CN217801795U - Compact robot joint module - Google Patents

Abstract

The utility model discloses a compact robot joint module, include the casing and arrange in harmonic speed reducer, cross roller bearing, output flange, center pin, motor, stopper, encoder, drive plate, transmission seat in the casing, harmonic speed reducer includes wave generator, flexbile gear and rigid gear, wave generator includes camshaft and flexible bearing, the flexbile gear is the position that the power take off end of cup-shaped flexbile gear and flexbile gear is close to its central through-hole at the bottom of the cup, the transmission seat is located the flexbile gear and suit outside the center pin, the transmission seat is connected with the power take off end of flexbile gear, the motor is external rotor motor, the central through-hole suit of motor through its stator is in outside the center pin, the motor is arranged in the central through-hole of camshaft and is located between the first end in transmission seat and the casing both ends, the rotor of motor and the interior wall connection of camshaft. The utility model discloses the structure is compacter, the volume is littleer, it is more convenient to use, and the noise is littleer, the cost is lower, has promoted flexibility and the convenience that the joint module used.

Description

Compact robot joint module

Technical Field

The utility model relates to a robot joint module especially relates to a compact robot joint module.

Background

The joint module for the robot mainly comprises an input shaft, an output shaft, a speed reducer, a motor, a brake, an encoder and a drive plate, wherein the well-established application form is that a hat-shaped harmonic speed reducer (a flexible gear of the hat-shaped harmonic speed reducer is hat-shaped and is also called as a hat-shaped harmonic speed reducer) is used as a base body for mounting other components, the input shaft and the output shaft are correspondingly connected with the hat-shaped harmonic speed reducer, then the motor, the brake, the encoder and the drive plate are mounted on the input shaft and the output shaft in the axial direction, the input shaft and the output shaft are usually coaxial hollow cylindrical shafts, the hollow structure is used for arranging circuits, the input shaft is arranged outside the output shaft, and the output shaft is longer than the input shaft, so that the encoder can be mounted, and the feedback of the rotating speed of the input shaft and the rotating speed of the output shaft by the encoder is realized.

The conventional robot joint module has the following defects: the inner space of the harmonic speed reducer is not utilized except that the inner space penetrates through the input shaft and the output shaft, and other components are connected with the harmonic speed reducer in the axial direction, so that the axial length of the joint module is long; the harmonic transmission part of the hat-shaped harmonic speed reducer moves and works in the crossed roller bearing, and the structure enables the crossed roller bearing to occupy a larger space in the radial direction, so that the radial size of the joint module is larger; the whole joint module is large in axial and radial sizes, so that the whole module is large in size; the input shaft and the output shaft are two concentric cylindrical shafts, which occupy the shaft hole wiring space of the joint module, while the output shaft on the inner side rotates to damage the arranged circuit, so that the passed circuit needs to be lubricated, a lubricating and sealing structure needs to be correspondingly added, and the installation and the disassembly are not facilitated; the input shaft and the output shaft are in cantilever beam structures, the input shaft and the output shaft are long in size, and meanwhile, a precise encoder needs to be installed, the input shaft and the output shaft are required to ensure extremely high coaxiality, axial runout and other precision during manufacturing and assembling, and the cost and delivery time are increased; the motor is exposed, the outer wall of the common motor is thin, the sound insulation is poor, and the noise of the motor is large during working.

In addition, the traditional robot joint module also has a structure of integrating components such as a motor, a brake, an encoder and the like on the basis of a planetary reducer, but the assembly mode of the traditional robot joint module is that all main components are axially stacked and integrally arranged, the characteristic of long axial length is presented, the radial size of the planetary reducer is large, and the volume of the whole module is also large.

At present, for small robots which are being increasingly applied around production lines and equipment, especially cooperative robots and mobile robots which need to cooperate with people to perform complicated operations, strict requirements are placed on small size and light weight, so that it becomes very important to reduce the size and mass of a robot joint module; the conventional robot joint module is increasingly difficult to meet the application requirement of miniaturization.

SUMMERY OF THE UTILITY MODEL

An object of the present invention is to provide a compact robot joint module having a significantly reduced size in order to solve the above problems.

The utility model discloses a following technical scheme realizes above-mentioned purpose:

the utility model provides a compact robot joint module, includes the casing and arranges in harmonic speed reducer, cross roller bearing, output flange, center pin, motor, stopper, encoder, drive plate in the casing, the harmonic speed reducer includes wave generator, flexbile gear and rigid gear, wave generator includes camshaft and flexible bearing, the flexible bearing suit is in outside the middle section of camshaft, the tooth end suit of flexbile gear is in outside the flexible bearing and be located in the rigid gear and with the rigid gear meshing is connected, the center pin is equipped with axial central through-hole, the center pin passes the center through-hole of camshaft the center through-hole of flexbile gear with the center through-hole of output flange, the power take off end of flexbile gear with output flange connection, the flexbile gear is for the flexbile gear just the power take off end of flexbile gear is close to its center through-hole position for the bottom, compact robot joint module still includes the transmission seat that is equipped with central through-hole, the transmission seat is located in the flexbile gear and suit outside the center shaft, the outer wall of outer rotor is close to the power take off end of flexbile gear and be connected with its cup drive seat, the motor is arranged in the inner wall of outer rotor, the motor is connected between the outer wall of the motor and the motor through-shaft between the first end connection of the motor inner wall of the motor, the motor inner wall of the motor and the first end of the motor, and the rotor of the motor is connected with the inner wall of the cam shaft.

Preferably, in order to avoid the brake and the drive plate occupying extra space to further reduce the volume of the whole module, the brake and the drive plate are respectively sleeved outside the central shaft through a central through hole of the brake and the drive plate and are located in the central through hole of the cam shaft, the brake and the drive plate are located between the motor and the first end of the housing, and the drive coil in the stator of the motor and the electromagnetic coil of the brake are respectively and correspondingly connected with the drive plate.

Preferably, in order to intensively mount each component of the brake in a space between a central through hole of a camshaft and a central shaft to reduce the whole module volume as much as possible, the brake is located between the motor and the driving plate, the brake includes a brake base, an armature, a pressure spring and a friction plate, the brake base is sleeved outside the central shaft through the central through hole of the brake base, the electromagnetic coil is mounted in the brake base, the central shaft passes through the central through hole of the armature and the central through hole of the friction plate, a position on the armature close to an inner edge is connected with the brake base and can move in a small axial distance of the central shaft, the pressure spring is mounted on the brake base and abuts against the armature to have a stress far away from the brake base, an outer peripheral edge of the friction plate is mounted on an inner wall of the camshaft and can move in a small axial distance of the central shaft and cannot rotate in a circumferential direction, and the friction plate is located in a gap between the brake base and the armature.

Preferably, in order to achieve the function of detecting the rotation speed of the encoder and reduce the occupied space of the encoder as much as possible, the transmission seat is connected with the power output end of the flexible gear, the encoder is located between the transmission seat and the motor, a coded disc of the encoder is installed on the transmission seat and close to the motor, an induction part of the encoder is sleeved outside the central shaft through a central through hole of the induction part and located between the coded disc and the motor, and the induction part of the encoder is correspondingly connected with the driving plate.

Preferably, in order to avoid that the rigid wheel occupies the radial space of the whole module to reduce the volume of the whole module as much as possible, the rigid wheel is arranged on the position, close to the first end, of the shell, the position is cut off, and two ends of the rigid wheel are respectively connected with two cut-off ends formed by cutting off.

As preferred, for the convenience of installing crossed roller bearing and connecting flexspline and output flange, the output flange is located the center pin with between the second in the casing both ends holds, compact robot joint module is still including the connecting seat that is equipped with central through-hole, the connecting seat is in the axial of center pin is located the output flange with between the power take off of flexspline, the connecting seat is in the radial of center pin is located the middle section of casing with between the center pin, the connecting seat simultaneously with the power take off of flexspline with output flange connects, crossed roller bearing is located the second of casing holds and is close to the position of second end and the output flange with the connecting seat encloses the space that forms.

Preferably, in order to reduce the radial dimension of the cross roller bearing to reduce the whole module volume as much as possible, the cross roller bearing is a bare bearing without an outer ring shell and an inner ring shell, the second end of the shell and a part of the connecting seat near the second end, which is connected with the cross roller bearing, form the outer ring shell of the cross roller bearing, and the output flange and a part of the connecting seat, which is connected with the cross roller bearing, form the inner ring shell of the cross roller bearing; or the outer ring shell and the inner ring shell of the crossed roller bearing are both ultrathin shells, the outer ring shell of the crossed roller bearing is connected with the second end of the shell and a position close to the second end at the same time, and the inner ring shell of the crossed roller bearing is connected with the output flange and the connecting seat at the same time.

Preferably, in order to securely connect the center shaft to the first end of the housing, one end of the center shaft is connected to the first end of the housing by a screw.

Preferably, an "O" ring is installed between an inner wall of the output flange and an outer wall of the central shaft in order to prevent leakage of the lubricating oil from a gap between the output flange and the central shaft.

Preferably, for the convenience of processing and assembling the housing and for mounting other components, the housing includes a cylindrical shell, a first end cap and a second end cap, the first end cap and the second end cap are respectively mounted at two ends of the cylindrical shell, and the first end cap is used as the first end of the housing and the second end cap is used as the second end of the housing. The shape and size of the first end cover and the second end cover are determined according to application requirements, and the functional requirements can be met.

The beneficial effects of the utility model reside in that:

the utility model discloses a design the flexbile gear of harmonic speed reducer machine for cup-shaped structure and utilize this cup-shaped inner chamber to hold parts such as camshaft, motor, the relation between parts such as motor and the harmonic speed reducer machine changes to radial connection from traditional axial connection, change traditional inner rotor motor into the external rotor motor in order to realize the drive, and unite two into one the shell of harmonic speed reducer machine and the casing of whole module, the radial dimension changes lessly (does not change or reduces partly or increase very little radial dimension) when showing the axial dimension that reduces whole joint module, thereby showing the volume that reduces whole joint module, and reduced whole weight; the traditional input shaft and the traditional output shaft are simplified into a fixed central shaft, so that the direct wiring in a central through hole of the central shaft is facilitated, the quick assembly and disassembly are facilitated, and the rotating speed detection precision is ensured without depending on the coaxiality of the input shaft and the output shaft, so that the processing precision requirement is reduced, and the production efficiency is facilitated to be improved; the motor is arranged in the whole harmonic reducer, so that the noise of the motor can be isolated, and the noise is reduced; overall speaking, compact robot joint module compares traditional joint module structure compacter, the volume is littleer, it is more convenient to use, and the noise is littleer, the cost is lower, has promoted flexibility and the convenience that the joint module used, is particularly useful for needs the cooperation people to accomplish miniaturized robots such as cooperation type robot and the mobile robot of complicated operation.

Drawings

Fig. 1 is a front cross-sectional view of the compact robot joint module of the present invention.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

as shown in fig. 1, the compact robot joint module of the present invention comprises a housing and a harmonic reducer, a crossed roller bearing 4, an output flange 2, a central shaft 23, a motor, a brake, an encoder, and a drive plate 20, which are arranged in the housing, wherein the harmonic reducer comprises a wave generator 17, a flexible wheel 7, and a rigid wheel 12, the wave generator 17 comprises a cam shaft 13 and a flexible bearing 15, the flexible bearing 15 is sleeved outside the middle section of the cam shaft 13, the tooth end (also power input end, right end in the figure) of the flexible wheel 7 is sleeved outside the flexible bearing 15 and is located in the rigid wheel 12 and is engaged with the rigid wheel 12, the central shaft 23 is provided with an axial central through hole 24, the central shaft 23 passes through the central through hole of the cam shaft 13, the central through hole of the flexible wheel 7, the central through hole of the crossed roller bearing 4, and the central through hole of the output flange 2, the power output end (left end in the figure) of the flexible wheel 7 is connected with the output flange 2, the flexible wheel 7 is a cup-shaped flexible wheel, the power output end of the flexible wheel 7 is a part of the cup bottom close to the central through hole of the cup bottom, the compact robot joint module further comprises a transmission seat 8 provided with the central through hole, the transmission seat 8 is positioned in the flexible wheel 7 and sleeved outside the central shaft 23, the transmission seat 8 is close to and connected with the power output end of the flexible wheel 7, the power output end of the flexible wheel 7 is positioned between the transmission seat 8 and the output flange 2, the outer wall of the first end (right end in the figure) of the two ends of the camshaft 13 is connected with the first end (right end in the figure) of the two ends of the shell, the inner wall of the second end (left end in the figure) of the two ends of the camshaft 13 is connected with the outer wall of the transmission seat 8, and the inner wall of the transmission seat 8 is connected with the outer wall of the central shaft 23 through ball bearings 9 (preferably deep groove ball bearings), the motor is an outer rotor motor, the motor is sleeved outside the central shaft 23 through a central through hole of a stator 22 of the motor, the motor is arranged in the central through hole of the cam shaft 13 and positioned between the transmission seat 8 and the first end cover 16, and a rotor 14 of the motor is connected with the inner wall of the cam shaft 13.

As shown in fig. 1, the utility model also discloses following multiple specific structure of optimizing more, can superpose the combination with following one or more structure with above-mentioned structure according to actual need and form more optimized technical scheme.

In order to avoid the extra space occupied by the brake and the drive plate 20 to further reduce the volume of the whole module, the brake and the drive plate 20 are respectively sleeved outside the central shaft 23 through a central through hole of the brake and the drive plate 20 and are positioned in the central through hole of the cam shaft 13, the brake and the drive plate 20 are positioned between the motor and the first end of the shell, and a drive coil (not shown in the figure) in a stator 22 of the motor and an electromagnetic coil (not shown in the figure) of the brake are respectively correspondingly connected with the drive plate 20.

In order to collectively mount the components of the brake in the space between the central through hole of the camshaft 13 and the central shaft 23 to minimize the overall module volume, the brake is positioned between the motor and the driving plate 20, the brake comprises a brake base 21, an armature 19, a pressure spring (not shown in the figure) and a friction plate 18, the brake base 21 is sleeved outside a central shaft 23 through a central through hole of the brake base, the electromagnetic coil is installed in the brake base 21, the central shaft 23 passes through the central through hole of the armature 19 and the central through hole of the friction plate 18, a position on the armature 19 close to the inner edge is connected with the brake base 21 (not shown in the figure, the connection structure is a conventional structure of the electromagnetic brake) and can move in an axial direction of the central shaft 23 by a small distance (the distance is determined by a stroke distance required for braking and brake release and is a conventional structure of the electromagnetic brake), a pressure spring (not shown in the figure) is installed on the brake base 21 and abuts against the armature 19 so as to have stress far away from the brake base 21 (the installation structure of the pressure spring is a conventional structure of the electromagnetic brake), the outer peripheral edge of the friction plate 18 is installed on the inner wall of the camshaft 13 and can move in the axial direction of the central shaft 23 and cannot rotate in a circumferential direction (the installation structure is not shown in the figure and can be realized by adopting a conventional structure in the prior art, for example, a groove is arranged on the inner wall of the camshaft 13, a blocking part is arranged in the groove, the outer edge of the friction plate 18 is arranged in the groove, a gap is arranged in the armature 19 between the brake base 21 and the armature 18.

In order to realize the function of detecting the rotating speed by the encoder and reduce the occupied space as much as possible, the driving seat 8 is connected with the power output end of the flexible gear 7, the encoder is positioned between the driving seat 8 and the motor, the coded disc 10 of the encoder is installed on the driving seat 8 and close to the motor, the sensing part 11 (also called as a reading head or a digital reading head) of the encoder is sleeved outside the central shaft 23 through a central through hole of the sensing part 11 and is positioned between the coded disc 10 and the motor, and the sensing part 11 of the encoder is correspondingly connected with the driving plate 20.

In order to avoid that the rigid wheel 12 occupies the radial space of the whole module to reduce the volume of the whole module as much as possible, the rigid wheel 12 is installed on the shell at a position close to the first end and the position is cut off and two ends of the rigid wheel 12 are respectively connected with two cut-off ends formed by cutting off.

In order to facilitate the installation of crossed roller bearing 4 and connect flexspline 7 and output flange 2, output flange 2 be located the center pin 23 with between the second in the casing both ends holds, compact robot joint module is still including the connecting seat 5 that is equipped with central through-hole, and connecting seat 5 is located between the power take off of output flange 2 and flexspline 7 at the axial of center pin 23, and connecting seat 5 is located radially of center pin 23 between the middle section and the center pin 23 of casing, connecting seat 5 is connected with the power take off and the output flange 2 of flexspline 7 simultaneously, and crossed roller bearing 4 is located the second of casing is held and is close to the position of second end and output flange 2 and connecting seat 5 and surround in the space that forms.

In order to reduce the radial dimension of the crossed roller bearing 4 so as to reduce the volume of the whole module as much as possible, the crossed roller bearing 4 is a bare bearing without an outer ring shell and an inner ring shell, the second end of the shell and the part, which is close to the second end, of the shell and is connected with the crossed roller bearing 4 form the outer ring shell of the crossed roller bearing 4, and the output flange 2 and the part, which is connected with the crossed roller bearing 4, of the connecting seat 5 form the inner ring shell of the crossed roller bearing 4; or, the outer ring shell and the inner ring shell of the crossed roller bearing 4 are both ultrathin shells, the outer ring shell of the crossed roller bearing 4 is connected with the second end of the shell and a position close to the second end at the same time, and the inner ring shell of the crossed roller bearing 4 is connected with the output flange 2 and the connecting seat 5 at the same time.

In order to securely connect the central shaft 23 to the first end of the housing, one end of the central shaft 23 is connected to the first end of the housing by means of a screw.

In order to prevent the lubricant from leaking out from the gap between the output flange 2 and the center shaft 23, an "O" seal ring 1 is installed between the inner wall of the output flange 2 and the outer wall of the center shaft 23.

In order to facilitate the processing and assembling of the housing and the installation of other components, the housing comprises a cylindrical shell 6, a first end cover 16 and a second end cover 3, wherein the first end cover 16 and the second end cover 3 are respectively installed at two ends of the cylindrical shell 6, and the first end cover 16 is used as a first end of the housing and the second end cover 3 is used as a second end of the housing.

As shown in fig. 1, when the device is applied, the output flange 2 is connected with a component which needs to control rotation, the drive plate 20 respectively controls the start and stop and the rotation speed of the motor, the brake and the release of the brake, and an actual rotation speed signal of the output flange 2 is obtained from the encoder; after the motor is started, a rotor 14 rotates around a stator 22, the rotor 14 drives a cam shaft 13 to synchronously rotate, the oval cam shaft 13 sequentially extrudes the gear ends of a flexible gear 7 on the internal teeth of a rigid gear 12 through a flexible bearing 15, the gear number of the flexible gear 7 is smaller than that of the rigid gear 12, generally 2 less gears are adopted, the cam shaft 13 rotates for a circle, the flexible gear 7 reversely rotates for an angle corresponding to two gears, so that the large-proportion speed reduction function of a harmonic speed reducer is realized, the flexible gear 7 drives an output flange 2 to synchronously rotate, and finally, a component needing to be controlled to rotate is driven to rotate; when braking is needed, the driving plate 20 gives a signal to enable the electromagnetic coil to be electrified to generate electromagnetic force, the armature 19 is attracted to move towards the direction close to the brake base 21 by the electromagnetic force, and the friction plate 18 is clamped tightly, so that the braking purpose is achieved; a coded disc 10 of the encoder synchronously rotates with the flexible gear 7 and the output flange 2 along with the transmission seat 8, an induction part 11 of the encoder transmits induction signals to a drive plate 20, and the drive plate 20 processes the signals to obtain rotating speed data, so that the actual rotating speed detection function of the output flange 2 is realized; the various wires required for the device pass through the central through hole 24 of the central shaft 23, and since the central shaft 23 is fixed against rotation, the wiring requirements are low and there is a larger wiring space compared to two concentric shafts.

The above-mentioned embodiment is only the preferred embodiment of the present invention, and is not to the limitation of the technical solution of the present invention, as long as the technical solution can be realized on the basis of the above-mentioned embodiment without creative work, all should be regarded as falling into the protection scope of the right of the present invention.

Claims (10)

1. The utility model provides a compact robot joint module, includes the casing and arranges in harmonic speed reducer, cross roller bearing, output flange, center pin, motor, stopper, encoder, drive plate in the casing, the harmonic speed reducer includes wave generator, flexbile gear and rigid gear, wave generator includes camshaft and flexible bearing, the flexible bearing suit is in outside the middle section of camshaft, the tooth end suit of flexbile gear is in outside the flexible bearing and be located in the rigid gear and with the rigid gear meshing is connected, the center pin is equipped with axial central through-hole, the center pin passes the center through-hole of camshaft the center through-hole of flexbile gear the center through-hole of cross roller bearing with the center through-hole of output flange, the power take off end of flexbile gear with output flange connects, its characterized in that: the flexible wheel is a cup-shaped flexible wheel, the power output end of the flexible wheel is a position, close to a central through hole, of a cup bottom, the compact robot joint module further comprises a transmission seat provided with the central through hole, the transmission seat is located in the flexible wheel and sleeved outside the central shaft, the transmission seat is close to the power output end of the flexible wheel and connected with the power output end of the flexible wheel, the power output end of the flexible wheel is located between the transmission seat and an output flange, the outer wall of the first end in two ends of the camshaft is connected with the first end in two ends of the shell, the inner wall of the second end in two ends of the camshaft is connected with the outer wall of the transmission seat, the inner wall of the transmission seat is connected with the outer wall of the central shaft through ball bearings, the motor is an outer rotor motor, the motor is sleeved outside the central through hole of a stator of the motor, the motor is arranged in the central through hole of the camshaft and located between the transmission seat and the first end cover, and a rotor of the motor is connected with the inner wall of the camshaft.

2. The compact robotic joint module of claim 1, wherein: the brake and the drive plate are sleeved outside the central shaft through a central through hole of the brake and the drive plate and are located in the central through hole of the cam shaft, the brake and the drive plate are located between the motor and the first end of the shell, and a drive coil in a stator of the motor and an electromagnetic coil of the brake are correspondingly connected with the drive plate respectively.

3. The compact robotic joint module of claim 2, wherein: the brake is located between the motor and the drive plate, the brake comprises a brake base, an armature, a pressure spring and a friction plate, the brake base is sleeved outside the central shaft through a central through hole of the brake base, the electromagnetic coil is installed in the brake base, the central shaft penetrates through the central through hole of the armature and the central through hole of the friction plate, the position, close to the inner edge, of the armature is connected with the brake base and can move in the axial direction of the central shaft at a small distance, the pressure spring is installed on the brake base and abuts against the armature to enable the armature to have stress far away from the brake base, the peripheral edge of the friction plate is installed on the inner wall of the camshaft and can move in the axial direction of the central shaft at a small distance and cannot rotate in the circumferential direction, and the friction plate is located in a gap between the brake base and the armature.

4. The compact robotic joint module of claim 2, wherein: the driving seat is connected with the power output end of the flexible gear, the encoder is located between the driving seat and the motor, the coded disc of the encoder is installed on the driving seat and close to the motor, the sensing part of the encoder is sleeved outside the central shaft through a central through hole of the sensing part and located between the coded disc and the motor, and the sensing part of the encoder is correspondingly connected with the driving plate.

5. The compact robotic joint module of any of claims 1-4, wherein: the rigid wheel is arranged at a position on the shell, which is close to the first end, the position is cut off, and two ends of the rigid wheel are respectively connected with two cut-off ends formed by cutting off.

6. The compact robotic joint module of any of claims 1-4, wherein: the output flange is located the center pin with between the second in the casing both ends is held, compact robot joint module is still including the connecting seat that is equipped with the central through-hole, the connecting seat is in the axial of center pin is located the output flange with between the power take off end of flexbile gear, the connecting seat is in the radial of center pin is located the middle section of casing with between the center pin, the connecting seat simultaneously with the power take off end of flexbile gear with output flange connects, alternately roller bearing is located the second of casing is held and is close to the position of second end and the output flange with the connecting seat surrounds in the space that forms.

7. The compact robotic joint module of claim 6, wherein: the cross roller bearing is a bare bearing without an outer ring shell and an inner ring shell, the outer ring shell of the cross roller bearing is formed by the second end of the shell and the part, which is close to the second end, connected with the cross roller bearing, and the inner ring shell of the cross roller bearing is formed by the output flange and the part, which is connected with the cross roller bearing, in the connecting seat; or the outer ring shell and the inner ring shell of the crossed roller bearing are both ultrathin shells, the outer ring shell of the crossed roller bearing is connected with the second end of the shell and a position close to the second end at the same time, and the inner ring shell of the crossed roller bearing is connected with the output flange and the connecting seat at the same time.

8. The compact robotic joint module of any of claims 1-4, wherein: one end of the central shaft is connected with the first end of the shell through a screw.

9. The compact robotic joint module of any of claims 1-4, wherein: an O-shaped sealing ring is arranged between the inner wall of the output flange and the outer wall of the central shaft.

10. The compact robotic joint module of any of claims 1-4, wherein: the shell comprises a cylindrical shell, a first end cover and a second end cover, wherein the first end cover and the second end cover are respectively arranged at two ends of the cylindrical shell, the first end cover serves as a first end of the shell, and the second end cover serves as a second end of the shell.

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