CN219726298U - Code wheel mounting structure, joint module and robot thereof - Google Patents

Abstract

The embodiment of the utility model belongs to the technical field of encoder installation, and relates to a code wheel installation structure, which comprises the following components: a code wheel shaft and a single point support; the code wheel shaft axially comprises a first end, a second end, a first supporting position and a second supporting position, wherein the first supporting position and the second supporting position are positioned at preset positions of the code wheel shaft; the first end is used for being fixedly connected with the code disc coaxially; the first supporting position corresponds to the first end of the hollow shaft; the first end is concentrically supported between the first support position and the hollow shaft through the support piece; the second end is concentrically supported with the output part of the joint module at a second supporting position and is fixedly connected with the output part of the joint module; the axes corresponding to the first supporting position and the second supporting position of the joint module are coaxial with the axis of the joint module output part. The utility model also relates to a joint module/robot. The technical scheme provided by the utility model can improve the mounting precision of the code disc of the encoder.

Description

Code wheel mounting structure, joint module and robot thereof

Technical Field

The utility model relates to the technical field of encoder installation, in particular to a code wheel installation structure, a joint module and a robot thereof.

Background

In general, the code disc runout error of a precision encoder (such as an optical encoder, a magnetic encoder, a capacitive encoder and an inductive encoder) has a great influence on the precision, so that the installation precision of the code disc is required to be high.

In the prior art, in order to achieve the above purpose or to separate the output flange from the code wheel shaft, the code wheel shaft is fixed on the output flange by an axial screw, but the problem of runout precision caused by cantilever support is not fundamentally solved; or a single bearing support is added at one end between the encoder reading head at the load end and the code disc, and the other end is fixedly connected with an output flange shaft of the cantilever structure, but the coaxiality of the fixedly connected end is difficult to ensure due to the cantilever structure at the other end of the flange disc, so that the measurement precision of the encoder cannot be ensured.

Disclosure of Invention

Based on the above, the embodiment of the utility model provides a code wheel mounting structure, a joint module and a robot thereof, so as to improve the mounting precision of the code wheel of an encoder.

In a first aspect, an embodiment of the present utility model provides a code wheel mounting structure, which adopts the following technical scheme:

a code wheel axle mounting structure for install code wheel in joint module, include: a code wheel shaft and a support; the code wheel shaft comprises a first end, a second end and a first supporting position and a second supporting position which are positioned at preset positions of the code wheel shaft along the axial direction;

the first end is used for being fixedly connected with the code disc coaxially; wherein the first end is the end far away from the output part of the joint module;

the first supporting position corresponds to the first end of the hollow shaft; the first end of the hollow shaft is one end of the hollow shaft far away from the output part of the joint module; the first end is concentrically supported by the support between the first support location and the hollow shaft;

the second support position corresponds to the output part of the joint module; the second end penetrates through the hollow shaft of the joint module, is concentrically supported with the output part of the joint module at the second supporting position and is fixedly connected with the output part of the joint module;

the axes corresponding to the first supporting position and the second supporting position which are arranged on the joint module are coaxial with the axis of the joint module output part.

Further, an installation hole is formed in the center of one side, corresponding to the second end, of the output part of the joint module along the axial direction; the second end is concentrically supported with the output part of the joint module at the second supporting position by the following structure:

the second end is in clearance fit with the mounting hole at the second support location.

Further, an installation hole is formed in the center of one side, corresponding to the second end, of the output part of the joint module along the axial direction; the second end is fixedly connected with the output part of the joint module through the following structure:

the second end is embedded into the mounting hole and fixedly connected with the mounting hole through a fixing piece.

Further, the fixing piece is glue, the outer wall of the second end of the code wheel shaft is inwards recessed to form a groove corresponding to the mounting hole, and the glue is contained in the groove.

Further, an installation hole is formed in the center of one side, corresponding to the second end, of the output part of the joint module along the axial direction; the second end is concentrically supported with the output part of the joint module at the second supporting position, and is fixedly connected with the output part of the joint module through the following structure:

the second end is embedded into the mounting hole and fixedly connected with the mounting hole in an interference fit mode.

Further, the support is a single point support.

Further, the single-point support is a deep groove ball bearing, a sliding bearing, a self-aligning roller bearing or an angular contact bearing.

In a second aspect, an embodiment of the present utility model provides a joint module, including: a joint module body, an output part and an encoder; the encoder includes: a read head, a code wheel and a code wheel mounting structure of any of the above.

Further, the code wheel includes: a code wheel body and a code wheel shaft sleeve;

the code disc body is coaxially and fixedly connected with the first end of the code disc shaft through the code disc shaft sleeve.

In a third aspect, embodiments of the present utility model provide a robot comprising a joint module as described in any one of the above.

Compared with the prior art, the embodiment of the utility model has the following main beneficial effects:

the embodiment of the utility model adopts a split flange plate and code wheel shaft structure, two ends of the code wheel shaft are respectively supported by a first supporting position and a second supporting position, wherein the first end is concentrically supported with a hollow shaft of the joint module through a single-point supporting piece at the first supporting position, the second end is concentrically supported with an output part of the joint module at the second supporting position, and the second end is fixedly connected with the output part of the joint module. Through two-point support location, can confirm the position of axis, make the axis that corresponds in first supporting position and second supporting position of joint module and joint module output through the predesigned and install to ensure that the first end and the second end of code wheel axle are coaxial, follow-up with the coaxial fixed connection of first end of code wheel and code wheel axle, thereby improved the coaxial installation's of code wheel precision, and then improved the measurement accuracy of encoder.

Drawings

In order to more clearly illustrate the solution of the present utility model, a brief description will be given below of the drawings required for the description of the embodiments, it being apparent that the drawings in the following description are some embodiments of the present utility model and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an overall cross-sectional structure of an embodiment of a code wheel of the present utility model after being mounted on a joint module by a code wheel mounting structure;

fig. 2 is a schematic partial sectional view of an embodiment of the second end of the code wheel of the present utility model fixed to the flange by a fixing member.

Reference numerals: 10 code wheel mounting structure, 20 code wheel, 30 joint module, 11 code wheel axle, 12 support piece, 13 second supporting position, 14 mounting, 21 code wheel body, 22 code wheel axle sleeve, 31 ring flange, 32 hollow axle, 111 first end, 112 second end, 311 mounting hole, 312 flange output, 0 central axis.

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model; the terms "comprising" and "having" and any variations thereof in the description of the utility model and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the utility model. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In order to make the person skilled in the art better understand the solution of the present utility model, the technical solution of the embodiment of the present utility model will be clearly and completely described below with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is a schematic overall cross-sectional structure of an embodiment of the code wheel of the present utility model after being mounted on a joint module by a mounting structure.

The present utility model provides a code wheel shaft mounting structure 10 for mounting a code wheel 20 to a joint module 30. The code wheel mounting structure 10 includes: a code wheel shaft 11 and a support 12.

In one embodiment, the joint module 30 may include: a motor, a speed reducer (omitted from the figure), a flange 31, and the like. The output end of the motor is fixedly connected with the flange plate through a speed reducer so as to transmit the torque output by the motor to the flange plate and output the torque through the flange plate.

A hollow portion is formed in the joint module 30 in the axial center direction, and a hollow shaft 32 is mounted in the hollow portion.

The code wheel shaft 11 includes a first end 111, a second end 112, and a first support position and a second support position 13 at preset positions of the code wheel shaft in the axial direction.

A first end 111 for fixedly connecting to the code wheel 20; the first end 111 is an end far away from the output portion 31 of the joint module 30.

Illustratively, a flange 31 of the joint module 30 may be used as the output of the joint module 30, the flange including, in the axial direction: the code wheel shaft mounting end (namely, one side of the flange corresponding to the code wheel shaft) and the flange output end 312 are connected with the outside through the flange output end 312. For easy understanding, the following description will further explain the embodiment of the present utility model by taking the flange 31 as an example of the output portion 31 of the joint module.

It should be noted that, the encoder generally includes a reading head (omitted from the drawing) and a code wheel 20 disposed in parallel with each other along an axial direction, the code wheel 20 is rotatably disposed relative to the reading head, and when the code wheel 20 rotates along with a flange 31 at an output end, the reading head continuously collects scale information at a corresponding position of the code wheel 20, so that the data related to the joint motion is obtained through analysis.

Specifically, the encoder may be various encoders now existing or developed in the future, such as: magnetic encoder, grating encoder.

The first supporting position of the code wheel shaft 11 corresponds to the first end 111 of the hollow shaft 32 of the joint module 30; the first end 111 of the hollow shaft 32 is an end of the hollow shaft 32 away from the output portion 31 of the joint module 20; the first end 111 is supported concentrically between the first support location and the hollow shaft by the support 12.

The second support position corresponds to the output part 31 of the joint module; the second end 112 passes through the hollow shaft 32 of the joint module 30, is concentrically supported with the output portion 31 of the joint module at a second supporting position, and is fixedly connected with the output portion 31 of the joint module.

The axes corresponding to the first support position and the second support position are coaxial with the axis of the joint module output part so as to ensure that the first end and the second end of the code wheel shaft are coaxial.

It should be noted that, the axes corresponding to the first support position and the second support position are coaxial with the axis of the output portion of the joint module, which does not necessarily mean complete superposition, and may be set to be coaxial within a certain preset tolerance requirement.

Specifically, through the predesigned, through controlling the form and position tolerance of the support piece and the like and the form and position tolerance dimension chain after being assembled to the joint module, the axiality of the axis formed by the two support positions and the axis of the output flange is ensured to be within a preset requirement range.

The embodiment of the utility model adopts a split type flange plate and code wheel shaft structure, two ends of the code wheel shaft are respectively supported by a first supporting position and a second supporting position, wherein the first end is concentrically supported with a hollow shaft of the joint module through a supporting piece at the first supporting position, the second end is concentrically supported with an output part of the joint module at the second supporting position, and the second end is fixedly connected with the output part of the joint module. Through two-point support location, can confirm the position of axis, make the axis that corresponds in first supporting position and second supporting position of joint module and joint module output through the predesigned and install to ensure that the first end and the second end of code wheel axle are coaxial, follow-up with the coaxial fixed connection of first end of code wheel and code wheel axle, thereby improved the coaxial installation's of code wheel precision, and then improved the measurement accuracy of encoder.

In addition, the coaxiality of the two ends of the code wheel shaft can be ensured only by ensuring the concentricity of the two support positions, and the form and position tolerance of the support piece and the fixing piece which are respectively arranged at the two positions and the form and position tolerance dimension chain after being assembled to the joint module can be controlled through pre-design, so that the design process is simple, the processing cost is low, and the code wheel mounting structure has the advantages of simple processing process and low cost.

In one embodiment, the support 12 is a single-point positioning support 12, and the single-point support 12 supports the first end 111 concentric with the hollow shaft 32 of the joint module in a single-point positioning manner with respect to the hollow shaft 32 and the code wheel shaft 11.

In terms of positioning principle, the single-point positioning may refer to limiting, by the positioning element, a degree of freedom of the positioned element in a translational direction in a coordinate system, that is, a degree of freedom of radial displacement of the code wheel shaft is limited, and three degrees of freedom of rotation are not limited, for example: the short cylindrical surface of the deep groove ball bearing provides two single point positioning, limits the displacement freedom in two radial directions, and the movement in the axial direction and the three rotation directions is not limited.

It should be noted that, the single-point support may employ various existing or future developed structural members as required, for example: deep groove ball bearings, sliding bearings, self-aligning roller bearings or angular contact bearings.

In a preferred embodiment, the single point support is a deep groove ball bearing.

According to the embodiment of the utility model, the deep groove ball bearing is adopted as the single-point support, and the inclination angle of the axial line can be finely adjusted, so that more accurate fine adjustment and positioning can be conveniently realized through the bearing, and the coaxiality of the mounted code wheel is higher; in addition, the bearing also has the advantages of bearing the high-speed rotation of the joint module shaft, sealing and dustproof effects, low cost and the like.

Through adopting the mode of single-point location to support, when guaranteeing that code wheel axle and cavity axle are concentric to be supported, can adjust the other positions that are not restricted the degree of freedom of support piece as required in whole assembly process in a flexible way for whole assembly process is more smooth.

In one embodiment, the mounting hole 311 is formed at the center of the output portion 31 of the joint module 30 corresponding to the second end 112 along the axial direction; the above-mentioned "the second end is concentrically supported with the output portion 31 of the joint module 30 at the second support position 13" can be achieved by, but is not limited to, the following structure:

the second end 112 of the code wheel shaft 11 is clearance fit with the mounting hole 311 at the second support location 13 to achieve concentric support.

Through making the second end in second supporting position and mounting hole clearance fit, can realize concentric support in single-point location's mode, the radial displacement degree of freedom of code wheel axle is restricted promptly, so when guaranteeing that code wheel axle and cavity axle are concentric to be supported, the other positions that are not restricted the degree of freedom of adjustment support piece that can be nimble as required in whole assembly process to make whole assembly process more smooth.

In one embodiment, the mounting hole 311 is formed at the center of the output portion 31 of the joint module 30 corresponding to the second end 112 along the axial direction; the "second end 112 is fixedly connected to the output portion 31 of the joint module 30" may be implemented by, but not limited to, the following structure:

in one embodiment, the second end 112 of the code wheel shaft 11 may be inserted into the mounting hole 311 and fixedly coupled to the mounting hole 311 by the fixing member 14.

The code wheel shaft 11 is fixedly connected with the flange plate through the fixing piece 14, and the output flange plate 31 of the joint module 30 can drive the code wheel shaft 20 to synchronously rotate so as to transmit torque to the code wheel shaft 20.

Specifically, the fixing member may be glue, spline, etc. various structures which are now available or developed in the future and can be used for fixing connection.

It can be appreciated that the clearance fit between the second supporting position and the mounting hole in the above embodiment is used to realize concentric supporting, and can be combined with the mode of fixedly connecting the second supporting position and the mounting hole by the fixing piece in the embodiment, so that the dual purposes of concentric supporting and fixedly connecting are realized more conveniently and accurately. In addition, the purpose of the fixed connection and the concentric support can be realized by the fixing piece in advance through design.

The form and position tolerance of the support piece and the fixing piece which are respectively arranged at the first support position and the second support position and the form and position tolerance dimension chain after the support piece and the fixing piece are assembled to the joint module are controlled, so that the coaxiality of the axis formed by the two support positions and the axis of the output flange is ensured to be within a preset requirement range.

Fig. 2 is a schematic partial sectional view of an embodiment of the second end of the code wheel of the present utility model fastened to the flange by a fastener.

Further, in a preferred embodiment, the securing member 14 is glue 14. The outer wall of the second end 112 of the code wheel shaft 11 is recessed inwards to form a groove (the groove can be just positioned at the second supporting position, or can be arranged in parallel with the second supporting position along the axial direction at the second end embedded into the mounting hole), liquid glue is injected into the groove, and after the glue is solidified, the fixed connection between the code wheel shaft and the flange is completed.

According to the embodiment of the utility model, the groove is formed inwards on the outer wall of the second end of the code disc shaft, the adhesive is injected into the groove to finish the fixed connection of the code disc shaft and the flange, and the contact surface of the second end of the code disc shaft and the connecting end of the flange can be subjected to more accurate adaptive design according to the requirement of the utility model, so that after the second end of the code disc shaft injected with the adhesive is embedded into the connecting end of the flange, the position fine adjustment can be conveniently performed based on certain elasticity before the adhesive is solidified, and the fixed connection of the code disc shaft and the flange can be realized after the adhesive is solidified, thereby being more convenient and accurate to realize the fixed connection.

Further, in one implementation, the second supporting position 13 is in clearance fit with the mounting hole 311, and by matching with the glue 14 injected into the groove, the purpose of concentric supporting and fixing connection can be better achieved.

In one embodiment, the mounting hole 311 is formed at the center of the output portion 31 of the joint module 30 corresponding to the second end 112 along the axial direction; the second end 112 is concentrically supported by the output portion 31 of the joint module 30 at the second supporting position 13 and is fixedly connected to the output portion 31 of the joint module 30, which may be implemented by, but not limited to, the following structures:

in one embodiment, the second end 112 of the code wheel shaft 11 is embedded in the mounting hole 311, and is interference fit with the mounting hole 311 at the second support location 13.

Through above-mentioned interference fit's mode, can realize fixed connection and concentric support in step for the assembly process is simpler.

Further, in one embodiment, a spherical structure may be disposed at the second supporting location to achieve an interference fit between the second end and the output flange, and ensure concentric support.

It can be appreciated that the clearance fit between the second support position and the mounting hole described in the above embodiment to realize concentric support can be combined with the interference fit manner described in the present embodiment, so that the dual purposes of concentric support and fixed connection can be realized more conveniently and accurately.

Based on the mounting structure of the code wheel described in the above embodiment, the embodiment of the present utility model further provides a joint module, where the joint module includes the mounting structure of the code wheel described in the above embodiment.

As further shown in fig. 1, in one implementation, the joint module 30 includes a joint module body, an output 31, and an encoder.

The encoder includes: a read head, a code wheel 20 and a code wheel mounting structure 10.

The read head and code wheel 20 are axially parallel and relatively rotatably disposed.

The code wheel 20 is fixedly connected coaxially with the first end 111 of the code wheel shaft 11.

In one embodiment, the code wheel 20 generally includes: a code wheel body 22 (e.g., a disk with a grating) and a code wheel sleeve 21. In one embodiment, specifically, the center of the code wheel body 21 is fixed to the code wheel shaft sleeve 22, and the code wheel body is fixed to the first end 111 of the code wheel shaft 11 through the code wheel shaft sleeve 22, so as to realize coaxial and fixed connection between the code wheel 20 and the first end 111 of the code wheel shaft 11.

The embodiment of the utility model adopts a split flange plate and code wheel shaft structure, two ends of the code wheel shaft are respectively supported by a first supporting position and a second supporting position, wherein the first end is concentrically supported with a hollow shaft of the joint module through a single-point supporting piece at the first supporting position, the second end is concentrically supported with an output part of the joint module at the second supporting position, and the second end is fixedly connected with the output part of the joint module. Through two-point support location, can confirm the position of axis, make the axis that corresponds in first supporting position and second supporting position of joint module and joint module output through the predesigned and install to ensure that the first end and the second end of code wheel axle are coaxial, follow-up with the coaxial fixed connection of first end of code wheel and code wheel axle, thereby improved the coaxial installation's of code wheel precision, and then improved the measurement accuracy of encoder, consequently can improve the control accuracy of joint module.

In addition, the coaxiality of the two ends of the code wheel shaft can be ensured only by ensuring the concentricity of the two support positions, and the form and position tolerance of the support piece and the fixing piece which are respectively arranged at the two positions and the form and position tolerance dimension chain after being assembled to the joint module can be controlled through pre-design, so that the design process is simple, the processing cost is low, and the code wheel mounting structure has the advantages of simple processing process and low cost, and therefore, the processing process of the joint module can be simplified, and the cost is further reduced.

Based on the joint module set described in the above embodiment, the embodiment of the present utility model further provides a robot including the joint module set described in the above embodiment. The robot may comprise a joint module or a plurality of joint modules connected in parallel and/or in series for driving the joint.

The robot may be a humanoid robot or a mechanical arm. The robot may be a robot applied to various fields of industrial processing, service, medical/nursing, and the like.

The embodiment of the utility model adopts a split flange plate and code wheel shaft structure, two ends of the code wheel shaft are respectively supported by a first supporting position and a second supporting position, wherein the first end is concentrically supported with a hollow shaft of the joint module through a single-point supporting piece at the first supporting position, the second end is concentrically supported with an output part of the joint module at the second supporting position, and the second end is fixedly connected with the output part of the joint module. Through two-point support location, can confirm the position of axis, make the axis that corresponds in first supporting position and the second supporting position of joint module and joint module output's axis coaxial through the predesigned make to ensure that the first end and the second end of code wheel axle are coaxial, follow-up with the coaxial fixed connection of first end of code wheel and code wheel axle, thereby improved the coaxial installation's of code wheel precision, and then improved the measurement accuracy of encoder, consequently can improve the control accuracy of joint module, and finally improve the control accuracy of robot.

In addition, the coaxiality of the two ends of the code wheel shaft can be ensured only by ensuring the concentricity of the two support positions, the form and position tolerance of the support piece and the fixing piece which are respectively arranged at the two positions and the form and position tolerance dimension chain after the code wheel is assembled to the joint module can be controlled through pre-design, the design process is simple, the processing cost is low, and the code wheel mounting structure has the advantages of simple processing process and low cost, so that the processing process of the joint module can be simplified, the cost can be further reduced, and the processing process and the cost of the joint module can be finally reduced.

It is apparent that the above-described embodiments are only some embodiments of the present utility model, but not all embodiments, and the preferred embodiments of the present utility model are shown in the drawings, which do not limit the scope of the patent claims. This utility model may be embodied in many different forms, but rather, embodiments are provided in order to provide a thorough and complete understanding of the present disclosure. Although the utility model has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing description, or equivalents may be substituted for elements thereof. All equivalent structures made by the content of the specification and the drawings of the utility model are directly or indirectly applied to other related technical fields, and are also within the scope of the utility model.

Claims (10)

1. A code wheel mounting structure for install code wheel in joint module, its characterized in that includes: a code wheel shaft and a support; the code wheel shaft comprises a first end, a second end and a first supporting position and a second supporting position which are positioned at preset positions of the code wheel shaft along the axial direction;

the first end is used for being fixedly connected with the code disc coaxially; wherein the first end is the end far away from the output part of the joint module;

the first supporting position corresponds to the first end of the hollow shaft; the first end of the hollow shaft is one end of the hollow shaft far away from the output part of the joint module; the first end is concentrically supported by the support between the first support location and the hollow shaft;

the second support position corresponds to the output part of the joint module; the second end penetrates through the hollow shaft of the joint module, is concentrically supported with the output part of the joint module at the second supporting position and is fixedly connected with the output part of the joint module;

the axes corresponding to the first supporting position and the second supporting position which are arranged on the joint module are coaxial with the axis of the joint module output part.

2. The code wheel mounting structure according to claim 1, wherein a mounting hole is formed at a center of one side of the output portion of the joint module corresponding to the second end in an axial direction; the second end is concentrically supported with the output part of the joint module at the second supporting position by the following structure:

the second end is in clearance fit with the mounting hole at the second support location.

3. The code wheel mounting structure according to claim 1, wherein a mounting hole is formed at a center of one side of the output portion of the joint module corresponding to the second end in an axial direction; the second end is fixedly connected with the output part of the joint module through the following structure:

the second end is embedded into the mounting hole and fixedly connected with the mounting hole through a fixing piece.

4. The code wheel mounting structure of claim 3, wherein the fixing member is glue, an outer wall of the second end of the code wheel shaft is recessed inwards corresponding to the mounting hole to form a groove, and the glue is accommodated in the groove.

5. The code wheel mounting structure according to claim 1, wherein a mounting hole is formed at a center of one side of the output portion of the joint module corresponding to the second end in an axial direction; the second end is concentrically supported with the output part of the joint module at the second supporting position, and is fixedly connected with the output part of the joint module through the following structure:

the second end is embedded into the mounting hole and fixedly connected with the mounting hole in an interference fit mode.

6. The code wheel mounting structure of claim 1 or 2, wherein the support is a single point support.

7. The code wheel mounting structure of claim 6, wherein the single point support is a deep groove ball bearing, a slide bearing, a self-aligning roller bearing, or an angular contact bearing.

8. A joint module, the joint module comprising: a joint module body, an output part and an encoder; the encoder includes: a read head, a code wheel and a code wheel mounting structure as claimed in any one of claims 1 to 7.

9. The joint module of claim 8, wherein the code wheel comprises: a code wheel body and a code wheel shaft sleeve;

the code disc body is coaxially and fixedly connected with the first end of the code disc shaft through the code disc shaft sleeve.

10. A robot, characterized in that: the robot comprising the joint module of claim 8 or 9.