WO2024036807A1

WO2024036807A1 - Robot joint module and robot

Info

Publication number: WO2024036807A1
Application number: PCT/CN2022/135375
Authority: WO
Inventors: 叶磊; 丁振; 任少雄; 王邵玉
Original assignee: 库卡机器人(广东)有限公司; 库卡机器人制造（上海）有限公司
Priority date: 2022-08-15
Filing date: 2022-11-30
Publication date: 2024-02-22
Also published as: CN115042221B; CN115042221A

Abstract

A robot joint module (100) and a robot (200). The robot joint module (100) comprises: a joint main body (10), which is used for mounting an electric motor; an output shaft (20); a drive control assembly (30); a mounting post (50); and a protective member (70). The joint main body (10) is provided with a wire harness channel (121) for laying a cable therein; the output shaft (20) penetrates the joint main body (10); the drive control assembly (30) is arranged in parallel with the joint main body (10) in an axial direction of the output shaft (20), and is arranged opposite and at an interval with an end surface of the joint main body (10) in the axial direction of the output shaft (20); the mounting post (50) is supported between the drive control assembly (30) and the joint main body (10), such that a mounting space is formed between the drive control assembly (30) and the joint main body (10); and the protective member (70) is fixedly arranged in the mounting space (16), and the protective member (70) is provided with a wiring cavity (72), the wiring cavity (72) penetrating two opposite ends of the protective member (70) and being in communication with the wire harness channel (121). In the robot joint module (100), an outgoing wire and a protective wire are disposed between the drive control assembly (30) and the joint main body (10), such that the axial size of the robot joint module (100) is shortened.

Description

Robot joint modules and robots

Cross-references to related applications

This application claims priority from Chinese application No. 202210976177.X filed on August 15, 2022, the entire content of which is hereby incorporated by reference for all purposes.

Technical field

This application relates to the field of robot technology, and in particular to a robot joint module and a robot.

Background technique

At this stage, with the increasing progress and improvement of robot technology, collaborative robots, as a type of robot that is completely different in design and application concepts from traditional industrial robots, are widely used in automobile parts due to their human-machine safety. , metal processing and medical equipment, consumer catering, scientific research and education and many other fields, it has improved labor efficiency and improved consumer life patterns.

In the overall structural design of the joint module, we must first strictly ensure the reliability of the configuration of the joint shaft system components and the load-bearing capacity and support rigidity of the output end. The outlet position of the cables in the joint module is usually at its end. However, the cables drawn from the end often scratch against the rotating structure such as the casing when the joint module is running, causing damage to the cable. transmission.

Contents of the invention

This application provides a robot joint module, and this application also provides a robot with the above robot joint module.

In the first aspect, this application provides a robot joint module, including a joint body for installing a motor, an output shaft, a drive control component, a mounting support and a protective piece. The joint main body is provided with a harness channel for cable routing; the output shaft is passed through the joint main body; the drive control component and the joint main body are arranged side by side along the axial direction of the output shaft, and are relatively spaced apart from the end surface of the joint main body along the axial direction of the output shaft. ; The installation pillar is supported between the drive control component and the joint body, so that an installation space is formed between the drive control component and the joint body; the protection piece is fixedly installed in the installation space, and the protection piece is provided with a wiring cavity, and the wiring cavity passes through the protection piece The opposite ends of the cable are connected to the wiring harness channel.

In a second aspect, this application also provides a robot, including a body and the above-mentioned robot joint module. The robot joint module is connected to the body.

Compared with the prior art, in the robot joint module provided by this application, the installation pillar is supported between the drive control component and the joint body to form an installation space between the two. The cables of the robot joint module pass through the wiring harness channel and exit between the drive control component and the joint body. The protective piece is set in the installation space. The protective piece is provided with a wiring cavity connected to the wiring harness channel. The cables exit from the wiring harness channel and then extend out of the wiring cavity, so that they will not scratch the rotating structure. Therefore, Protective parts can effectively protect cables. The robot joint module provided by this application makes full use of the installation space between the drive control component and the joint body, greatly shortening the axial size of the robot joint module and reducing the volume space it occupies. The protective piece provides protection for the cable outlet in the joint body, reducing the possibility of the cable being worn.

Description of drawings

In order to explain the technical solution of the present application more clearly, the following will briefly introduce the drawings required for the implementation. Obviously, the drawings in the following description are only some implementations of the present application. For ordinary people in the art, For technical personnel, other drawings can also be obtained based on these drawings without exerting creative work.

Figure 1 is a module block diagram of a robot provided by an embodiment of the present application.

Figure 2 is a simplified schematic diagram of a robot joint module provided by an embodiment of the present application.

Figure 3 is a schematic cross-sectional structural diagram of the robot joint module shown in Figure 2.

Figure 4 is an enlarged view of area A in Figure 3.

FIG. 5 is a schematic perspective view of a partial structure of the robot joint module shown in FIG. 2 .

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

In the description of the present invention, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", vertical The orientations or positional relationships indicated by "straight", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. , rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be construed as a limitation of the present invention.

In the description of the present invention, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrally connected. It can be a mechanical connection or an electrical connection. It can be a direct connection or an indirect connection through an intermediate medium. It can be an internal connection between the two components. For those of ordinary skill in the art, it can The specific meanings of the above terms in the present invention will be understood in specific circumstances.

Please refer to FIG. 1 . An embodiment of the present application provides a robot joint module 100 . The robot joint module 100 is used in a robot 200 .

This specification does not limit the specific type of the robot 200. For example, the robot 200 can be an industrial robot or a collaborative robot. In this embodiment, the robot 200 is a collaborative robot. The robot 200 includes a body 201, an execution end 203 and a robot joint module 100. The robot joint module 100 is connected between the execution end 203 and the body 201, and is used to drive the execution end 203 to move relative to the body 201. In some embodiments, the robot 200 may include multiple execution ends 203. Correspondingly, the robot 200 also includes a robot joint module 100 corresponding to the multiple execution ends 203. Each execution end 203 passes through the corresponding robot joint. The module 100 is connected to the body 201.

Referring to FIG. 2 , the robot joint module 100 includes a joint body 10 , an output shaft 20 , a driving control component 30 and a protective member 70 . The output shaft 20 passes through the joint body 10 . The drive control assembly 30 and the joint body 10 are arranged side by side along the axial direction of the output shaft 20 . The protective member 70 is disposed between the joint body 10 and the drive control assembly 30 . In this embodiment, the cable outlet method of the robot joint module 100 is a middle outlet, that is, the cables of the robot joint module 100 are routed from between its multiple components. The protector 70 is used to protect the slave joint body 10 and the drive control assembly. The cables should be outlet between 30 and 30 degrees to reduce the possibility of cable damage.

Please refer to Figures 2 and 3 at the same time. The joint body 10 is used to install a motor. This specification does not limit the specific structure of the joint body 10. For example, the joint body 10 can include a braking component 15, a motor component 17, an output component 19, etc. The brake assembly 15 , the motor assembly 17 , and the output assembly 19 are arranged side by side in sequence along the axial direction of the output shaft 20 . In this embodiment, the brake assembly 15 includes a main body 12 and a fixed shell 14. The main body 12 is sleeved on the output shaft 20. A wire harness channel 121 for cable routing is provided in the main body 12. The wire harness channel 121 can be provided by the motor assembly 17. It extends to communicate with the outside world through the brake assembly 15; the fixed housing 14 is connected to the end of the main body 12 away from the motor assembly 17. The fixed housing 14 is sleeved on the output shaft 20, and its end surface away from the main body 12 is generally circular. The wire harness channel 121 penetrates the fixed shell 14 along the axial direction of the output shaft 20 and communicates with the outside world of the joint body 10 . The brake cables of the brake assembly 15 of the joint body 10 and the motor cable harness of the motor assembly 17 are routed through the wire harness channel 121 .

The output shaft 20 is used to drive the execution end 203 to move relative to the body 201 . In some embodiments, the output shaft 20 can be connected to the motor assembly 17 of the joint body 10 to rotate under the driving of the motor, thereby realizing the movement of part of the joints of the robot 200 .

The drive control assembly 30 is connected to the fixed shell 14 . The drive control assembly 30 includes a drive plate 32 and a mounting plate 34 . The driving plate 32 and the mounting plate 34 are both substantially disk-shaped. The driving plate 32 and the mounting plate 34 are relatively spaced apart along the axial direction of the output shaft 20 , and both are substantially coaxially disposed with the output shaft 20 . The mounting plate 34 is connected to The driving plate 32 faces one side of the joint body 10 . The drive control component 30 is used to cooperate with the magnetic ring of the encoder component of the robot joint module 100 to control the speed or/and rotation angle of the output shaft 20; for example, the mounting plate 34 can be provided with a detection reading head, and the detection reading head Opposite to the magnetic ring of the encoder assembly, it is used to read the rotational speed information or/and rotation angle information of the output shaft 20 fed back by the magnetic ring.

In this embodiment, the robot joint module 100 further includes a mounting pillar 50 , and the driving control assembly 30 is connected to the joint body 10 through the mounting pillar 50 . The installation pillar 50 is supported between the drive control assembly 30 and the joint body 10 so that an installation space 16 is formed between the drive control assembly 30 and the joint body 10 .

The mounting support 50 includes a connecting member 52 and a supporting member 54 . The connecting member 52 is connected to an end of the supporting member 54 close to the driving assembly 30 . The connecting member 52 and the supporting member 54 extend along the axial direction of the output shaft 20 .

The connecting piece 52 includes a resisting portion 521 and a first fixing portion 523 . The resisting portion 521 is connected between the first fixing portion 523 and the supporting member 54 . The first fixing part 523 passes through the driving plate 32 and is connected to one end of the resisting part 521 facing the driving plate 32 . The resisting portion 521 resists between the driving plate 32 and the mounting plate 34 so that the driving plate 32 and the mounting plate 34 are relatively spaced so as to leave an installation space for other components between the driving plate 32 and the mounting plate 34 . The resisting portion 521 resists between the driving plate 32 and the mounting plate 34, and can limit the distance between the driving plate 32 and the mounting plate 34. The gap can be adjusted by replacing the resisting portion 521 of different sizes; The size of the resisting portion 521 enables intervals of different sizes to facilitate the installation of components of different sizes between the driving plate 32 and the mounting plate 34, thereby improving the adaptability of the robot joint module 100.

In order to facilitate the replacement of the resisting portion 521 of different sizes, in this embodiment, the first fixing portion 523 is a bolt, and the first fixing portion 523 passes through one end of the driving plate 32 and is threadedly connected to the resisting portion 521 . One end of the resisting portion 521 away from the first fixing portion 523 is plug-fitted with the support member 54 through the first fitting column 5212 . The first fitting post 5212 is connected to an end of the resisting portion 521 away from the driving plate 32 . The cross-sectional area of the first fitting post 5212 is smaller than the cross-sectional area of the resisting portion 521 . The first fitting post 5212 is along the axis of the output shaft 20 Extending in the direction and penetrating the mounting plate 34 , the first matching post 5212 penetrates one end of the mounting plate 34 and is embedded in one end of the support member 54 .

In this embodiment, the support member 54 is substantially columnar, and the support member 54 extends along the length direction of the output shaft 20 and is substantially parallel to the output shaft 20 . One end of the support member 54 connected to the first matching column 5212 is pressed against the mounting plate 34 , and the other end is pressed against the fixed shell 14 so that the mounting plate 34 and the fixed shell 14 are relatively spaced apart to form the installation space 16 . The support member 54 resists between the mounting plate 34 and the fixed shell 14, and can limit the size of the installation space 16 between the mounting plate 34 and the fixed shell 14. The size of the installation space 16 can be changed to different sizes (axially along the output shaft 20 The size of the support 54 is adjusted; select the support 54 of different sizes to realize the installation space 16 of different sizes, so as to facilitate the installation of components of different sizes in the installation space, for example, different sizes or different types of encoder assemblies. .

In order to facilitate the replacement of support members 54 of different sizes, in this embodiment, the end of the support member 54 away from the connecting member 52 is provided with a second matching column 541 , and the cross-sectional area of the second matching column 541 is smaller than the cross-section of the supporting member 54 area, the second matching pillar 541 is embedded in the fixed shell 14 . The support member 54 and the connecting member 52 realize the two-stage installation of the drive control assembly 30 and the joint body 10, which not only improves the convenience of disassembly and assembly, but also improves the adaptability of the robot joint module 100.

This specification does not limit the number of mounting pillars 50 . There can be multiple mounting pillars 50 . In this embodiment, the number of mounting pillars 50 is three. The three mounting pillars 50 are roughly equally spaced along the circumferential direction of the driving plate 32 Arranged ground. The three installation pillars 50 improve the stability of the installation of the drive control assembly 30 and simultaneously improve the stability of the installation space 16 .

In some embodiments, the robot joint module 100 further includes an encoder assembly 40. The encoder assembly 40 is disposed in the installation space 16 and connected to the output shaft 20, and is used to cooperate with the drive control assembly 30 to control the movement of the output shaft 20. parameter. The encoder assembly 40 includes a mounting seat 42 and a magnetic ring 44 . The mounting seat 42 is sleeved on the output shaft 20 and is rotationally connected to the output shaft 20 . The mounting seat 42 is connected to the fixed housing 14 . Among them, the "rotation-proof connection" between the mounting seat 42 and the output shaft 20 should be understood as that the mounting seat 42 and the output shaft 20 are relatively fixed, and the mounting seat 42 can rotate with the rotation of the output shaft 20. The magnetic ring 44 is sleeved outside the mounting base 42 and is opposite to the mounting plate 34 to cooperate with the detection reading head on the mounting plate 34 to jointly control the rotation speed and rotation angle of the output shaft 20 .

Please refer to Figures 3 and 4 at the same time. In this embodiment, the protective member 70 is fixedly installed in the installation space 16. The protective member 70 is provided with a wiring cavity 72. The wiring cavity 72 penetrates the opposite ends of the protective member 70, and Connected to wire harness channel 121. The protective member 70 is disposed in the installation space 16, making full use of the installation space 16 between the drive control assembly 30 and the joint body 10, greatly shortening the axial size of the robot joint module 100, and reducing the volume space it occupies. The protective member 70 provides protection for the cables exiting the wire harness channel 121 , reduces the possibility of cable wear, and improves the stability of the robot joint module 100 .

Since the wire harness channel 121 penetrates the fixed shell 14 and forms an outlet at the fixed shell 14, in order to prevent the edge of the outlet on the fixed shell 14 from scratching the cables, in this embodiment, the robot joint module 100 also includes a wire protector 90. One end of the wire protection member 90 is fixedly arranged in the wire harness channel 121, and the other end is located in the installation space 16. The wire protection member 90 is provided with a wire passing channel 92, and the wire passing channel 92 penetrates the opposite ends of the wire protection member 90. The wire passing channel 92 allows the wiring harness channel 121 and the wiring cavity 72 to communicate with each other.

This specification does not limit the specific material of the cable protection member 90. For example, the cable protection member 90 can be made of flexible materials such as rubber or resin, thereby protecting the cable and reducing wear and tear. The wire protection part 90 includes a connection part 94 and a protection part 96 . The connection part 94 is embedded in the wire harness channel 121 . The protection part 96 is connected to one end of the connection part 94 and is located in the installation space 16 . The area of the side of the protective portion 96 facing the connecting portion 94 is larger than the area of the end surface of the connecting portion 94 facing the protective portion 96 . The side of the protective portion 96 facing the connecting portion 94 abuts against the surface of the fixed shell 14 , thereby blocking the upper surface of the fixed shell 14 . The opening of the wire harness channel 121 serves to protect the cable outlet.

In order to reduce the possibility of the encoder assembly 40 damaging the cables, the wire harness channel 121 is spaced apart from the output shaft 20 so that the cables can avoid the encoder assembly 40 when exiting. In this embodiment, the wire harness channel 121 is located at the edge of the joint body 10 close to the fixed shell 14. Since one end of the wire protecting member 90 is fixedly disposed in the wire harness channel 121, the wire protecting member 90 is disposed near the edge of the fixed shell 14. And the wire protecting member 90 and the encoder assembly 40 are arranged at intervals along the radial direction of the output shaft 20 .

In this embodiment, the protection member 70 includes a relief shell 74 and a lead-out shell 76 , and the relief shell 74 is connected between the lead-out shell 76 and the fixed shell 14 . Further, the protective member 70 may also include a second fixing part 7412 (as shown in FIG. 5 ), and the relief shell 74 is connected to the fixing shell 14 through the second fixing part 7412 , wherein the second fixing part 7412 may be fixed to the fixing part 7412 by bolts. Fixed shell 14.

In this embodiment, the displacement shell 74 has an opposite first end 741 and a second end 743. The first end 741 is connected to the fixed shell 14 through the second fixing part 7412, and at least part of the structure of the first end 741 is located in the protective position. between section 96 and encoder assembly 40. The second end 743 is connected to the lead-out housing 76 , and the second end 743 and the encoder assembly 40 are spaced apart along the radial direction of the output shaft 20 . The size of the first end 741 along the radial direction of the output shaft 20 is larger than the size of the second end 743 along the radial direction of the output shaft 20 so as to avoid the encoder assembly 40 in the axial direction of the output shaft 20 . The relief housing 74 is inclined relative to the output shaft 20. Specifically, the distance between the first end 741 and the output shaft 20 is smaller than the distance between the second end 743 and the output shaft 20. For example, the longitudinal direction of the relief housing 74 is The distance between the cross-sectional contour line and the output shaft 20 gradually increases along the direction from the first end 741 to the second end 743 . The second end 743 is covered by the protective portion 96 to protect the cables exiting from the protective portion 96 .

In this embodiment, the wiring cavity 72 is formed on the side of the protective member 70 facing away from the encoder assembly 40. The side of the protective member 70 facing away from the encoder assembly 40 has an open structure, so the wiring cavity 72 is an open cavity. , while effectively protecting the cable outlet, it also facilitates the layout of the cable. In other embodiments, the protective member 70 may be a pipe structure with only two ends open to provide more thorough protection for the cable outlet.

In this embodiment, the wiring cavity 72 includes a first protection space 745 formed in the relief shell 74 and a second protection space 761 formed in the lead-out shell 76. The first protection space 745 and the second protection space 761 are connected with each other. The relief housing 74 has an arcuate surface 744 facing the encoder assembly 40 (as shown in FIG. 5 ). The center of the arc cross section of the arcuate surface 744 falls on the side of the relief housing 74 away from the output shaft 20 . Specifically, In other words, the arcuate surface 744 may be the outer surface of the tapered relief shell 74 . The arcuate surface 744 surrounds at least part of the structure of the protective portion 96 , and a first protection space 745 is formed between the arcuate surface 744 and the fixed shell 14 . Among them, regarding the "arc-shaped surface 744 surrounding at least part of the structure of the protective part 96", the protective part 96 is generally in the form of a cubic structure with both ends penetrating. It can be understood that the protective part 96 has six sides, wherein the first side is connected to The other five sides of the fixed shell 14 are the second side opposite to the first side, the third side and the fourth side opposite to each other, the fifth side and the sixth side opposite to each other, the third side and the fifth side. The first side, the fourth side and the sixth side are connected end to end and jointly form the peripheral wall of the protection portion 96 . The third side may be the side where the protective portion 96 faces the encoder assembly 40 . The above "arc-shaped surface 744 is arranged around at least part of the structure of the protective part 96" can be understood to mean that the arc-shaped surface 744 is arranged around at least the third side of the protective part 96. In this embodiment, the arc-shaped surface 744 is arranged around the third side of the protective part 96. Outside the third side, the fifth side, the sixth side of the protection part 96 and the second side opposite to the fixed shell 14 (as shown in FIG. 5 ), a wide range of protection is provided for the cables flowing out of the protection part 96 , improving the safety of cable outlet.

One end of the lead-out shell 76 is integrally formed with the first end 741 of the displacement shell 74 , and the other end of the lead-out shell 76 extends to the drive control assembly 30 . In order to avoid the lead-out shell 76, the drive control assembly 30 is provided with a clearance gap 36 (as shown in FIG. 5). The relief notch 36 passes through the driving plate 32 and the mounting plate 34 along the axial direction of the output shaft 20 , and the relief notch 36 is located near the edges of the driving plate 32 and the mounting plate 34 . One end of the lead-out shell 76 away from the relief shell 74 is inserted into the relief gap 36 , and the lead-out shell 76 can be fixedly connected to the inner wall of the relief gap 36 . The clearance gap 36 can limit the installation position of the lead-out shell 76 and improve the installation stability of the lead-out shell 76 . In this embodiment, the derivation housing 76 is generally in an arch shape, and the derivation housing 76 is arched toward one side of the encoder assembly 40 to form a second protection space 761 on its side away from the encoder assembly 40 .

The robot joint module 100 may also include cables, which may include cables for other components such as the brake cable of the brake assembly 15 and the motor cable of the motor assembly 17 . One end of the cable is connected to its corresponding component, and the other end is first passed through the wire harness channel 121, then enters the first protective space 745 through the wire passing channel 92, and is finally exported from the second protective space 761 to complete the outlet.

The robot joint module 100 provided by the embodiment of the present application makes full use of the installation space 16 between the drive control assembly 30 and the joint body 10, and conducts the cable outlet of the robot joint module 100 in the installation space 16, and in the installation space 16 The internally installed protective member 70 is used to protect the cable, greatly shortening the axial size of the robot joint module 100 and reducing the volume space it occupies. The cable outlet path is from the wire harness channel 121 to the wire passing channel 92, then enters the first protective space 745, and finally leads out of the robot joint module 100 from the second protective space 761. The wire protection member 90 and the protection member 70 jointly provide protection for the cable outlet in the joint body 10, reducing the possibility of the cable being worn by the encoder assembly 40 and other components.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "an example," "specific examples," or "some examples" or the like means that specific features are described in connection with the embodiment or example. , structures, materials or features are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification unless they are inconsistent with each other.

In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but are not intended to limit it. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solution to deviate from the spirit and scope of the technical solution of each embodiment of the present application.

Claims

A robot joint module, which is characterized by including:

The joint body is used to install the motor, and the joint body is provided with a wiring harness channel for cable routing;

An output shaft passes through the main body of the joint;

The drive control assembly is arranged parallel to the joint body along the axial direction of the output shaft, and is arranged relatively spaced apart from the end surface of the joint body along the axial direction of the output shaft;

An installation pillar is supported between the drive control assembly and the joint body, so that an installation space is formed between the drive control assembly and the joint body; and a protective piece is fixedly provided in the installation space, the The protective piece is provided with a wiring cavity, and the wiring cavity penetrates the opposite ends of the protective piece and is connected with the wire harness channel.
The robot joint module according to claim 1, wherein the robot joint module further includes an encoder assembly, the encoder assembly is disposed in the installation space and connected to the output shaft; the wire harness The channel is spaced apart from the output shaft.
The robot joint module of claim 2, wherein the protective member and the encoder assembly are spaced apart along the radial direction of the output shaft, and the wiring cavity is formed when the protective member is away from the side of the encoder assembly.
The robot joint module according to claim 2, wherein the protective member includes a relief shell, the relief shell is connected to the joint body, and one end of the relief shell faces the joint body along an edge. The radial dimension of the output shaft is greater than the radial dimension of the other end of the output shaft to give way to the encoder assembly.
The robot joint module according to claim 4, wherein the wiring cavity includes a first protective space, the displacement housing has an arcuate surface facing the encoder assembly, and the arcuate surface is in contact with the encoder assembly. The first protective space is formed between the joint bodies.
The robot joint module according to claim 5, wherein the wiring cavity further includes a second protective space connected to the first protective space, the protective member further includes a lead-out shell, and the lead-out shell Connected to the side of the displacement housing away from the joint body, the lead-out housing is arched toward the side of the encoder assembly to form the second protective space on the side away from the encoder assembly.
The robot joint module according to claim 1, wherein the driving and control component is provided with a clearance gap that penetrates the drive and control component along the axis direction of the output shaft, and the protection The piece is inserted into the gap.
The robot joint module according to claim 1, characterized in that the robot joint module further includes a wire protection member, one end of the wire protection member is fixedly arranged in the wire harness channel, and the other end is located in the installation In the space, the protective member is fixedly connected to the wire protecting member; the wire protecting member is provided with a wire passage, and the wire routing cavity of the protective member is connected to the wire harness channel through the wire passing channel.
The robot joint module according to any one of claims 1 to 8, wherein the drive control assembly includes a mounting plate and a driving plate, and the mounting plate and the driving plate are along the axial direction of the output shaft. Arranged side by side; the mounting pillar includes a connecting piece and a supporting piece, the supporting piece is arranged between the joint body and the mounting plate, one end of the connecting piece is connected to the driving plate, and the other end is threaded through the The mounting plate is connected to the support member.
A robot is characterized by including:

The body; and the robot joint module according to any one of claims 1 to 9, the robot joint module being connected to the body.