Hollow dual-encoding integrated joint module

Abstract

The application provides a hollow double-coding integrated joint module, and belongs to the technical field of robots, comprising a motor fixing plate, a driving plate, an input end double-track magnetic ring coding, a brushless direct current motor, a braking device, a planetary cycloidal pin gear coupling cascade speed reducer, a middle shaft and an output end off-axis coding. The joint module is hollow, the middle shaft is relatively static, cables can be arranged in the joint module, cable abrasion is reduced, and the stability of the system is improved. Meanwhile, the speed reduction ratio is high, the torque is large, the speed reduction ratios of the two-stage speed reducers are coupled with each other, compared with the traditional cascade speed reduction, the speed reducer can increase the speed reduction ratio and improve the joint torque.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a hollow double-encoder integrated joint module. BACKGROUND

[0002] With the rapid development of industrial automation, robots as important equipment in the industrial field are gradually applied to various industrial operations. In the composition of robots, the joint module is an important factor affecting the performance of robots, and the performance of the joint determines the work that the robot can do, so the design and control of the joint become particularly important. The existing robot joint module is usually large in size, and the connection between the parts wastes a lot of space, has low integration, and is not highly adaptable. The non-modular design is troublesome to install and maintain in actual application scenarios. The non-hollow design also makes the wiring complex, and the external wiring cable is 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 at the time of stopping, which causes trouble to the control. SUMMARY

[0003] The present application provides a hollow double-encoder integrated joint module to solve the defects of the existing robot joint module.

[0004] The present application provides a hollow double-encoder integrated joint module, comprising: a motor fixing plate, a drive plate, an input end double-track magnetic ring encoder, a brushless DC motor, a braking device, a planetary cycloidal pin wheel coupling cascade reducer, a middle shaft, and an output end off-axis encoder; the motor fixing plate is used to fix the brushless DC motor and simultaneously fix the entire joint; the drive plate is installed inside the brushless DC motor, and the drive plate is in the shape of a circular ring; the input end double-track magnetic ring encoder is fixed with the brushless DC motor, the magnetic ring rotates in unison with the motor, and the encoder chip is integrated on the drive plate; the brushless DC motor is connected with the motor fixing plate, and a sunken step is arranged inside the brushless DC motor, the step has a threaded hole for fixing the drive plate; the brushless DC motor is connected with the outer rotor shell and simultaneously fixes the input end double-track magnetic ring encoder; the braking device is used for braking the joint and is installed on the motor fixing plate; the planetary cycloidal pin wheel coupling cascade reducer is used for reducing the joint module and is installed on the motor fixing plate; the middle shaft is a flange hollow shaft, the flange is fixed on the motor fixing plate, and the other end is supported on the output end off-axis encoder through the middle shaft bearing; and the output end off-axis encoder is fixed on the middle shaft.

[0005] According to the hollow double coding integrated joint module provided by the application, the brushless DC motor comprises an outer rotor shell, an inner stator shell, 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 with the locking shaft, the outer rotor shell is bonded with the choke ring and the permanent magnet to form an outer rotor part of the brushless DC motor, the inner stator shell is connected with a motor fixing plate and is internally provided with a sunken step, the step is provided with a threaded hole for fixing the driving plate, the inner stator shell is bonded with the stator core to form an inner stator part of the brushless DC motor, the locking shaft is provided with a through hole and is connected with the outer rotor shell and simultaneously fixes the double-track multi-stage magnetic ring coding.

[0006] According to the hollow double coding integrated joint module provided by the application, the brake device comprises a connecting mechanism, a brake execution mechanism and a brake trigger mechanism, the brake execution mechanism and the brake trigger mechanism are installed on the connecting mechanism, and the brake trigger mechanism is used for triggering the brake execution mechanism so that the brake execution mechanism completes a brake action.

[0007] According to the hollow double coding integrated joint module provided by the application, the brake execution mechanism comprises an execution shaft, an execution coil seat, an execution coil and an execution spring, the execution coil is wound outside the execution coil seat, the execution coil seat is installed on the connecting mechanism, the execution spring is located at a hole in the execution coil seat, one end of the execution spring is connected with the connecting mechanism, the other end of the execution spring abuts against the execution shaft, the execution shaft moves linearly along the hole in the execution coil seat to perform a brake action.

[0008] According to the hollow double coding integrated joint module provided by the application, the brake trigger mechanism comprises a trigger shaft, a trigger coil seat, a trigger coil and a trigger spring, the trigger coil is wound outside the trigger coil seat, the trigger coil seat is installed on the connecting mechanism, the trigger spring is located at a hole in the trigger coil seat, one end of the trigger spring is connected with the connecting mechanism, the other end of the trigger spring abuts against the trigger shaft, the trigger shaft moves linearly along the hole in the trigger coil seat to trigger the brake execution mechanism.

[0009] According to the hollow double coding integrated joint module provided by the application, the connecting mechanism comprises a mounting seat and a fixing seat, the mounting seat and the fixing seat are connected and fixed with each other through a connecting bolt, the mounting seat is used for fixing the whole device on a joint motor fixing plate and serves as a fixing surface of the execution spring and the trigger spring, and the fixing seat is used for fixing the execution coil seat and the trigger coil seat.

[0010] The hollow double-coding integrated joint module provided by the application, the planetary cycloidal pin wheel coupling cascade speed reducer comprises a shell part, a planetary gear reducer and a cycloidal pin wheel reducer; the shell part connects the input and output of the planetary gear reducer and the cycloidal pin wheel reducer.

[0011] The hollow double-coding integrated joint module provided by the application, the planet carrier of the planetary gear reducer and the eccentric shaft of the cycloidal pin wheel reducer are the same part, the cascade is realized through the same part, and the output part of the cycloidal pin wheel reducer is fixedly connected with the sun gear of the planetary gear reducer.

[0012] The hollow double-coding integrated joint module provided by the application, the shell part comprises 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 with each other through screws, the planet carrier of the planetary gear reducer and the cycloidal pin wheel reducer are fixed, the upper shell and the lower shell are used for fixing the pin wheel pin of the cycloidal pin wheel reducer, and the lower shell is fixed with a motor fixing plate; the upper end cover and the lower end cover are used for sealing and blocking grease for the planet carrier of the planetary gear reducer and the cycloidal pin wheel reducer; and the upper bearing and the lower bearing are respectively installed on the upper shell and the lower shell and are used for bearing radial load.

[0013] The hollow double-coding integrated joint module provided by the application, the output end off-axis coding comprises an output coding fixed plate, an output encoder, an output magnetic ring, a middle shaft bearing and an encoder top cover; the output coding fixed plate is fixed on the middle shaft through a top screw, the output encoder is connected with the output coding fixed plate through screws; the encoder top cover is connected with a flange of the middle shaft, and the middle shaft bearing and the output magnetic ring are fixed on the encoder top cover.

[0014] The hollow double-coding integrated joint module provided by the application has the advantages of compact overall structure, high integration degree and small thickness. The joint module is hollow inside, the middle shaft is relatively static, and cables can be arranged inside, so that the abrasion of the cables is reduced and the stability of the system is improved. Meanwhile, the speed reduction ratio is high and the torque is large, the speed reduction ratios of the two-stage speed reducers are coupled with each other, compared with the traditional cascade reduction, the speed reducer can increase the speed reduction ratio and improve the joint torque. The joint module also has the double-coding function. The encoders are installed at the input and output ends of the joint module, the rotation of the output end can be recorded after power failure, and the positioning accuracy and overall safety of the joint are improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description only only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0016] Figure 1 is the shaft section view of the hollow double-coding integrated joint module provided by the present application;

[0017] Figure 2 is the shaft view of the hollow double-coding integrated joint module provided by the present application;

[0018] Figure 3 is the shaft view of the brushless DC motor provided by the present application;

[0019] Figure 4 is the exploded view of the brushless DC motor provided by the present application;

[0020] Figure 5 is the shaft view of the brake device provided by the present application;

[0021] Figure 6 is the section view of the brake device provided by the present application;

[0022] Figure 7 is the shaft section view of the planetary cycloidal pin wheel coupling cascade speed reducer provided by the present application;

[0023] Figure 8 is the exploded view of the housing part provided by the present application;

[0024] Figure 9 is the exploded view of the planetary gear speed reducer provided by the present application.

[0025] Figure 10 is the exploded view of the cycloidal pin wheel speed reducer provided by the present application.

[0026] Figure 11 is the shaft view of the output end off-axis coding provided by the present application.

[0027] Figure 12 is the exploded view of the output end off-axis coding provided by the present application.

[0028] Reference signs:

[0029] 10, hollow double-coding integrated joint module;

[0030] 100, motor fixing plate;

[0031] 200, driving plate;

[0032] 300, input end double track magnetic ring encoding;

[0033] 400, brushless DC motor;

[0034] 410, outer rotor shell; 420, inner stator shell; 430, shaft locking piece; 440, stator core; 450, permanent magnet; 460, magnetic choke ring;

[0035] 500, brake device;

[0036] 510, connecting mechanism; 511, mounting seat; 512, fixing seat; 520, brake execution mechanism; 521, execution shaft; 522, execution coil seat; 523, execution coil; 524, execution spring; 530, brake trigger mechanism; 531, trigger shaft; 532, trigger coil seat; 533, trigger coil; 534, trigger spring;

[0037] 600, planetary cycloidal pin wheel coupling cascade speed reducer;

[0038] 610, shell part; 611, upper shell; 612, lower shell; 613, upper end cover; 614, lower end cover; 615, upper bearing; 616, lower bearing; 620, planetary gear speed reducer; 621, input gear, 622, planetary gear; 623, planetary gear bearing; 624, sun gear; 625, cushion block; 626, planet carrier; 627, planet carrier bearing; 628, planet carrier end cover; 630, cycloidal pin wheel speed reducer; 631, needle pin; 632, cycloidal gear; 633, pin wheel pin; 634, pin wheel bearing; 635, output screw; 636, output force bearing; 637, output flange;

[0039] 700, middle shaft;

[0040] 800, output end off-axis encoding;

[0041] 810, output encoding fixed plate; 820, output encoder; 830, output magnetic ring; 840, middle shaft bearing; 850, encoder top cover. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0043] In the description of the present application, it is understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0044] In the description of the present application, it is understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicate the orientation or position relationship generally based on Figure 1 The orientation and position of the hollow double coding integrated joint module shown in the figure are only for the purpose of describing the present application and simplifying the description, and in the absence of the opposite description, these orientation words do not indicate and imply that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, therefore cannot be understood as a limitation on the scope of protection of the present application; the orientation words "inner, outer" refer to the inner and outer of the contour of each component.

[0045] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0046] The present application provides a hollow double coding integrated joint module, comprising: a motor fixing plate 100, a driving plate 200, an input end double track magnetic ring coding 300, a brushless direct current motor 400, a brake device 500, a planetary cycloidal pin wheel coupling cascade reducer 600, a middle shaft 700, an output end off-axis coding 800; the motor fixing plate 100 is used for fixing the brushless direct current motor 400, and is also used for fixing the whole joint; the driving plate 200 is installed inside the brushless direct current motor 400, and the shape of the driving plate 200 is a circular ring type; the input end double track magnetic ring coding 300 is fixed with the brushless direct current motor 400, the magnetic ring is consistent with the rotation of the motor, and the coding chip is integrated on the driving plate 200; the brushless direct current motor 400 is connected with the motor fixing plate 100, and is internally provided with a sunken step, the step has a threaded hole, and is used for fixing the driving plate 200; the brushless direct current motor 400 is connected with the outer rotor shell 410, and simultaneously fixes the input end double track magnetic ring coding 300; the brake device 500 is used for braking the joint, and is installed on the motor fixing plate 100; the planetary cycloidal pin wheel coupling cascade reducer 600 is used for reducing the joint module, and is installed on the motor fixing plate 100; the middle shaft 700 is a flange hollow shaft, the flange is fixed on the motor fixing plate 100, the other end is abutted on the output end off-axis coding 800 through the middle shaft bearing 840, and the internal middle hole is used for arranging a cable; the output end off-axis coding 800 is fixed on the middle shaft 700.

[0047] In an embodiment, the brushless DC motor 400 includes an outer rotor shell 410, an inner stator shell 420, a locking shaft 430, a stator core 440, a permanent magnet 450, and a choke ring 460. The outer rotor is used for motor power output and is connected to the locking shaft 430. The outer rotor shell 410 is bonded with the choke ring 460 and the permanent magnet 450 to form the outer rotor part of the brushless DC motor 400. The inner stator shell 420 is connected to the motor fixing plate 100 and has a sunken step inside with threaded holes for fixing the driver board 200. The inner stator shell 420 is bonded with the stator core 440 to form the inner stator part of the brushless DC motor 400. The locking shaft 430 has a through hole connected to the threaded hole of the outer rotor shell 410 to realize the closed loop of the motor components in the axial direction.

[0048] The outer rotor shell 410 has a threaded hole, and the locking shaft 430 has a through hole connected to the threaded hole of the outer rotor shell 410 to realize the closed loop of the motor components in the axial direction.

[0049] For example, the outer rotor shell 410 has 8 circumferential array screw holes on the front face, four of which are responsible for power output and the other four are responsible for connection with the locking shaft 430 through fixing screws.

[0050] For example, the inner stator shell 420 has 8 threaded holes inside, four of which are used to fix the driver and the other four are used to fix the motor.

[0051] For example, the locking shaft 430 is used to realize the closed loop in the axial direction of the motor, and has 8 through holes inside for connection with the outer rotor shell 410 through fixing screws to complete the axial fixation. The locking shaft 430 has a boss designed on the outside for fixing the annular magnet.

[0052] 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. The magnetic field can be guided by the ring structure to form a closed magnetic circuit. When current passes through the wire, the choke ring 460 will absorb a part of the high-frequency electromagnetic energy through the magnetic material and guide it to the inside of the magnetic ring through the closed magnetic circuit, reducing electromagnetic interference.

[0053] In an embodiment, the electromagnetic structure further includes a coil, and the stator core 440 has a notch for winding the coil.

[0054] In an embodiment, the mounting structure further comprises an outer connecting bearing, the outer connecting bearing outer ring is in contact with the outer rotor housing 410, the outer connecting bearing inner ring is in contact with the inner stator housing 420, and the connection of the two parts is completed. The mounting structure further comprises an inner connecting bearing, the inner connecting bearing outer ring is in contact with the inner stator housing 420, and the inner connecting bearing inner ring is in contact with the locking shaft 430, and the connection of the two parts is completed.

[0055] The double-bearing nested design generally nests two different types or same types of bearings together, and in this design, one deep groove ball bearing is nested in another bearing. This design can complement the different characteristics of the two bearings to enhance the carrying capacity, improve the vibration resistance, reduce the friction, or optimize the running accuracy of the equipment. In the brushless DC motor 400 design, the double-bearing nesting can ensure the coaxiality of the stator and the rotor, reduce the radial runout between them, reduce the vibration during motor operation, and improve the durability.

[0056] At the same time, the nested design can reduce the overall design size while ensuring the performance of the bearing. In the brushless DC motor 400 design, two deep groove ball bearings are nested together, and only one thickness of the bearing is occupied in the axial direction, which can effectively reduce the thickness of the motor, compress the volume of each part of the motor, and reduce the overall weight.

[0057] In an embodiment, the flux constriction ring 460 is glued together with the outer rotor housing 410 through metal glue, and the permanent magnet 450 is positioned through the groove on the outer rotor housing 410 and bonded to the flux constriction ring 460.

[0058] In an embodiment, the stator core 440 is positioned through the shaft shoulder on the inner stator housing 420 and glued together with the inner stator housing 420 through metal glue.

[0059] In an embodiment, the brake device 500 comprises a connecting mechanism 510, a brake execution mechanism 520, and a brake triggering mechanism 530; the brake execution mechanism 520 and the brake triggering mechanism 530 are installed on the connecting mechanism 510, the brake triggering mechanism 530 is used to trigger the brake execution mechanism 520, so that the brake execution mechanism 520 completes the brake action.

[0060] The brake execution mechanism 520 and the brake triggering mechanism 530 are installed through the connecting mechanism 510, the brake execution part is responsible for completing the brake action, the brake triggering part is responsible for triggering the brake action, and the connecting part is responsible for fixing the components of the device and fixing the entire device. It can be fixed at the input end of the joint module and fixed together with the joint motor, and the entire device is placed in the stator part of the joint motor, and the joint brake is realized by braking the rotor part of the joint motor. The impact on the input end of the joint motor is small, and the strength requirement of the brake device 500 is relatively low.

[0061] In an embodiment, the brake execution mechanism 520 comprises an execution shaft 521, an execution coil seat 522, an execution coil 523, and an execution spring 524. The execution coil 523 is wound outside the execution coil seat 522, the execution coil seat 522 is installed on the connection mechanism 510, the execution spring 524 is located at the inner hole of the execution coil seat 522, one end of the execution spring 524 is connected with the connection mechanism 510, and the other end of the execution spring 524 is in abutment with the execution shaft 521. The execution shaft 521 moves linearly along the inner hole of the execution coil seat 522 to execute the brake action.

[0062] The execution shaft 521, the execution coil seat 522, and the execution spring 524 of the brake execution part together constitute a micro self-recovery electromagnet. The execution shaft 521 is used to complete the joint brake action. The execution coil seat 522 is used to wind the coil outside, and generates electromagnetic effect after being powered on to generate 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, and is compressed by the execution shaft 521 when powered on. After power off, the execution spring 524 pushes the execution shaft 521 out to complete the brake action.

[0063] For example, the execution shaft 521 comprises two parts with different diameters. The larger diameter part moves linearly along the inner hole of the execution coil seat 522, and the smaller diameter part extends to perform the brake action.

[0064] In an embodiment, the brake trigger mechanism 530 comprises a trigger shaft 531, a trigger coil seat 532, a trigger coil 533, and a trigger spring 534. The trigger coil 533 is wound outside the trigger coil seat 532, the trigger coil seat 532 is installed on the connection 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 with the connection mechanism 510, and the other end of the trigger spring 534 is in abutment with the trigger shaft 531. The trigger shaft 531 moves linearly along the inner hole of the trigger coil seat 532 to trigger the brake execution mechanism 520.

[0065] The brake trigger part trigger shaft 531, trigger coil seat 532 and trigger spring 534, three parts together constitute a micro self-recovery electromagnet. The trigger shaft 531, which is used to trigger the joint brake action, the trigger coil seat 532, which is used to wind the coil on the outside, generates electromagnetic effect after power on, generates magnetic force on the trigger shaft 531, and the inner hole provides a track for the trigger shaft 531. The trigger spring 534 is located in the inner hole of the trigger coil seat 532, which is compressed by the trigger shaft 531 when powered on, and pushes the trigger shaft 531 out after power off.

[0066] For example, the trigger shaft 531 includes two parts with different diameters, the larger diameter part moves linearly along the inner hole of the trigger coil seat 532, and the smaller diameter part is used to trigger the joint brake action.

[0067] In an embodiment, the connecting mechanism 510 includes a mounting seat 511 and a fixed seat 512, which 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 the fixing surface of the execution spring 524 and the trigger spring 534. The fixed seat 512 is used to fix the execution coil seat 522 and the trigger coil seat 532.

[0068] 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 fixed seat 512 cooperates with the execution coil seat 522 and the trigger coil seat 532, and is fixed with the mounting seat 511 by connecting bolts.

[0069] When the joint module is working normally, the brake device 500 is in a non-braking state, the execution shaft 521 is retracted and the trigger shaft 531 is extended, at this time neither the execution coil 523 nor the trigger coil 533 is powered on, the execution shaft 521 is pushed by the execution spring 524, so that the execution shaft 521 is pushed against the trigger shaft 531. When the joint module needs to be braked, the trigger coil 533 is powered on to generate 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 to brake the rotor part of the joint motor. After the execution shaft 521 is extended, the trigger coil 533 is powered off, and the trigger shaft 531 loses the attraction force and is pushed by the trigger spring 534, so that the trigger shaft 531 is pushed against the execution shaft 521. When the joint module needs to resume work, the execution coil 523 is powered on to generate 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, and after the trigger shaft 531 is extended, the execution coil 523 is powered off, and the brake device 500 returns to the non-braking state. The entire braking and recovery process only needs to be powered on twice for a short time, reducing power consumption.

[0070] In an embodiment, the planetary cycloid pin wheel coupling cascade reducer 600 comprises a housing part 610, a planetary gear reducer 620 and a cycloid pin wheel reducer 630; the housing part 610 connects the input and output of the planetary gear reducer 620 and the cycloid pin wheel reducer 630.

[0071] The planetary reducer is the high-speed stage of the reducer, and the cycloid pin wheel reducer 63028 is the low-speed stage of the reducer.

[0072] The planet carrier 626 of the planetary reducer and the eccentric shaft of the cycloid pin wheel reducer 630 are the same part, and the cascade is realized through the same part, and the output part of the cycloid pin wheel reducer 630 is fixedly connected with the sun gear 624 of the planetary reducer.

[0073] The reduction ratios of the two-stage reduction are coupled with each other, which increases the reduction ratio.

[0074] In an embodiment, the housing part 610 comprises 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 with each other by screws, and are used for fixing the planet carrier 626 of the planetary reducer and the cycloid pin wheel reducer 630; the upper housing 611 and the lower housing 612 are used for fixing the pin wheel pin 633 of the cycloid pin wheel reducer 630, and the lower housing 612 is fixed with the motor fixing plate 100; the upper end cover 613 and the lower end cover 614 are used for sealing and blocking the lubricating grease of the planet carrier 626 of the planetary reducer and the cycloid pin wheel reducer 630; the upper bearing 615 and the lower bearing 616 are respectively installed on the upper housing 611 and the lower housing 612, and are used for bearing the radial load.

[0075] In an embodiment, the planetary gear reducer 620 comprises an input gear 621, planetary gears 622, planetary gear 622 bearings, a sun gear 624, a pad 625, a planet carrier 626, planet carrier bearings 627 and a planet carrier end cover 628. The output gear, the planetary gears 622, the planet carrier 626 and the sun gear 624 constitute the basic planetary gear reducer 620. The planetary gears 622 are provided with the planetary gear 622 bearings, and are connected with the planet carrier 626 by screws. The pad 625 is connected with the input gear 621, and is used for fixing the planet carrier 626. The planet carrier 626 is provided with the planet carrier bearings 627, and the planet carrier end cover 628 is pressed on the planet carrier bearings 627, and is connected with the brushless direct current motor 400 by screws passing through the input gear 621, so as to connect the input end of the reducer to the motor.

[0076] In an embodiment, the cycloidal speed reducer 630 comprises a planet carrier 626, a needle pin 631, a cycloidal gear 632, a pin gear pin 633, a pin gear bearing 634, an output screw 635, an output bearing 636 and an output flange 637. The planet carrier 626 drives the cycloidal gear 632 to rotate as an eccentric shaft, and the planet carrier 626 and the cycloidal gear 632 are densely filled with the needle pin 631 to form a bearing structure. A plurality of pin teeth pins are installed between the upper and lower housings 612, and the pin teeth pins are sleeved with pin teeth bearings, and the pin teeth bearings are tangent to the outer contour of the cycloidal gear 632. A plurality of annular distribution through holes are arranged on the cycloidal gear 632, and the output bearing 636 is installed inside the through holes, and the output screw 635 is connected with the output flange 637 and the sun gear 624.

[0077] In an embodiment, the output off-axis encoder 800 comprises an output encoder fixed plate 810, an output encoder 820, an output magnetic ring 830, a middle shaft bearing 840 and an encoder top cover 850. The output encoder fixed plate 810 is fixed on the middle shaft 700 by a top screw, the output encoder 820 is connected with the output encoder fixed plate 810 by a screw, the encoder top cover 850 is connected with the flange of the middle shaft 700, and the middle shaft bearing 840 and the output magnetic ring 830 are fixed on the encoder top cover 850.

[0078] The whole structure of the present application is compact, high integration and small thickness. The brushless DC motor 400 adopts a structure of double bearings nested with each other, compresses the overall thickness, and arranges the driver and the input encoder in the motor to save the axial space. In addition, the reducer part adopts two-stage reduction coupling with each other to reduce the axial space of the reduction structure. The integrated degree is relatively high, and the joint module realized in the limited space needs to have the functions.

[0079] The present application is hollow inside, and the aspect is wired. The whole joint module is hollow inside, and the middle shaft 700 is relatively stationary, which can be used for arranging cables, reducing the wear of the cables and improving the stability of the system.

[0080] The present application has high reduction ratio and large torque. The two-stage reducer has a reduction ratio coupling with each other, and compared with the traditional cascade reduction, the reducer can increase the reduction ratio and improve the joint torque.

[0081] The present application has a double-encoding function. The joint input and output ends are both provided with encoders, which can record the rotation of the output end after power failure, and can improve the positioning accuracy and overall safety of the joint.

[0082] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

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 dual-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, which is provided with a sunken step inside and has a threaded hole on the step for fixing the drive plate; it is connected to the outer rotor housing and fixes the input end double-track magnetic ring encoder 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 deceleration 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 output end off-axis encoder through the central shaft bearing; The output end off-axis encoder is fixed on the central axis; The braking device comprises: a connecting mechanism, a brake actuator and a brake trigger mechanism; the brake actuator and the brake trigger mechanism are mounted on the connecting mechanism, and the brake trigger mechanism is used to trigger the brake actuator so that the brake actuator completes the braking action; 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, the actuator coil seat is mounted 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. 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, and the trigger coil seat is mounted 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. The trigger shaft moves linearly with the inner hole of the trigger coil seat as a track to trigger the brake actuator. 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 the fixing surface of the execution spring and the trigger spring; the fixing seat is used to fix the execution coil seat and the trigger coil seat.

2. The hollow dual-encoding integrated joint module according to claim 1, characterized in that: 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 to output the 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 dual-track multi-stage magnetic ring encoder.

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

4. The hollow dual-encoding integrated joint module according to claim 3, characterized in that: The planet carrier of the planetary reducer and the eccentric shaft of the cycloid reducer are the same part, and cascade connection is achieved through the same part. The output part of the cycloid reducer is fixedly connected to the sun gear of the planetary reducer.

5. The hollow dual-encoding integrated joint module according to claim 4, characterized in that: The housing portion 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.

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

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