Planetary speed reduction joint module, robot and position feedback method
By using a frameless torque motor and a planetary reduction joint module with multi-stage magnetic rings, electronic components are integrated into the stator base. The output feedback shaft provides position feedback mechanically, solving the problems of large size, poor heat dissipation, and complex wiring of traditional joint modules, and achieving a compact structure with high-precision control and safety and reliability.
Patent Information
- Application Number
- CN202511471931.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-15
- Publication Date
- 2025-12-05
AI Technical Summary
Traditional joint modules are bulky, have poor heat dissipation, generate a lot of electromagnetic noise, lack safe braking position feedback, have complex wiring and pose safety hazards, and the encoder cannot monitor the input status, affecting control accuracy.
The planetary geared joint module design, which uses a frameless torque motor and multi-stage magnetic rings with Hall elements, integrates electronic components in the stator base. The output feedback shaft provides position feedback mechanically, and the hollow structure supports internal wiring, eliminating cable tangling.
It achieves a compact and lightweight structure, improves heat dissipation efficiency and overall rigidity, provides high-precision closed-loop control, simplifies wiring, eliminates safety hazards, and adapts to complex environments.
Smart Images
Figure CN121061930A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of joint modules and robot technology, in particular to a planetary reduction joint module, a robot and a position feedback method. BACKGROUND
[0002] The conventional joint module is usually composed of motor, reducer, encoder and other components, which are purchased separately and assembled on site. The overall size is large, the structure is bulky, and the shells, connection flanges and mounting brackets of each component increase the overall size, especially the axial length and radial length.
[0003] The motor and driver in the joint module are closely adjacent as the main heat source, especially the stator winding and rotor eddy current loss, the generated heat is superimposed, the heat is concentrated, the heat dissipation is blocked, and local high temperature is formed. At the same time, the traditional joint module has large electromagnetic noise in the industrial field, the Hall element is easily affected, and lacks safety braking position feedback, and the closed-loop control of the robot end effector, the error of the complex nonlinear transmission chain, the cumulative error and thermal drift of the multi-stage magnetic ring, etc. Phenomenon makes the joint module fail in a specific scene.
[0004] The encoder of the conventional planetary reduction joint module can only monitor and feedback the state of the output end, and cannot monitor and feedback the state of the input end (motor rotor), which affects the control accuracy of the electric drive rotary unit. If an encoder assembly is set at the input end, cables need to be arranged at the output end and the input end, and two paths need to be designed for wiring, which will lead to complex wiring of the electric drive rotary unit and low reliability. If the cable is external, it will affect the service life of the cable and make the wiring of the electric drive rotary unit complex. If the cable uses conventional hollow wiring, it needs to pass through various components directly, which has certain safety hazards. SUMMARY
[0005] In order to solve the technical problems existing in the prior art, the present application provides a planetary reduction joint module and a robot, and simultaneously proposes a position feedback method of the planetary reduction joint module.
[0006] The technical scheme of the present application is as follows: A planetary reduction joint module, comprising a shell, a drive assembly, an output assembly and a planetary reducer; The drive assembly comprises a frameless torque motor, and a rotor of the frameless torque motor is provided with an input end magnet for feeding back the position of the input end; The output assembly comprises an output flange and an output feedback shaft, the output flange is driven to rotate by a planetary reducer, a sun gear of the planetary reducer is provided with a channel extending along a sun gear axis and used for the output feedback shaft to pass through, one end of the output feedback shaft is coaxially connected with the output flange, and the other end of the output feedback shaft is installed for an output end magnet for detecting an output end position after passing through the sun gear of the planetary reducer.
[0007] As a preferred embodiment of the application, a stator base is further included, the stator base is connected with the shell, the stator core of the frameless torque motor is installed on the stator base, a driving circuit board is installed inside the stator base, a wire passing hole and an input end Hall element for detecting the input end magnet are arranged inside the stator base, and a driving cover for closing the stator base is connected at a tail of the stator base; all electronic components are integrated in the stator base at the tail of the joint module, and are not connected with the shell, so that the stator base is convenient to disassemble.
[0008] Further, a groove space is arranged on an outer circumferential surface of the stator base, and a connector interface of the driving circuit board is arranged in the groove space; the position of the connector plug is inwardly retracted, axial wire outlet and radial wire outlet are facilitated, the working space of the connector plug is ensured, and reliable connection is provided.
[0009] As a preferred embodiment of the application, the input end magnet is a multi-stage magnetic ring, the multi-stage magnetic ring is used to position the input end position in cooperation with the Hall element, the multi-stage magnetic ring provides high resolution and precision, and meets the requirement of precise control.
[0010] As one of the preferred embodiments of the output end magnet of the application, the output end magnet is a magnetic block, the other end of the output feedback shaft is provided with a groove for fixing the magnetic block; an output end Hall element for detecting the magnetic block is arranged on the driving circuit board.
[0011] Further, the output feedback shaft comprises a feedback shaft base and a feedback shaft body, the feedback shaft base is coaxially connected with the output flange, one end of the feedback shaft body is coaxially and threadedly connected with the feedback shaft base, the other end of the feedback shaft body is provided with a groove and fixes the magnetic block, and the other end of the feedback shaft body is further connected with the rotor in rotation through a first bearing.
[0012] As the second preferred embodiment of the output end magnet of the application, the output end magnet is a pair of multi-stage magnetic rings, the pair of multi-stage magnetic rings are installed at the other end of the output feedback shaft, and an output end Hall element for detecting the pair of multi-stage magnetic rings is arranged on the driving circuit board; the output feedback shaft is provided with a hollow structure extending along an axis of the output feedback shaft, and the stator base, the driving circuit board and the driving cover are respectively provided with through holes for the output feedback shaft to pass through.
[0013] Further, one end of the output feedback shaft is formed with a flange structure, the output feedback shaft is coaxially connected with the output flange through the flange structure, the pair of stage magnetic rings are installed at the other end of the output feedback shaft through a feedback magnetic ring seat, the feedback magnetic ring seat is rotationally connected with the sun gear through a second bearing, and the sun gear is rotationally connected with the stator seat through a third bearing.
[0014] The feedback shaft fixed to the output flange is used to mechanically feedback the output end position in the joint module, which can provide an absolute reference and directly measure the output end position, and is used to compensate for periodic calibration or cumulative error of the multi-stage magnetic ring of the input end, thermal drift and the like, so that a simple and reliable high-precision closed-loop control is formed, the robustness is high, so that the robot controller can accurately and stably control the output angle and speed of the joint module, and can adapt to various working environments; meanwhile, since the output feedback shaft is located in the joint module, the internal space of the joint module is effectively utilized, and the overall structural strength, rigidity and reliability of the joint module are significantly improved.
[0015] As a preferred embodiment of the application, the planetary reducer comprises a sun gear, a planet gear, a ring gear, a planet bearing pressing disc and an annular large gasket, the sun gear is connected with a rotor, the rotor is rotationally connected with a housing through a deep groove ball bearing, the sun gear is rotationally connected with an output flange through a deep groove ball bearing, the ring gear is connected with the housing, the planet gear is engaged with the sun gear and the ring gear at the same time, the planet gear, the planet bearing pressing disc and the output flange are connected to form a cantilever structure, the middle part of the planet bearing pressing disc is formed with an opening, the annular large gasket is located between the planet gear and the housing, and the planet gear is in sliding contact with the annular large gasket; the traditional planet carrier is not used, the total number of parts is significantly reduced, the overall weight of the joint module is reduced, the axial size of the joint module is greatly shortened, and the machining and assembly difficulty is reduced.
[0016] As a preferred embodiment of the application, the outer circumferential surface of the ring gear has a stepped structure, and the housing is provided with a stepped surface corresponding to the stepped structure of the outer circumferential surface of the ring gear; the stepped structure is used as a natural positioning reference between the ring gear and the housing, so that axial and radial accurate positioning can be realized, the stress state is optimized, the support is improved, the deformation of the ring gear is reduced, the overall rigidity and strength of the planetary reducer are improved, the load is uniformly distributed, and the meshing precision is higher.
[0017] As a preferred embodiment of the application, the planet gear comprises a planet gear, a planet gear shaft, a needle bearing and a gasket, the planet gear is rotatably sleeved on one end of the planet gear shaft through the needle bearing, the other end of the planet gear shaft is inserted into a corresponding limiting groove arranged on the inner side of the output flange after penetrating through the planet bearing pressing disc, the gasket is sleeved on the planet gear shaft and located between the planet gear and the planet bearing pressing disc, and the planet bearing pressing disc is connected with the output flange.
[0018] Further, the planetary gear is a stepped structure, a large-diameter gear part of the stepped structure planetary gear is engaged with the sun gear, and a small-diameter gear part of the stepped structure planetary gear is engaged with the ring gear; the planetary gear is convenient to position.
[0019] As a preferred embodiment of the present application, the shape of the central hole of the planetary bearing pressure disc is any one of a circular shape, a polygonal shape or a quincunx shape; compared with a circular hole, the planetary bearing pressure disc with a quincunx hole can effectively reduce the weight; meanwhile, the positions of the holes for the planetary wheel shafts passing through each petal of the planetary bearing pressure disc are different, wherein the holes in three petal leaves are relatively close to the center of the planetary bearing pressure disc, and the holes in the other three petal leaves are relatively close to the edge of the planetary bearing pressure disc, the three holes relatively close to the center of the planetary bearing pressure disc and the three holes relatively close to the edge of the planetary bearing pressure disc are arranged alternately, so as to adapt to different joint module products.
[0020] As a preferred embodiment of the present application, an annular structure front end cover is arranged at the periphery of the output flange, the front end cover is connected with the shell, and the output flange is rotationally connected with the front end cover through the crossed roller bearing.
[0021] As a preferred embodiment of the present application, an annular bearing pressure disc is arranged inside the front end cover, the annular bearing pressure disc is connected with the front end cover and used for pressing the outer ring of the crossed roller bearing, and the planetary bearing pressure disc is connected with the output flange and used for pressing the inner ring of the crossed roller bearing.
[0022] As a preferred embodiment of the present application, the output flange adopts a spoke structure, which not only keeps the appearance simple, but also reduces the weight of the overall structure.
[0023] As a preferred embodiment of the present application, a plurality of annular grooves for heat dissipation are arranged on the outer circumferential surface of the shell, so as to improve the heat dissipation efficiency, reduce the local high temperature formed by the mutual superposition of the heat generated by the stator winding and the rotor eddy current loss of the frameless torque motor, and avoid the risk of falling caused by hand slipping during assembly and taking.
[0024] A robot comprising the planetary reduction joint module described above.
[0025] A position feedback method of a planetary reduction joint module, comprising: An input end magnet is mounted on the rotor of the input end frameless torque motor, an input end Hall element is arranged inside the planetary reduction joint module to detect the input end magnet and feed back the input end position; An output feedback shaft is arranged at the output end and an output end magnet is installed, the output end magnet is detected by arranging an output end Hall element inside the planetary reduction joint module to feedback the output end position, the output feedback shaft mechanically feedbacks the output end position inside the planetary reduction joint module, compensating for periodic calibration or input end magnet cumulative error and thermal drift.
[0026] In order to realize the mechanical feedback of the output feedback shaft inside the planetary reduction joint module, the sun gear of the planetary reduction gear inside the planetary reduction joint module is provided with a channel extending along the sun gear axis, and the output feedback shaft passes through the channel.
[0027] In order to completely solve the cable winding problem and support stepless rotation of the joint module, the output feedback shaft is provided with a hollow structure extending along the output feedback shaft axis, and the hollow structure is used for wiring or cabling; thus, the wiring problem of the electric drive rotary unit is solved, and the safety hidden danger existing in the traditional joint module due to external connection of the circuit is eliminated.
[0028] The present application has the following advantages: (1) Three-section design is adopted to ensure that the front and rear end covers can be disassembled; all electronic components are integrated in the tail stator seat of the joint module, and are connected with the shell, facilitating disassembly; the redundant flange, support and connecting member and other components of the traditional joint module are omitted, a compact structure and lightweight design are adopted, facilitating assembly and maintenance.
[0029] (2) A multi-stage magnetic ring differential signal processing method combining analog acquisition and digital transmission is used; the joint module uses multi-stage magnetic rings and Hall elements to position the input end position, the multi-stage magnetic rings provide high resolution and precision, meeting the demand for precise control; the feedback shaft fixed to the output flange mechanically feedbacks the output end position inside the joint module, can provide an absolute reference, directly measures the output end position, and is used to compensate for periodic calibration or cumulative error of the input end multi-stage magnetic ring, thermal drift and the like, forming a simple and reliable high-precision closed-loop control with strong robustness, thereby realizing accurate and stable control of the joint module output angle and speed by the robot controller, and being able to adapt to various working environments; at the same time, since the output feedback shaft is located inside the joint module, the internal space of the joint module is effectively utilized, and the overall structural strength, rigidity and reliability of the joint module are significantly improved.
[0030] (3) Hollow structure design is adopted, the hollow structure supports internal wiring and cabling, the wiring of the electric drive rotary unit is simple, the cables are directly passed through various components without interference, and the safety and reliability are high, thereby completely solving the cable winding problem, supporting stepless rotation of the joint module, solving the wiring problem of the electric drive rotary unit, and eliminating the safety hidden danger existing in the traditional joint module due to external connection of the circuit. BRIEF DESCRIPTION OF DRAWINGS
[0031] Figure 1 is a schematic diagram of the structure of each part of Example 1; Figure 2 is a schematic diagram of the planetary reducer of Example 1; Figure 3 is a schematic diagram of the cross section after assembly of Example 1; Figure 4 is a schematic diagram of the structure of the planetary wheel of the planetary reducer of Example 1; Figure 5 is a schematic diagram of the installation of the circular hole planetary bearing pressure plate of Example 1; Figure 6 is a schematic diagram of the installation of the plum blossom hole planetary bearing pressure plate of another embodiment; Figure 7 is a schematic diagram of the structure of the output feedback shaft of Example 1; Figure 8 is a schematic diagram of the structure of each part of Example 2; Figure 9 is a schematic diagram of the cross section after assembly of Example 2; Figure 10 is a schematic diagram of the cross section after assembly of Example 2; Figure 9 is an enlarged schematic diagram of A in Figure 11 is a schematic diagram of the structure of the output feedback shaft of Example 2.
[0032] Meaning of the reference signs in the drawings: 1 - housing, 2 - drive assembly, 3 - output assembly, 4 - stator seat, 40 - slot space; 5 - multi-stage magnetic ring, 6 - drive circuit board, 62 - indicator light; 7 - input end Hall element, 8 - drive cover, 80 - hole; 9 - output feedback shaft, 90 - hollow structure, 91 - feedback shaft seat, 92 - feedback shaft body; 93 - flange structure, 94 - first bearing, 95 - second bearing, 96 - third bearing; 10 - magnetic block, 11 - output flange, 12 - front end cover, 13 - cross roller bearing; 14 - annular bearing pressure plate, 15 - annular groove, 16 - through hole, 17 - a pair of stage magnetic rings; 18 - feedback magnetic ring seat; 19 - deep groove ball bearing 1, 20 - deep groove ball bearing 2; 21 - rotor, 22 - stator core; 30 - channel, 31 - sun gear, 32 - planetary gear, 33 - ring gear; 34 - planetary bearing pressure plate, 340 - hole, 35 - annular large gasket; 321 - planetary gear, 322 - planetary wheel axle, 323 - needle bearing, 324 - spacer. DETAILED DESCRIPTION
[0033] The application will be described in detail below with reference to the accompanying drawings and specific embodiments.
[0034] Embodiment one
[0035] As shown in Figure 1 and Figure 3 , this embodiment is a planetary reduction joint module, which includes a shell 1, a driving assembly 2, an output assembly 3 and a planetary reducer, the driving assembly 2 and the output assembly 3 are respectively installed in the cavities on both sides of the shell 1, the driving assembly 2 is used to provide power, the output assembly 3 is used to output power, and the planetary reducer is installed inside the shell 1 and located between the driving assembly 2 and the output assembly 3, which is used to reduce the power of the driving assembly 2 and increase the torque before transmitting it to the output assembly 3.
[0036] The driving assembly 2 of this embodiment includes a frameless torque motor, a rotor 21 of the frameless torque motor is installed with an input end magnet for feeding back the position of the input end, and the input end magnet in this embodiment is a multi-stage magnetic ring 5; this embodiment also includes a stator seat 4, the stator seat 4 is connected with the shell 1 through screws, a stator core 22 of the frameless torque motor is installed on the stator seat 4, a driving circuit board 6 is installed inside the stator seat 4 through screws, an input end Hall element 7 for detecting the input end magnet is arranged inside the stator seat 4, and a driving cover 8 for closing the stator seat 4 is installed at the tail of the stator seat 4 through screws; the output assembly 3 includes an output flange 11 and an output feedback shaft 9, the output flange 11 is driven to rotate by the planetary reducer, a sun gear 31 of the planetary reducer is provided with a channel 30 extending along an axis of the sun gear 31 and used for the output feedback shaft 9 to pass through, one end of the output feedback shaft 9 is coaxially connected with the output flange 11, and the other end of the output feedback shaft 9 is installed with an output end magnet for feeding back the position of the output end after passing through the sun gear 31 of the planetary reducer through the channel 30; the output end magnet in this embodiment is a magnetic block 10, the other end of the output feedback shaft 9 is provided with a groove for fixing the magnetic block 10, and the magnetic block 10 is fixed at the groove through glue; an output end Hall element for detecting the magnetic block 10 is arranged on the driving circuit board 6; as shown in Figure 7 , the output feedback shaft 9 includes a feedback shaft seat 91 and a feedback shaft body 92, the feedback shaft seat 91 is coaxially connected with the output flange 11 through screws, one end of the feedback shaft body 92 is coaxially screw-connected with the feedback shaft seat 91, the other end of the feedback shaft body 92 is provided with a groove and fixed with the magnetic block 10, and the other end of the feedback shaft body 92 is also rotationally connected with the rotor 21 through a first bearing 94.
[0037] In operation, the frameless torque motor generates power and drives the planetary reducer to rotate, and drives the output flange 11 to move after the reduction and torque increase of the planetary reducer. In this process, the input end multi-stage magnetic ring 5 is detected by the input end Hall element 7 to position the input end position, and the output end magnetic block 10 is detected by the output end Hall element to position the output end position, and then feedback to the robot controller. The input end multi-stage magnetic ring 5 provides high resolution and accuracy to meet the needs of precise control. The output feedback shaft 9 is provided at the output end to realize mechanical feedback of the output end position. The output feedback shaft 9 fixed to the output flange 11 mechanically feedbacks the output end position inside the joint module, can provide an absolute reference, directly measures the output end position, and is used to compensate for periodic calibration or cumulative error of the input end multi-stage magnetic ring 5, thermal drift, etc., to form a simple and reliable high-precision closed-loop control with strong robustness, thereby realizing accurate and stable control of the joint module output angle and speed by the robot controller, and being able to adapt to various working environments. At the same time, since the output feedback shaft 9 is located inside the joint module, the internal space of the joint module is effectively utilized, and the overall structural strength, rigidity and reliability of the joint module are significantly improved.
[0038] In actual application, in order to improve the heat dissipation problem of the frameless torque motor and increase the torque, the thickness of the stator seat 4 and the stator core 22 of the frameless torque motor can be appropriately increased. The thicker stator seat 4 can improve the bending and deformation resistance, thereby resisting the huge electromagnetic torque generated during the operation of the frameless torque motor. The increase in the thickness of the stator core 22 not only improves the torque, realizes the output of larger torque in smaller volume of the joint module, but also helps to conduct heat to the shell 1 for heat dissipation, reduces the working temperature of the frameless torque motor, prevents demagnetization of the magnet and damage of the coil insulation, and makes the joint module run more smoothly and have a longer service life.
[0039] As shown in Figure 2 The planetary reducer of the present embodiment includes a sun gear 31, a planet gear 32, a ring gear 33, a planet bearing pressing disc 34 and an annular large gasket 35. The sun gear 31 is connected with the rotor 21 through a screw, and is rotationally connected with the shell 1 through a deep groove ball bearing I 19. The deep groove ball bearing can withstand bidirectional rotation, so that the sun gear 31 can rotate flexibly in two directions. The sun gear 31 is rotationally connected with the output flange 11 through a deep groove ball bearing II 20. The ring gear 33 is connected with the shell 1 through a screw. The planet gear 32 is engaged with the sun gear 31 and the ring gear 33 to form a reduction mechanism. The planet gear 32, the planet bearing pressing disc 34 and the output flange 11 are connected to form a cantilever structure, without a traditional planet carrier, which significantly reduces the total number of parts, lightens the overall weight of the joint module, greatly shortens the axial dimension of the joint module, and reduces the machining and assembly difficulty. Figure 5As shown in the figure, the middle part of the planet bearing pressure disc 34 is formed with an opening 340, which is circular in shape; an annular large gasket 35 is arranged between the planetary gear 32 and the housing 1, the planetary gear 32 is in sliding contact with the annular large gasket 35, and the annular large gasket 35 is preferably made of manganese steel; in this embodiment, three planetary gears 32 are provided, which are uniformly distributed around the sun gear 31 and share the load, having the advantages of high load capacity, stable operation, less wear, long service life, no limitation on starting torque, etc.; as Figure 4 As shown in the figure, the planetary gear 32 includes a planetary gear 321, a planetary gear shaft 322, a needle bearing 323, and a gasket 324, the planetary gear 321 is rotatably sleeved on one end of the planetary gear shaft 322 through the needle bearing 323, the other end of the planetary gear shaft 322 passes through the planet bearing pressure disc 34 and is inserted into the corresponding limiting groove arranged on the inner side of the output flange 11, the gasket 324 is sleeved on the planetary gear shaft 322 and located between the planetary gear 321 and the planet bearing pressure disc 34, and the planet bearing pressure disc 34 is connected with the output flange 11 by screws.
[0040] In this embodiment, the planetary gear 321 is a stepped structure, as Figure 4 As shown in the figure, the large-diameter gear part of the stepped structure planetary gear 321 is engaged with the sun gear 31, and the small-diameter gear part of the stepped structure planetary gear 321 is engaged with the ring gear 33, which facilitates positioning of the planetary gear 321.
[0041] As shown in the figure, the stepped structure planetary gear 321 is engaged with the sun gear 31, and the small-diameter gear part of the stepped structure planetary gear 321 is engaged with the ring gear 33, which facilitates positioning of the planetary gear 321. Figure 1 As shown in the figure, the output flange 11 adopts a spoke structure, which not only maintains the simplicity of appearance, but also reduces the weight of the overall structure; as Figure 1 and Figure 3 As shown in the figure, an annular structure front cover 12 is arranged on the periphery of the output flange 11, the front cover 12 is connected with the housing 1 by screws, and the output flange 11 is rotatably connected with the front cover 12 through the crossed roller bearing 13; specifically, an annular bearing pressure disc 14 is arranged on the inner side of the front cover 12, the annular bearing pressure disc 14 is connected with the front cover 12 by screws for pressing the outer ring of the crossed roller bearing 13, and the planet bearing pressure disc 34 is connected with the output flange 11 by screws for pressing the inner ring of the crossed roller bearing 13.
[0042] As another embodiment of this embodiment, the shape of the opening 340 in the middle of the planet bearing pressure disc 34 can also be polygonal or plum blossom shape; when the shape of the opening 340 in the middle of the planet bearing pressure disc 34 is designed in plum blossom shape, as Figure 6As shown, compared with the circular opening, the planetary bearing pressure disc 34 of the plum blossom-shaped opening 340 can effectively reduce the weight; at the same time, the hole position of the planetary bearing pressure disc 34 of the plum blossom-shaped opening 340 through which the planetary wheel shaft 322 passes can be customized according to the requirements of different joint module products, so that the same planetary bearing pressure disc 34 can be adapted to two kinds of joint module products; the holes in three petal leaves are relatively close to the center of the planetary bearing pressure disc 34, and the holes in the other three petal leaves are relatively close to the edge of the planetary bearing pressure disc 34; the three holes relatively close to the center of the planetary bearing pressure disc 34 and the three holes relatively close to the edge of the planetary bearing pressure disc 34 are arranged alternately, the three holes relatively close to the center of the planetary bearing pressure disc 34 adapt to one of the joint module products, and the three holes relatively close to the edge of the planetary bearing pressure disc 34 adapt to the other joint module product.
[0043] As shown in Figure 1 , the embodiment sets a groove space 40 on the outer circumferential surface of the stator seat 4, and the connector interface of the drive circuit board 6 is arranged in the groove space 40, so that the position of the connector plug is contracted inward, the axial and radial wires are convenient, the working space of the connector plug is ensured, and reliable connection is provided; a hole 80 for accommodating the indicator lamp 62 of the drive circuit board 6 is arranged on the drive cover 8, and the indicator lamp 62 is located in the hole 80 to display the working state, which is convenient for users to check and confirm the switch state of the joint module.
[0044] As shown in Figure 1 and Figure 3 , the embodiment sets a plurality of annular grooves 15 on the outer circumferential surface of the shell 1, and the plurality of annular grooves 15 play a heat dissipation role to improve the heat dissipation efficiency and reduce the local high temperature formed by the mutual superposition of the heat generated by the stator winding and the rotor eddy current loss of the frameless torque motor; at the same time, the plurality of annular grooves 15 can avoid the risk of falling caused by hand slipping during assembly and taking.
[0045] Embodiment two
[0046] As shown in Figures 8 to 11 , the embodiment is a planetary reduction joint module, and the structure of the embodiment is similar to that of embodiment one, and the difference is only that: In the embodiment, the output feedback shaft 9 is provided with a hollow structure 90, as shown in Figure 9 , the hollow structure 90 extends along the axis of the output feedback shaft 9, and the stator seat 4, the drive circuit board 6 and the drive cover 8 are respectively provided with through holes 16 for the output feedback shaft 9 to pass through; as Figure 11As shown, one end of the output feedback shaft 9 is formed with a flange structure 93, and the output feedback shaft 9 is coaxially screwed with the output flange 11 through the flange structure 93; the output end magnet is a pair of step magnetic rings 17, which are installed on the other end of the output feedback shaft 9 through a feedback magnetic ring seat 18, and the feedback magnetic ring seat 18 is rotationally connected with the sun gear 31 through a second bearing 95, and the sun gear 31 is rotationally connected with the stator seat 4 through a third bearing 96, and an output end Hall element for detecting the pair of step magnetic rings 17 is arranged on the driving circuit board 6.
[0047] As shown in the drawings, Figure 9 In this embodiment, the sun gear 31 of the planetary reducer is screwed with the rotor 21, and the rotor 21 is rotationally connected with the housing 1 through a deep groove ball bearing 19.
[0048] As shown in the drawings, Figure 9 and Figure 10 As another embodiment of the present embodiment, the outer circumferential surface of the ring gear 33 of the planetary reducer has a stepped structure, and the housing 1 is provided with a stepped surface corresponding to the stepped structure of the outer circumferential surface of the ring gear 33; the stepped structure is used as a natural positioning reference between the ring gear 33 and the housing 1, which can realize accurate positioning in axial and radial directions, optimize the stress state, improve the support, reduce the deformation of the ring gear, and at the same time improve the overall rigidity and strength of the planetary reducer, so that the load is uniformly distributed and the meshing precision is higher.
[0049] The present embodiment not only has all the functions and effects of the first embodiment, but also makes full use of the structure of the output feedback shaft 9, and a hollow structure 90 is arranged on the axis of the output feedback shaft 9, and the stator seat 4, the driving circuit board 6 and the driving cover 8 are respectively provided with through holes 16 for the output feedback shaft 9 to pass through; the hollow structure 90 supports the internal wiring, thereby completely solving the problem of cable winding, supporting stepless rotation of the joint module, solving the problem of complex wiring of the electrically driven rotary unit, and eliminating the safety hazards of the traditional joint module due to external connection of the circuit.
[0050] Embodiment three
[0051] A robot, wherein the joint part of the robot is provided with the planetary reduction joint module of the first embodiment and / or the second embodiment.
[0052] Embodiment four
[0053] The present embodiment is a position feedback method of a planetary reduction joint module, comprising: The input end magnet is installed on the rotor 21 of the input end frameless torque motor, the input end magnet is detected by arranging the input end Hall element 7 inside the planetary reduction joint module, and the input end position is fed back; the output feedback shaft 9 is arranged at the output end, and the output end magnet is installed, the output end magnet is detected by arranging the output end Hall element inside the planetary reduction joint module, and the output end position is fed back; with reference to Figure 3 and Figure 9 The output feedback shaft 9 mechanically feeds back the output end position inside the planetary reduction joint module, compensates for periodic calibration or input end magnet cumulative error and thermal drift, forms a simple and reliable high-precision closed-loop control, and has strong robustness, so as to realize accurate and stable control of the joint module output angle and speed by the robot controller, and adapt to various working environments; at the same time, since the output feedback shaft 9 is located inside the joint module, the internal space of the joint module is effectively utilized, and the overall structural strength, rigidity and reliability of the joint module are significantly improved.
[0054] In order to realize the mechanical feedback of the output feedback shaft 9 inside the planetary reduction joint module, the present embodiment sets a channel 30 extending along the axis of the sun gear 31 of the planetary reduction gear inside the planetary reduction joint module, and the output feedback shaft 9 passes through the channel 30.
[0055] At the same time, in order to completely solve the cable winding problem and enable the joint module to support stepless rotation, the present embodiment sets a hollow structure 90 on the shaft body of the output feedback shaft 9, the hollow structure 90 extends along the axis of the output feedback shaft 9, and the hollow structure 90 is used for wiring or wiring, thereby solving the problem of complex wiring of the electric drive rotary unit, and eliminating the safety hazards existing in the external circuit of the traditional joint module.
[0056] In the description of the present application, it should be understood that: the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application; in addition, the terms "first", "second" are only for description purposes, and cannot be understood as indicating or implying relative importance.
[0057] In the description of the present application, it should be noted that unless specifically defined and limited, the terms "mounting", "connecting", "setting", "forming" should be understood broadly; for example: it can be fixedly connected, set, or detachably connected, set, or adopt an integral structure; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements; for those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0058] In the description of the present application, the description of the terms "embodiment", "implementation" or "actual application" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment are included in at least one embodiment or implementation of the present application; and the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or implementations in a suitable manner.
[0059] The above embodiments are only used to illustrate the technical solutions of the present application, and those skilled in the art should understand that the above embodiments do not limit the present application in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present application.
Claims
1. A planetary deceleration joint module, comprising a housing, a driving assembly, an output assembly and a planetary decelerator, characterized in that: the driving assembly comprises a frameless torque motor, a rotor of the frameless torque motor is provided with an input magnet for feeding back an input position; the output assembly comprises an output flange and an output feedback shaft, the output flange is driven to rotate by the planetary decelerator, a sun gear of the planetary decelerator is provided with a channel extending along a sun gear axis and used for the output feedback shaft to pass through, one end of the output feedback shaft is coaxially connected with the output flange, and the other end of the output feedback shaft is provided with an output magnet for feeding back an output position after passing through the sun gear of the planetary decelerator through the channel.
2. The planetary reduction joint module of claim 1, wherein, a stator seat is further included, the stator seat is connected with the housing, a stator core of the frameless torque motor is mounted on the stator seat, a driving circuit board is mounted inside the stator seat, an input hole and an input Hall element for detecting the input magnet are arranged inside the stator seat, and a driving cover for closing the stator seat is connected at a tail of the stator seat.
3. The planetary reduction joint module of claim 2, wherein, an outer circumferential surface of the stator seat is provided with a groove space, and a connector interface of the driving circuit board is arranged in the groove space.
4. The planetary reduction joint module of claim 2, wherein, the input magnet is a multi-stage magnetic ring.
5. The planetary reduction joint module of claim 2, wherein, the output magnet is a magnetic block, the other end of the output feedback shaft is provided with a groove for fixing the magnetic block, and an output Hall element for detecting the magnetic block is arranged on the driving circuit board.
6. The planetary reduction joint module of claim 5, wherein, the output feedback shaft comprises a feedback shaft seat and a feedback shaft body, the feedback shaft seat is coaxially connected with the output flange, one end of the feedback shaft body is coaxially and threadedly connected with the feedback shaft seat, the other end of the feedback shaft body is provided with a groove and fixes the magnetic block, and the other end of the feedback shaft body is further rotationally connected with the rotor through a first bearing.
7. The planetary reduction joint module of claim 2, wherein, the output magnet is a pair of stage magnetic rings, the pair of stage magnetic rings are mounted at the other end of the output feedback shaft, and an output Hall element for detecting the pair of stage magnetic rings is arranged on the driving circuit board; the output feedback shaft is provided with a hollow structure extending along an output feedback shaft axis, and the stator seat, the driving circuit board and the driving cover are respectively provided with through holes for the output feedback shaft to pass through.
8. The planetary reduction joint module of claim 7, wherein, one end of the output feedback shaft is formed with a flange structure, the output feedback shaft is coaxially connected with the output flange through the flange structure, the pair of stage magnetic rings are mounted at the other end of the output feedback shaft through a feedback magnetic ring seat, the feedback magnetic ring seat is rotationally connected with the sun gear through a second bearing, and the sun gear is rotationally connected with the stator seat through a third bearing.
9. The planetary deceleration joint module according to any one of claims 1-8, characterized in that, the planetary decelerator comprises a sun gear, a planet gear, a ring gear, a planet bearing pressing disc and an annular large gasket, the sun gear is connected with the rotor, the rotor is rotationally connected with the housing or the sun gear is rotationally connected with the housing through a deep groove ball bearing one, the sun gear is rotationally connected with the output flange through a deep groove ball bearing two, the ring gear is connected with the housing, the planet gear is simultaneously engaged with the sun gear and the ring gear, the planet gear, the planet bearing pressing disc and the output flange are connected to form a cantilever structure; a central part of the planet bearing pressing disc is formed with an opening, the annular large gasket is located between the planet gear and the housing, and the planet gear is in sliding contact with the annular large gasket.
10. The planetary reduction joint module of claim 9, wherein, The outer circumferential surface of the gear ring has a stepped structure, and the housing is provided with a stepped surface corresponding to the stepped structure of the outer circumferential surface of the gear ring.
11. The planetary reduction joint module of claim 9, wherein, The planetary gear includes a planetary gear, a planetary shaft, a needle bearing and a gasket, the planetary gear is rotatably sleeved on one end of the planetary shaft through the needle bearing, the other end of the planetary shaft is inserted into the corresponding limiting groove on the inner side of the output flange after penetrating through the planetary bearing pressing disc, the gasket is sleeved on the planetary shaft and located between the planetary gear and the planetary bearing pressing disc, and the planetary bearing pressing disc is connected with the output flange.
12. The planetary reduction joint module of claim 11, wherein, The planetary gear is a stepped structure, the large-diameter gear part of the stepped structure planetary gear is engaged with the sun gear, and the small-diameter gear part of the stepped structure planetary gear is engaged with the gear ring.
13. The planetary reduction joint module of claim 9, wherein, The shape of the hole in the middle of the planetary bearing pressing disc is any one of a circle, a polygon or a plum blossom shape; when the shape of the hole in the middle of the planetary bearing pressing disc is a plum blossom shape, the hole positions of the planetary shaft passing through each petal of the plum blossom shape planetary bearing pressing disc are different, three of the holes are relatively close to the center of the planetary bearing pressing disc, and the other three holes are relatively close to the edge of the planetary bearing pressing disc, and the three holes relatively close to the center of the planetary bearing pressing disc and the three holes relatively close to the edge of the planetary bearing pressing disc are arranged in a staggered manner, so as to adapt to different joint module products.
14. The planetary reduction joint module of claim 9, wherein, An annular structure front end cover is arranged on the periphery of the output flange, the front end cover is connected with the housing, and the output flange is rotatably connected with the front end cover through the crossed roller bearing.
15. The planetary reduction joint module of claim 14, wherein, An annular bearing pressing disc is arranged on the inner side of the front end cover, the annular bearing pressing disc is connected with the front end cover and used for pressing the outer ring of the crossed roller bearing, and the planetary bearing pressing disc is connected with the output flange and used for pressing the inner ring of the crossed roller bearing.
16. The planetary deceleration joint module according to any one of claims 1, 11, 14, 15, wherein, The output flange adopts a spoke structure.
17. The planetary reduction joint module of claim 1, wherein, A plurality of annular grooves for heat dissipation are arranged on the outer circumferential surface of the housing.
18. A robot characterized by: The planetary reduction joint module comprises the planetary reduction joint module according to any one of claims 1-17.
19. A method of position feedback for a planetary reduction joint module according to any one of claims 1 to 17, characterised in that, The planetary reduction joint module comprises: An input end magnet is mounted on the rotor of the input end frameless torque motor, an input end Hall element is arranged inside the planetary reduction joint module to detect the input end magnet and feed back the input end position; An output feedback shaft is arranged on the output end, and an output end magnet is mounted on the output feedback shaft, an output end Hall element is arranged inside the planetary reduction joint module to detect the output end magnet and feed back the output end position, the output feedback shaft mechanically feeds back the output end position inside the planetary reduction joint module, and the periodic calibration or cumulative error and thermal drift of the input end magnet are compensated.
20. The method of claim 19, wherein the position feedback of the planetary reduction joint module is determined by: A channel extending along the axis of the sun gear is arranged on the sun gear of the planetary reduction device inside the planetary reduction joint module, and the output feedback shaft passes through the channel.
21. The method of claim 20, wherein the position feedback of the planetary reduction joint module is determined by: The output feedback shaft is provided with a hollow structure extending along the axis of the output feedback shaft, and the hollow structure is used for wiring or wiring.