WO2019140736A1 - 一种紧凑型机器人一体化关节模组及紧凑型机器人 - Google Patents

一种紧凑型机器人一体化关节模组及紧凑型机器人 Download PDF

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Publication number
WO2019140736A1
WO2019140736A1 PCT/CN2018/077325 CN2018077325W WO2019140736A1 WO 2019140736 A1 WO2019140736 A1 WO 2019140736A1 CN 2018077325 W CN2018077325 W CN 2018077325W WO 2019140736 A1 WO2019140736 A1 WO 2019140736A1
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WIPO (PCT)
Prior art keywords
photoelectric encoder
shaft
compact robot
joint module
fixed
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PCT/CN2018/077325
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English (en)
French (fr)
Inventor
王飞
于振中
丁亮
李鹭扬
王健
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合肥哈工联合精密传动有限公司
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Publication of WO2019140736A1 publication Critical patent/WO2019140736A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices

Definitions

  • the invention relates to the field of robot technology, and in particular relates to a compact robot integrated joint module and a compact robot.
  • Collaborative robot is an important direction for the development of robots and an important component of man-machine cooperation.
  • Collaborative robots are generally modular in design, and integrated joint modules are their most important modules.
  • the versatility, load-to-weight ratio and structural size of the integrated joint module greatly influence the performance and application fields of the cooperative robot.
  • the existing robot integrated joint module is usually composed of a harmonic reducer, a motor, a brake, a photoelectric encoder and a force sensor, which are simply connected in series, have a long axial dimension, and have limited load carrying capacity and dynamic performance.
  • the technical problem to be solved by the present invention is that the current integrated joint module has poor bearing capacity and dynamic performance, and the size is too long.
  • the present invention solves the above technical problems by the following technical solutions.
  • a compact robot integrated joint module comprising a single cycloidal pinwheel reducer, a housing, a shaft, an electromagnetic actuator, a moving pin, an integrated circuit module, an end cover, a cable sleeve, a claw brake disc, Cable, photoelectric encoder read head, photoelectric encoder disk, motor stator and motor rotor;
  • the single cycloidal pinwheel reducer is fixed at the front end of the housing, the motor stator is fixed in the housing, the motor rotor is fixedly connected with the shaft, and the front end of the shaft is fixedly connected with the input end of the single cycloidal pinwheel reducer, the shaft
  • the rear end is fixedly connected to the photoelectric encoder disk and the brake device, and the photoelectric encoder read head is fixed inside the casing and opposite to the position of the photoelectric encoder disk, and the end cover is fixed at the rear end of the casing.
  • the single cycloidal pinwheel reducer has a hollow structure.
  • the utility model further comprises a cable protection sleeve, wherein the single cycloidal pinwheel reducer is a hollow structure, and the cable protection sleeve runs through the single cycloidal pin wheel reducer, the shaft and the end cover from the front to the rear, and the cable protection The front end of the sleeve is fixedly connected to the single cycloidal pin wheel reducer, and the rear end is connected to the end cover.
  • the brake device comprises an electromagnetic actuator, a moving pin and a claw brake disc, the claw brake disc is fixed at the rear end of the shaft, behind the photoelectric encoder disc, and the electromagnetic actuator is fixed on the end cover.
  • the moving pin is disposed on the electromagnetic actuator and moves axially under the action of the electromagnetic actuator.
  • the claw brake disc is uniformly distributed with a ring of convex teeth along the axial direction, and the movable pin is inserted into the convex axis along the axis. Tooth or retract.
  • the method further includes an integrated circuit module fixed on the end cover and respectively connected to the motor stator, the electromagnetic actuator and the photoelectric encoder disk, and the cable can pass through the through hole in the end cover, and Pass under the housing.
  • the photoelectric encoder disk and the claw brake disk are of a unitary structure.
  • the integrated circuit module includes a motor drive module, a feedback signal acquisition module, a current monitoring module, and a temperature monitoring module.
  • the motor drive module is coupled to the motor stator, and the feedback signal acquisition module is coupled to the photoelectric encoder read head.
  • the single cycloidal pinwheel reducer is fixed to the front end of the housing by screws.
  • the front end of the single cycloidal pinwheel reducer is provided with a threaded hole.
  • a compact robot including a compact robot integrated joint module that mounts an integrated joint module to a joint portion of a compact robot.
  • the invention has the advantages that: 1.
  • the single cycloidal pin wheel reducer is used to reduce the axial dimension of the joint module, and the bearing capacity and rigidity of the joint module are improved; the output end of the single cycloidal pinwheel reducer is directly used as The output of the integrated joint module;
  • the single cycloidal pinwheel reducer has a hollow structure for easy routing
  • the cable protection sleeve runs through the single cycloidal pin wheel reducer, shaft and end cover to protect the cable passing through the central hole of the integrated joint module;
  • the electromagnetic actuator moves the moving pin along its own axis; when the electromagnetic actuator eliminates the suction force, the moving pin protrudes and is caught between the protruding teeth of the claw brake, and the shaft and the motor rotor fixedly connected with the claw brake are restricted. Rotating motion, thereby playing the role of braking; when the electromagnetic actuator generates suction, the moving pin is retracted, disengages from the claw brake disc, and the shaft and the motor rotor move normally;
  • the integrated circuit module is used to drive and control the integrated joint
  • the electric encoder disk and the claw brake disc are made into an integrated structure; the photoelectric encoder read head and the electromagnetic actuator and the movable pin are integrated with the center of the joint module, and are symmetrically mounted, which simplifies the structure of the joint module. Shortened axial dimensions make the entire joint module more compact;
  • the front end of the single cycloidal pinwheel reducer is provided with a threaded hole for connecting the load
  • the compact robot integrated joint module has the advantages of high integration, small volume, large load-to-weight ratio, good rigidity, hollow structure and collision detection, which makes the design, installation, use and maintenance of the robot more convenient.
  • FIG. 1 is a cross-sectional view of a compact robot integrated joint module in accordance with an embodiment of the present invention.
  • FIG. 2 is a schematic exploded view of a compact robot integrated joint module according to an embodiment of the present invention.
  • a compact robot integrated joint module of the present invention includes a single cycloidal pinwheel reducer 1, a housing 2, a shaft 3, an electromagnetic actuator 4, a movable pin 5, and an integrated circuit module. 6. End cover 7, cable protector 8, claw brake disc 9, cable 10, photoelectric encoder read head 11, photoelectric encoder disk 12, motor stator 13 and motor rotor 14;
  • the single cycloidal pinwheel reducer 1, the shaft 3, the photoelectric encoder disk 12, the motor stator 13 and the motor rotor 14 are coaxial;
  • the single cycloidal pinwheel reducer 1 is fixed to the front end of the casing 2, the motor stator 13 is fixed in the casing 2, the motor rotor 14 is fixedly connected with the shaft 3, and the front end of the shaft 3 and the single cycloidal pin wheel are decelerated.
  • the input end of the device 1 is fixedly connected, and the rear end of the shaft 3 is fixedly connected to the photoelectric encoder disk 12 and the brake device in sequence.
  • the photoelectric encoder read head 11 is fixed on the inner side of the casing 2 and is opposite to the position of the photoelectric encoder disk 12.
  • the end cover 7 is fixed to the rear end of the casing 2;
  • the use of a single cycloidal pinwheel reducer reduces the axial dimension of the joint module and improves the bearing capacity and rigidity of the joint module; the output end of the single cycloidal pinwheel reducer directly serves as the output of the integrated joint module.
  • Embodiment 1 the difference from Embodiment 1 is that, further, a cable protector 8 is provided.
  • the single cycloidal pinwheel reducer 1 has a hollow structure, and the cable protector 8 is accessed. After that, it runs through the single cycloidal pinwheel reducer 1, the shaft 3 and the end cover 7, and is located inside the pendulum pin wheel reducer 1, the shaft 3 and the end cover 7, and the front end of the cable protection sleeve 8 and the pendulum line
  • the pin wheel reducer 1 is fixedly connected, and the rear end is connected with the end cover 7.
  • the signal line and the power line can be inserted from the front end into the cable protection sleeve 8 for the routing arrangement, and the line passing through the central hole of the integrated joint module can be protected. cable.
  • the brake device comprises an electromagnetic actuator 4, a moving pin 5 and a claw brake disc 9, and the claw brake disc is fixed to the shaft 3.
  • the rear end is located behind the photoelectric encoder disk 12, the electromagnetic actuator 4 is fixed on the inner side of the housing 2 on the end cover 7, and the movable pin 5 is disposed on the electromagnetic actuator 4, and is driven by the electromagnetic actuator 4
  • the claw brake disc 9 is uniformly distributed with a ring of convex teeth on the circumference of the claw disc, and the movable pin 5 is inserted into the convex tooth or retracted along the axis.
  • the electromagnetic actuator 4 moves the movable pin 5 in its own axis direction; when the electromagnetic actuator 4 eliminates the suction force, the movable pin 5 protrudes and is caught between the convex teeth of the claw brake 9, restricting the shaft fixedly connected with the claw brake 9. 3 and the rotational movement of the motor rotor 14 to function as a brake; when the electromagnetic actuator 4 generates suction, the movable pin 5 is retracted, disengaged from the claw brake disc 9, and the shaft 3 and the motor rotor 14 move normally.
  • Embodiment 3 the difference from Embodiment 3 is that, further, an integrated circuit module 6 is further fixed on the end cover 7, respectively, and the motor stator 13 and the electromagnetic actuator 4 It is connected to the photoelectric encoder disk 12 for driving and controlling the integrated joint.
  • the cable 10 can pass through the through hole in the end cover 7 and pass out from under the housing 2.
  • the difference from Embodiment 4 is that, further, the photoelectric encoder disk 12 and the claw brake disk 9 are of an integrated structure, and the photoelectric encoder disk 12 and the claw brake disk 9 are made.
  • the integrated structure; the photoelectric encoder read head 11 and the electromagnetic actuator 4, the movable pin 5 are symmetrically mounted with respect to the center of the integrated joint module, simplifying the structure of the joint module, shortening the axial dimension, and making the entire joint mold The group is more compact.
  • the difference from Embodiment 5 is that, further, the integrated circuit module 6 includes a motor drive module, a feedback signal acquisition module, a current monitoring module, and a temperature monitoring module, and the motor drive module and the motor stator 13
  • the feedback signal acquisition module is connected to the photoelectric encoder read head 11
  • the current monitoring module is used to monitor the current information of the integrated circuit
  • the temperature monitoring module is used to monitor the temperature information inside the shutdown module.
  • Embodiment 6 the difference from Embodiment 6 is that, further, the single cycloidal pinwheel reducer 1 is fixed to the front end of the casing 2 by screws, thereby improving the stability of the connection.
  • Embodiment 7 the difference from Embodiment 7 is that, further, the front end of the single cycloidal pinwheel reducer 1 is provided with a threaded hole for connecting a load.
  • the compact robot integrated joint module has the advantages of high integration, small volume, large load-to-weight ratio, good rigidity, hollow structure and collision detection, which makes the design, installation, use and maintenance of the robot more convenient.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

一种紧凑型机器人一体化关节模组及紧凑型机器人，包括单摆线针轮减速器（1）、壳体（2）、轴（3）、电磁作动器（4）、动销（5）、集成电路模块（6）、端盖（7）、线缆保护套（8）、爪式制动盘（9）、线缆（10）、光电编码器读头（11）、光电编码盘（12）、电机定子（13）和电机转子（14）；单摆线针轮减速器（1）固定在壳体（2）的前端，电机定子（13）固定在壳体（2）内，电机转子（14）与轴（3）固定连接，轴（3）的前端与单摆线针轮减速器（1）的输入端固定连接，轴（3）的后端依次与光电编码盘（12）和刹车装置固定连接，光电编码器读头（11）固定于壳体（2）内部，并与光电编码盘（12）位置相对，端盖固定在壳体（2）的后端。

Description

一种紧凑型机器人一体化关节模组及紧凑型机器人 技术领域
本发明涉及机器人技术领域，具体涉及一种紧凑型机器人一体化关节模组及紧凑型机器人。
背景技术
协作机器人是机器人发展的一个重要方向，是人机协同工作的重要组成。协作机器人一般采用模块化设计，一体化关节模组是其最重要的模块。一体化关节模组的通用性、负载自重比和结构尺寸，极大地影响着协作机器人的性能和应用领域。
现有机器人一体化关节模组通常由谐波减速器、电机、制动器、光电编码器和力传感器简单串联组成，其轴向尺寸较长，且承载能力和动态性能受限。
发明内容
本发明所要解决的技术问题在于目前一体化关节模组承载能力和动态性能差，尺寸过长。
本发明是通过以下技术方案解决上述技术问题的。
一种紧凑型机器人一体化关节模组，包括单摆线针轮减速器、壳体、轴、电磁作动器、动销、集成电路模块、端盖、线缆保护套、爪式制动盘、线缆、光电编码器读头、光电编码盘、电机定子和电机转子；
所述单摆线针轮减速器、轴、光电编码盘、电机定子和电机转子同轴线；
所述单摆线针轮减速器固定在壳体的前端，所述电机定子固定在壳体内，电机转子与轴固定连接，轴的前端与单摆线针轮减速器的输入端固定连接，轴 的后端依次与光电编码盘和刹车装置固定连接，光电编码器读头固定于壳体内部，并与光电编码盘位置相对，所述端盖固定在壳体的后端。
进一步的，所述单摆线针轮减速器为中空结构。
进一步的，还包括线缆保护套，所述单摆线针轮减速器为中空结构，所述线缆保护套从前往后依次贯穿单摆线针轮减速器、轴和端盖，线缆保护套的前端与单摆线针轮减速器固定连接，后端与端盖连接。
进一步的，所述刹车装置包括电磁作动器、动销和爪式制动盘，爪式制动盘固定在轴的后端，位于光电编码盘的后方，电磁作动器固定在端盖上位于壳体的内侧，动销设置在电磁作动器上，并在电磁作动器带动下沿轴向运动，爪式制动盘圆周上沿轴线方向均布一圈凸齿，动销沿轴线运动插入凸齿或缩回。
进一步的，还包括集成电路模块，所述集成电路模块固定在端盖上，分别与电机定子、电磁作动器和光电编码盘连接，线缆可从端盖上的通孔穿过，并从壳体下方穿出。
进一步的，所述光电编码盘和爪式制动盘为一体式结构。
进一步的，所述集成电路模块包括电机驱动模块、反馈信号采集模块、电流监控模块和温度监控模块，电机驱动模块与电机定子连接，反馈信号采集模块与光电编码器读头连接。
进一步的，所述单摆线针轮减速器通过螺钉固定在壳体的前端。
进一步的，所述单摆线针轮减速器的前端设置有螺纹孔。
一种包括紧凑型机器人一体化关节模组的紧凑型机器人，将一体化关节模组设置于紧凑型机器人的关节部位。
本发明的优点在于：1、采用单摆线针轮减速器，缩小了关节模组的轴向尺 寸，提高了关节模组的承载能力和刚性；单摆线针轮减速器的输出端直接作为一体化关节模组的输出；
2、单摆线针轮减速器为中空结构，便于走线；
3、线缆保护套贯穿单摆线针轮减速器、轴和端盖，可以保护通过一体化关节模组中心孔的线缆；
4、电磁作动器使动销沿其自身轴线方向运动；电磁作动器消除吸力时，动销伸出，卡在爪式制动器的凸齿间，限制与爪式制动器固定连接的轴和电机转子的旋转运动，从而起到刹车的作用；电磁作动器产生吸力时，动销缩回，与爪式制动盘脱离接触，轴和电机转子正常运动；
5、集成电路模块用于驱动和控制一体化关节；
6、将电编码盘和爪式制动盘做成一体式结构；光电编码器读头和电磁作动器、动销相对一体化关节模组的中心，对称安装，简化了关节模组的结构，缩短了轴向尺寸，使得整个关节模组更为紧凑；
7、单摆线针轮减速器的前端设置有螺纹孔，用以连接负载；
本发明一种紧凑型机器人一体化关节模组集成度高、体积小、负载自重比大、刚性好、中空结构、碰撞检测，使机器人的设计、安装、使用和维护更为简便。
附图说明
图1为本发明实施例中一种紧凑型机器人一体化关节模组的剖视图。
图2为本发明实施例中一种紧凑型机器人一体化关节模组的爆炸结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例1
结合附图1和图2，本发明一种紧凑型机器人一体化关节模组，包括单摆线针轮减速器1、壳体2、轴3、电磁作动器4、动销5、集成电路模块6、端盖7、线缆保护套8、爪式制动盘9、线缆10、光电编码器读头11、光电编码盘12、电机定子13和电机转子14；
所述单摆线针轮减速器1、轴3、光电编码盘12、电机定子13和电机转子14同轴线；
所述单摆线针轮减速器1固定在壳体2的前端，所述电机定子13固定在壳体2内，电机转子14与轴3固定连接，轴3的前端与单摆线针轮减速器1的输入端固定连接，轴3的后端依次与光电编码盘12和刹车装置固定连接，光电编码器读头11固定于壳体2内部后侧，并与光电编码盘12位置相对，所述端盖7固定在壳体2的后端；
采用单摆线针轮减速器，缩小了关节模组的轴向尺寸，提高了关节模组的承载能力和刚性；单摆线针轮减速器的输出端直接作为一体化关节模组的输出。
实施例2
结合附图1和图2，与实施例1的区别在于，进一步的，还包括线缆保护套 8，所述单摆线针轮减速器1为中空结构，所述线缆保护套8从前往后依次贯穿单摆线针轮减速器1、轴3和端盖7，并位于单摆线针轮减速器1、轴3和端盖7的内部，线缆保护套8的前端与单摆线针轮减速器1固定连接，后端与端盖7连接，信号线和电源线可从前端从线缆保护套8内穿入进行走线布置，可保护通过一体化关节模组中心孔的线缆。
实施例3
结合附图1和图2，与实施例2的区别在于，进一步的，所述刹车装置包括电磁作动器4、动销5和爪式制动盘9，爪式制动盘固定在轴3的后端，位于光电编码盘12的后方，电磁作动器4固定在端盖7上位于壳体2的内侧，动销5设置在电磁作动器4上，并在电磁作动器4带动下沿轴向运动，爪式制动盘9圆周上沿轴线方向均布一圈凸齿，动销5沿轴线运动插入凸齿或缩回。
电磁作动器4使动销5沿其自身轴线方向运动；电磁作动器4消除吸力时，动销5伸出，卡在爪式制动器9的凸齿间，限制与爪式制动器9固定连接的轴3和电机转子14的旋转运动，从而起到刹车的作用；电磁作动器4产生吸力时，动销5缩回，与爪式制动盘9脱离接触，轴3和电机转子14正常运动。
实施例4
结合附图1和图2，与实施例3的区别在于，进一步的，还包括集成电路模块6，所述集成电路模块6固定在端盖7上，分别与电机定子13、电磁作动器4和光电编码盘12连接，用于驱动和控制一体化关节。线缆10可从端盖7上的通孔穿过，并从壳体2下方穿出。
实施例5
结合附图1和图2，与实施例4的区别在于，进一步的，所述光电编码盘12和爪式制动盘9为一体式结构，将光电编码盘12和爪式制动盘9做成一体式结构；光电编码器读头11和电磁作动器4、动销5相对一体化关节模组的中心，对称安装，简化了关节模组的结构，缩短了轴向尺寸，使得整个关节模组更为紧凑。
实施例6
结合附图1和图2，与实施例5的区别在于，进一步的，所述集成电路模块6包括电机驱动模块、反馈信号采集模块、电流监控模块和温度监控模块，电机驱动模块与电机定子13连接，反馈信号采集模块与光电编码器读头11连接，电流监控模块用于监控集成电路的电流信息，温度监控模块用于监控关机模组内部的温度信息。
实施例7
结合附图1和图2，与实施例6的区别在于，进一步的，所述单摆线针轮减速器1通过螺钉固定在壳体2的前端，提高连接的稳定性。
实施例8
结合附图1和图2，与实施例7的区别在于，进一步的，所述单摆线针轮减速器1的前端设置有螺纹孔，用以连接负载。
本发明一种紧凑型机器人一体化关节模组集成度高、体积小、负载自重比大、刚性好、中空结构、碰撞检测，使机器人的设计、安装、使用和维护更为简便。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (10)

  1. 一种紧凑型机器人一体化关节模组，其特征在于，包括单摆线针轮减速器(1)、壳体(2)、轴(3)、电磁作动器(4)、动销(5)、集成电路模块(6)、端盖(7)、线缆保护套(8)、爪式制动盘(9)、线缆(10)、光电编码器读头(11)、光电编码盘(12)、电机定子(13)和电机转子(14)；
    所述单摆线针轮减速器(1)、轴(3)、光电编码盘(12)、电机定子(13)和电机转子(14)同轴线；
    所述单摆线针轮减速器(1)固定在壳体(2)的前端，所述电机定子(13)固定在壳体(2)内，电机转子(14)与轴(3)固定连接，轴(3)的前端与单摆线针轮减速器(1)的输入端固定连接，轴(3)的后端依次与光电编码盘(12)和刹车装置固定连接，光电编码器读头(11)固定于壳体(2)内部，并与光电编码盘(12)位置相对，所述端盖(7)固定在壳体(2)的后端。
  2. 根据权利要求1所述的一种紧凑型机器人一体化关节模组，其特征在于，所述单摆线针轮减速器(1)为中空结构。
  3. 根据权利要求2所述的一种紧凑型机器人一体化关节模组，其特征在于，还包括线缆保护套(8)，所述单摆线针轮减速器(1)为中空结构，所述线缆保护套(8)从前往后依次贯穿单摆线针轮减速器(1)、轴(3)和端盖(7)，线缆保护套(8)的前端与单摆线针轮减速器(1)固定连接，后端与端盖(7)连接。
  4. 根据权利要求1-3所述的一种紧凑型机器人一体化关节模组，其特征在于，所述刹车装置包括电磁作动器(4)、动销(5)和爪式制动盘(9)，爪式制动盘固定在轴(3)的后端，位于光电编码盘(12)的后方，电磁作动器(4)固定在端盖(7)上位于壳体(2)的内侧，动销(5)设置在电磁作动器(4) 上，并在电磁作动器(4)带动下沿轴向运动，爪式制动盘(9)圆周上沿轴线方向均布一圈凸齿，动销(5)沿轴线运动插入凸齿或缩回。
  5. 根据权利要求4所述的一种紧凑型机器人一体化关节模组，其特征在于，还包括集成电路模块(6)，所述集成电路模块(6)固定在端盖(7)上，分别与电机定子(13)、电磁作动器(4)和光电编码盘(12)连接。线缆(10)可从端盖(7)上的通孔穿过，并从壳体(2)下方穿出。。
  6. 根据权利要求4所述的一种紧凑型机器人一体化关节模组，其特征在于，所述光电编码盘(12)和爪式制动盘(9)为一体式结构。
  7. 根据权利要求5所述的一种紧凑型机器人一体化关节模组，其特征在于，所述集成电路模块(6)包括电机驱动模块、反馈信号采集模块、电流监控模块和温度监控模块，电机驱动模块与电机定子(13)连接，反馈信号采集模块与光电编码器读头(11)连接。
  8. 根据权利要求1-3和5-7任一项所述的一种紧凑型机器人一体化关节模组，其特征在于，所述单摆线针轮减速器(1)通过螺钉固定在壳体(2)的前端。
  9. 根据权利要求1-3和5-7任一项所述的一种紧凑型机器人一体化关节模组，其特征在于，所述单摆线针轮减速器(1)的前端设置有螺纹孔。
  10. 一种包括如权利要求1-9任一项所述的一种紧凑型机器人一体化关节模组的紧凑型机器人，其特征在于，将一体化关节模组设置于紧凑型机器人的关节部位。
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