1-AXIS JOINT MODULE

摘要

PURPOSE: A one-axis joint module is provided to accurately control a stopping force without using an existing frictional braking method and to maximize space utilization for wiring or other purposes. CONSTITUTION: A one-axis joint module comprises a motor (19), a reducer, an absolute encoder, a one-axis torque sensor, a braking device (21), a relative encoder, and a motor controller. The motor comprises a hollow output shaft (20). The reducer is combined in the output shaft protruding to one side of the motor. The one-axis torque sensor is combined in the output shaft which protrudes to the front side of the absolute encoder and measures torque in the output shaft direction. The braking device is combined in the other side of the motor in series in the output shaft direction to brake the output shaft. The relative encoder is combined in the output shaft which protrudes to the holding ring (60) of the braking device. The motor controller is combined in the holding ring, is positioned outside the relative encoder, and controls the driving of the motor.