CN215149252U - Robot joint structure - Google Patents

Abstract

The utility model provides a robot joint structure. The robot joint structure includes: the motor assembly comprises a shell and a motor body arranged in the shell, the motor body comprises a stator arranged in the shell, a rotating shaft arranged in a rotating mode relative to the shell and a rotor assembly connected with the rotating shaft, and the rotor assembly is provided with an installation cavity; the speed reducer assembly comprises a supporting seat arranged on the shell and a speed reducer body arranged on the supporting seat, at least part of the speed reducer body is located in the mounting cavity, and the rotating shaft is connected with the speed reducer body. The technical scheme of the utility model the robot joint structure among the prior art has been solved and the great problem of axial dimensions that leads to joint structure because of its motor and speed reducer establish ties.

Description

Robot joint structure

Technical Field

The utility model relates to a technical field of robot particularly, relates to a robot joint structure.

Background

In the prior art, the motor assembly and the speed reducer assembly of the robot joint structure are generally connected in series, and the whole speed reducer assembly is located outside the motor assembly, so that the axial length of the robot joint structure is increased, the axial structure of the robot joint structure is dispersed, and the size of the robot joint structure is large.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a joint structure of a robot to solve the problem that the joint structure of a robot in the prior art is large in axial dimension due to the series connection of a motor and a speed reducer.

In order to achieve the above object, an embodiment of the present invention provides a robot joint structure, including: the motor assembly comprises a shell and a motor body arranged in the shell, the motor body comprises a stator arranged in the shell, a rotating shaft arranged in a rotating mode relative to the shell and a rotor assembly connected with the rotating shaft, and the rotor assembly is provided with an installation cavity; the speed reducer assembly comprises a supporting seat arranged on the shell and a speed reducer body arranged on the supporting seat, at least part of the speed reducer body is located in the mounting cavity, and the rotating shaft is connected with the speed reducer body.

Further, the rotor subassembly includes first flange and rotor, and the rotor is connected with the pivot through first flange, and first flange has the mounting hole, and the pivot is located the mounting hole, and the internal face of mounting hole encloses into the installation cavity.

Further, the rotor is located outside the first flange and connected to an outer wall surface of the first flange.

Further, the speed reducer body includes: the rigid wheel is arranged on the supporting seat, and at least part of the rigid wheel is positioned in the mounting hole; the flexible gear assembly is rotatably arranged relative to the rigid gear, at least part of the flexible gear assembly is located in the mounting hole, the flexible gear assembly comprises a wave generator connected with the rotating shaft and a flexible gear arranged on the periphery of the wave generator, and one end, far away from the rigid gear, of the flexible gear forms an output end.

Further, the supporting seat comprises a first supporting section, a second supporting section connected with the first supporting section and a mounting through hole penetrating through the first supporting section and the second supporting section, one end of the first supporting section extends into the mounting hole and is connected with the rigid wheel, and the second supporting section is connected with the shell.

Further, the robot joint structure further includes: a first support member; the outer ring of the first bearing is connected with the first supporting piece, the inner ring of the first bearing is arranged on the periphery of the rotating shaft, and the rigid wheel of the supporting seat and/or the speed reducer body is connected with the first supporting piece.

Further, the robot joint structure further includes: the second supporting piece is positioned in the flexible gear; the second bearing is arranged on the periphery of the second supporting piece, the inner ring of the second bearing is connected with the second supporting piece, and the outer ring of the second bearing is connected with the flexible gear.

Further, the robot joint structure still includes the mounting of being connected with the flexbile gear, and the inside of at least one end of mounting stretches into the flexbile gear, and the mounting has the first mounting groove with the outer lane matched with of second bearing.

Further, the robot joint structure further comprises a torque sensor connected with the output end.

Furthermore, the robot joint mechanism also comprises a crossed roller bearing, the crossed roller bearing comprises an inner ring and an outer ring which is rotatably arranged relative to the inner ring, the inner ring is connected with the torque sensor, and the outer ring is connected with the supporting seat.

Furthermore, the robot joint structure also comprises a flexible gear output shaft arranged between the flexible gear and the torque sensor, one end of the flexible gear output shaft is connected with the flexible gear, and the other end of the flexible gear output shaft is connected with the torque sensor.

Further, the robot joint structure still includes the third bearing, and the flexbile gear output shaft is including the first shaft section and the second shaft section that are connected, and wherein, the external diameter of first shaft section is greater than the external diameter of second shaft section, and first shaft section has the second mounting groove, and the at least part of output is located the second mounting groove, and the inner circle of third bearing and the outer wall butt of first shaft section, the outer lane of third bearing and the internal face butt of the installation through-hole of supporting seat.

Use the technical scheme of the utility model, rotor subassembly that has the installation cavity through the setting to set up the at least part of speed reducer body in the installation cavity, like this, can make the at least part of speed reducer body be located motor element, thereby reduced the axial length of the overall structure after motor element and the connection of speed reducer subassembly, and then made the axial length of robot joint structure reduce.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a cross-sectional view of a robot joint structure of an embodiment of the present invention;

FIG. 2 shows a close-up view of the robotic joint mechanism of FIG. 1; and

fig. 3 shows an exploded schematic structure diagram of a robot joint structure according to an embodiment of the present invention.

Wherein the figures include the following reference numerals:

10. a motor assembly; 11. a housing; 12. a rotating shaft; 121. a third mounting groove; 13. a rotor assembly; 131. a first flange; 132. a rotor; 133. mounting holes; 14. a stator; 20. a reducer assembly; 21. a supporting seat; 211. a first support section; 212. a second support section; 213. mounting a through hole; 22. a rigid wheel; 23. a wave generator; 24. a flexible gear; 30. a first support member; 31. a first bearing; 32. a second support member; 33. a second bearing; 34. a fixing member; 35. a first mounting groove; 36. a third bearing; 40. a torque sensor; 50. a crossed roller bearing; 60. a flexible gear output shaft; 61. a first shaft section; 62. a second shaft section; 63. a second mounting groove; 70. an angle detection device; 71. a substrate; 72. a magnetic member; 73. a drive plate; 80. an end cap; 92. a second flange; 93. a third flange; 94. and a fourth flange.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In the present invention and the embodiments of the present invention, the axial direction refers to the direction of the central axis of the rotating shaft 12 of the motor assembly 10. The robot joint structure further comprises a power supply connected with the motor assembly 10, and the speed reducer assembly 20 is connected with part of the motor assembly 10 to ensure that the motor assembly and the speed reducer assembly 20 can work normally.

As shown in fig. 1 to 3, an embodiment of the present invention provides a robot joint structure. The robot joint structure includes a motor assembly 10 and a reducer assembly 20. The motor assembly 10 comprises a housing 11 and a motor body arranged in the housing 11, the motor body comprises a stator 14 arranged in the housing 11, a rotating shaft 12 rotatably arranged relative to the housing 11 and a rotor assembly 13 connected with the rotating shaft 12, and the rotor assembly 13 is provided with a mounting cavity; the reducer assembly 20 includes a support base 21 disposed on the housing 11 and a reducer body disposed on the support base 21, at least a portion of the reducer body is located in the installation cavity, and the rotating shaft 12 is connected to the reducer body.

Among the above-mentioned technical scheme, through setting up rotor subassembly 13 that has the installation cavity to set up at least part of speed reducer body in the installation cavity, like this, can make at least part of speed reducer body be located motor element 10, thereby reduced the axial length of the overall structure after motor element 10 and speed reducer subassembly 20 connect, and then make the axial length of whole robot joint structure reduce, like this, can make the axial structure compactness of robot joint structure, and can reduce the volume of robot joint structure.

Specifically, in the embodiment of the present invention, the rotating shaft 12 is connected to the speed reducer body, so that the rotating shaft 12 drives the speed reducer body to rotate relative to the supporting seat 21.

As shown in fig. 1 and fig. 2, in the embodiment of the present invention, the rotor assembly 13 includes a first flange 131 and a rotor 132, the rotor 132 is connected to the rotating shaft 12 through the first flange 131, the first flange 131 has a mounting hole 133, the rotating shaft 12 is located in the mounting hole 133, and an inner wall surface of the mounting hole 133 defines a mounting cavity.

In the above arrangement, the rotor 132 is connected to the rotating shaft 12 through the first flange 131, so that the rotor 132 can drive the rotating shaft 12 to rotate, and the rotating shaft 12 is disposed in the mounting hole 133 of the first flange 131, so that the rotating shaft 12 is located above the rotor 132 in fig. 1, and thus, the axial length of the motor body is effectively shortened, and the axial size of the robot joint structure is reduced.

Specifically, as shown in fig. 1, in the embodiment of the present invention, the stator 14 is located at the periphery of the rotor 132. The stator 14 is connected to the housing 11. The rotor assembly 13 is rotatably disposed about the own axis of the rotor 132 with respect to the stator 14.

As shown in fig. 1 and 2, in the embodiment of the present invention, the rotor 132 is located outside the first flange 131 and connected to the outer wall surface of the first flange 131.

In the above arrangement, the first flange 131 is arranged in the inner cavity of the rotor 132 in a penetrating manner, so that the rotor 132 can accommodate at least part of the first flange 131, and axial series connection of the rotor 132 and the first flange 131 is avoided, thereby reducing the axial length of the rotor 132 and the first flange 131 after connection, and further reducing the axial length of the robot joint structure; further, the inside of the rotor 132 forms a mounting cavity for mounting the rotating shaft 12 and a part of the reducer body, and the rotating shaft 12 and a part of the reducer body can be mounted, so that the axial length of the robot joint structure can be further reduced. Moreover, by disposing the rotor 132 outside the first flange 131, it is ensured that the first flange 131 has more inner cavities to accommodate the reducer body, so as to reduce the length of the entire joint mechanism in the axial direction.

As shown in fig. 1, in the embodiment of the present invention, the reducer body includes a rigid gear 22 and a flexible gear assembly. Wherein, the rigid wheel 22 is arranged on the supporting seat 21, and at least part of the rigid wheel 22 is positioned in the mounting hole 133; the flexible gear assembly is rotatably arranged relative to the rigid gear 22, at least part of the flexible gear assembly is positioned in the mounting hole 133, the flexible gear assembly comprises a wave generator 23 connected with the rotating shaft 12 and a flexible gear 24 arranged on the periphery of the wave generator 23, and one end of the flexible gear 24 far away from the rigid gear 22 forms an output end.

In the above arrangement, when the robot joint structure works, the rigid wheel 22 is fixed in the support base 21, the rotating shaft 12 drives the wave generator 23 to rotate, so as to drive the flexible wheel 24 to rotate relative to the rigid wheel 22, and one end of the flexible wheel 24 far away from the rigid wheel 22 forms an output end, so as to transmit the torque to the next structure.

Specifically, in the embodiment of the present invention, at least part of the rigid gear 22 and the flexible gear assembly is disposed in the mounting hole 133, so that the rigid gear 22 and part of the flexible gear assembly can be disposed inside the rotor 132 in fig. 1, and the reduction box body is prevented from being disposed below the rotor 132 in fig. 1, which leads to the increase of the axial length of the robot shutdown structure. Therefore, the axial length of the robot joint structure is effectively shortened, and the robot joint structure realizes a compact connection mode.

As shown in fig. 1, in the embodiment of the present invention, the supporting seat 21 includes a first supporting section 211, a second supporting section 212 connected to the first supporting section 211, and a mounting through hole 213 penetrating the first supporting section 211 and the second supporting section 212, one end of the first supporting section 211 extends into the mounting hole 133 and is connected to the rigid wheel 22, and the second supporting section 212 is connected to the housing 11.

In the above arrangement, the rigid wheel 22 is provided in the first support section 211 and abuts against the first support section 211, so that the first support section 211 supports the rigid wheel 22 and fixes the rigid wheel 22 in the mounting through hole 213 and the mounting hole 133. Further, the mounting through hole 213 and the mounting hole 133 form a receiving space for receiving a portion of the flexspline assembly and the circular spline 22, thereby preventing the speed reducer body from directly contacting with the external environment and preventing dust from entering the speed reducer body.

Among the above-mentioned technical scheme, support section 212 through setting up the second to support section 212 and be connected with shell 11, can hold the motor body in the accommodation space that shell 11 and second support section 212 formed, thereby avoided the motor body direct and external environment to contact, prevent that the dust from getting into in the motor body.

Specifically, in the embodiment of the present invention, a portion of the flexible gear 24 is located in the mounting hole 133 of the first flange 131, and another portion is located in the mounting through hole 213 of the first support section 211.

As shown in fig. 1, in the embodiment of the present invention, the robot joint structure further includes a first support 30 and a first bearing 31. Wherein, the outer ring of the first bearing 31 is connected with the first support 30, the inner ring of the first bearing 31 is arranged on the periphery of the rotating shaft 12, and the support base 21 and/or the rigid gear 22 of the reducer body are connected with the first support 30.

With the above arrangement, the first support 30 and the first bearing 31 can support the rotating shaft 12, and when the rotating shaft 12 rotates, the inner ring of the first bearing 31 rotates relative to the outer ring of the first bearing 31, so that the rotating shaft 12 rotates more smoothly relative to the housing 11.

Preferably, in the embodiment of the present invention, the supporting seat 21 and the rigid wheel 22 are connected to the first supporting member 30, so as to fix the rigid wheel 22 and the first supporting member 30 on the supporting seat 21.

Preferably, in the embodiment of the present invention, the supporting seat 21 and the rigid wheel 22 may be connected to the first supporting member 30 by a bolt connection or a snap connection, etc.

As shown in fig. 1, in the embodiment of the present invention, the robot joint structure further includes a second support member 32 and a second bearing 33. Wherein the second support 32 is located within the flexspline 24; the second bearing 33 is disposed on the outer periphery of the second support 32, the inner race of the second bearing 33 is connected to the second support 32, and the outer race of the second bearing 33 is connected to the flexspline 24.

In the above arrangement, the second supporting member 32 and the second bearing 33 can support the wave generator 23, and the second supporting member 32 is connected to the wave generator 23 through the rotating shaft 12, when the rotating shaft 12 rotates, the second supporting member 32 also rotates, so as to drive the inner ring of the second bearing 33 to rotate relative to the outer ring of the second bearing 33, thereby enabling the rotating shaft 12 and the wave generator 23 to rotate more smoothly relative to the housing 11.

Specifically, in the embodiment of the present invention, the first supporting member 30 and the first bearing 31, and the second supporting member 32 and the second bearing 33 form a support for both axial ends of the wave generator 23, so that the wave generator 23 can rotate in the supporting seat 21 more stably.

Preferably, in the embodiment of the present invention, the first bearing 31 and the second bearing 33 may be both deep groove ball bearings.

Preferably, in the embodiment of the present invention, the second supporting member 32 may be connected to the rotating shaft 12 by a bolt connection, a snap connection, or the like.

As shown in fig. 1, in an embodiment of the present invention, the robot joint structure further includes a fixing member 34 connected to the flexible gear 24, at least one end of the fixing member 34 extends into the flexible gear 24, and the fixing member 34 has a first mounting groove 35 matched with the outer ring of the second bearing 33.

In the above arrangement, by providing the fixing member 34, the strength of the joint between the flexible gear 24 and the next structure can be increased, so as to prevent the flexible gear 24 from deforming, and further to better transmit the output torque of the rotating shaft 12 to the next structure through the flexible gear 24 and the fixing member 34.

In the embodiment of the present invention, the inner wall surface of the first mounting groove 35 forms a receiving space for receiving the second bearing 33 and a part of the second supporting member 32, and supports the second bearing 33.

As shown in fig. 1 and 3, in the embodiment of the present invention, the robot joint structure further includes a torque sensor 40 connected to the output end.

With the above arrangement, by connecting the torque sensor 40 to the output end, the output torque of the output end of the flexspline 24 can be transmitted to the next joint through the torque sensor 40, and the torque sensor 40 can also reflect the torque value transmitted from the present joint structure.

As shown in fig. 1 and fig. 3, in the embodiment of the present invention, the robot joint mechanism further includes a crossed roller bearing 50, the crossed roller bearing 50 includes an inner ring and an outer ring rotatably disposed relative to the inner ring, the inner ring is connected with the torque sensor 40, and the outer ring is connected with the support base 21.

In the arrangement, the inner ring of the crossed roller bearing 50 is connected with the torque sensor 40, and the outer ring of the crossed roller bearing 50 is connected with the supporting seat 21, so that on one hand, the output torque of the motor assembly can be transmitted to the next joint through the combined action of the torque sensor 40 and the crossed roller bearing 50; on the other hand, the crossed roller bearing 50 can eliminate the influence of the external load (i.e. the radial force, the axial force or the bending moment of the external load) on the torque sensor 40, i.e. can resist the external load interference, thereby ensuring that the torque sensor 40 can more accurately reflect the torque value transmitted by the joint structure, and enabling the detection result to be more accurate. Furthermore, the structure is simple, the installation is convenient, and the processing cost is low.

The utility model discloses a preferred embodiment, major diameter motor is chooseed for use to motor element 10, and harmonic speed reducer is chooseed for use to speed reducer subassembly 20, and the cooperation has moment to detect the torque sensor 40 of function simultaneously, and the harmonic speed reducer is located the major diameter motor to make robot joint structure not only have moment and detect function and driving function, overall structure is compacter moreover, the volume is less.

As shown in fig. 1, in the embodiment of the present invention, the robot joint structure further includes a second flange 92 disposed between the crossed roller bearing 50 and the torque sensor 40, and a third flange 93 connected to the support base 21. The third flange 93 and the support base 21 are connected to form an installation space. The outer ring of the cross roller bearing 50 abuts against the inner wall surface of the third flange 93, and the inner ring of the cross roller bearing 50 abuts against the outer wall surface of the second flange 92. With the above arrangement, a receiving space for receiving the cross roller bearing 50 is formed between the second flange 92 and the third flange 93, and both the second flange 92 and the third flange 93 support the cross roller bearing 50.

As shown in fig. 1 and fig. 3, in the embodiment of the present invention, the robot joint structure further includes a flexible gear output shaft 60 disposed between the flexible gear 24 and the torque sensor 40, one end of the flexible gear output shaft 60 is connected to the flexible gear 24, and the other end of the flexible gear output shaft 60 is connected to the torque sensor 40.

With the above arrangement, the flexspline output shaft 60 can transmit the torque at the output end of the flexspline 24 to the torque sensor 40, which can form the torque output end of the robot joint structure.

As shown in fig. 1, in the embodiment of the present invention, the robot joint structure further includes a third bearing 36, the flexspline output shaft 60 includes a first shaft section 61 and a second shaft section 62 connected to each other, wherein the outer diameter of the first shaft section 61 is greater than the outer diameter of the second shaft section 62, the first shaft section 61 has a second mounting groove 63, at least a portion of the output end is located in the second mounting groove 63, the inner ring of the third bearing 36 abuts against the outer wall surface of the first shaft section 61, and the outer ring of the third bearing 36 abuts against the partial inner wall surface of the mounting through hole 213 of the support base 21.

In the above arrangement, the outer diameter of the first shaft section 61 is larger than the outer diameter of the second shaft section 62, so that the inner race of the third bearing 36 can be brought into contact with the outer wall surface of the first shaft section 61 better, and the third bearing 36 can support the flexspline output shaft 60 better, and the flexspline output shaft can rotate more smoothly relative to the support base 21; further, by providing the second mounting groove 63 and positioning at least a part of the output end in the second mounting groove 63, the axial length of the flexible gear output shaft 60 and the flexible gear 24 after being connected can be effectively reduced, thereby reducing the length of the robot joint structure.

Preferably, in an embodiment of the present invention, the third bearing 36 may be a crossed roller bearing.

Preferably, in the embodiment of the present invention, the robot joint structure further includes a fourth flange 94 disposed between the third bearing 36 and the supporting seat 21, and the fourth flange 94 is disposed in the mounting through hole 213 of the second supporting section 212, and can support the third bearing 36.

As shown in fig. 1 and fig. 3, in the embodiment of the present invention, the robot joint structure further includes an angle detection device 70 for detecting an angle of the rotating shaft 12, and the angle detection device 70 and the torque sensor 40 are respectively located at two ends of the motor assembly 10 along an axial direction of the rotating shaft 12.

Through the above arrangement, the rotation angle of the rotating shaft 12 can be detected by the angle detection device 70, so that the robot joint structure can be more accurately controlled.

Preferably, in an embodiment of the present invention, the angle detecting device 70 includes a magneto-electric encoder. The specific operating principle and structure of the magnetoelectric encoder are the prior art in the field and are not described in detail herein. In the following, only how to mount the magnetoelectric encoder is described:

specifically, in the embodiment of the present invention, as shown in fig. 3, the magnetoelectric encoder includes a base plate 71 and a magnetic member 72 connected to the base plate 71, a third mounting groove 121 is provided on the rotating shaft 12, the magnetic member 72 is located in the third mounting groove 121, and the base plate 71 is connected to the housing 11. Through the above arrangement, the rotation of the rotating shaft 12 can drive the magnetic part 72 to rotate, and the magnetic part 72 can be matched with the magnetic coding chip on the substrate 71, so that the rotation angle of the rotating shaft 12 can be detected.

Preferably, in the embodiment of the present invention, as shown in fig. 1, the robot joint structure further includes a driving plate 73, which can ensure the normal operation of the motor assembly 10. The drive board 73 is preferably a PCB.

As shown in fig. 1, in the embodiment of the present invention, the robot joint structure further includes an end cover 80 connected to the housing 11 of the motor assembly 10, and the angle detection device 70 is located on one side of the end cover 80 facing the motor assembly 10.

With the above arrangement, the angle detection device 70 can be accommodated between the end cover 80 and the housing 11, so that dust and humid air in the external environment can be prevented from entering the inside of the angle detection device 70, the detection accuracy of the angle detection device 70 is ensured, and the service life of the angle detection device 70 is improved.

Preferably, the utility model discloses a robot joint structure is that moment detects the function, has moment drive function to, because the speed reducer subassembly is located the motor, thereby still has compact structure's characteristics. The moment sensor 40 is arranged to detect the moment transmitted by the speed reducer assembly 20, and the motor assembly 10 is arranged to enable the robot joint structure to have a moment driving function.

The utility model discloses a the embodiment of the utility model also provides a robot, the robot includes organism and the foretell robot joint structure of being connected with the organism. The robot also has all the advantages of the robot joint structure, and the description is omitted here.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: through the rotor subassembly that has the installation cavity at robot joint structure setting to set up at least part of speed reducer body in the installation cavity, like this, can make at least part of speed reducer body be located motor element, thereby reduced the axial length of the overall structure after motor element and speed reducer subassembly are connected, and then make robot joint structure's axial length reduce, like this, can make robot joint structure's axial compact structure, and can reduce robot joint structure's volume. Furthermore, by arranging the crossed roller bearing, the influence of external load (namely radial force, axial force or bending moment of the external load) on the torque sensor can be eliminated, the torque sensor can be ensured to more accurately reflect the torque value transmitted by the joint structure, and the detection result is more accurate.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. A robot joint structure, characterized by comprising:

the motor assembly (10) comprises a shell (11) and a motor body arranged in the shell (11), wherein the motor body comprises a stator (14) arranged in the shell (11), a rotating shaft (12) rotatably arranged relative to the shell (11) and a rotor assembly (13) connected with the rotating shaft (12), and the rotor assembly (13) is provided with a mounting cavity;

the speed reducer assembly (20) comprises a supporting seat (21) arranged on the shell (11) and a speed reducer body arranged on the supporting seat (21), at least part of the speed reducer body is located in the mounting cavity, and the rotating shaft (12) is connected with the speed reducer body.

2. The robot joint structure according to claim 1, wherein the rotor assembly (13) comprises a first flange (131) and a rotor (132), the rotor (132) is connected with the rotating shaft (12) through the first flange (131), the first flange (131) is provided with a mounting hole (133), the rotating shaft (12) is located in the mounting hole (133), and the inner wall surface of the mounting hole (133) encloses the mounting cavity.

3. The robot joint structure according to claim 2, characterized in that the rotor (132) is located outside the first flange (131) and connected to an outer wall surface of the first flange (131).

4. The robot joint structure according to claim 2, wherein the reducer body includes:

a rigid wheel (22) arranged on the supporting seat (21), wherein at least part of the rigid wheel (22) is positioned in the mounting hole (133);

the flexbile gear subassembly rotationally sets up for rigid gear (22), at least part of flexbile gear subassembly is located in mounting hole (133), the flexbile gear subassembly include with wave generator (23) that pivot (12) are connected and setting are in flexbile gear (24) of the periphery of wave generator (23), keeping away from of flexbile gear (24) the one end of rigid gear (22) forms the output.

5. The robot joint structure according to claim 4, wherein the support base (21) includes a first support section (211), a second support section (212) connected to the first support section (211), and a mounting through hole (213) passing through the first support section (211) and the second support section (212), one end of the first support section (211) extends into the mounting hole (133) and is connected to the rigid wheel (22), and the second support section (212) is connected to the housing (11).

6. A robot joint structure according to any of claims 1 to 5, characterized by further comprising:

a first support (30);

the outer ring of the first bearing (31) is connected with the first supporting piece (30), the inner ring of the first bearing (31) is arranged on the periphery of the rotating shaft (12), and the supporting seat (21) and/or the rigid wheel (22) of the speed reducer body are connected with the first supporting piece (30).

7. A robot joint structure according to claim 4 or 5, characterized in that the robot joint structure further comprises:

a second support (32) located within the flex spline (24);

and the second bearing (33) is arranged on the periphery of the second support (32), the inner ring of the second bearing (33) is connected with the second support (32), and the outer ring of the second bearing (33) is connected with the flexible gear (24).

8. The robot joint structure according to claim 7, further comprising a fixing member (34) connected to the flexible gear (24), at least one end of the fixing member (34) extending into the interior of the flexible gear (24), the fixing member (34) having a first mounting groove (35) that is fitted with an outer race of the second bearing (33).

9. Robot joint construction according to claim 4 or 5, characterized in that the robot joint construction further comprises a torque sensor (40) connected with the output.

10. The robot joint arrangement according to claim 9, characterized in that the robot joint arrangement further comprises a cross roller bearing (50), the cross roller bearing (50) comprising an inner ring and an outer ring rotatably arranged in relation to the inner ring, the inner ring being connected to the torque sensor (40) and the outer ring being connected to the support base (21).

11. The robot joint structure according to claim 9, further comprising a flexible gear output shaft (60) provided between the flexible gear (24) and the torque sensor (40), one end of the flexible gear output shaft (60) being connected to the flexible gear (24), and the other end of the flexible gear output shaft (60) being connected to the torque sensor (40).

12. The robot joint structure according to claim 11, further comprising a third bearing (36), wherein the flexspline output shaft (60) comprises a first shaft section (61) and a second shaft section (62) connected to each other, wherein an outer diameter of the first shaft section (61) is larger than an outer diameter of the second shaft section (62), the first shaft section (61) has a second mounting groove (63), at least a portion of the output end is located in the second mounting groove (63), an inner ring of the third bearing (36) abuts against an outer wall surface of the first shaft section (61), and an outer ring of the third bearing (36) abuts against an inner wall surface of the mounting through hole (213) of the support base (21).

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