CN211565962U - Robot joint structure and robot - Google Patents

Abstract

The present application belongs to the technical field of humanoid service robots, and relates to a robot joint structure and a robot. In the joint structure of the robot, the motor assembly adopts the form of an outer rotor, the rotor is sleeved outside the stator, and the rotor is fixed with a motor shaft. The wave generator in the harmonic reducer is installed on the motor shaft, the flexible wheel is driven by the wave generator and meshes with the rigid wheel, and the joint output shaft is fixed on the flexible wheel. When working, the motor shaft drives the wave generator to rotate at a high speed, and the wave generator makes the flexible wheel produce flexible deformation. The flexible wheel meshes with the rigid wheel for transmission, and outputs power through the joint output shaft to rotate at low speed. The output encoder is used to detect the rotation angle of the joint output shaft. The joint structure of the robot is compact, the axial dimension is reduced, the volume and weight are reduced, and it is suitable for the lightweight and compact layout of the robot.

Description

Robot joint structure and robot

technical field

The present application belongs to the technical field of humanoid service robots, and relates to a robot joint structure and a robot.

Background technique

At present, the traditional joint structure of the robot adopts the motor assembly to connect the reducer axially, which will make the axial dimension of the joint structure of the robot long and the space utilization is insufficient, resulting in the large volume and heavy weight of the joint structure of the robot.

Utility model content

The purpose of the embodiments of the present application is to provide a robot joint structure and a robot, so as to solve the technical problem of the large volume of the existing robot joint structure.

The embodiment of the present application provides a robot joint structure, including:

case;

a motor assembly, comprising a stator arranged in the casing, a rotor sleeved outside the stator, and a motor shaft coaxially fixed to the rotor;

a harmonic reducer, comprising a rigid wheel fixed on the stator, a wave generator mounted on the motor shaft, and a flexible pulley meshed with the rigid wheel and driven by the wave generator;

The joint output shaft is coaxially fixed on the flexible wheel;

an output encoder for detecting the rotation angle of the joint output shaft; and

The motor driver is electrically connected with the output end encoder, and the motor driver and the joint output shaft are respectively located on both sides of the motor assembly in the axial direction.

Optionally, the flexible wheel has an insertion hole for the motor shaft to pass through, the motor shaft has a through hole passing through in the axial direction, the joint output shaft is coaxially fixed with a connecting shaft, and the connecting shaft passes through the shaft. passing through the through hole; the output encoder includes a first sensed part arranged at one end of the connecting shaft, and a first sensed part that cooperates with the first sensed part to detect the rotation angle of the joint output shaft sensor.

Optionally, the robot joint structure further includes a motor-end encoder for detecting the rotation angle of the rotor; the motor-end encoder includes a second sensed member provided on the rotor, and is connected with the first sensor. two second sensing members that are matched by the sensing member to detect the rotation angle of the rotor;

The first sensed part is enclosed in the second sensed part.

Optionally, the rotor is provided with a mounting seat, the second inductive member is fixed on the mounting seat, the mounting seat has a through hole for the connecting shaft to pass through, and the connecting shaft passes through the first A bearing is supported on the mount.

Optionally, the rotor has a accommodating cavity, the harmonic reducer is arranged inside the rotor, and at least a part of the motor shaft is arranged inside the rotor.

Optionally, the rotor includes an annular portion spaced from and opposite to the stator, a mounting portion spaced from the annular portion in the axial direction, and a plurality of connecting portions connected between the annular portion and the mounting portion. A connecting arm, a hollow space is formed between two adjacent connecting arms.

Optionally, a support cover is fixed on the rigid wheel, the support cover has a through hole for the motor shaft to pass through, the motor shaft is supported on the support cover through a second bearing, and the motor shaft The joint output shaft is supported by a third bearing.

Optionally, the flexible wheel includes a cylindrical portion and an inner ring portion connected to an edge of one end of the cylindrical portion, the cylindrical portion is sleeved outside the wave generator and is engaged with the rigid wheel, The inner ring portion is fixed on the joint output shaft.

Optionally, the housing includes a cylindrical shell and a base mounted on one end of the cylindrical shell, the base has a perforation for the joint output shaft to pass through, and the joint output shaft passes through a fourth Bearings are supported on the base.

Optionally, the base is provided with a first installation groove for accommodating the outer ring of the fourth bearing, and the joint output shaft is provided with a second installation groove for accommodating the inner ring of the fourth bearing, so The first installation groove and the second installation groove constitute the installation position of the fourth bearing; the base is provided with an outer ring gland for axially limiting the outer ring of the fourth bearing, so The joint output shaft is provided with an inner ring gland for axially limiting the inner ring of the fourth bearing, and the outer ring gland and the inner ring gland are located on the same side of the fourth bearing.

Optionally, an annular fixed seat is fixed on the base, the rigid wheel is installed on the annular fixed seat, and the flexible wheel passes through the inside of the annular fixed seat;

The stator is sleeved outside the base; and/or the stator is sleeved outside the annular fixing seat.

Optionally, both ends of the cylindrical shell are set as openings, the shell further includes a tailstock mounted on one end of the cylindrical shell facing away from the joint output shaft, and the motor driver is provided on the inside the tailstock.

An embodiment of the present application provides a robot, including the above-mentioned robot joint structure.

The above one or more technical solutions provided by the embodiments of the present application have at least one of the following technical effects: in the robot joint structure, the motor assembly adopts the form of an outer rotor, the rotor is sleeved outside the stator, and the rotor is fixed with a motor shaft. The wave generator in the harmonic reducer is installed on the motor shaft, the flexible wheel is driven by the wave generator and meshes with the rigid wheel, and the joint output shaft is fixed on the flexible wheel. When working, the motor shaft drives the wave generator to rotate at a high speed, and the wave generator makes the flexible wheel produce flexible deformation. The flexible wheel and the rigid wheel mesh for transmission, and output power through the joint output shaft to rotate at low speed. The output encoder is used to detect the rotation angle of the joint output shaft. The joint structure of the robot is compact, the axial dimension is reduced, the volume and weight are reduced, and it is suitable for the lightweight and compact layout of the robot.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a three-dimensional assembly diagram of a robot joint structure provided by an embodiment of the application;

Fig. 2 is a perspective exploded view of the robot joint structure of Fig. 1;

3 is an exploded perspective view of a motor assembly applied in the robot joint structure of FIG. 2;

Fig. 4 is the perspective exploded view of the harmonic reducer applied in the robot joint structure of Fig. 2;

5 is an exploded perspective view of the base, the joint output shaft, the connecting shaft and the fourth bearing applied in the robot joint structure of FIG. 2;

FIG. 6 is a cross-sectional view of the robot joint structure of FIG. 1 .

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical" ", "horizontal", "top", "bottom", "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplification It is described, rather than indicated or implied, that the referred device or element must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation on the embodiments of the present application.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present application, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the embodiments of the present application, unless otherwise expressly specified and limited, terms such as "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a fixed connection. It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of the two elements or the interaction relationship between the two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present application according to specific situations.

Referring to FIGS. 1 to 3 and 6 , an embodiment of the present application provides a robot joint structure, including a casing 10 , a motor assembly 20 , a harmonic reducer 30 , a joint output shaft 40 , an output encoder 50 and a motor driver 60. The motor assembly 20 includes a stator 21 disposed in the housing 10 , a rotor 22 sleeved outside the stator 21 , and a motor shaft 23 coaxially fixed to the rotor 22 . When the stator 21 is energized, a rotating magnetic field is generated, and under the action of the rotating magnetic field, the rotor 22 rotates and transmits power through the motor shaft 23 .

4 , the harmonic reducer 30 includes a rigid wheel 31 fixed on the stator 21 , a wave generator 32 mounted on the motor shaft 23 , and a flexible pulley 33 engaged with the rigid wheel 31 and driven by the wave generator 32 . The wave generator 32 includes cams 321 with different radial lengths and rolling bearings 322 disposed outside the cams 321 . The flexible wheel 33 is sleeved on the outside of the wave generator 32 . The rigid wheel 31 has an inner gear 311 , the flexible wheel 33 has an outer gear 332 , and the inner gear 311 meshes with the outer gear 332 . During operation, the motor shaft 23 drives the wave generator 32, and the rotation of the wave generator 32 will cause the flexible wheel 33 to deform flexibly, and the rigid wheel 31 and the flexible wheel 33 mesh and drive to realize power transmission. The joint output shaft 40 is coaxially fixed to the flexible wheel 33 to realize power output.

The output encoder 50 is used to detect the rotation angle of the joint output shaft 40 . The motor driver 60 is electrically connected to the output encoder 50 . Motor driver 60 is typically a circuit board assembly for controlling motor assembly 20 . The motor driver 60 is arranged in the casing 10 and has a compact structure. The motor driver 60 and the joint output shaft 40 are respectively located on both sides of the motor assembly 20 in the axial direction.

In the robot joint structure provided by the present application, compared with the prior art, the motor assembly 20 is in the form of an outer rotor, the rotor 22 is sleeved outside the stator 21, and the rotor 22 is fixed with a motor shaft 23. The wave generator 32 in the harmonic reducer 30 is installed on the motor shaft 23 , the flexible wheel 33 is driven by the wave generator 32 and meshes with the rigid wheel 31 , and the joint output shaft 40 is fixed to the flexible wheel 33 . During operation, the motor shaft 23 drives the wave generator 32 to rotate at a high speed, and the wave generator 32 makes the flexible wheel 33 produce flexible deformation. The output encoder 50 is used to detect the rotation angle of the joint output shaft 40 . The joint structure of the robot is compact, the axial dimension is reduced, the volume and weight are reduced, and it is suitable for the lightweight and compact layout of the robot.

Referring to FIGS. 3 , 5 and 6 , in another embodiment of the present application, the flexible wheel 33 has an insertion hole 334 through which the motor shaft 23 passes, and the motor shaft 23 has a through hole 231 penetrating through in the axial direction. The shaft 40 is coaxially fixed with a connecting shaft 42 , and the connecting shaft 42 passes through the through hole 231 ; the output encoder 50 includes a first sensed member 51 disposed at one end of the connecting shaft 42 , and cooperates with the first sensed member 51 to The first sensing element 52 for detecting the rotation angle of the joint output shaft 40 . With this solution, the motor shaft 23 can be passed through the flexible pulley 33, and the output encoder 50 and the joint output shaft 40 can be arranged at both axial ends of the motor assembly 20, so that the joint output shaft 40 can output power, and The rotation angle of the joint output shaft 40 is detected by the output end encoder 50, and the overall structure is compact. Wherein, the connecting shaft 42 may be fixed on the joint output shaft 40 by bolts or other methods. The first sensed member 51 may be fixed to one end of the connecting shaft 42 by means of bonding or other means.

The output encoder 50 is used to detect the rotational position of the joint output shaft 40 with high accuracy. The encoder 50 at the output end may be a magnetic encoder, a photoelectric encoder or other encoders, which belong to the prior art.

When a magnetic encoder is used, the magnet is used as the first sensing element 51 , and the magnetic encoder chip is used as the first sensing element 52 . When the joint output shaft 40 rotates, the magnet, the connecting shaft 42 and the joint output shaft 40 rotate synchronously, and the rotation of the magnet will cause the change of the magnetic field strength. After the magnetic coding chip detects the change of the magnetic field strength, it converts the rotation of the magnet into pulse Output to reflect the current corner.

When a photoelectric encoder is used, the photoelectric encoder is used as the first sensing element 51 , and the photoelectric detection device is used as the first sensing element 52 . The optical code disc is to open several rectangular holes in equal parts on a circular plate with a certain diameter. The photoelectric detection device includes light emitting diodes and photosensitive tubes respectively arranged on both sides of the photoelectric code disc. When the joint output shaft 40 rotates, the photoelectric encoder rotates synchronously with the joint output shaft 40 and the connecting shaft 42, the light emitting diode emits a light signal, the photosensitive tube receives the light signal passing through the rectangular hole of the photoelectric encoder, and the photoelectric detection device outputs several pulse signals. The current rotation angle can be reflected by calculating the number of output pulses of the photoelectric encoder.

Referring to FIGS. 3 and 6 , in another embodiment of the present application, the robot joint structure further includes a motor-end encoder 70 for detecting the rotation angle of the rotor 22 ; the motor-end encoder 70 includes a second The sensed part 71 and the second sensed part (not shown) that cooperate with the second sensed part 71 to detect the rotation angle of the rotor 22; the second sensed part 71 is annular, and the first sensed part 51 is surrounded by the The second is in the sensing member 71 . The motor end encoder 70 is used to detect the rotational position of the motor shaft 23 with high accuracy. Similar to the encoder 50 at the output end, the encoder 70 at the motor end may be a magnetic encoder, a photoelectric encoder or other encoders, which will not be described again.

In another embodiment of the present application, the first inductive element 52 and the second inductive element can be disposed on the motor driver 60 at the same time, and the first inductive element 52 and the second inductive element are both electrically connected to the motor driver 60, which is easy to assemble , the structure is compact.

Referring to FIGS. 3 and 6 , in another embodiment of the present application, a mounting seat 72 is provided on the rotor 22 , and the second sensed member 71 can be fixed on the mounting seat 72 by bonding or other means. The mounting seat 72 has A through hole for the connecting shaft 42 to pass through. With this solution, it is convenient to assemble the second inductive member 71 to a predetermined position of the rotor 22 . The connecting shaft 42 is supported on the mounting seat 72 through the first bearing 81 . The provision of the first bearing 81 can ensure that the connecting shaft 42 rotates at a predetermined position, so as to accurately detect the rotation angle of the joint output shaft 40 and prevent the connecting shaft 42 from deviating from the predetermined axis.

Referring to FIGS. 2 and 6 , in another embodiment of the present application, the rotor 22 has an accommodation cavity 221 , the harmonic reducer 30 is arranged inside the rotor 22 , and at least a part of the motor shaft 23 is arranged inside the rotor 22 . This solution makes full use of the inner space of the outer rotor 22, and arranges the harmonic reducer 30 and the motor shaft 23 inside the rotor 22, so that the axial dimension of the motor assembly 20 is reduced, thereby reducing the volume and weight of the joint structure. Compared with the inner rotor motor, the axial dimension of the stator 21 in the outer rotor motor can be made smaller, so that the axial dimension of the motor assembly 20 is relatively small.

Referring to FIGS. 3 and 6 , in another embodiment of the present application, the rotor 22 includes an annular portion 222 that is spaced apart from and opposite to the stator 21 , and a mounting portion 223 that is spaced from the annular portion 222 along the axial direction. It is connected with one end of the motor shaft 23, for example, the two are connected by bolts. The rotor 22 further includes a plurality of connecting arms 224 connected between the annular portion 222 and the mounting portion 223 , and a hollow space 225 is formed between two adjacent connecting arms 224 . With this solution, a space for accommodating the harmonic reducer 30 can be formed, and the size of the motor assembly 20 in the axial direction can be reduced, thereby reducing the volume and weight of the entire joint structure. A plurality of hollow positions 225 are formed on the rotor 22 to facilitate the formation of airflow around the rotor 22 to dissipate heat to the motor assembly 20 and improve reliability.

Referring to FIGS. 4 and 6 , in another embodiment of the present application, a support cover 13 is fixed on the rigid wheel 31 , and the support cover 13 has a through hole 131 through which the motor shaft 23 passes, and the motor shaft 23 is supported by the second bearing 82 On the support cover 13 , the motor shaft 23 is supported on the joint output shaft 40 via the third bearing 83 . This solution facilitates the smooth rotation of the motor shaft 23 so as to reliably transmit power to the joint output shaft 40 , so that the joint output shaft 40 can bear radial load and axial load, and prevent the motor shaft 23 from deviating from the predetermined axis during operation Case. Specifically, the second bearing 82 and the third bearing 83 may be deep groove ball bearings, which can bear radial load and axial load.

Referring to FIGS. 3 and 6 , in another embodiment of the present application, a mounting ring 232 is provided on the outer periphery of the motor shaft 23 , and the wave generator 32 is fixed on the mounting ring 232 . The mounting ring 232 is provided, so that the wave generator 32 can be quickly positioned and assembled on the motor shaft 23 . The wave generator 32 can be fixed on the motor shaft 23 by bolts, so that the assembly is easy and the connection is reliable.

Referring to FIGS. 4 and 6 , in another embodiment of the present application, the flexible wheel 33 includes a cylindrical portion 331 and an inner ring portion 333 connected to one end edge of the cylindrical portion 331 , and the cylindrical portion 331 is sleeved on the wave generator The inner ring portion 333 is fixed on the joint output shaft 40 except for 32 and meshes with the rigid wheel 31 . With this solution, the motor shaft 23 can be arranged in the cylindrical portion 331 and protruded from the insertion hole 334 of the inner ring portion 333, and then the output encoder 50 and the joint output shaft 40 can be arranged at two axial directions of the motor assembly 20, respectively. In this way, power can be output through the joint output shaft 40, and the rotation angle of the joint output shaft 40 can be detected through the output end encoder 50, and the overall structure is compact. The inner ring portion 333 of the flexible wheel 33 is provided with a pressure block 34 , and bolts pass through the pressure block 34 and the inner ring portion 333 in sequence and are screwed to the joint output shaft 40 , so that the flexible wheel 33 is fixed on the joint output shaft 40 .

Referring to FIGS. 2 , 5 and 6 , in another embodiment of the present application, the housing 10 includes a cylindrical shell 11 and a base 12 mounted on one end of the cylindrical shell 11 , and the base 12 has a joint output shaft. Through the hole 121 through which the 40 passes, the joint output shaft 40 is supported on the base 12 through the fourth bearing 84 . Using the housing 10 including the cylindrical case 11 and the base 12 , the cylindrical case 11 and the base 12 are easy to manufacture and assemble. This solution facilitates the smooth rotation of the joint output shaft 40 to output power, so that the joint output shaft 40 can bear a large load and avoid the situation that the joint output shaft 40 deviates from the predetermined axis during operation. The fourth bearing 84 can be a crossed roller bearing. The crossed roller bearing is a bearing in which the inner ring is divided and the outer ring rotates. It has high rigidity, adjustable bearing clearance, and can obtain high-precision rotational motion.

Referring to FIG. 6 , in another embodiment of the present application, the base 12 is provided with a ventilation hole 122 communicating with the interior of the cylindrical shell 11 to facilitate air flow and realize heat dissipation of the motor assembly 20 .

Referring to FIGS. 5 and 6 , in another embodiment of the present application, the base 12 is provided with a first mounting groove 123 for accommodating the outer ring of the fourth bearing 84 , and the joint output shaft 40 is provided with a first mounting groove 123 for accommodating the fourth bearing 84 The second installation groove 41 of the inner ring, the first installation groove 123 and the second installation groove 41 constitute the installation position of the fourth bearing 84; The outer ring gland 91 , the joint output shaft 40 is provided with an inner ring gland 92 for axially limiting the inner ring of the fourth bearing 84 , the outer ring gland 91 and the inner ring gland 92 are located at the position of the fourth bearing 84 . same side. Using the outer ring gland 91 and the inner ring gland 92 to limit the fourth bearing 84 to the installation position, it is easy to stably support the joint output shaft 40 at the hole 121 of the base 12 and ensure the reliable rotation of the joint output shaft 40 Mounted on the base 12 .

Please refer to FIG. 2 , FIG. 4 , and FIG. 6 , in another embodiment of the present application, an annular fixing seat 14 is fixed on the base 12 , and the rigid wheel 31 is installed on the annular fixing seat 14 . In this way, the base 12 , the annular fixing seat 14 and the rigid wheel 31 are easily fabricated and assembled. Wherein, the rigid wheel 31 can be fixed on the annular fixing seat 14 by bolts or other means. The flexible wheel 33 passes through the inside of the annular fixing seat 14, so that the axial dimension of the joint structure can be effectively reduced, so that the overall structure occupies a smaller space.

In another embodiment of the present application, the stator 21 is sleeved outside the base 12 and the annular fixing seat 14 . It can be understood that, the stator 21 can also be only sleeved outside one of the base 12 and the annular fixing seat 14 . During assembly, the inner surface of the stator 21 can be fixed on the annular fixed seat 14 by gluing, and then the annular fixed seat 14 and the base 12 can be connected by bolt connection, which is easy to assemble and the connection is reliable.

Referring to FIGS. 2 and 6 , in another embodiment of the present application, both ends of the cylindrical shell 11 are set as openings, and the shell 10 further includes a The tailstock 15 and the motor driver 60 are arranged in the tailstock 15 . With this solution, the motor driver 60 can be protected, so that the robot joint structure can be regarded as an independent part.

Referring to FIG. 1 and FIG. 6 , in another embodiment of the present application, a robot is provided, including the above-mentioned robot joint structure. In the robot joint structure, the motor assembly 20 is in the form of an outer rotor, the rotor 22 is sleeved outside the stator 21 , and the rotor 22 is fixed with a motor shaft 23 . The wave generator 32 in the harmonic reducer 30 is installed on the motor shaft 23 , the flexible wheel 33 is driven by the wave generator 32 and meshes with the rigid wheel 31 , and the joint output shaft 40 is fixed to the flexible wheel 33 . During operation, the motor shaft 23 drives the wave generator 32 to rotate at a high speed, and the wave generator 32 makes the flexible wheel 33 produce flexible deformation. The output encoder 50 is used to detect the rotation angle of the joint output shaft 40 . The joint structure of the robot is compact, the axial dimension is reduced, the volume and weight are reduced, and it is suitable for the lightweight and compact layout of the robot.

The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. Inside.

Claims (13)

1. a robot joint structure, is characterized in that, comprises: case; a motor assembly, comprising a stator arranged in the casing, a rotor sleeved outside the stator, and a motor shaft coaxially fixed to the rotor; a harmonic reducer, comprising a rigid wheel fixed on the stator, a wave generator mounted on the motor shaft, and a flexible pulley meshed with the rigid wheel and driven by the wave generator; The joint output shaft is coaxially fixed on the flexible wheel; an output encoder for detecting the rotation angle of the joint output shaft; and The motor driver is electrically connected with the output end encoder, and the motor driver and the joint output shaft are respectively located on both sides of the motor assembly in the axial direction. 2 . The robot joint structure according to claim 1 , wherein the flexible wheel has an insertion hole for the motor shaft to pass through, the motor shaft has a through hole passing through in the axial direction, and the joint output The shaft is coaxially fixed with a connecting shaft, and the connecting shaft passes through the through hole; the output encoder includes a first sensed part arranged at one end of the connecting shaft, and a first sensed part connected to the first sensed part The first sensing element is matched to detect the rotation angle of the joint output shaft. 3. The robot joint structure according to claim 2, wherein the robot joint structure further comprises a motor end encoder for detecting the rotation angle of the rotor; a second sensed part on the upper part, and a second sensed part that cooperates with the second sensed part to detect the rotation angle of the rotor; The first sensed part is enclosed in the second sensed part. 4 . The robot joint structure according to claim 3 , wherein a mounting seat is provided on the rotor, the second sensed member is fixed on the mounting seat, and the mounting seat has a connection for the connection. 5 . a through hole through which the shaft passes, and the connecting shaft is supported on the mounting seat through a first bearing. 5 . The robot joint structure according to claim 1 , wherein the rotor has a accommodating cavity, the harmonic reducer is arranged inside the rotor, and at least a part of the motor shaft is arranged inside the rotor. 6 . 6 . The robot joint structure according to claim 5 , wherein the rotor comprises an annular portion spaced apart from and opposite to the stator, a mounting portion disposed axially spaced apart from the annular portion, and connected to Several connecting arms between the annular portion and the mounting portion form a hollow space between two adjacent connecting arms. 7. The robot joint structure according to any one of claims 1 to 6, wherein a support cover is fixed on the rigid wheel, and the support cover has a through hole for the motor shaft to pass through, the The motor shaft is supported on the support cover through a second bearing, and the motor shaft is supported on the joint output shaft through a third bearing. 8. The robot joint structure according to any one of claims 1 to 6, wherein the flexible wheel comprises a cylindrical portion and an inner ring portion connected to an edge of one end of the cylindrical portion, and the cylindrical portion is The inner ring part is sleeved outside the wave generator and meshed with the rigid wheel, and the inner ring part is fixed on the joint output shaft. 9. The robot joint structure according to any one of claims 1 to 6, wherein the housing comprises a cylindrical shell and a base mounted on one end of the cylindrical shell, and the base has a The joint output shaft passes through the hole, and the joint output shaft is supported on the base through a fourth bearing. 10 . The robot joint structure according to claim 9 , wherein the base is provided with a first mounting groove for accommodating the outer ring of the fourth bearing, and the joint output shaft is provided with a first mounting groove for accommodating the outer ring of the fourth bearing. 11 . The second mounting groove of the inner ring of the fourth bearing, the first mounting groove and the second mounting groove constitute the mounting position of the fourth bearing; the base is provided with a mounting position for the fourth bearing; An outer ring gland for axially limiting the outer ring, the joint output shaft is provided with an inner ring gland for axially limiting the inner ring of the fourth bearing, and the outer ring gland is connected to the inner ring. The ring gland is located on the same side of the fourth bearing. 11 . The robot joint structure according to claim 9 , wherein an annular fixed seat is fixed on the base, the rigid wheel is installed on the annular fixed seat, and the flexible wheel passes through the annular fixed seat. 12 . Inside the fixed seat; The stator is sleeved outside the base; and/or the stator is sleeved outside the annular fixing seat. 12 . The robot joint structure according to claim 9 , wherein both ends of the cylindrical shell are set as openings, and the shell further comprises an output mounted on the cylindrical shell facing away from the joint. 13 . A tailstock at one end of the shaft, and the motor driver is arranged in the tailstock. 13. A robot, characterized by comprising the robot joint structure according to any one of claims 1 to 12.

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