Joint module and robot

Abstract

The invention relates to the technical field of robots, in particular to a joint module and a robot, and solves the problem that the torque of the joint module is still small under certain size limitation. The joint module comprises a motor shell, a center shaft, a first sun gear, a plurality of first planet gears, an inner gear ring, a first planet carrier, a rotor, a connecting sleeve and a stator. The rotor is arranged on the inner ring of the stator, the stator is fixedly connected with the motor shell, only a gap needs to be reserved between the rotor and the stator, and the radial size of the joint module is reduced. In addition, the rotor is arranged on the outer sides of the first sun gear and the first planet gear in a sleeving mode, the rotor and the first sun gear are connected through the connecting sleeve, and the axial size of the joint module is reduced. Namely, the radial size and the axial size of the joint module are reduced, and the torque capable of being borne by the joint module can be increased under the condition that the space of the joint position of the humanoid robot is limited.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a joint module and a robot. Background Art

[0002] With the rapid development of industrial automation and intelligent robots, humanoid robots have broad application prospects in industrial production, medical care, services and other fields. Humanoid robots need to have the characteristics of high torque output, precise movement and stable control to meet various task requirements. In the driving system of humanoid robots, joint modules play a vital role.

[0003] In order to increase the torque of the joint module, the size of the joint module also increases. However, the space at the joint position of the humanoid robot is limited, and the size of the joint module cannot be increased indefinitely. In other words, within a certain size limit, the torque of the joint module is still small and cannot meet the requirements of the humanoid robot. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a joint module and a robot, which solve the problem that the torque of the joint module is still small under certain size restrictions.

[0005] In the first aspect, an embodiment of the present application provides a joint module, including: a motor housing; a central shaft fixedly connected to the motor housing; a first sun gear mounted on the central shaft and rotatably connected to the central shaft; a plurality of first planetary gears respectively meshing with the outer ring of the first sun gear; an inner gear ring fixedly connected to the motor housing, and the inner ring of the inner gear ring meshing with the outer rings of the plurality of first planetary gears; a first planetary carrier mounted on the central shaft, rotatably connected to the central shaft, and connected to the plurality of first planetary gears; a rotor mounted on the side of the first sun gear, the plurality of first planetary gears and the inner gear ring away from the central shaft; a connecting sleeve connecting the rotor and the first sun gear; a stator fixedly mounted on the inner side of the motor housing and mounted on the outer ring of the rotor, and the rotor and the stator are rotatably connected.

[0006] In some embodiments, the connecting sleeve includes: a first connecting portion, fixedly mounted on the inner ring of the rotor; a second connecting portion, fixedly mounted on the outer ring of the first sun gear; and a third connecting portion, connected to the first connecting portion and bypassing the end of the inner gear ring to connect to the second connecting portion.

[0007] In some embodiments, the central shaft has a through hole penetrating the central shaft along the axial direction of the central shaft, and the through hole is configured to allow a cable to pass through.

[0008] In some embodiments, the number of the first planetary gears is four or five; and / or the inner ring of the stator has M stator teeth, where M is a positive integer greater than or equal to 24.

[0009] In some embodiments, the joint module also includes: a center gear, which is sleeved on the center shaft, rotatably connected to the center shaft, and connected to the connecting sleeve; a support member, which is fixedly connected to the motor housing; a plurality of detection gears, which are rotatably connected to the support member, and mesh with the outer ring of the center gear, wherein the number of teeth of at least one detection gear is equal to the number of teeth of the center gear, and the difference between the number of teeth of at least one detection gear and the number of teeth of at least another detection gear is an odd number; a plurality of magnetic parts, respectively coaxially connected to the plurality of detection gears; a plurality of encoder chips, which are fixedly arranged relative to the motor housing, and are respectively arranged relative to the plurality of magnetic parts at intervals, and the encoder chip is configured to detect changes in the magnetic field of the magnetic parts.

[0010] In some embodiments, the magnetic component includes: a first annular magnetic portion, coaxially connected to the detection gear, the south pole and the north pole of the first annular magnetic portion are arranged opposite to each other in the radial direction of the first annular magnetic portion; a second annular magnetic portion, coaxially connected to the detection gear, the second annular magnetic portion and the first annular magnetic portion are stacked axially with each other in the axial direction of the first annular magnetic portion, the south pole and the north pole of the second annular magnetic portion are arranged opposite to each other in the radial direction of the second annular magnetic portion, and the south pole of the second annular magnetic portion is arranged adjacent to the north pole of the first annular magnetic portion.

[0011] In some embodiments, the number of the detection gears is two, and the difference between the number of teeth of one detection gear and the number of teeth of another detection gear is one; and / or, the number of the detection gears is two, and the two detection gears are symmetrically arranged in the radial direction of the central gear.

[0012] In some embodiments, the joint module also includes: at least one group of reduction assembly, wherein at least one group of the reduction assembly is connected in sequence, and the first group of the reduction assembly in at least one group of the reduction assembly is connected to the first planet carrier; wherein the reduction assembly includes: a second sun gear, which is mounted on the central shaft and rotatably connected to the central shaft; a plurality of second planetary gears, which are respectively meshed with the outer ring of the second sun gear and are respectively meshed with the inner ring of the inner gear ring; a second planetary carrier, which is mounted on the central shaft, rotatably connected to the central shaft, and is connected to a plurality of second planetary gears; wherein the second sun gear in the next-stage reduction assembly is connected to the second planet carrier in the previous-stage reduction assembly, the second sun gear in the first group of the reduction assembly is connected to the first planet carrier, and the second planet carrier in the last group of the reduction assembly is the output planet carrier.

[0013] In some embodiments, the shape of the outer contour of the motor housing in the radial cross section of the central axis includes an octagon.

[0014] In a second aspect, an embodiment of the present application provides a robot, comprising: the joint module described in the first aspect.

[0015] A joint module provided in an embodiment of the present application includes a motor housing, a central shaft, a first sun gear, a plurality of first planetary gears, an inner gear ring, a first planet carrier, a rotor, a connecting sleeve, and a stator. The central shaft is fixedly connected to the motor housing, the first sun gear is sleeved on the central shaft and rotatably connected to the central shaft, the plurality of first planetary gears are respectively meshed with the outer ring of the first sun gear, the inner gear ring is fixedly connected to the motor housing, and the inner ring of the inner gear ring is meshed with the outer ring of the plurality of first planetary gears, the first planet carrier is sleeved on the central shaft, rotatably connected to the central shaft, and connected to the plurality of first planetary gears, the rotor is sleeved on the side of the first sun gear, the plurality of first planetary gears, and the inner gear ring away from the central shaft, the connecting sleeve connects the rotor and the first sun gear, the stator is fixedly sleeved on the inner side of the motor housing, and sleeved on the outer ring of the rotor, and the rotor is rotatably connected to the stator.

[0016] The inventors have found that the rotor of the joint module of the related technology is arranged between the stator and the motor housing. Since the rotor needs to rotate relative to the stator and the motor housing, a gap needs to be left between the rotor and the stator and the motor housing, resulting in a larger radial dimension of the joint module.

[0017] The present application reduces the radial dimension of the joint module by arranging the rotor in the inner ring of the stator, and the stator is fixedly connected to the motor housing, and only a gap is required between the rotor and the stator. In addition, the rotor is sleeved on the outside of the first sun gear and the first planetary gear, and the rotor and the first sun gear are connected by a connecting sleeve, which reduces the axial dimension of the joint module. That is, the joint module of the present application reduces the radial dimension and the axial dimension, and can increase the torque that the joint module can bear when the space at the joint position of the humanoid robot is limited. In addition, by reducing the radial dimension and the axial dimension of the joint module, the overall integration of the joint module is also facilitated.

[0018] In addition, the stator is mounted on the inner ring of the rotor to facilitate the heat dissipation of the stator, thereby improving the heat dissipation efficiency and rated operating point of the joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components.

[0020] Figure 1 Shown is a schematic structural diagram of a joint module provided in one embodiment of the present application.

[0021] Figure 2 Shown is a left view of a joint module provided in one embodiment of the present application.

[0022] Figure 3 The present invention provides an embodiment of the present invention. Figure 2 The cross-sectional view of the joint module shown in the AA direction.

[0023] Figure 4 Shown is a front view of a joint module provided in one embodiment of the present application.

[0024] Figure 5 The present invention provides an embodiment of the present invention. Figure 4 The cross-sectional view of the joint module shown in the BB direction.

[0025] Figure 6 The present invention provides an embodiment of the present invention. Figure 4 The cross-sectional view of the joint module shown in the CC direction.

[0026] Figure 7 Shown is a schematic diagram of the rotation angle of the rotor and the recognition angle of the encoder chip provided in one embodiment of the present application.

[0027] Figure 8 FIG. 1 is a schematic diagram showing the difference in recognition angles of two encoder chips according to an embodiment of the present application.

[0028] Fig. 9 Shown is a schematic structural diagram of a magnetic component provided in one embodiment of the present application.

[0029] Fig.10 Shown is a schematic diagram of multiple joint modules connected according to an embodiment of the present application.

[0030] Fig.11 Shown is a schematic structural diagram of a robot provided in one embodiment of the present application.

[0031] Reference numerals:

[0032] 1. Robot; 10. Joint module; 110. Motor housing; 111. Housing; 112. End cover; 120. Central shaft; 121. Through hole; 130. First sun gear; 140. First planetary gear; 150. Internal gear ring; 160. First planetary carrier; 170. Rotor; 180. Connecting sleeve; 181. First connecting part; 182. Second connecting part; 183. Third connecting part; 190. Stator; 191. Stator teeth; 200. Central gear; 210. Support member; 220. Detection gear; 230. Magnetic member; 231. 1. First annular magnetic part; 2311. North pole of the first annular magnetic part; 2312. South pole of the first annular magnetic part; 232. Second annular magnetic part; 2321. North pole of the second annular magnetic part; 2322. South pole of the second annular magnetic part; 240. Encoder chip; 250. Speed ​​reduction assembly; 251. Second sun gear; 252. Second planetary gear; 253. Second planetary carrier; 310. First bearing; 320. Second bearing; 330. Third bearing; 340. Fourth bearing; 350. Circuit board; 20. Adapter. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] As a common joint for bipedal humanoid robots, the long-term research goals of the joint module are as follows: (1) Within a limited size and weight, increase the maximum torque output by the joint module while ensuring a reasonable maximum speed, that is, increase the high explosive power of the joint module; (2) Within a limited radial size, increase the output bearing capacity of the joint module, increase the torque of the joint module, and meet the long life requirements; (3) The joint module needs to be integrated into the whole machine, and the joint module is preferably a flat structure, that is, the axial dimension of the joint module is as short as possible.

[0035] In order to solve at least one of the above problems, the present application is proposed. A joint module provided by an embodiment of the present application includes a motor housing, a central shaft, a first sun gear, a plurality of first planetary gears, an inner gear ring, a first planet carrier, a rotor, a connecting sleeve and a stator. The central shaft is fixedly connected to the motor housing, the first sun gear is sleeved on the central shaft, and is rotatably connected to the central shaft, and the plurality of first planetary gears are respectively meshed with the outer ring of the first sun gear, the inner gear ring is fixedly connected to the motor housing, and the inner ring of the inner gear ring is meshed with the outer ring of the plurality of first planetary gears, the first planet carrier is sleeved on the central shaft, and is rotatably connected to the central shaft, and is connected to the plurality of first planetary gears, the rotor is sleeved on the first sun gear, the plurality of first planetary gears and the inner gear ring away from the central shaft on one side, the connecting sleeve connects the rotor and the first sun gear, the stator is fixedly sleeved on the inner side of the motor housing, and is sleeved on the outer ring of the rotor, and the rotor is rotatably connected to the stator. By arranging the rotor on the inner ring of the stator, and the stator is fixedly connected to the motor housing, only a gap is required between the rotor and the stator, thereby reducing the radial size of the joint module. In addition, the rotor sleeve is arranged on the outside of the first sun gear and the first planetary gear, and the rotor and the first sun gear are connected by a connecting sleeve, which reduces the axial size of the joint module. That is, the joint module of the present application reduces the radial size and the axial size, and can increase the torque that the joint module can bear when the space at the joint position of the humanoid robot is limited. In addition, by reducing the radial size and the axial size of the joint module, the overall integration of the joint module is also facilitated.

[0036] In addition, the stator is mounted on the inner ring of the rotor to facilitate the heat dissipation of the stator, thereby improving the heat dissipation efficiency and rated operating point of the joint module.

[0037] The joint module is described below with reference to the accompanying drawings and specific embodiments.

[0038] Figure 1 Shown is a schematic structural diagram of a joint module provided in one embodiment of the present application. Figure 2 Shown is a left view of a joint module provided in one embodiment of the present application. Figure 3 The present invention provides an embodiment of the present invention. Figure 2 The cross-sectional view of the joint module shown in the AA direction. Figure 4 Shown is a front view of a joint module provided in one embodiment of the present application. Figure 5 The present invention provides an embodiment of the present invention. Figure 4 The cross-sectional view of the joint module shown in the BB direction. Figure 6 The present invention provides an embodiment of the present invention. Figure 4 The cross-sectional view of the joint module in the CC direction is shown. Figures 1 to 6 As shown, the joint module 10 includes a motor housing 110 , a central shaft 120 , a first sun gear 130 , a plurality of first planetary gears 140 , an inner ring gear 150 , a first planetary carrier 160 , a rotor 170 , a connecting sleeve 180 and a stator 190 .

[0039] Specifically, the central shaft 120 is fixedly connected to the motor housing 110. Exemplarily, the motor housing 110 includes a housing 111 and an end cover 112. The housing 111 and the end cover 112 are detachably connected, and the central shaft 120 is fixedly connected to the end cover 112. Exemplarily, the central shaft 120 is interference-connected to the end cover 112. Exemplarily, the central shaft 120 is bolted to the end cover 112.

[0040] The first sun gear 130 is mounted on the central shaft 120 and is rotatably connected to the central shaft 120. Exemplarily, the first sun gear 130 may be a gear. The plurality of first planetary gears 140 are respectively meshed with the outer ring of the first sun gear 130. Exemplarily, the plurality of first planetary gears 140 are evenly arranged around the circumference of the first sun gear 130. The inner ring gear 150 is fixedly connected to the motor housing 110, and the inner ring of the inner ring gear 150 is meshed with the outer ring of the plurality of first planetary gears 140. Exemplarily, the inner ring gear 150 is interference-connected to the motor housing 110. Exemplarily, the inner ring gear 150 is glued to the motor housing 110. The first planet carrier 160 is mounted on the central shaft 120, is rotatably connected to the central shaft 120, and is connected to the plurality of first planetary gears 140.

[0041] The rotor 170 is sleeved on the first sun gear 130, the first planetary gears 140 and the inner gear ring 150 on a side away from the central axis 120. The connecting sleeve 180 connects the rotor 170 and the first sun gear 130. The stator 190 is fixedly sleeved on the inner side of the motor housing 110 and sleeved on the outer ring of the rotor 170, and the rotor 170 and the stator 190 are rotatably connected.

[0042] The inventor has found that if the rotor 170 and the first sun gear 130 are arranged adjacent to each other along the axial direction of the central axis 120, the axial dimension of the joint module 10 will be too long. Therefore, the rotor 170 of the present application is sleeved on the outside of the first sun gear 130 and the first planetary gear 140, and the rotor 170 and the first sun gear 130 are connected by a connecting sleeve 180, thereby reducing the axial dimension of the joint module 10. In addition, by arranging the rotor 170 on the inner ring of the stator 190, and the stator 190 is fixedly connected to the motor housing 110, it is only necessary to leave a gap between the rotor 170 and the stator 190, thereby reducing the radial dimension of the joint module 10. That is, the joint module 10 of the present application reduces the radial dimension and the axial dimension, and can increase the torque that the joint module 10 can bear when the space at the joint position of the humanoid robot is limited. In addition, by reducing the radial dimension and the axial dimension of the joint module 10, it is also convenient for the overall integration of the joint module 10.

[0043] In addition, the stator 190 is mounted on the inner ring of the rotor 170 to facilitate heat dissipation of the stator 190 , thereby improving the heat dissipation efficiency and rated operating point of the joint module 10 .

[0044] In some embodiments, the connecting sleeve 180 includes a first connecting portion 181 , a second connecting portion 182 , and a third connecting portion 183 .

[0045] The first connection portion 181 is fixedly mounted on the inner ring of the rotor 170. The second connection portion 182 is fixedly mounted on the outer ring of the first sun gear 130. The third connection portion 183 is connected to the first connection portion 181 and passes around the end of the inner gear ring 150 to connect to the second connection portion 182.

[0046] For example, the first connection portion 181 may be a circular ring structure or a special-shaped structure. The second connection portion 182 may be a circular ring structure or a special-shaped structure. The third connection portion 183 may be a special-shaped structure. Figure 3 As shown, the axial cross-section of the third connection portion 183 has a bending structure so that the third connection portion 183 is connected to the first connection portion 181 and bypasses the end of the inner gear ring 150 to connect to the second connection portion 182 .

[0047] Since the first planetary gear 140 is located between the first sun gear 130 and the rotor 170 , a special-shaped connecting sleeve 180 is required to connect the first planetary gear 140 and the rotor 170 , thereby reducing the axial dimension of the joint module 10 and further saving space of the joint module 10 .

[0048] In some embodiments, the central shaft 120 has a through hole 121 penetrating the central shaft 120 along the axial direction of the central shaft 120 , and the through hole 121 is configured to allow a cable to pass through.

[0049] In actual applications, the joint module 10, motors and other equipment need to be electrically connected to the power supply through cables. By passing the cables through the through holes 121, wiring is facilitated, wiring outside the joints of the humanoid robot is reduced, and the difficulty of assembling the humanoid robot is simplified.

[0050] In some embodiments, the number of the first planetary gears 140 is four or five. Figure 6 As shown, the number of the first planetary gears 140 is four. In some embodiments, the number of the first planetary gears 140 can also be one, two or three. In some embodiments, the number of the first planetary gears 140 can also be more than five. The inventors have found that the more the number of the first planetary gears 140, the greater the torque that the joint module 10 can withstand. However, due to the size of the joint module 10 and the number of teeth of the first planetary gears 140, the number of the first planetary gears 140 cannot be increased indefinitely. The inventors have experimentally verified that the number of the first planetary gears 140 is four or five, which can both increase the torque that the joint module 10 can bear and minimize the size of the joint module 10.

[0051] In some embodiments, Figure 6As shown, the inner ring of the stator 190 has M stator teeth 191 , where M is a positive integer greater than or equal to 24. By increasing the number of stator teeth 191 , the power of the joint module 10 can be increased.

[0052] In some embodiments, M is less than 36. Since the size of the stator 190 cannot be too large, the number of stator teeth 191 cannot be too large in terms of technology. The inventors have found through experiments that the number of stator teeth 191 between 24 and 36 is achievable in terms of technology.

[0053] In some embodiments, Figure 3 and Figure 5 As shown, the joint module 10 further includes a central gear 200 , a support member 210 , a plurality of detection gears 220 , a plurality of magnetic members 230 and a plurality of encoder chips 240 .

[0054] The central gear 200 is sleeved on the central shaft 120, rotatably connected to the central shaft 120, and connected to the connecting sleeve 180. The support member 210 is fixedly connected to the motor housing 110. A plurality of detection gears 220 are rotatably connected to the support member 210, and mesh with the outer ring 201 of the central gear 200. The number of teeth of at least one detection gear 220 is equal to the number of teeth of the central gear 200. The difference between the number of teeth of at least one detection gear 220 and the number of teeth of at least another detection gear 220 is an odd number. Exemplarily, the number of teeth of the central gear 200 is N, the number of teeth of one detection gear 220 is N, and the number of teeth of the other detection gear 220 is N-1.

[0055] Multiple magnetic parts 230 are coaxially connected to multiple detection gears 220 respectively. Multiple encoder chips 240 are fixedly arranged relative to the motor housing 110, and are spaced relatively from the multiple magnetic parts 230 respectively. The encoder chip 240 is configured to detect the magnetic field change of the magnetic part 230 to determine the absolute position of the magnetic part 230. The magnetic part 230 is a radial magnet. Because its rotation point is between the north pole and the south pole of the radial magnet, multiple encoder chips 240 can detect different magnetic field conditions and convert them into digital quantities. For example, the north pole corresponds to the encoding value 0, and the south pole corresponds to the encoding value 65535. The numerical change of 0-65535 can be read in the process of rotating 1 circle 360 ​​degrees.

[0056] According to the change of the magnetic field of the magnetic part 230 detected by the encoder chip 240, the relative rotation angle of the detection gear 220 can be obtained. According to the gear ratio between the detection gear 220 and the central gear 200, the relative rotation angle of the central gear 200 can be obtained. The relative rotation angle of the central gear 200 is the same as the relative rotation angle of the rotor 170, so the relative angle of the rotor 170 can be obtained. Multiple relative angles of the rotor 170 can be determined by multiple encoder chips 240, and the absolute position of the rotor 170 can be obtained according to the multiple relative angles of the rotor 170. According to the reduction ratio of the reduction structure composed of the first sun gear 130, the first planetary gear 140, the inner ring gear 150, and the first planetary carrier 160, and the reduction ratio of the reduction assembly 250, the absolute position of the first planetary carrier 160 and the absolute position of the second planetary carrier 253 can be obtained.

[0057] According to the magnetic field changes of the multiple magnetic parts 230 detected by the multiple encoder chips 240, the absolute angle of rotation of the rotor 170 can be obtained, which is convenient for judging the absolute angle position and performing the zeroing action when the rotor 170 starts, thereby improving the accuracy of the absolute angle detection of the rotor 170.

[0058] For example, N=16 is used as an example to explain the calculation method of the absolute position of the rotor 170. Specifically, the number of teeth of the central gear 200 is 16, the number of teeth of one detection gear 220 is 16, and the number of teeth of the other detection gear 220 is 15. Hereinafter, the detection gear 220 with 15 teeth is referred to as the main gear, and the detection gear 220 with 16 teeth is referred to as the secondary gear.

[0059] exist Figure 7 and Figure 8 In FIG. 1 , the X-axis represents the actual rotation angle of the rotor 170, and the Y-axis represents the recognition angle of the encoder chip 240. Figure 7 In the figure, the solid line represents the rotation angle of the main gear. The dotted line represents the rotation angle of the secondary gear. Figure 8 In the figure, the dotted line represents the difference between the rotation angle of the main gear and the rotation angle of the auxiliary gear.

[0060] like Figure 7 and Figure 8 As shown, since the main gear has fewer teeth than the sub gear, the main gear rotates faster than the sub gear. The main gear rotates 16 circles and the sub gear rotates 15 circles. In other words, the main gear rotates 16 circles to generate 16 360-degree periodic waveforms, and the sub gear rotates 15 circles to generate 15 360-degree periodic waveforms.

[0061] Within 16 circles, the rotation speed waveforms of the main gear and the auxiliary gear do not overlap at all, so it can be known whether the joint module 10 is at 30 degrees of the first circle or 30 degrees of the 15th circle, that is, the joint module 10 has the ability to count 16 circles of the high-speed end (i.e., the rotor 170). If only one detection gear 220 can detect the angle of 0-360 degrees at the high-speed end, and the main gear and the auxiliary gear can detect the angle of 16x360 degrees at the high-speed end, the joint module 10 has the absolute position positioning accuracy capability of 16 circles. If the reduction ratio of the rotor 170 and the output planetary carrier is exactly 16, it can be said that the joint module 10 has the ability to position the end (i.e., the output planetary carrier) for 1 full circle. If the reduction ratio of the rotor 170 and the output planetary carrier is 8, it can be said that the joint module 10 has the ability to position the end (i.e., the output planetary carrier) for 2 full circles.

[0062] Exemplarily, the joint module 10 also includes a circuit board 350, which can be set on the end cover 112, and the encoder chip 240 can be set on the circuit board 350, and the encoder chip 240 is communicatively connected with the circuit board 350, and the detection signal is transmitted to the external controller through the circuit board 350, and the external controller calculates the absolute position angle of the rotor 170 based on the detection signal analysis.

[0063] In addition, by sleeve-mounting the central gear 200 on the central shaft 120 and rotatably connecting the plurality of detection gears 220 to the support member 210 , the detection gears 220 are prevented from blocking the through holes 121 , thereby facilitating the installation of cables.

[0064] Fig. 9 FIG. 1 is a schematic diagram of the structure of a magnetic component provided by an embodiment of the present application. Fig. 9 As shown, the magnetic member 230 includes a first annular magnetic portion 231 and a second annular magnetic portion 232 .

[0065] The first annular magnetic portion 231 is coaxially connected to the detection gear 220 , and a south pole 2311 of the first annular magnetic portion and a north pole 2312 of the first annular magnetic portion are disposed opposite to each other along the radial direction of the first annular magnetic portion 231 .

[0066] The second annular magnetic portion 232 is coaxially connected to the detection gear 220, and the second annular magnetic portion 232 and the first annular magnetic portion 231 are stacked along the axial direction of the first annular magnetic portion 231. The south pole 2321 of the second annular magnetic portion and the north pole 2322 of the second annular magnetic portion are arranged opposite to each other along the radial direction of the second annular magnetic portion 232, and the south pole 2321 of the second annular magnetic portion is arranged adjacent to the north pole 2312 of the first annular magnetic portion.

[0067] Since the south pole 2321 of the second annular magnetic part is arranged adjacent to the north pole 2312 of the first annular magnetic part, the partial magnetic fields of the second annular magnetic part 232 and the first annular magnetic part 231 can offset each other, thereby reducing the magnetic field range of the magnetic part 230, and further reducing the magnetic field interference between the two adjacent magnetic parts 230, thereby improving the detection accuracy.

[0068] In some embodiments, the number of the detection gears 220 is two, and the difference between the number of teeth of one detection gear 220 and the number of teeth of another detection gear 220 is one.

[0069] In some embodiments, there are two detection gears 220, and the two detection gears 220 are symmetrically arranged in the radial direction of the central gear 200, so that the distance between the two detection gears 220 is the farthest, further reducing the magnetic field interference between the two magnetic parts 230, thereby further improving the detection accuracy.

[0070] In some embodiments, the joint module 10 further includes at least one group of reduction assemblies 250. Exemplarily, the number of reduction assemblies 250 is multiple. At least one group of reduction assemblies 250 is connected in sequence, and the first group of reduction assemblies 250 in at least one group of reduction assemblies 250 is connected to the first planet carrier 160. By providing at least one group of reduction assemblies 250, the reduction ratio of the joint module 10 is improved.

[0071] In some embodiments, the reduction assembly 250 includes a second sun gear 251, a plurality of second planetary gears 252, and a second planet carrier 253. The second sun gear 251 is mounted on the central shaft 120 and is rotatably connected to the central shaft 120. The plurality of second planetary gears 252 are respectively meshed with the outer ring of the second sun gear 251, and are respectively meshed with the inner ring of the inner gear ring 150.

[0072] The second planet carrier 253 is sleeved on the central shaft 120 , rotatably connected to the central shaft 120 , and connected to the plurality of second planetary gears 252 .

[0073] The second sun gear 251 in the next stage reduction assembly 250 is connected to the second planet carrier 253 in the previous stage reduction assembly 250, the second sun gear 251 in the first group of reduction assembly 250 is connected to the first planet carrier 160, and the second planet carrier 253 in the last group of reduction assembly 250 is the output planet carrier.

[0074] Since multiple groups of reduction assemblies 250 share the inner gear ring 150 , the structure of the joint module 10 is simplified.

[0075] In some embodiments, Figure 1 As shown, the shape of the outer contour of the cross section of the motor housing 110 in the radial direction of the central axis 120 includes an octagon.

[0076] In some embodiments, Figure 3 As shown, a first bearing 310 is disposed between the inner ring of the first connection portion 181 and the outer ring of the inner gear ring 150. In some embodiments, a second bearing 320 is disposed between the inner ring of the inner gear ring 150 and the second connection portion 182. In some embodiments, a third bearing 330 is disposed between the motor housing 110 and the second planet carrier 253. In some embodiments, a fourth bearing 340 is disposed between the central shaft 120 and the second planet carrier 253.

[0077] Exemplarily, the first bearing 310, the second bearing 320, the third bearing 330 and the fourth bearing 340 can be deep groove ball bearings or cross roller bearings. Exemplarily, both end faces of the deep groove ball bearing can be provided with supports to achieve front and rear double support of the deep groove ball bearing. Exemplarily, one end face of the cross roller bearing can be provided with a support to achieve unilateral support of the cross roller bearing. The support provided can be a structure such as a step or a retaining ring, which is not specifically limited in this application.

[0078] Fig.10 FIG. 1 is a schematic diagram of a plurality of joint modules connected to each other according to an embodiment of the present application. In practical applications, the joint modules 10 may need to be connected at 90 degrees, 45 degrees, or 180 degrees. Fig.10 As shown, by making the outer contour of the radial cross-section of the motor housing 110 on the central axis 120 include an octagon, a simple adapter 20 can be used to connect the joint modules 10, thereby achieving a 90-degree connection, a 45-degree connection or a 180-degree connection between the joint modules 10, thereby simplifying the structure of the robot including the joint module 10.

[0079] Fig.11 FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present application. Fig.11 As shown, the robot 1 includes a joint module 10. Since the robot 1 includes the joint module 10 mentioned in the above embodiment, the robot 1 has all the technical features and technical effects of the joint module 10, which will not be described in detail here.

[0080] In the embodiments of the present application, if the connection form is not clearly defined, the connection form may be a detachable connection form such as bolts and nuts, screws, buckles, magnets, etc. If there is no special requirement for a non-detachable connection form in some connections, a non-detachable connection may be made by welding, bonding, gluing, etc.

[0081] The phrases "one embodiment", "an embodiment", etc. mentioned in the specification indicate that the embodiment described may include a specific feature, structure or characteristic, but not every embodiment may include the specific feature, structure or characteristic. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments, whether explicitly or not explicitly described.

[0082] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0083] Additionally, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one component or feature to other components or features as shown in the figures. The spatially relative terms are intended to encompass different orientations of the component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0084] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0085] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A joint module, characterized in that: include: Motor housing; A central shaft, fixedly connected to the motor housing; A first sun gear, mounted on the central shaft and rotatably connected to the central shaft; A plurality of first planetary gears are respectively meshed with the outer ring of the first sun gear; An inner gear ring, fixedly connected to the motor housing, and an inner ring of the inner gear ring meshes with outer rings of the plurality of first planetary gears; A first planet carrier, mounted on the central shaft, rotatably connected to the central shaft, and connected to the first plurality of planetary gears; a rotor, sleeved on a side of the first sun gear, the first planetary gears and the inner gear ring away from the central axis; A connecting sleeve, connecting the rotor and the first sun gear; The stator is fixedly mounted on the inner side of the motor housing and mounted on the outer ring of the rotor. The rotor is rotatably connected to the stator.

2. The joint module according to claim 1, characterized in that: The connecting sleeve comprises: A first connecting portion, fixedly sleeved on the inner ring of the rotor; A second connecting portion, fixedly sleeved on the outer ring of the first sun gear; The third connection part is connected to the first connection part and bypasses the end of the inner gear ring to be connected to the second connection part.

3. The joint module according to claim 1, characterized in that: The central shaft has a through hole penetrating the central shaft in an axial direction of the central shaft, and the through hole is configured to allow a cable to pass through.

4. The joint module according to claim 1, characterized in that: The number of the first planetary gears is four or five; and / or, The inner ring of the stator has M stator teeth, where M is a positive integer greater than or equal to 24.

5. The joint module according to any one of claims 1 to 4, characterized in that: Also includes: A central gear, sleeved on the central shaft, rotatably connected to the central shaft, and connected to the connecting sleeve; A support member, fixedly connected to the motor housing; A plurality of detection gears rotatably connected to the support member and meshing with the outer ring of the central gear, wherein the number of teeth of at least one of the detection gears is equal to the number of teeth of the central gear, and the difference between the number of teeth of at least one of the detection gears and the number of teeth of at least another of the detection gears is an odd number; A plurality of magnetic members are coaxially connected to the plurality of detection gears respectively; A plurality of encoder chips are fixedly arranged relative to the motor housing and are respectively arranged relative to the plurality of magnetic parts at intervals. The encoder chips are configured to detect changes in the magnetic field of the magnetic parts.

6. The joint module according to claim 5, characterized in that: The magnetic member comprises: A first annular magnetic portion is coaxially connected to the detection gear, wherein a south pole and a north pole of the first annular magnetic portion are arranged opposite to each other along a radial direction of the first annular magnetic portion; The second annular magnetic portion is coaxially connected to the detection gear, the second annular magnetic portion and the first annular magnetic portion are stacked along the axial direction of the first annular magnetic portion, the south pole and the north pole of the second annular magnetic portion are arranged opposite to each other along the radial direction of the second annular magnetic portion, and the south pole of the second annular magnetic portion is arranged adjacent to the north pole of the first annular magnetic portion.

7. The joint module according to claim 5, characterized in that: The number of the detection gears is two, and the difference between the number of teeth of one detection gear and the number of teeth of the other detection gear is one; and / or, The number of the detection gears is two, and the two detection gears are symmetrically arranged in the radial direction of the central gear.

8. The joint module according to any one of claims 1 to 4, characterized in that: Also includes: At least one group of reduction assemblies, wherein the at least one group of reduction assemblies are connected in sequence, and a first group of reduction assemblies in the at least one group of reduction assemblies is connected to the first planet carrier; Wherein, the deceleration component comprises: A second sun gear, mounted on the central shaft and rotatably connected to the central shaft; A plurality of second planetary gears, respectively meshing with the outer ring of the second sun gear, and respectively meshing with the inner ring of the inner gear ring; A second planet carrier, mounted on the central shaft, rotatably connected to the central shaft, and connected to the plurality of second planetary gears; Among them, the second sun gear in the next stage of the reduction assembly is connected to the second planet carrier in the previous stage of the reduction assembly, the second sun gear in the first group of the reduction assembly is connected to the first planet carrier, and the second planet carrier in the last group of the reduction assembly is the output planet carrier.

9. The joint module according to any one of claims 1 to 4, characterized in that: The shape of the outer contour of the motor housing in the radial cross section of the central axis includes an octagon.

10. A robot, characterized in that: include: The joint module according to any one of claims 1 to 9.

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