housing 1124 are firmly fixed together on the annular support 1113 by a relatively large number of fasteners 1162, thereby simplifying the structure to the maximum extent and taking structural reliability into consideration.

Illustratively, the number of fasteners 1161 may be four, the number of fasteners 1162 may be twelve, and the number of fasteners 1164 may be four. Wherein, because the

fasteners

1161, 1162 and 1164 are structurally associated with the lower bearing seat 1124 directly or indirectly, their number can be characterized by the number of through holes corresponding thereto on the lower fixture 11242. Based on this, referring to fig. 4, in addition to the relief hole 11244 corresponding to the fastener 1164, the lower fixing portion 11242 may be further provided with a counter bore 11245 corresponding to the fastener 1161 and a through hole 11246 corresponding to the fastener 1162, respectively. Obviously, the number of relief holes 11244, counter bores 11245 and through holes 11246 is four, four and twelve, respectively. It is worth noting that: since the side of lower bearing housing 1124 on which reduction assembly 113 is to be assembled, fastener 1161 may be sunk into lower bearing housing 1124 or flush with the end face of lower bearing housing 1124 on the side facing reduction assembly 113. Obviously, counter bore 11245 may better accommodate fastener 1161. Further, as viewed in the axial direction of output shaft 1121, the distance from fastener 1161 to the center of lower bearing housing 1124 may be smaller than the distance from fastener 1162 to the center of lower bearing housing 1124, that is, fastener 1161 is closer to output shaft 1121 in the radial direction of output shaft 1121 than fastener 1162. In other words, in the radial direction of the output shaft 1121, the counterbore 11245 is closer to the center of the lower bearing 1126 than the through hole 11246 and is further away from the edge of the lower fixing portion 11242, which is advantageous in ensuring the structural strength of the lower fixing portion 11242 in the region of the counterbore 11245, thereby increasing the structural reliability of the drive assembly 112.

It should be noted that: in other embodiments, such as embodiments in which the drive assembly 112 and/or the reduction assembly 113 need not be separately performance tested, the

fasteners

1161 and 1164 may be eliminated, i.e., the assembly of the various components of the drive assembly 112 and the reduction assembly 113 with the joint housing 111 may be accomplished solely with the fasteners 1162.

Referring to fig. 3, both ends of the output shaft 1121 are connected to the joint housing 111 through a lower bearing 1126 and an upper bearing 1127, respectively, so that the output of the driving assembly 112 is more smooth. Therefore, a certain play needs to be reserved for both the lower bearing 1126 and the upper bearing 1127 after assembly. However, if the aforementioned play is excessively small, it is easy to cause difficulty in rotation of output shaft 1121; conversely, if the aforementioned play is too large, it is easy to cause the output shaft 1121 to rotate less smoothly (e.g., "rattle"). To this end, the joint module 11 may include a first elastic member 117, and the first elastic member 117 may press the outer race of the upper bearing 1127, facilitating control of the play of the lower bearing 1126 and the upper bearing 1127 within a reasonable range. Wherein, the first elastic member 117 may be a wave spring. Based on this, in order to press and hold the first elastic member 117, the technical solutions easily conceived by those skilled in the art are: the first elastic member 117 is pressed by an additional upper pressing ring connected to the upper bearing housing 1125. The difference is that: in this application, with reference to fig. 2 and 3, the braking assembly 114 may be fixed on the upper bearing seat 1125, and may simultaneously press the first elastic member 117 against the outer ring of the upper bearing 1127, that is, the braking assembly 114 may replace the upper pressing ring, so that not only the play between the lower bearing 1126 and the upper bearing 1127 may be controlled within a reasonable range, but also the upper pressing ring may be omitted, thereby making the joint module 11 more compact in structure and reducing the cost of the joint module 11.

As an example, referring to fig. 7, the brake assembly 114 may include a mounting seat 1141 connected to the upper bearing seat 1125, a second elastic member 1142 and a field coil 1143 disposed in the mounting seat 1141, and an armature plate 1144, a friction plate 1145 and a cover plate 1146 sequentially stacked in an axial direction of the output shaft 1121, that is, the armature plate 1144 and the cover plate 1146 are respectively located at both sides of the friction plate 1145 in the axial direction of the output shaft 1121. Wherein, friction plate 1145 is connected with output shaft 1121 to rotate along with output shaft 1121; cover plate 1146 may be coupled to mount 1141 to remain relatively stationary. Further, the armature plate 1144 and the friction plate 1145 may be separate structural members, i.e., they may move relatively; the armature plate 1144 and the friction plate 1145 may be coupled together by one or a combination of adhesive, snap, screw, etc., i.e., they remain relatively stationary.

The operating principle of the brake assembly 114 may be: referring to fig. 8, when the excitation coil 1143 is de-energized, the armature disc 1144 pushes the friction plate 1145 to contact the cover plate 1146 along the axial direction of the output shaft 1121 under the elastic force of the second elastic member 1142, so that the output shaft 1121 is switched from the rotation state to the braking state, that is, the output shaft 1121 stops rotating; when the excitation coil 1143 is energized, the magnetic field generated by the excitation coil 1143 acts on the armature plate 1144, so that the friction plate 1145 is separated from the cover plate 1146, and the braking state of the output shaft 1121 is released, that is, the output shaft 1121 continues to rotate. Thus, compared to the related art in which the output shaft 1121 is stopped by a pin for braking, the braking component 114 in the present application brakes the output shaft 1121 by means of frictional resistance, and has the advantages of no idle stroke, fast response, no noise, and the like. After the excitation coil 1143 is powered off, the elastic potential energy stored in the second elastic member 1142 can not only push the armature plate 1144 and the friction plate 1145, but also provide a certain positive pressure between the armature plate 1144 and the friction plate 1145 and between the friction plate 1145 and the cover plate 1146, so as to provide a predetermined frictional resistance to maintain the braking state of the output shaft 1121. Further, upon energizing the field coil 1143, the magnetic field generated by the field coil 1143 may attract the armature plate 1144 away from the cover plate 1146 to at least release the positive pressure between the friction plate 1145 and the cover plate 1146.

It should be noted that: after the brake assembly 114 is assembled, for example, the mounting seat 1141 is fixed on the upper fixing portion 11252, and the brake assembly 114 presses the first elastic member 117 through the mounting seat 1141. Accordingly, the second elastic member 1142 is disposed on a side of the mounting seat 1141 facing away from the first elastic member 117; the mounting seat 1141 is radially limited inside the upper annular limiting portion 11253. Further, the material of the mounting seat 1141 may be soft magnetic material, such as the same as that of the armature plate 1144, so as to adjust the magnetic field generated by the exciting coil 1143 to be more concentrated.

Brake assembly 114 may include a guide post 1147 supported between mounting 1141 and cover plate 1146, and armature plate 1144 may be moved toward or away from cover plate 1146 under the guidance of guide post 1147 to prevent brake assembly 114 from seizing. The number of the guiding studs 1147 may be multiple, and multiple guiding studs 1147 may be spaced around the output shaft 1121, for example, three guiding studs 1147 are uniformly spaced around the output shaft 1121.

Further, the mounting seat 1141 may include a bottom wall 11411, and an inner side wall 11412 and an outer side wall 11413 connected to the bottom wall 11411, wherein the inner side wall 11412 is located at the periphery of the output shaft 1121, and the outer side wall 11413 is located at the periphery of the inner side wall 11412 and extends in the same direction as the inner side wall 11412. Accordingly, the guide posts 1147 may be supported between the outer sidewall 11413 and the cover plate 1146. Based on this, when the armature plate 1144 is away from the cover plate 1146 under the action of the magnetic field generated by the excitation coil 1143, the armature plate 1144 can be stopped by at least one of the inner side wall 11412 and the outer side wall 11413, so as to limit the movement of the armature plate 1144.

In some embodiments, the second elastic member 1142 may be disposed in the blind hole of the outer side wall 11413, and the excitation coil 1143 may be disposed between the inner side wall 11412 and the outer side wall 11413, for example, the excitation coil 1143 is wound on the inner side wall 11412. The number of the second elastic members 1142 may be plural, and a plurality of the second elastic members 1142 may be disposed at intervals around the output shaft 1121, for example, four second elastic members 1142 are uniformly distributed at intervals around the output shaft 1121.

In some embodiments, the second elastic member 1142 and the field coil 1143 may be disposed between the inner side wall 11412 and the outer side wall 11413. For example: the number of the second elastic members 1142 and the number of the field coils 1143 are plural, and the plural second elastic members 1142 and the plural field coils 1143 are spaced around the output shaft 1121, respectively.

Referring to fig. 8, the driving assembly 112 may include an adaptor 1129 connected to the output shaft 1121, and the friction plate 1145 may be fitted on the adaptor 1129. With reference to fig. 9 and 10, as viewed in the axial direction of the output shaft 1121, the outer profile of the adaptor 1129 and the inner profile of the friction plate 1145 are matched to form a non-circular shape, so as to allow the friction plate 1145 to rotate along with the adaptor 1129, and allow the friction plate 1145 to move relative to the adaptor 1129 in the axial direction of the output shaft 1121. For example: the inner contour of the friction plate 1145 is a first square as viewed along the axial direction of the output shaft 1121, and four corners of the first square are all arranged in a round angle manner; the outer contour of the adaptor 1129 is a second square as viewed along the axial direction of the output shaft 1121, and four corners of the second square are chamfered. Thus, the corners of the adaptor 1129 are effectively avoided from the corners of the friction plate 1145, so as to avoid the friction plate 1145 from being stuck when moving along the adaptor 1129, and further increase the reliability of the braking assembly 114; while also increasing the area of friction plate 1145 as much as possible, resulting in a faster response of brake assembly 114.

Specifically, after output shaft 1121 is switched from the braking state to the rotating state, friction plate 1145 rotates following adaptor 129, and then follows output shaft 1121 to prevent brake assembly 114 from applying unnecessary resistance to rotation of output shaft 1121; when the output shaft 1121 is switched from the rotating state to the braking state, the friction plate 1145 is pushed by the second elastic member 1142 and the armature disc 1144 to move along the axial direction of the output shaft 1121 relative to the adaptor 1129 so as to contact the cover plate 1146, and then the output shaft 1121 is braked by the frictional resistance. In other words, the adaptor 1129 has no degree of freedom with respect to the output shaft 1121, while the friction plate 1145 has a degree of freedom with respect to the adaptor 1129 in the axial direction of the output shaft 1121. Therefore, compared with the structure that the adaptor 1129 and the output shaft 1121 are integrated, the adaptor 1129 and the output shaft 1121 are separately processed and then assembled, which is not only beneficial to simplifying the structure of the output shaft 1121, thereby reducing the processing difficulty of the output shaft 1121, but also convenient for the difference design of the adaptor 1129 and the output shaft 1121 on the material selection, thereby considering the cost of the joint module 11.

Further, in conjunction with fig. 8, the encoding component 115 may be configured to detect a rotation state of the driving component 112, specifically at least one of a rotation speed and an angular position of the output shaft 1121. Among other things, the encoding assembly 115 may include an encoder disk 1151A and a read head 1152A, the read head 1152A cooperating with the encoder disk 1151A to detect the rotational speed and/or angular position of the output shaft 1121. Based thereon, the encoding assembly 115 may be configured as a magneto-electric encoder, with the encoding disk 1151A configured accordingly as a magnetic grating disk; the encoder assembly 115 may also be configured as a photoelectric encoder, with the encoder disk 1151A configured accordingly as a grating disk. The magneto-electric encoder or the magneto-electric encoder may be further configured to be an incremental type or an absolute value type according to actual requirements, and related principles and specific structures thereof are well known to those skilled in the art and are not described herein again. It is worth noting that: the requirements of the photoelectric encoder on the external environment are more severe than those of the magnetoelectric encoder, for example, the photoelectric encoder has a higher dustproof requirement, which will be exemplified later.

In some embodiments, the encoder disk 1151A and the adaptor 1129 may be separately coupled to the output shaft 1121 to rotate along with the output shaft 1121, which may facilitate reducing interference of the brake assembly 114 with the encoder assembly 115. As an example, the encoder disc 1151A and the adapter 1129 may each be connected to the output shaft 1121 via a respective adapter, i.e., two adapters.

In some embodiments, the code disc 1151A may be connected to the adaptor 1129 and thus connected to the output shaft 1121 through the adaptor 1129, i.e., the code disc 1151A and the friction plate 1145 are both connected to the output shaft 1121 through the adaptor 1129, so that the adaptor 1129 is "dual-purpose", which is advantageous for simplifying the structure of the joint module 11. Based on this, and with reference to fig. 8, after the driving assembly 112 is assembled with the joint housing 111, the braking assembly 114 may be assembled with the driving assembly 112, then the code disc 1151A and the adaptor 1129 may be assembled with the braking assembly 114 as a whole, and then the support 118, the reading head 1152A and the circuit board thereof may be assembled with the joint housing 111 or the upper bearing seat 1125 as a whole. Thus, compared with the embodiment that the encoding disc 1151A and the adaptor 1129 are respectively connected with the output shaft 1121 through respective adaptors, in the embodiment that both the encoding disc 1151A and the friction plate 1145 are connected with the output shaft 1121 through the adaptor 1129, the adaptor 1129 only needs to be assembled and disassembled once, which is beneficial to improving the production efficiency.

Illustratively, in connection with fig. 11, adaptor 1129 may include a cylindrical body 11291, and inner and

outer flange portions

11292 and 11293 connected to cylindrical body 11291, outer and

inner flange portions

11293 and 11292 extending in opposite directions. With reference to fig. 10, the outer profile of the cylindrical body 11291 is non-circular when viewed along the axial direction of the output shaft 1121, for example, four corners are square with chamfers, and the friction plate 1145 is sleeved on the cylindrical body 11291 to rotate along with the adaptor 1129 or move relative to the adaptor 1129 along the axial direction of the output shaft 1121; the encoder disk 1151A is coupled to the outer flange portion 11293 to follow the rotation of the adaptor 1129. Preferably, adaptor 1129 may include an annular flange 11294 coupled to outer flange portion 11293, and encoder disc 1151A further fits over annular flange 11294 when coupled to outer flange portion 11293 to radially position encoder disc 1151A via annular flange 11294. Further, referring to fig. 8, the output shaft 1121 is inserted into the cylindrical body 11291, and the end surface of the output shaft 1121 abuts against the inner flange portion 11292, such as by fastening the inner flange portion 11292 to the end of the upper fixing section 11212 by the fastening member 1165, to allow the adaptor 1129 to rotate following the output shaft 1121. Because the output shaft 1121 is inserted into the cylindrical body 11291, the output shaft 1121 can be radially limited by the cylindrical body 11291, and the coaxiality between the adaptor 1129 and the output shaft 1121 can be increased.

The specification is required to be as follows: the

fasteners

1161, 1162, 1163, 1164, 1165 may be bolts, and may be hexagonal, round, square, countersunk, etc. according to specific requirements.

Further, in conjunction with fig. 8, the encoding component 115 may be configured to detect a rotation state of the speed reduction component 113, specifically at least one of a rotation speed and an angular position of the flange 1135. The encoder assembly 115 may comprise, inter alia, an encoder disc 1151B connected to the hollow shaft 1137 and a read head 1152B cooperating with the encoder disc 1151B, the read head 1152B detecting the rotational speed and/or the angular position of the flange 1135 during the rotation of the encoder disc 1151B following the hollow shaft 1137. Similarly, the encoding disk 1151B may be configured as a magnetic grating disk or a grating disk.

Illustratively, in conjunction with fig. 8 and 5, the joint module 11 may include a bracket 118 connected to the joint housing 111, and the bracket 118 may be covered outside the brake assembly 114, i.e., located at the periphery of the brake assembly 114, so as to facilitate the arrangement of the encoding assembly 115, thereby simplifying the structure of the joint module 11. In other words, the bracket 118 and the brake assembly 114 are supported on the same side of the upper retainer 11252. Among other things, read head 1152A and its circuit board may be coupled to carrier 118, and read head 1152B and its circuit board may also be coupled to carrier 118. In this way, it is beneficial to adjust the distance between the reading head 1152A and the encoder disc 1151A in the axial direction of the output shaft 1121 and the distance between the reading head 1152B and the encoder disc 1151B in the axial direction of the output shaft 1121, thereby increasing the reliability of the encoder assembly 115. Of course, the read head 1152A and the read head 1152B may be disposed on the same circuit board, and the encoder disc 1151A, the circuit board, and the encoder disc 1151B are sequentially disposed at intervals in the axial direction of the output shaft 1121, which is advantageous to simplify the structure of the encoder assembly 115.

Further, in the radial direction of the output shaft 1121, the brake assembly 114 is radially limited at the inner side of the upper annular limiting portion 11253, and the bracket 118 is radially limited at the outer side of the upper annular limiting portion 11253, which is not only beneficial to improving the assembly precision of the brake assembly 114 and the bracket 118, but also beneficial to simplifying the structure of the joint module 11. In the axial direction of output shaft 1121, the inner supporting surface of upper fixing portion 11252 for supporting brake assembly 114 may be closer to the upper bearing than the outer supporting surface of upper fixing portion 11252 for supporting bracket 118, which is beneficial to increase the structural compactness of joint module 11.

Illustratively, in conjunction with fig. 12, the bracket 118 may include a barrel 1181, and an outer sole wall 1182 and an inner top wall 1183 respectively connected to both ends of the barrel 1181 in a bent manner, wherein the outer sole wall 1182 and the inner top wall 1183 extend in opposite directions. Wherein, the cylinder 1181 is located at the periphery of the braking assembly 114; the outer bottom wall 1182 is connected with the upper fixing portion 11252 and radially limited outside the upper annular limiting portion 11253; read head 1152A, read head 1152B, and their respective circuit boards are connected to inner top wall 1183, respectively. Of course, the bracket 118 may not include the inner top wall 1183 as long as the code assembly 115 can be assembled to the bracket 118. Further, the outer bottom wall 1182 and the inner side of the corner of the cylinder 1181 may be provided with an avoidance groove 1184 for avoiding the upper annular limiting portion 11253, that is, the upper annular limiting portion 11253 is located in the avoidance groove 1184 after the bracket 118 is assembled with the upper bearing seat 1125, which is favorable for increasing the structural compactness of the joint module 11, especially in the radial direction of the output shaft 1121.

It should be noted that: in an embodiment such as that shown in fig. 2, for convenience of distinction, the encoding component for detecting the rotational state of the driving component 112 may be defined as a first encoding component, and the encoding component for detecting the rotational state of the decelerating component 113 may be defined as a second encoding component. Wherein the first encoding assembly may include an encoding disk 1151A and a read head 1152A and the second encoding assembly may include an encoding disk 1151B and a read head 1152B.

Based on the above-mentioned description, the encoding assembly 115 may be used to detect the rotation state of the shaft to be detected, such as the output shaft 1121 or the hollow shaft 1137, and specifically may be at least one of the rotation speed and the angular position of the shaft to be detected. When the encoder assembly 115 is used to detect the rotation state of the output shaft 1121, the encoder disc 1151A and the reading head 1152A are assembled with the adaptor 1129 and the bracket 118 one by one twice in the front-back direction as two separate structural components, so that the relative position between the encoder disc 1151A and the reading head 1152A (especially, the axial distance between the output shaft 1121) is closely related to the subsequent assembly accuracy; a similar problem exists when the encoder assembly 115 is used to detect the rotation state of the output shaft 1121, which tends to result in poor detection accuracy of the encoder assembly 115. The difference is that: with reference to fig. 14 and 16, the encoding assembly 115 may be designed integrally, that is, the encoding assembly may be integrated, so that the axial distance between the encoding disc 1151A and the reading head 1152A (or the axial distance between the encoding disc 1151B and the reading head 1152B) may be adjusted and determined before the encoding assembly 115 is assembled to the joint module 11, which is favorable for improving the detection accuracy of the encoding assembly 115. Further, in conjunction with fig. 13, for convenience of description, the present application exemplifies output shaft 1121 as a shaft to be detected.

Illustratively, with reference to fig. 14 and 16, the encoder assembly 115 may include a base 1153, a rotating shaft 1154, an encoder disc 1151A and a reading head 1152B, wherein the rotating shaft 1154 is configured to be rotatably supported on the base 1153 and used for connecting with a shaft to be detected, such as the output shaft 1121 or the hollow shaft 1137, the encoder disc 1151A is connected with the rotating shaft 1154, and the reading head 1152B (and a circuit board thereof) is configured to be fixed relative to the base 1153, so that the encoder assembly 115 is a modular structural component. In this manner, the axial spacing between the encoder disk 1151A and the read head 1152A may be tuned and determined prior to assembly and use of the encoder assembly 115, thereby improving the detection accuracy of the encoder assembly 115. Wherein the base 1153 is configured to keep stationary relative to the output shaft 1121, and the rotating shaft 1154 is configured to keep rotating synchronously with the output shaft 1121, so that the encoder assembly 115 can detect the rotation speed and/or the angular position of the output shaft 1121.

Further, referring to fig. 13, the rotating shaft 1154 is configured as a hollow structure, and the hollow shaft 1137 may be partially inserted into the rotating shaft 1154 after passing through the input shaft 1131 and the output shaft 1121 in sequence, so as to facilitate the routing structure of the joint module 11.

Illustratively, referring to fig. 15, one of the shaft 1154 and the output shaft 1121 is partially inserted into the other and forms a pair of contact surfaces. Wherein, when the rotating shaft 1154 is partially inserted into the output shaft 1121, for example, (a) in fig. 15, a pair of contact surfaces means an outer contour surface of the rotating shaft 1154 and an inner contour surface of the output shaft 1121 which are in contact with each other; conversely, when the output shaft 1121 is partially inserted into the rotational shaft 1154, referring to fig. 15 (b), a pair of contact surfaces refers to an outer contour surface of the output shaft 1121 and an inner contour surface of the rotational shaft 1154, which are in contact with each other. Further, a cross sectional area of a pair of contact surfaces in an axial direction perpendicular to output shaft 1121 is gradually increased or decreased along the axial direction of output shaft 1121, and base 1153 is fixed to provide a pressing force to the pair of contact surfaces along the axial direction of output shaft 1121, so that rotating shaft 1154 follows output shaft 1121 by a frictional force between the pair of contact surfaces. Specifically, the pressing force F may be decomposed into a first component force F1 perpendicular to the pair of contact surfaces and a second component force F2 parallel to the pair of contact surfaces, and the static friction coefficient at the pair of contact surfaces of the rotating shaft 1154 and the output shaft 1121 is μ, then the magnitude F of the friction force at the pair of contact surfaces of the rotating shaft 1154 and the output shaft 1121 may be the product of the first component force F1 and the static friction coefficient μ. With reference to fig. 16, the present application is exemplified by an example in which the rotating shaft 1154 is partially inserted into the output shaft 1121, which is advantageous for reducing the radial dimension of the encoding assembly 115.

In this way, compared with the case that the rotating shaft 1154 is directly connected to the output shaft 1121 through a fastener such as a bolt, the present embodiment does not need to consider the minimum wall thickness of the rotating shaft 1154 or the output shaft 1121 and the space occupied by the fastener, so that the design of the rotating shaft 1154 and the output shaft 1121 is more flexible, and the overall structure of the encoding component 115 and the driving component 112 is more compact; compared with the case that the rotating shaft 1154 is directly connected with the output shaft 1121 through glue, the problem of glue aging does not exist in the embodiment, and the integral structure is more reliable; compared with the case that the rotating shaft 1154 and the output shaft 1121 are configured as non-circular holes matched with each other for direct insertion, the present embodiment has no insertion fit clearance, so that the synchronism of the rotation of the rotating shaft 1154 along with the rotation of the output shaft 1121 is higher, and the assembly and disassembly of the encoding component 115 are more convenient.

It should be noted that: in order to increase the reliability of the encoder 115 in detecting the rotation state of the output shaft 1121, the coaxiality between the rotation shaft 1154 and the output shaft 1121 may be high, so that the axis of the rotation shaft 1154 and the axis of the output shaft 1121 may be simply regarded as coinciding. Therefore, the axial direction of output shaft 1121 may be simply regarded as the axial direction of rotational shaft 1154, and the radial direction of output shaft 1121 may also be simply regarded as the radial direction of rotational shaft 1154.

Further, referring to fig. 16, the other end of the rotating shaft 1154, which is far from the encoder disc 1151A, is partially inserted into the output shaft 1121 through the adaptor 1129 under the guidance of the adaptor 1129, so as to allow the adaptor 1129 to perform radial limitation on the rotating shaft 1154 in the radial direction of the output shaft 1121, which is beneficial for increasing the coaxiality between the rotating shaft 1154 and the output shaft 1121, especially in the case that the end of the rotating shaft 1154 is provided with a gradual structure. In combination with the above description, the friction plate 1145 may also be sleeved on the adaptor 1129 and then connected to the output shaft 1121, so that the adaptor 1129 is "dual-purpose", which is beneficial to simplifying the structure of the joint module 11.

Illustratively, in conjunction with fig. 17, adapter 1129 may be configured as a ring-shaped structure, and shaft 1154 may be inserted into output shaft 1121 along an inner ring surface of adapter 1129, the radius of which remains constant in the axial direction of output shaft 1121. Accordingly, the outer diameter of the portion of the rotating shaft 1154 that engages with the adaptor 1129 remains constant in the axial direction of the output shaft 1121. Thus, compared with the gradual change structure, the cylindrical constant diameter structure is more beneficial to increase the coaxiality between the rotating shaft 1154 and the output shaft 1121.

Similarly, adaptor 1129 can include a cylindrical body 11291 and an inner flange 11292 connected to cylindrical body 11291. Wherein, the radius of the inner annular surface of the cylindrical body 11291 is kept constant in the axial direction of the output shaft 1121, so that the adaptor 1129 guides the rotating shaft 1154; the outer profile of the cylindrical body 11291 is non-circular when viewed axially along the output shaft 1121, so that the friction plate 1145 is sleeved on the adaptor 1129.

Further, the inner flange portion 11292 may be provided with a plurality of counterbores 11295 spaced about the axis 1154, such as the number of counterbores 11295 being six to allow fasteners 1165 to secure the inner flange portion 11292 to the output shaft 1121 via the counterbores 11295. In other words, the fastener 1165 does not protrude from the adaptor 1129 in the axial direction of the output shaft 1121, which is advantageous in increasing the structural compactness of the joint module 11.

Illustratively, in conjunction with fig. 14 and 16, base 1153 may be provided with a bearing bore 11531; the encoder assembly 115 may include a bearing 11551 embedded in the bearing hole 11531 to facilitate the rotation of the shaft 1154 on the base 1153. Of course, if the rotation speed of the shaft to be detected is not high, for example, the rotation speed of the hollow shaft 1137 is much less than that of the output shaft 1121, the encoder assembly 115 may not include the bearing 11551, that is, the rotating shaft 1154 is directly shaft-hole fitted with the bearing hole 11531, for example, the two are clearance fitted, and the rotating shaft 1154 may also be rotatably supported on the base 1153.

Further, the spindle 1154 may include a connection portion 11541, a patch portion 11542 and an extension portion 11543, wherein the patch portion 11542 and the extension portion 11543 are respectively connected to both ends of the connection portion 11541. The connecting part 11541 can be embedded in the inner ring of the bearing 11551, and the connecting part 11542 and the outer extending part 11543 can respectively extend out of two sides of the bearing 11551; the extension portion 11543 can hold the inner ring of the bearing 11551 in the axial direction of the output shaft 1121, and the encoder disc 1151A can be connected to the extension portion 11543. Further, the outer diameter of the patch portion 11542 is tapered in the axial direction of the output shaft 1121 and in the direction away from the extension portion 11543 to allow the patch portion 11542 to be inserted into the output shaft 1121 to form a pair of contact surfaces. Based on the above description, the outer diameter of the patch 11542 may be constant and then gradually decreased in the direction along the axial direction of the output shaft 1121 and away from the extension 11543 to allow the patch 11542 to be partially inserted into the output shaft 1121 through the adaptor 1129 under the guidance of the adaptor 1129.

Illustratively, in conjunction with fig. 15, the angle θ between the outer profile surface of the patch portion 11542 and the axial direction of the output shaft 1121 may be between 2 ° and 33 °. When parameters such as the magnitude of the pressing force F are fixed, the magnitude of the included angle θ determines the magnitude of the first component force F1, that is, F1= F × sin θ. It is worth noting that: although the larger the included angle θ, the more beneficial the obtaining of the larger first force component F1 and thus the more beneficial the providing of sufficient friction force, the sharper the outer contour surface of the plug portion 11542 and the inner contour surface of the output shaft 1121 are, which results in the deterioration of the structural strength of the plug portion 11542 and the end portion of the output shaft 1121; conversely, although the smaller the angle θ, the more advantageous the structural strength of the end portions of the output shaft 1121 and the patch portion 11542 is, there is a risk that the synchronism of the rotation shaft 1154 following the rotation of the output shaft 1121 is deteriorated.

In some embodiments, the ratio between the absolute value of the difference between the minimum and maximum outer diameters of patch 11542 and the maximum outer diameter of patch 11542 may be between 0.05 and 0.2 such that the included angle θ is within a suitable range. In addition, this also helps to ensure the structural strength of the end portions of the patch portion 11542 and the output shaft 1121 with respect to a certain included angle θ.

In some embodiments, the insertion depth of the patch portion 11542 into the output shaft 1121 in the axial direction of the output shaft 1121 may be between 6mm and 10mm such that the included angle θ is within a suitable range.

Referring to fig. 16 and 14, as viewed in the axial direction of the output shaft 1121, an edge region of the base 1153 may be provided with a plurality of mounting holes 11532 spaced around the rotation shaft 1154, and the base 1153 is fixed to the joint housing 111 or the bracket 118 at the mounting holes 11532 by fasteners such as bolts. Wherein, there is a first distance between the center of mounting hole 11532 and the center of bearing hole 11531 in the radial direction of output shaft 1121, and mounting hole 11532 moves a second distance in the axial direction of output shaft 1121 before and after base 1153 is fixed, the first distance may be between 26mm and 40mm, and the second distance may be between 0.1mm and 1 mm. It should be noted that: in the embodiment where base 1153 is fixed to bracket 118, mounting hole 11532 may have a clearance from bracket 118 in the axial direction of output shaft 1121 before base 1153 is fixed, and the clearance may be a second distance. Referring to fig. 16, when the angle θ and the rigidity of the base 1153 are fixed, the ratio of the second distance to the first distance and the distance therebetween determines the magnitude of the pressing force F. It is worth noting that: although the larger the ratio between the second distance and the first distance, the more favorable it is to obtain a larger pressing force F and thus to provide sufficient friction, there is also a risk that output shaft 1121 is "jammed" in its axial direction; conversely, although the smaller the ratio between the second distance and the first distance, the more advantageous it is to avoid the output shaft 1121 from being "jammed" in the axial direction thereof, there is also a risk that the pressing force F is insufficient.

Further, in connection with fig. 14, the extension 11543 may include a first extension section 11544 connected to connection 11541 and a second extension section 11545 connected to first extension section 11544, with first extension section 11544 encircling connection 11541 and second extension section 11545 encircling first extension section 11544. The thickness of the second extension section 11545 in the axial direction of the output shaft 1121 may be smaller than the thickness of the first extension section 11544 in the axial direction of the output shaft 1121, so that the first extension section 11544 presses the inner ring of the bearing 11551 in the axial direction of the output shaft 1121, and the second extension section 11545 is respectively spaced from the outer ring of the bearing 11551 and the base 1153 in the axial direction of the output shaft 1121, which is beneficial to avoiding unnecessary collision of the rotating shaft 1154 with the bearing 11551 or the base 1153. Similarly, the encoding assembly 115 may include a snap ring nested on the connection 11541, the snap ring and the first outer extension 11544 together clamping an inner race of the bearing 11551. Further, the encoder disc 1151A may be connected to a side of the second extension 11545 facing away from the bearing 11551, and a side of the encoder disc 1151A facing away from the second extension 11545 may not protrude beyond the first extension 11544 in the axial direction of the output shaft 1121, which is beneficial for avoiding structural interference or collision of the encoder disc 1151A with other structural members, especially when the encoder disc 1151A is configured as a grating disc. In other words, the encoder disk 1151A is configured as a ring structure and may be nested on the shaft 1154.

Further, at least two bearings 11551 may be stacked in the axial direction of output shaft 1121 to increase the coaxiality of rotating shaft 1154 with respect to bearing hole 11531, so that rotating shaft 1154 rotates more smoothly with respect to base 1153. The gaskets 11552 can be clamped between the outer rings or the inner rings of the two adjacent bearings 11551, and the gaskets 11552 enable the gap between the outer rings and the gap between the inner rings of the two adjacent bearings 11551 to be different, namely the outer ring and the inner ring of the bearing 11551 are staggered by a distance in the axial direction of the output shaft 1121, so that the play of the bearing 11551 can be controlled within a reasonable range, and the rotation stability of the rotating shaft 1154 can be improved.

Based on the above-mentioned description, in an embodiment such as that shown in fig. 13, the encoding component 115 may be a magneto-electric encoder or a photo-electric encoder, and the encoding disk 1151A is configured as a magnetic grating disk or a grating disk, respectively. Compared with a magnetoelectric encoder, the photoelectric encoder has more strict requirements on the external environment, for example, the photoelectric encoder has higher dustproof requirements. In the following, an example will be described in which the encoder disk 1151A is provided as a grating disk.

Referring to fig. 16 and 14, the extension portion 11543 is disposed to completely cover the bearing hole 11531 when being orthographically projected to the base 1153 along the axial direction of the output shaft 1121, so as to prevent external impurities (e.g., grinding dust generated during the operation of the friction plate 1145) from entering the encoding assembly 115 through the bearing hole 11531 to contaminate the encoding disk 1151A, which is beneficial to increase the dust-proof performance of the encoding assembly 115. Specifically, first extension section 11544 falls into bearing hole 11531 when orthographically projected to base 1153 along the axial direction of output shaft 1121, and second extension section 11545 partially overlaps base 1153 when orthographically projected to base 1153 along the axial direction of output shaft 1121, so that extension portion 11543 completely covers bearing hole 11531.

Illustratively, referring to fig. 14, base 1153 may include an intermediate step 11533 and an inner step 11534 connected to intermediate step 11533, inner step 11534 may be closer to rotation axis 1154 than intermediate step 11533 in the radial direction of output shaft 1121, and inner step 11534 may have a thickness in the axial direction of output shaft 1121 greater than that of intermediate step 11533 in the axial direction of output shaft 1121. The bearing hole 11531 is disposed in the inner step portion 11534, so as to allow at least two bearings 11551 to be embedded in the bearing hole 11531 in a stacked manner along the axial direction of the output shaft 1121, thereby increasing the coaxiality of the rotating shaft 1154 with respect to the bearing hole 11531, and the rotating shaft 1154 rotates more smoothly with respect to the base 1153. Further, referring to fig. 16, when orthographically projected onto the base 1153 along the axial direction of the output shaft 1121, the encoder disc 1151A partially overlaps the intermediate step portion 11533, and the distance between the encoder disc 1151A and the intermediate step portion 11533 in the axial direction of the output shaft 1121 is greater than the distance between the encoder disc 1151A and the inner step portion 11534 in the axial direction of the output shaft 1121. In other words, the edge region of the encoder disk 1151A away from the rotational shaft 1154 and the base 1153 have a larger safety clearance in the axial direction of the output shaft 1121, which is advantageous in avoiding unnecessary collision of the encoder disk 1151A with the base 1153, particularly in the case where the encoder disk 1151A is provided as a grating disk. Thus, by providing at least a portion of the base 1153 as a stepped structure, both the stability of the rotation of the shaft 1154 and the collision avoidance of the encoder disc 1151A can be considered. Of course, the weight of the encoding assembly 115 may also be reduced to some extent.

Further, second extension section 11545 is provided at a distance from outer race and inner step portion 11534 of bearing 11551, respectively, in the axial direction of output shaft 1121, so as to avoid unnecessary collision of rotating shaft 1154 with bearing 11551 or pedestal 1153. When the second extension segment 11545 projects to the base 1153 along the axial direction of the output shaft 1121, it may partially overlap with the inner step portion 11534, that is, the extension portion 11543 completely covers the bearing hole 11531, which is beneficial to increasing the dust-proof performance of the encoder assembly 115.

With reference to fig. 18, the extension portion 11543 may include a third extension portion 11546 connected to the second extension portion 11545 in a bending manner, and the third extension portion 11546 surrounds the inner step 11534, so as to further extend the path of the external impurities entering the code assembly 115, which is also beneficial to increasing the dustproof performance of the code assembly 115. Wherein, the middle step 11533 may be provided with a sinking groove 11535 surrounding the inner step 11534, and the third outer extension 11546 may be partially inserted into the sinking groove 11535. Therefore, the path of the external sundries entering the coding component 115 is prolonged, and the external sundries which pass through the bearing 11551 are collected in the sinking groove 11535, so that the difficulty of the external sundries further entering the coding component 115 is increased. It is worth noting that: no matter whether the intermediate step portion 11533 is provided with the sinking groove 11535, the third extending section 11546 and the intermediate step portion 11533 may be disposed at an interval in the axial direction of the output shaft 1121, so as to avoid unnecessary collision between the rotating shaft 1154 and the base 1153.

Referring to fig. 14 and 16, the encoder assembly 115 may include an upper housing 1156, a circuit board 1157, and a light source 1158, wherein the upper housing 1156 is coupled to the base 1153 to form a cavity for receiving the encoder disk 1151A, the circuit board 1157, and other components. Among them, the light source 1158 is used for emitting a detection signal to the encoder disk 1151A, and the reading head 1152A is provided on the circuit board 1157 and is used for receiving the aforementioned detection signal. Further, the light source 1158 and the pickup 1152A (and the circuit board 1157 connected thereto) may be disposed on opposite sides of the encoder disc 1151A, respectively, so that the pickup 1152A receives a detection signal emitted from the light source 1158 and passing through the encoder disc 1151A, thereby constituting a correlation type photoelectric encoder; the light source 1158 and the read head 1152A (and the circuit board 1157 connected thereto) may also be disposed on the same side of the encoder disk 1151A such that the read head 1152A receives a detection signal emitted by the light source 1158 and reflected by the encoder disk 1151A, thereby constituting a reflective-type photoelectric encoder.

Illustratively, the upper housing 1156 may include an outer cylindrical sidewall 11561 and a top cap 11562 connected to one end of the outer cylindrical sidewall 11561, and the outer cylindrical sidewall 11561 may surround the intermediate step 11533. At this time, since the thickness of the intermediate step portion 11533 in the axial direction of the output shaft 1121 is generally greater than the thickness of the outer cylindrical side wall 11561 in the radial direction of the output shaft 1121, the outer cylindrical side wall 11561 surrounds the intermediate step portion 11533 more favorably to increase the fitting area therebetween than the outer cylindrical side wall 11561 is supported on the intermediate step portion 11533, and thus more favorably to improve the dustproof performance of the encoder assembly 115. Of course, increasing the mating area between the outer cylindrical sidewall 11561 and the intermediate step 11533 is also beneficial to increasing the reliability of the connection between the upper housing 1156 and the base 1153.

Further, base 1153 may include outer step 11536 connected to intermediate step 11533, intermediate step 11533 may be closer to rotation axis 1154 than outer step 11536 in the radial direction of output shaft 1121, and intermediate step 11533 may have a thickness in the axial direction of output shaft 1121 greater than that of outer step 11536. In other words, when the base 1153 includes the outer step 11536, the intermediate step 11533, and the inner step 11534, the outer step 11536, the intermediate step 11533, and the inner step 11534 gradually approach the rotation shaft 1154 in the radial direction of the output shaft 1121, and gradually increase in thickness in the axial direction of the output shaft 1121. Wherein the outer step 11536 may be fixed to the bracket 118 or the joint housing 111, i.e., the mounting hole 11532 may be provided on the outer step 11536; the outer cylindrical sidewall 11561 may also be supported on the outer step 11536. Accordingly, the encoder disk 1151A and the circuit board 1157 may be disposed inside the outer cylindrical sidewall 11561.

In some embodiments, the light source 1158 may be disposed at the intermediate step portion 11533. Wherein a side of the intermediate step portion 11533 facing away from the encoding disk 1151A may be provided with a mounting groove, and the light source 1158 is disposed in the mounting groove. In other words, the light source 1158 is disposed outside the encoding assembly 115, which is beneficial to simplify the routing of the light source 1158 and, of course, facilitate the assembly of the light source 1158. At this time, for the opposite-type photoelectric encoder, the circuit board 1157 may be disposed on a side of the encode disk 1151A facing away from the base 1153, that is, the circuit board 1157 is located between the encode disk 1151A and the top cover 11562 in the axial direction of the output shaft 1121. Here, the outer diameter of the circuit board 1157 in the radial direction of the output shaft 1121 may be larger than the outer diameter of the encoder disc 1151A in the radial direction of the output shaft 1121. Further, the encoder assembly 115 may include a plurality of support posts 1159 spaced apart around the rotation shaft 1154, for example, three support posts 1159, and the support posts 1159 are supported between the intermediate step portion 11533 and the circuit board 1157 and are located on the periphery of the encoder disk 1151A. Of course, circuit board 1157 may also be secured to top 11562.

In some embodiments, light source 1158 may be disposed on circuit board 1157, i.e., light source 1158 and read head 1152A are both disposed on circuit board 1157, thereby constituting a reflective optical encoder. In this case, the circuit board 1157 may be disposed on a side of the encoding disk 1151A facing away from the base 1153, for example, supported on the middle step 11533 by the supporting posts 1159, and then fixed to the top cover 11562; the circuit board 1157 may also be disposed on a side of the encoding disk 1151A adjacent to the base 1153, for example, fixed to the intermediate step 11533.

Based on the above description, in order to facilitate the arrangement of the routing structure of the joint module 11, the rotating shaft 1154 needs to be sequentially communicated with the outside of the encoding assembly 115 through the avoiding holes on the encoding disc 1151A, the circuit board 1157 and the top cover 11562. At this time, there is a risk that external impurities (e.g., grinding dust generated during the operation of the friction plate 1145) enter the encoding assembly 115 through the avoiding hole of the top cover 11562 to contaminate the encoding disk 1151A, so that it is necessary to improve the related structure to improve the dustproof performance of the encoding assembly 115.

With reference to fig. 16, the upper housing 1156 can include an inner cylindrical sidewall 11563 to which the cap 11562 is attached, the inner cylindrical sidewall 11563 extending co-directionally with the outer cylindrical sidewall 11561 toward the same side of the cap 11562. The inner cylindrical sidewall 11563 can be inserted into the rotating shaft 1154 along the axial portion of the output shaft 1121 to extend a path through which external impurities enter the encoding assembly 115, thereby increasing the dustproof performance of the encoding assembly 115. Accordingly, circuit board 1157 is configured in a ring configuration and may be nested on inner cylindrical sidewall 11563. Because the circuit board 1157 and the upper housing 1156 can be kept relatively stationary, a radial gap between the inner circumferential surface of the circuit board 1157 and the outer circumferential surface of the inner cylindrical sidewall 11563 of the output shaft 1121 can be as small as possible, and a gap requirement for assembling the circuit board 1157 and the upper housing 1156 can be met.

In some embodiments, the inner cylindrical sidewall 11563 may be inserted into the spindle 1154 to a depth of between 1mm and 3mm in the axial direction of the output shaft 1121. Although the greater the depth, that is, the deeper the inner cylindrical side wall 11563 is inserted into the rotating shaft 1154 along the axial direction of the output shaft 1121, the more beneficial the path of external impurities entering the encoding assembly 115 is to be extended, since the rotating speed of the rotating shaft 1154 can be consistent with that of the output shaft 1121, the risk of unnecessary collision between the rotating shaft 1154 and the inner cylindrical side wall 11563 is also easy to occur; conversely, although the smaller the depth, that is, the shallower the insertion of the inner cylindrical side wall 11563 into the rotating shaft 1154 in the axial direction of the output shaft 1121 is, the more advantageous the collision of the rotating shaft 1154 with the inner cylindrical side wall 11563 is to be avoided, the effect of improving the dustproof performance of the encoder assembly 115 is also easily weakened.

In some embodiments, the clearance between the inner cylindrical sidewall 11563 and the spindle 1154 in the radial direction of the output shaft 1121 can be between 0.1mm and 1 mm. Although the smaller the gap is, the more beneficial the entry of external impurities into the encoding assembly 115 is, since the rotation speed of the rotating shaft 1154 may be consistent with that of the output shaft 1121, there is also a risk that the rotating shaft 1154 and the inner cylindrical sidewall 11563 may collide unnecessarily; on the contrary, although the larger the gap is, the more beneficial the collision between the rotating shaft 1154 and the inner cylindrical sidewall 11563 can be avoided, the effect of improving the dustproof performance of the encoder 115 can be easily weakened.

In some embodiments, similar to the end of the rotating shaft 1154 being provided in a tapered configuration, the outer diameter of the portion of the inner cylindrical side wall 11563 inserted into the rotating shaft 1154 is tapered in a direction along the axial direction of the output shaft 1121 and away from the top cover 11562 to form a tapered configuration. Accordingly, the inner diameter of the portion of the rotating shaft 1154 for receiving the inner cylindrical side wall 11563 is tapered in the direction along the axial direction of the output shaft 1121 and away from the top cap 11562 to form a tapered structure matching the inner cylindrical side wall 11563. Thus, compared with the cylindrical constant diameter structure, the gradual change structure is also beneficial to prolonging the path of external impurities entering the coding assembly 115, thereby increasing the dustproof performance of the coding assembly 115.

Further, since the circuit board 1157 may be located on a side of the encoding disc 1151A facing away from the base 1153, an orthogonal projection of the circuit board 1157 along the axial direction of the output shaft 1121 may completely cover the encoding disc 1151A, so that external impurities fall onto the circuit board 1157 first when entering the encoding assembly 115, thereby extending a path along which the external impurities fall onto the encoding disc 1151A, which is also beneficial to improving the dustproof performance of the encoding assembly 115, especially in a case that the upper cover 1156 is provided with an avoiding hole for routing and does not include the inner cylindrical side wall 11563.

By way of example, the ratio between the outer diameter of circuit board 1157 in the radial direction of output shaft 1121 and the outer diameter of encoder disk 1151A in the radial direction of output shaft 1121 may be between 1 and 1.8. Although the larger the ratio is, the more beneficial the path of the external sundries falling on the encoding disc 1151A is to be extended, the larger the radial size of the encoding assembly 115 is, which is not beneficial to the miniaturization of the encoding assembly 115; on the contrary, although the smaller the aforementioned ratio, the more advantageous the miniaturization of the encoder assembly 115 is, the effect of improving the dust-proof performance of the encoder assembly 115 is also easily weakened, and the support post 1159 is also not easily provided. Further, the distance between the outer peripheral surface of the circuit board 1157 and the outer peripheral surface of the encoder disc 1151A in the radial direction of the output shaft 1121 may be greater than or equal to 3mm, so as to achieve both the setting of the supporting posts 1159 and the collision avoidance of the encoder disc 1151A on the basis of improving the dust prevention performance of the encoder assembly 115.

The above description is only a part of the embodiments of the present application, and not intended to limit the scope of the present application, and all equivalent devices or equivalent processes performed by the content of the present application and the attached drawings, or directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. The utility model provides a joint module of arm, its characterized in that, the joint module includes drive assembly, drive assembly includes output shaft, step and lower bearing, the output shaft divides middle canned paragraph and lower canned paragraph along its axial, the external diameter of middle canned paragraph is greater than the external diameter of canned paragraph down, so that the output shaft is in middle canned paragraph with form first outer ladder face down between the canned paragraph, the step includes lower tube-shape portion, and with lower fixed part and the lower flange portion of the connection of buckling respectively in the both ends of lower tube-shape portion, lower flange portion with fixed part reverse extension down, the bearing nestification is in down on the canned paragraph, the inner circle of lower bearing supports on the first outer ladder face, the tube-shape portion nestification is in down on the bearing, the outer lane of lower bearing supports on the lower flange portion, first outer ladder face with the lower flange portion is in the axial of output shaft is located the both sides of lower bearing.

2. The joint module of claim 1, comprising a speed reduction assembly having an input shaft coupled to the output shaft, the lower bearing being at least partially located within the speed reduction assembly.

3. The joint module according to claim 2, wherein the thickness of the lower cylindrical portion in the radial direction of the output shaft is smaller than the thickness of the lower flange portion in the axial direction of the output shaft and the thickness of the lower fixing portion in the axial direction of the output shaft, respectively.

4. The joint module of claim 3, wherein corners of the lower cylindrical portion and the lower fixing portion on a side facing away from the lower bearing are rounded.

5. The joint module of claim 2, wherein the drive assembly includes a rotor fixed to the intermediate stationary segment and a stator located outside the rotor, and orthographic projections of the stator and the lower bearing in a radial direction of the output shaft do not overlap.

6. The joint module of claim 2, wherein the speed reduction assembly includes a wave generator coupled to the input shaft, a flexible gear nested on the wave generator, and a rigid gear nested on the flexible gear, the rigid gear partially meshing with the flexible gear, the lower bearing being located radially inward of the flexible gear from the rigid gear in the output shaft.

7. The joint module of claim 6, wherein the flexspline includes a cylindrical engaging portion and an annular folded portion that is folded and connected to one end of the cylindrical engaging portion, the annular folded portion extends to an outside of the cylindrical engaging portion, the cylindrical engaging portion is partially engaged with the circular spline, the speed reducing unit includes an outer bearing and a flange plate, the annular folded portion is connected to an outer race of the outer bearing, the circular spline is connected to an inner race of the outer bearing, and the flange plate is connected to one of the inner race and the outer race of the outer bearing.

8. The joint module of claim 7, wherein the joint assembly comprises a joint housing, and the outer race of the outer bearing, the annular turnover portion, and the lower fixing portion are fixed to the joint housing together by a fastener.

9. The joint module of claim 1, wherein the driving assembly further comprises a lower pressing ring and a lower snap ring, the lower pressing ring is connected to the lower fixing portion and clamps the outer ring of the lower bearing together with the lower flange portion, and the lower snap ring is connected to the lower fixing segment and clamps the inner ring of the lower bearing together with the middle fixing segment.

10. The joint module of claim 1, wherein the output shaft further defines an upper fixing section along an axial direction thereof, the middle fixing section is located between the lower fixing section and the upper fixing section, an outer diameter of the middle fixing section is larger than an outer diameter of the upper fixing section, so that the output shaft forms a second outer stepped surface between the middle fixing section and the upper fixing section, the driving assembly includes an upper bearing seat and an upper bearing, the upper bearing is nested on the upper fixing section, an inner ring of the upper bearing is supported on the second outer stepped surface, and the upper bearing seat is nested on the upper bearing.

11. The joint module of claim 10, wherein the upper bearing housing comprises an upper cylindrical portion and an upper fixing portion connected to one end of the upper cylindrical portion in a bent manner, the upper fixing portion extends toward the outside of the upper cylindrical portion, the upper cylindrical portion is nested on the upper bearing, and the upper bearing is at least partially located on a side of the upper fixing portion facing the lower bearing housing.

12. The joint module of claim 11, wherein the upper bearing and the stator of the drive assembly partially overlap in an orthographic projection of the output shaft in a radial direction.

13. The joint module of claim 11, comprising a first resilient member and a brake assembly, the brake assembly being coupled to the output shaft and pressing the first resilient member against the outer race of the upper bearing.

14. The joint module according to claim 13, wherein the brake assembly includes a mounting seat connected to the upper bearing seat, a second elastic member and a magnet exciting coil disposed on a side of the mounting seat facing away from the first elastic member, and an armature plate, a friction plate, and a cover plate sequentially stacked in an axial direction of the output shaft, the brake assembly presses the first elastic member through the mounting seat, the friction plate is connected to the output shaft, when the magnet exciting coil is de-energized, the armature plate pushes the friction plate to contact the cover plate in the axial direction of the output shaft by an elastic force of the second elastic member, so that the output shaft is switched from a rotating state to a braking state, and when the magnet exciting coil is energized, a magnetic field generated by the magnet exciting coil acts on the armature plate, so that the friction plate is separated from the cover plate, so as to release the braking state of the output shaft.

15. The joint module of claim 14, wherein the joint module comprises a bracket, the upper bearing housing comprises an upper annular limiting portion connected to the upper fixing portion, the upper annular limiting portion and the upper cylindrical portion extend in opposite directions, the brake assembly and the bracket are supported on the same side of the upper fixing portion, the brake assembly is radially limited on an inner side of the upper annular limiting portion in a radial direction of the output shaft, and the bracket is radially limited on an outer side of the upper annular limiting portion.

16. The joint module of claim 15, wherein an inner support surface of the upper fixing portion for supporting the brake assembly is closer to the upper bearing than an outer support surface of the upper fixing portion for supporting the bracket in an axial direction of the output shaft.

17. The joint module of claim 15, comprising an encoder assembly disposed on a side of the brake assembly facing away from the drive assembly, the encoder assembly comprising an encoder disc coupled to the output shaft and a read head coupled to the carrier, the read head cooperating with the encoder disc to detect at least one of rotational speed and angular position of the output shaft.

18. The joint module of claim 17, wherein the drive assembly includes an adapter coupled to the output shaft, the friction plate is disposed on the adapter, an outer profile of the adapter and an inner profile of the friction plate are matched and non-circular when viewed along an axial direction of the output shaft to allow the friction plate to rotate with the adapter and to move relative to the adapter along the axial direction of the output shaft, and the encoder disc is coupled to the adapter.

19. A robotic arm, comprising the joint module of any one of claims 1-18.

20. A robotic arm as claimed in claim 19, wherein the robotic arm is an industrial robotic arm.