Abstract: The invention discloses a modular robot joint, encoder reading head position adjustment mechanism and method for adjusting the position of an encoder reading head, the encoder reading head position adjustment mechanism is disposed on one side of the encoder reading head bracket, and includes a lower support and a upper support, the lower support and the upper support are connected to each other and positioned by a positioning connecting member, the upper support is pressed tightly against the lower support by a pressing connecting member, the encoder reading head is fixed to the upper surface of the upper support and is opposite to the encoder magnetic ring, the encoder magnetic ring is fixed to the motor shaft or the hollow shaft, the distance between the lower support and the upper support can be adjusted by adjusting the pressing connecting member and positioning connecting member, so that the axial distance between the reading head and the magnetic ring can be adjusted to a predetermined value, the proces

Abstract: The invention relates to a mechanical arm joint which comprises a hollow shaft and a brake assembly, a motor assembly, a harmonic reducer assembly, an output assembly, a housing assembly, and a measurement assembly which are disposed outside the hollow shaft, the measurement assembly includes a torque sensor, and the torque sensor is provided inside the housing assembly and fixed to the housing assembly, the torque sensor is fixed to the harmonic reducer assembly at the same time. The torque sensor is provided in the joint, so as to ensure that the torque sensor is not damaged by external impacts during assembling and maintaining of the joint and the mechanical arm.

Abstract: The invention relates to a robot arm having at least two limbs (2), which are connected to one another at their ends via an articulated joint (10) so that they can be pivoted relative to one another about a rotation axis (A), the two limbs (2) each comprising at least one joint portion (3) and a transition region (4) adjoined thereto and each extending in a longitudinal direction (L). According to the invention, the transition region (4) of at least one of the limbs (2, 2a) has a circumferential edge (6) which, when viewed from a direction running transverse to the rotation axis (A) and transverse to the longitudinal direction (L), crosses a parting line (9) between the two joint portions (3) and runs at a predefined distance radially outside the joint portion (3) of the other limb (2), the circumferential edge (6) running at a distance, in relation to the rotation axis (A), of less than 25 mm outside the surface of the joint portion (3) of the other limb (2) arranged beneath.