Hollow double-coding integrated joint module

Abstract

The invention provides a hollow double-code integrated joint module, which belongs to the technical field of robots and comprises a motor fixing plate, a driving plate, an input end double-rail magnetic ring code, a brushless direct current motor, a braking device, a planetary cycloidal pin wheel coupling cascade speed reducer, a middle shaft and an output end off-axis code. According to the invention, the interior is hollow, wiring is facilitated, the interior of the whole joint module is hollow, and the middle shaft is relatively static, so that cables can be arranged, the abrasion of the cables is reduced, and the stability of a system is improved. And meanwhile, the reduction ratio is high, the torque is large, the reduction ratios of the two stages of speed reducers are mutually coupled, and compared with traditional cascade speed reduction, the speed reducer can increase the reduction ratio and improve the joint torque.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a hollow dual-encoding integrated joint module. Background Art

[0002] With the rapid development of industrial automation, robots, as important equipment in the industrial field, are gradually being applied to various industrial operations. Among the various components of the robot, the joint module is an important factor affecting the performance of the robot. The performance of the joint determines the work that the robot can do, so the design and control of the joint becomes particularly important. At present, the existing robot joint modules are usually large in size, and the space waste in the connection parts of the components is relatively large. The integration is not high, and the applicability is not high. The non-modular design is more troublesome to install and maintain in actual application scenarios. The non-hollow design also makes the wiring more complicated, and the cables of the external wiring are prone to wear. Moreover, most of them use a single encoder to read the angular displacement of the motor output shaft to monitor the movement of the entire joint. When the joint stops working, if the reducer end is affected by the outside world and rotates, the encoder of the motor output shaft cannot obtain the rotation of the joint when it stops, which brings trouble to the control. Summary of the invention

[0003] The present invention provides a hollow dual-encoding integrated joint module, which is used to solve the defects of the robot joint module in the prior art.

[0004] The present invention provides a hollow dual-encoding integrated joint module, comprising: a motor fixing plate, a driving plate, an input-end dual-track magnetic ring encoding, a brushless DC motor, a braking device, a planetary cycloid pinwheel coupling cascade reducer, a central shaft, and an output-end off-axis encoding; the motor fixing plate is used to fix the brushless DC motor and is also used to fix the entire joint; the driving plate is installed inside the brushless DC motor, and the driving plate is in a circular ring shape; the input-end dual-track magnetic ring encoding is fixed to the brushless DC motor, the magnetic ring rotates in unison with the motor, and the encoding chip is integrated on the driving plate; The brushless DC motor is connected to the motor fixing plate, and is provided with a sunken step inside, on which there are threaded holes for fixing the drive plate; it is connected to the outer rotor housing and fixes the double-track magnetic ring encoder at the input end; the braking device is used for braking the joint and is installed on the motor fixing plate; the planetary cycloid pinwheel coupled cascade reducer is used for deceleration of the joint module and is installed on the motor fixing plate; the central shaft is a hollow shaft with a flange, the flange is fixed on the motor fixing plate, and the other end is supported on the off-axis encoder at the output end through the central shaft bearing; the off-axis encoder at the output end is fixed on the central shaft.

[0005] According to a hollow dual-encoding integrated joint module provided by the present invention, the brushless DC motor includes an outer rotor housing, an inner stator housing, a locking shaft, a stator core, a permanent magnet and a choke ring. The outer rotor is used for outputting motor power and is connected to the locking shaft. The outer rotor housing is bonded to the choke ring and the permanent magnet to form the outer rotor part of the brushless DC motor. The inner stator housing is connected to the motor fixing plate and is provided with a sunken step inside. The step has a threaded hole for fixing the drive plate. The inner stator housing is bonded to the stator core to form the inner stator part of the brushless DC motor. The locking shaft has a through hole, which is connected to the outer rotor housing and fixes the double-track multi-stage magnetic ring encoding.

[0006] According to a hollow dual-encoding integrated joint module provided by the present invention, the braking device includes: a connecting mechanism, a braking actuator and a braking trigger mechanism; the braking actuator and the braking trigger mechanism are installed on the connecting mechanism, and the braking trigger mechanism is used to trigger the braking actuator so that the braking actuator completes the braking action.

[0007] According to a hollow dual-encoding integrated joint module provided by the present invention, the braking actuator includes: an actuator shaft, an actuator coil seat, an actuator coil, and an actuator spring. The actuator coil is wound around the outside of the actuator coil seat, and the actuator coil seat is installed on the connecting mechanism. The actuator spring is located at the inner hole of the actuator coil seat. One end of the actuator spring is connected to the connecting mechanism, and the other end of the actuator spring is against the actuator shaft. The actuator shaft moves linearly with the inner hole of the actuator coil seat as a track to perform a braking action.

[0008] According to a hollow dual-encoding integrated joint module provided by the present invention, the brake trigger mechanism includes: a trigger shaft, a trigger coil seat, a trigger coil and a trigger spring, the trigger coil is wound around the outside of the trigger coil seat, the trigger coil seat is installed on the connecting mechanism, the trigger spring is located at the inner hole of the trigger coil seat, one end of the trigger spring is connected to the connecting mechanism, and the other end of the trigger spring is against the trigger shaft, and the trigger shaft performs a linear motion with the inner hole of the trigger coil seat as a track to trigger the brake actuator.

[0009] According to a hollow dual-encoding integrated joint module provided by the present invention, the connecting mechanism includes a mounting seat and a fixing seat, and the mounting seat and the fixing seat are connected and fixed to each other by connecting bolts; the mounting seat is used to fix the entire device on the joint motor fixing plate, and serves as a fixing surface for the actuator spring and the trigger spring; the fixing seat is used to fix the actuator coil seat and the trigger coil seat.

[0010] According to a hollow dual-encoding integrated joint module provided by the present invention, the planetary cycloid pinwheel coupled cascade reducer includes a shell part, a planetary gear reducer and a cycloid pinwheel reducer; the shell part connects the input and output of the planetary gear reducer and the cycloid pinwheel reducer.

[0011] According to a hollow dual-encoding integrated joint module provided by the present invention, the planetary carrier of the planetary reducer and the eccentric shaft of the cycloid pinwheel reducer are the same part, and cascading is achieved through the same part. The output part of the cycloid pinwheel reducer is fixedly connected to the sun gear of the planetary reducer.

[0012] According to a hollow dual-encoding integrated joint module provided by the present invention, the shell part includes an upper shell, a lower shell, an upper end cover, a lower end cover, an upper bearing and a lower bearing; the upper shell and the lower shell are connected to each other by screws to fix the planetary carrier of the planetary reducer and the cycloid pinwheel reducer, the upper shell and the lower shell are used to fix the pinwheel pin of the cycloid pinwheel reducer, and the lower shell is fixed to the motor fixing plate; the upper end cover and the lower end cover are used to seal the planetary carrier of the planetary reducer and the cycloid pinwheel reducer and to block grease; the upper bearing and the lower bearing are respectively mounted on the upper shell and the lower shell to bear radial loads.

[0013] According to a hollow dual-encoding integrated joint module provided by the present invention, the output end off-axis encoding includes an output encoding fixing plate, an output encoder, an output magnetic ring, a central axis bearing and an encoder top cover; the output encoding fixing plate is fixed to the central axis by a top screw, and the output encoder is connected to the output encoding fixing plate by a screw; the encoder top cover is connected to the flange of the central axis, and the central axis bearing and the output magnetic ring are fixed to the encoder top cover.

[0014] The hollow dual-encoding integrated joint module provided by the present invention has a compact overall structure, high integration and small thickness. Through internal hollowing and convenient wiring, the entire joint module is hollow inside, and the central axis is relatively static, which can be used to arrange cables, reduce cable wear and improve system stability. At the same time, the reduction ratio is high and the torque is large. The reduction ratios of the two-stage reducers are coupled with each other. Compared with the traditional cascade reduction, this reducer can increase the reduction ratio and improve the joint torque. It also has a dual encoding function. Encoders are installed at the input and output ends of the joint, which can record the rotation of the output end after power failure, and can improve the positioning accuracy and overall safety of the joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is an axonometric cross-sectional view of the hollow dual-encoding integrated joint module provided by the present invention; Figure 2 It is an axonometric diagram of the hollow dual-encoding integrated joint module provided by the present invention; Figure 3 is an axonometric diagram of a brushless DC motor provided by the present invention; Figure 4 This is an exploded view of the brushless DC motor provided by the present invention; Figure 5 is an axonometric diagram of the braking device provided by the present invention; Figure 6 is a cross-sectional view of a brake device provided by the present invention; Figure 7 It is an axonometric cross-sectional view of the planetary cycloid pinwheel coupled cascade reducer provided by the present invention; Figure 8 is an exploded view of a shell portion provided by the present invention; Fig. 9 This is an exploded view of the planetary gear reducer provided by the present invention.

[0017] Fig.10 This is an exploded view of the cycloid pinwheel reducer provided by the present invention.

[0018] Fig.11 It is an isometric diagram of the off-axis encoding of the output end provided by the present invention.

[0019] Fig.12 It is an exploded view of the output end off-axis encoding provided by the present invention.

[0020] Reference numerals: 10. Hollow dual-coding integrated joint module; 100. Motor fixing plate; 200, driving board; 300, double-track magnetic ring encoding at the input end; 400, brushless DC motor; 410, outer rotor housing; 420, inner stator housing; 430, shaft lock; 440, stator core; 450, permanent magnet; 460, choke ring; 500. Braking device; 510, connecting mechanism; 511, mounting seat; 512, fixing seat; 520, brake actuator; 521, actuator shaft; 522, actuator coil seat; 523, actuator coil; 524, actuator spring; 530, brake trigger mechanism; 531, trigger shaft; 532, trigger coil seat; 533, trigger coil; 534, trigger spring; 600, planetary cycloid pinwheel coupling cascade reducer; 610, housing part; 611, upper housing; 612, lower housing; 613, upper end cover; 614, lower end cover; 615, upper bearing; 616, lower bearing; 620, planetary gear reducer; 621, input gear; 622, planetary gear; 623, planetary gear bearing; 624, sun gear; 625, pad; 626, planet carrier; 627, planet carrier bearing; 628, planet carrier end cover; 630, cycloid pin reducer; 631, needle pin; 632, cycloid wheel; 633, pinwheel pin; 634, pinwheel bearing; 635, output screw; 636, output bearing bearing; 637, output flange; 700, center axis; 800, output end off-axis encoding; 810, output encoding fixing plate; 820, output encoder; 830, output magnetic ring; 840, central axis bearing; 850, encoder top cover. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0023] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on Figure 1The orientation and position of the hollow dual-encoded integrated joint module when normally placed are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the contour of each component itself.

[0024] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0025] The present invention provides a hollow dual-encoding integrated joint module, comprising: a motor fixing plate 100, a driving plate 200, an input-end dual-track magnetic ring encoding 300, a brushless DC motor 400, a braking device 500, a planetary cycloid pinwheel coupling cascade reducer 600, a central axis 700, and an output-end off-axis encoding 800; the motor fixing plate 100 is used to fix the brushless DC motor 400 and is also used to fix the entire joint; the driving plate 200 is installed inside the brushless DC motor 400, and the driving plate 200 is in a circular ring shape; the input-end dual-track magnetic ring encoding 300 is fixed to the brushless DC motor 400, the magnetic ring rotates in unison with the motor, and an encoding chip is integrated on the driving plate 200; the brushless DC The motor 400 is connected to the motor fixing plate 100, and is provided with a sunken step inside, with threaded holes on the step for fixing the drive plate 200; it is connected to the outer rotor housing 410, and at the same time fixes the input end double-track magnetic ring encoder 300; the braking device 500 is used for braking the joint and is installed on the motor fixing plate 100; the planetary cycloid pinwheel coupling cascade reducer 600 is used for deceleration of the joint module and is installed on the motor fixing plate 100; the central axis 700 is a hollow shaft with a flange, the flange is fixed on the motor fixing plate 100, and the other end is supported on the output end off-axis encoder 800 through the central axis bearing 840, and the internal center hole is used for arranging cables; the output end off-axis encoder 800 is fixed on the central axis 700.

[0026] In one embodiment, the brushless DC motor 400 includes an outer rotor housing 410, an inner stator housing 420, a shaft lock 430, a stator core 440, a permanent magnet 450 and a choke ring 460. The outer rotor is used to output the motor power and is connected to the shaft lock 430. The outer rotor housing 410 is bonded to the choke ring 460 and the permanent magnet 450 to form the outer rotor part of the brushless DC motor 400. The inner stator housing 420 is connected to the motor fixing plate 100 and is provided with a sunken step inside. The step has a threaded hole for fixing the drive plate 200. The inner stator housing 420 is bonded to the stator core 440 to form the inner stator part of the brushless DC motor 400. The shaft lock 430 has a through hole, which is connected to the outer rotor housing 410 and fixes the double-track multi-stage magnetic ring encoding at the same time.

[0027] The outer rotor housing 410 has a threaded hole, and the shaft locking member 430 has a through hole connected to the threaded hole on the outer rotor housing 410 to achieve a closed loop of the motor components in the axial direction.

[0028] Exemplarily, there are eight circumferentially arrayed screw holes on the front side of the outer rotor housing 410 , four of which are responsible for power output, and four of which are responsible for connection with the locking shaft 430 via fixing screws.

[0029] Exemplarily, there are eight threaded holes inside the inner stator housing 420, of which four on the inner side are used to fix the driver, and four on the outer side are used to fix the motor.

[0030] Exemplarily, the shaft lock 430 is used to realize a closed loop in the axial direction of the motor, and has 8 through holes inside for connecting with the outer rotor housing 410 through fixing screws to complete axial fixation. A boss is designed on the outside of the shaft lock 430 for fixing the annular magnet.

[0031] The main function of the choke ring 460 is to form a closed magnetic circuit and also to suppress electromagnetic interference. The choke ring 460 is usually made of ferrite material, which has good magnetic permeability at high frequencies and can guide the magnetic field through a ring structure to form a closed magnetic circuit. When current passes through the conductor, the choke ring 460 absorbs part of the high-frequency electromagnetic energy through the magnetic material and guides it into the inside of the magnetic ring through the closed magnetic circuit, thereby reducing electromagnetic interference.

[0032] In one embodiment, the electromagnetic structure further includes a coil, and the stator core 440 is provided with slots for winding the coil.

[0033] In one embodiment, the mounting structure further includes an external connecting bearing, the outer ring of the external connecting bearing contacts the outer rotor housing 410, and the inner ring of the external connecting bearing contacts the inner stator housing 420, completing the connection between the two parts. The mounting structure further includes an internal connecting bearing, the outer ring of the internal connecting bearing contacts the inner stator housing 420, and the inner ring of the internal connecting bearing contacts the shaft locking member 430, completing the connection between the two parts.

[0034] The double-bearing nesting design generally nests two bearings of different or same types together. In this design, one deep groove ball bearing is nested inside another bearing. This design can use the different characteristics of the two bearings to complement each other to enhance the load-bearing capacity, improve vibration resistance, reduce friction or optimize the running accuracy of the equipment. In the design of the brushless DC motor 400, the double-bearing nesting can ensure the coaxiality of the stator and rotor, reduce the radial runout between each other, reduce the vibration of the motor during operation, and improve durability.

[0035] At the same time, the nested design can reduce the volume of the overall design while ensuring the bearing performance. In the design of the brushless DC motor 400, two deep groove ball bearings are nested together, and only occupy the thickness of one bearing in the axial direction, which can effectively reduce the thickness of the motor, while compressing the volume of each part of the motor and reducing the overall weight.

[0036] In one embodiment, the choke ring 460 and the outer rotor housing 410 are glued together by metal glue, and the permanent magnet 450 is positioned by a groove on the outer rotor housing 410 and bonded to the choke ring 460 .

[0037] In one embodiment, the stator core 440 is positioned by a shaft shoulder on the inner stator housing 420 and is glued together with the inner stator housing 420 by metal glue.

[0038] In one embodiment, the braking device 500 includes: a connecting mechanism 510, a braking actuator 520 and a braking triggering mechanism 530; the braking actuator 520 and the braking triggering mechanism 530 are installed on the connecting mechanism 510, and the braking triggering mechanism 530 is used to trigger the braking actuator 520 so that the braking actuator 520 completes the braking action.

[0039] The brake actuator 520 and the brake trigger mechanism 530 are installed through the connecting mechanism 510. The brake actuator part is responsible for completing the braking action, the brake trigger part is responsible for triggering the braking action, and the connecting part is responsible for fixing the various components of the device to fix the entire device. It can be fixed at the input end of the joint module and fixed together with the joint motor. The entire device is placed on the stator part of the joint motor, and the joint braking is achieved by braking the rotor part of the joint motor. For low-speed and high-torque joints, the impact on the motor input end is small, and the strength requirements for the brake device 500 are relatively low.

[0040] In one embodiment, the brake actuator 520 includes: an actuator shaft 521, an actuator coil seat 522, an actuator coil 523, and an actuator spring 524; the actuator coil 523 is wound around the outside of the actuator coil seat 522, the actuator coil seat 522 is installed on the connecting mechanism 510, and the actuator spring 524 is located at the inner hole of the actuator coil seat 522, one end of the actuator spring 524 is connected to the connecting mechanism 510, and the other end of the actuator spring 524 is against the actuator shaft 521, and the actuator shaft 521 performs a linear motion with the inner hole of the actuator coil seat 522 as a track to perform a braking action.

[0041] The brake execution part includes an execution shaft 521, an execution coil seat 522, and an execution spring 524, which together form a miniature self-restoring electromagnet. The execution shaft 521 is used to complete the joint braking action. The execution coil seat 522 has an outer side for winding the coil. When powered on, it generates an electromagnetic effect, generates magnetic force on the execution shaft 521, and the inner hole provides a track for the execution shaft 521. The execution spring 524 is located at the inner hole of the execution coil seat 522. When powered on, the execution spring 524 is compressed by the execution shaft 521. When powered off, the execution spring 524 pushes the execution shaft 521 out to complete the braking action.

[0042] Exemplarily, the actuator shaft 521 includes two parts with different diameters. The part with a larger diameter moves linearly with the inner hole of the actuator coil seat 522 as a track, and the part with a smaller diameter extends out to perform a braking action.

[0043] In one embodiment, the brake trigger mechanism 530 includes: a trigger shaft 531, a trigger coil seat 532, a trigger coil 533 and a trigger spring 534; the trigger coil 533 is wound around the outside of the trigger coil seat 532, the trigger coil seat 532 is installed on the connecting mechanism 510, the trigger spring 534 is located at the inner hole of the trigger coil seat 532, one end of the trigger spring 534 is connected to the connecting mechanism 510, and the other end of the trigger spring is against the trigger shaft 531, and the trigger shaft 531 performs a linear motion with the inner hole of the trigger coil seat 532 as a track to trigger the brake actuator 520.

[0044] The trigger shaft 531, the trigger coil seat 532 and the trigger spring 534 of the brake trigger part together form a miniature self-restoring electromagnet. The trigger shaft 531 is used to trigger the joint braking action. The trigger coil seat 532 is used to wind the coil on its outer side. When powered on, it generates an electromagnetic effect and generates magnetic force on the trigger shaft 531. The inner hole provides a track for the trigger shaft 531. The trigger spring 534 is located at the inner hole of the trigger coil seat 532. When powered on, the trigger spring 534 is compressed by the trigger shaft 531. When powered off, the trigger spring 534 pushes the trigger shaft 531 out.

[0045] Exemplarily, the trigger shaft 531 includes two parts with different diameters. The part with a larger diameter performs a linear motion with the inner hole of the trigger coil seat 532 as a track, and the part with a smaller diameter is used to trigger the joint braking action.

[0046] In one embodiment, the connection mechanism 510 includes a mounting seat 511 and a fixing seat 512, and the mounting seat 511 and the fixing seat 512 are connected and fixed to each other by connecting bolts. The mounting seat 511 is used to fix the entire device on the joint motor fixing plate 100, and serves as a fixing surface for the execution spring 524 and the trigger spring 534. The fixing seat 512 is used to fix the execution coil seat 522 and the trigger coil seat 532.

[0047] The mounting seat 511 has mounting holes for fixing the entire device on the joint motor fixing plate 100, and for fixing the execution coil seat 522, the execution spring 524, the trigger coil seat 532 and the trigger spring 534. The fixing seat 512 cooperates with the execution coil seat 522 and the trigger coil seat 532, and is fixed to the mounting seat 511 by connecting bolts.

[0048] When the joint module is working normally, the brake device 500 is in a non-braking state, the execution shaft 521 retracts and the trigger shaft 531 extends. At this time, the execution coil 523 and the trigger coil 533 are not energized, and the execution shaft 521 is pushed by the execution spring 524, so that the execution shaft 521 is pressed against the trigger shaft 531. When the joint module needs to be braked, the trigger coil 533 is energized to generate an electromagnetic effect, attracting the trigger shaft 531 to retract, and at the same time, the execution shaft 521 is pushed out by the execution spring 524, and the rotor part of the joint motor is braked. After the execution shaft 521 is extended, the trigger coil 533 is powered off, and the trigger shaft 531 that loses the attraction is pushed by the trigger spring 534, so that the trigger shaft 531 is pressed against the execution shaft 521. When the joint module needs to resume work, the execution coil 523 is energized to generate an electromagnetic effect, attracting the execution shaft 521 to retract, and at the same time, the trigger shaft 531 is pushed out by the trigger spring 534. After the trigger shaft 531 is extended, the execution coil 523 is powered off, and the brake device 500 is restored to a non-braking state. The entire braking and recovery process only requires two short power-on cycles, which reduces power consumption.

[0049] In one embodiment, the planetary cycloid pinwheel coupled cascade reducer 600 includes a housing portion 610 , a planetary gear reducer 620 and a cycloid pinwheel reducer 630 ; the housing portion 610 connects the input and output of the planetary gear reducer 620 and the cycloid pinwheel reducer 630 .

[0050] The planetary reducer is the high-speed stage of the reducer, and the cycloid pinwheel reducer 63028 is the low-speed stage of the reducer.

[0051] The planet carrier 626 of the planetary reducer and the eccentric shaft of the cycloid reducer 630 are the same part, and the cascade is achieved through the same part. The output part of the cycloid reducer 630 is fixedly connected to the sun gear 624 of the planetary reducer.

[0052] The reduction ratios of the two-stage reduction are coupled with each other, which serves to increase the reduction ratio.

[0053] In one embodiment, the housing portion 610 includes an upper housing 611, a lower housing 612, an upper end cover 613, a lower end cover 614, an upper bearing 615 and a lower bearing 616; the upper housing 611 and the lower housing 612 are connected to each other by screws to fix the planetary carrier 626 of the planetary reducer and the cycloidal pinwheel reducer 630, the upper housing 611 and the lower housing 612 are used to fix the pinwheel pin 633 of the cycloidal pinwheel reducer 630, and the lower housing 612 is fixed to the motor fixing plate 100; the upper end cover 613 and the lower end cover 614 are used to seal the planetary carrier 626 of the planetary reducer and the cycloidal pinwheel reducer 630 and to block grease; the upper bearing 615 and the lower bearing 616 are respectively mounted on the upper housing 611 and the lower housing 612 to bear radial loads.

[0054] In one embodiment, the planetary gear reducer 620 includes an input gear 621, a planetary gear 622, a planetary gear 622 bearing, a sun gear 624, a spacer 625, a planetary carrier 626, a planetary carrier bearing 627, and a planetary carrier end cover 628. The output gear, the planetary gear 622, the planetary carrier 626, and the sun gear 624 constitute a basic planetary gear reducer 620. The planetary gear 622 is provided with a planetary gear 622 bearing and is connected to the planetary carrier 626 by screws. The spacer 625 is connected to the input gear 621 to fix the planetary carrier 626. The planetary carrier 626 is provided with a planetary carrier bearing 627, and the planetary carrier end cover 628 is pressed on the planetary carrier bearing 627, and is connected to the brushless DC motor 400 through the input gear 621 by screws, so that the input end of the reducer is connected to the motor.

[0055] In one embodiment, the cycloid pinwheel reducer 630 includes a planet carrier 626, a needle pin 631, a cycloid wheel 632, a pinwheel pin 633, a pinwheel bearing 634, an output screw 635, an output bearing 636 and an output flange 637. The planet carrier 626 acts as an eccentric shaft to drive the cycloid wheel 632 to rotate, and the needle pins 631 are densely distributed between the planet carrier 626 and the cycloid wheel 632, together forming a bearing structure. A plurality of pin-tooth pins are installed between the upper and lower shells 612, and a pin-tooth bearing is sleeved on the pin-tooth pin, and the side of the pin-tooth bearing is tangent to the outer contour of the cycloid wheel 632. A plurality of annular distribution through holes are arranged on the cycloid wheel 632, and the output bearing 636 is installed inwardly, and is connected to the output flange 637 and the sun gear 624 through the output screw 635.

[0056] In one embodiment, the output end off-axis encoder 800 includes an output encoder fixing plate 810, an output encoder 820, an output magnetic ring 830, a central axis bearing 840 and an encoder top cover 850; the output encoder fixing plate 810 is fixed to the central axis 700 by a top screw, and the output encoder 820 is connected to the output encoder fixing plate 810 by screws; the encoder top cover 850 is connected to the flange of the central axis 700, and the central axis bearing 840 and the output magnetic ring 830 are fixed on the encoder top cover 850.

[0057] The overall structure of the present invention is compact, highly integrated and thin. The brushless DC motor 400 adopts a double-bearing nested structure to compress the overall thickness, and arranges the driver and input encoder inside the motor to save axial space. In addition, the reducer part adopts two-stage reduction coupling to reduce the axial space of the reduction structure. The integration is relatively high, and the functions required by the joint module are realized in a limited space.

[0058] The present invention is hollow inside and convenient for wiring. The entire joint module is hollow inside, and the central axis 700 is relatively static, which can be used to arrange cables, reduce cable wear, and improve system stability.

[0059] The invention has a high reduction ratio and a large torque. The reduction ratios of the two-stage reducers are coupled with each other. Compared with the traditional cascade reduction, this reducer can increase the reduction ratio and improve the joint torque.

[0060] The invention has a dual encoding function. Encoders are installed at both the input and output ends of the joint, which can record the rotation of the output end after power failure, and can improve the positioning accuracy and overall safety of the joint.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hollow dual-encoding integrated joint module, characterized in that: include: Motor fixing plate, drive plate, input end double-track magnetic ring encoder, brushless DC motor, brake device, planetary cycloid pinwheel coupling cascade reducer, middle shaft, output end off-axis encoder; The motor fixing plate is used to fix the brushless DC motor and is also used to fix the entire joint; The driving plate is installed inside the brushless DC motor, and the driving plate is in a ring shape; The input-end double-track magnetic ring encoder is fixed to the brushless DC motor, the magnetic ring rotates in unison with the motor, and the encoding chip is integrated on the driver board; The brushless DC motor is connected to the motor fixing plate, and a sunken step is provided inside. The step has a threaded hole for fixing the drive plate; it is connected to the outer rotor housing and fixes the input end double-track magnetic ring encoding at the same time; The braking device is used for braking the joint and is mounted on the motor fixing plate; The planetary cycloid pinwheel coupled cascade reducer is used for reducing the speed of the joint module and is mounted on the motor fixing plate; The central shaft is a hollow shaft with a flange, the flange is fixed to the motor fixing plate, and the other end is supported on the off-axis encoder at the output end through the central shaft bearing; The output end off-axis encoder is fixed on the central axis.

2. The hollow dual-encoding integrated joint module according to claim 1 is characterized in that: The brushless DC motor includes an outer rotor housing, an inner stator housing, a shaft lock, a stator core, a permanent magnet and a choke ring. The outer rotor is used for outputting motor power and is connected to the shaft lock. The outer rotor housing is bonded to the choke ring and the permanent magnet to form the outer rotor part of the brushless DC motor. The inner stator housing is connected to the motor fixing plate and is provided with a sunken step inside. The step has a threaded hole for fixing the drive plate. The inner stator housing is bonded to the stator core to form the inner stator part of the brushless DC motor. The shaft lock has a through hole connected to the outer rotor housing and fixes the double-track multi-stage magnetic ring encoding.

3. The hollow dual-encoding integrated joint module according to claim 1 is characterized in that: The braking device comprises: a connecting mechanism, a braking actuator and a braking triggering mechanism; the braking actuator and the braking triggering mechanism are installed on the connecting mechanism, and the braking triggering mechanism is used to trigger the braking actuator so that the braking actuator completes the braking action.

4. The hollow dual-encoding integrated joint module according to claim 3 is characterized in that: The brake actuator includes: an actuator shaft, an actuator coil seat, an actuator coil, and an actuator spring. The actuator coil is wound around the outside of the actuator coil seat, and the actuator coil seat is installed on the connecting mechanism. The actuator spring is located at the inner hole of the actuator coil seat. One end of the actuator spring is connected to the connecting mechanism, and the other end of the actuator spring is against the actuator shaft. The actuator shaft moves linearly with the inner hole of the actuator coil seat as a track to perform a braking action.

5. The hollow dual-encoding integrated joint module according to claim 4 is characterized in that: The brake trigger mechanism includes: a trigger shaft, a trigger coil seat, a trigger coil and a trigger spring, the trigger coil is wound around the outside of the trigger coil seat, the trigger coil seat is installed on the connecting mechanism, the trigger spring is located at the inner hole of the trigger coil seat, one end of the trigger spring is connected to the connecting mechanism, and the other end of the trigger spring is against the trigger shaft, and the trigger shaft moves linearly with the inner hole of the trigger coil seat as a track to trigger the brake actuator.

6. The hollow dual-encoding integrated joint module according to claim 5, characterized in that: The connecting mechanism includes a mounting seat and a fixing seat, and the mounting seat and the fixing seat are connected and fixed to each other by connecting bolts; the mounting seat is used to fix the entire device on the joint motor fixing plate and serves as a fixing surface for the actuator spring and the trigger spring; the fixing seat is used to fix the actuator coil seat and the trigger coil seat.

7. The hollow dual-encoding integrated joint module according to claim 1, characterized in that: The planetary cycloid pinwheel coupling cascade reducer comprises a housing part, a planetary gear reducer and a cycloid pinwheel reducer; the housing part connects the input and output of the planetary gear reducer and the cycloid pinwheel reducer.

8. The hollow dual-encoding integrated joint module according to claim 7, characterized in that: The planet carrier of the planetary reducer and the eccentric shaft of the cycloid pinwheel reducer are the same part, and the cascade is realized through the same part. The output part of the cycloid pinwheel reducer is fixedly connected to the sun gear of the planetary reducer.

9. The hollow dual-encoding integrated joint module according to claim 8, characterized in that: The housing part includes an upper housing, a lower housing, an upper end cover, a lower end cover, an upper bearing and a lower bearing; the upper housing and the lower housing are connected to each other by screws to fix the planetary carrier of the planetary reducer and the cycloid pinwheel reducer, the upper housing and the lower housing are used to fix the pinwheel pin of the cycloid pinwheel reducer, and the lower housing is fixed to the motor fixing plate; The upper end cover and the lower end cover are used to seal the planetary carrier of the planetary reducer and the cycloid pinwheel reducer and to block grease; the upper bearing and the lower bearing are respectively mounted on the upper housing and the lower housing to bear radial loads.

10. The hollow dual-encoding integrated joint module according to claim 1, characterized in that: The output end off-axis encoding includes an output encoding fixing plate, an output encoder, an output magnetic ring, a central axis bearing and an encoder top cover; the output encoding fixing plate is fixed to the central axis by a top screw, and the output encoder is connected to the output encoding fixing plate by screws; the encoder top cover is connected to the flange of the central axis, and the central axis bearing and the output magnetic ring are fixed to the encoder top cover.

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