Servo module, robot joint control method, mechanical leg, robot and medium

Abstract

The invention provides a servo module, a robot joint control method, a mechanical leg, a robot and a medium, and relates to the field of robotics.The servo module comprises a current sensor used for obtaining initial current output to a driving motor by an inverter and sending the initial current to a servo driver; the servo driver is used for sending a control signal to the inverter according to the initial current; the inverter is used for adjusting the initial current according to the control signal to obtain a target current; the driving motor is used for rotating at an initial rotating speed and an initial torque and driving the harmonic reducer when the target current is obtained; the harmonic reducer is used for adjusting the initial rotating speed and the initial torque to obtain a target rotating speed and a target torque; and outputting the target rotating speed and the target torque to the robot joint to drive the robot joint to move to the target position. According to the invention, the integration level of the servo module is improved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a servo module, a robot joint control method, a mechanical leg, a robot and a medium. Background Art

[0002] Robot joints are the key parts for robots to move and rotate. With the development of robot technology, servo modules used to drive robot joints are moving towards lightweight, small size and modularization. Traditional robot joint servo modules have low integration, large size and high cost. Summary of the invention

[0003] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and provide a servo module, a robot joint control method, a robot leg, a robot and a medium. The present invention provides the following technical solutions:

[0004] In a first aspect, a servo module comprises: a servo driver, an inverter, a current sensor, a drive motor and a harmonic reducer; the servo driver is electrically connected to the inverter and the current sensor respectively; the inverter is also electrically connected to the current sensor; the current sensor is also electrically connected to the drive motor; the rotor shaft of the drive motor is meshed with the input end of the harmonic reducer; the output end of the harmonic reducer is meshed with the robot joint;

[0005] The current sensor is used to obtain the initial current output by the inverter to the drive motor, and send the initial current to the servo driver; the servo driver is used to send a control signal to the inverter according to the initial current; the inverter is used to adjust the initial current according to the control signal to obtain the target current; the drive motor is used to rotate and transmit the harmonic reducer at an initial speed and initial torque when the target current is obtained; the harmonic reducer is used to adjust the initial speed and the initial torque to obtain the target speed and target torque; the target speed and the target torque are output to the robot joint to drive the robot joint to move to the target position.

[0006] In one embodiment, the servo module also includes: a first encoder and a first magnetic ring; the first magnetic ring is arranged on the rotor shaft of the drive motor; the first encoder is arranged close to the first magnetic ring and is electrically connected to the servo driver; the first encoder is used to obtain first position information when the first magnetic ring rotates, and send the first position information to the servo driver, and the first position information includes: the current position of the drive motor.

[0007] In one embodiment, the servo module also includes an output flange, which is arranged between the harmonic reducer and the robot joint and is used to connect the harmonic reducer and the robot joint; the servo module also includes: a second encoder and a second magnetic ring; the second magnetic ring is arranged on the output flange; the second encoder is arranged close to the second magnetic ring and is electrically connected to the servo drive; the second encoder is used to obtain second position information when the second magnetic ring rotates, and send the second position information to the servo drive, and the second position information includes: the current position of the output flange.

[0008] In one embodiment, the servo driver is further configured to adjust the control signal according to the first position information and the second position information.

[0009] In one embodiment, the servo module further includes: a voltage detection circuit and a temperature sensor; the servo driver is electrically connected to the voltage detection circuit and the temperature sensor respectively;

[0010] The voltage detection circuit is used to obtain the input voltage of the drive motor and send the input voltage to the servo driver; the temperature sensor is used to obtain the current temperature of the drive motor and send the current temperature to the servo driver; the servo driver is also used to adjust the control signal according to the input voltage and the current temperature.

[0011] In one embodiment, the servo driver includes: a digital signal processor; the digital signal processor is electrically connected to the inverter and is used to send the control signal to the inverter.

[0012] In a second aspect, the present invention provides a robot joint control method, which is applied to the servo module described in the first aspect, and the method includes: a current sensor obtains an initial current output by an inverter to a drive motor, and sends the initial current to a servo driver; the servo driver sends a control signal to the inverter according to the initial current; the inverter adjusts the initial current according to the control signal to obtain a target current; when the target current is obtained, the drive motor rotates at an initial speed and an initial torque and transmits a harmonic reducer; the harmonic reducer adjusts the initial speed and the initial torque to obtain a target speed and a target torque; and outputs the target speed and the target torque to the robot joint to drive the robot joint to move to a target position.

[0013] In a third aspect, the present invention provides a robotic leg, comprising: at least one robotic joint and the servo module described in the first aspect, wherein the servo module is disposed in the robotic joint.

[0014] In a fourth aspect, the present invention provides a robot comprising: a robot body and at least one mechanical leg as described in the third aspect, wherein the robot body is communicatively connected to the mechanical leg.

[0015] In a fifth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the robot joint control method described in the second aspect is implemented.

[0016] The present invention provides a servo module, a robot joint control method, a mechanical leg, a robot and a medium. The servo module includes: a servo driver, an inverter, a current sensor, a drive motor and a harmonic reducer; the servo driver is electrically connected to the inverter and the current sensor respectively; the inverter is also electrically connected to the current sensor; the current sensor is also electrically connected to the drive motor; the rotor shaft of the drive motor is meshed with the input end of the harmonic reducer; the output end of the harmonic reducer is meshed with the robot joint; the current sensor is used to obtain the initial current output from the inverter to the drive motor. flow, and sends the initial current to the servo driver; the servo driver is used to send a control signal to the inverter according to the initial current; the inverter is used to adjust the initial current according to the control signal to obtain the target current; the drive motor is used to rotate and drive the harmonic reducer at the initial speed and initial torque when the target current is obtained; the harmonic reducer is used to adjust the initial speed and the initial torque to obtain the target speed and target torque; the target speed and the target torque are output to the robot joint to drive the robot joint to move to the target position. This application will improve the integration of the servo module, reduce the weight of the servo module, and reduce the manufacturing cost of the servo module through modular design.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic structural diagram of a servo module provided in an embodiment of the present application is shown;

[0020] Figure 2A side cross-sectional view of a servo module provided by an embodiment of the present application is shown;

[0021] Figure 3 A schematic flow chart of a robot joint control method provided in an embodiment of the present application is shown.

[0022] Description of main component symbols:

[0023] 100-servo module; 101-servo driver; 102-inverter; 103-current sensor; 104-drive motor; 105-harmonic reducer; 106-output flange; 107-first encoder; 108-first magnetic ring; 109-second encoder; 110-second magnetic ring; 111-voltage detection circuit; 112-temperature sensor; 200-power supply; 300-EMC filter; 400-overcurrent protector. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0025] In addition, 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 the indicated technical features. Therefore, the 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.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the template are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0027] Example 1

[0028] Robot joints are the core components of robots that perform various actions, such as movement and rotation. At present, in order to meet the new requirements of modern robots for performance and design, the servo modules used to drive the movement of robot joints are developing towards lightweight, small size and higher modularity. The servo modules in the existing technology are insufficient in terms of integration, size and cost-effectiveness. For this, please refer to Figure 1The present application provides a servo module 100, comprising: a servo driver 101, an inverter 102, a current sensor 103, a drive motor 104 and a harmonic reducer 105; the servo driver 101 is electrically connected to the inverter 102 and the current sensor 103 respectively; the inverter 102 is also electrically connected to the current sensor 103; the current sensor 103 is also electrically connected to the drive motor 104; the rotor shaft of the drive motor 104 is meshed with the input end of the harmonic reducer 105; the output end of the harmonic reducer 105 is meshed with the robot joint;

[0029] Please combine Figure 2 , Figure 2 A side cross-sectional view of the servo module 100 provided in an embodiment of the present application is shown. The servo module 100 provided in an embodiment of the present application also includes an output flange 106, the rotor shaft of the drive motor 104 is meshed with the input end of the harmonic reducer 105, and the output end of the harmonic reducer 105 is meshed with the output flange 106. The drive motor 104 is electrically connected to the inverter 102, and is used to input the initial speed and initial torque to the input end of the harmonic reducer 105 through the rotation of the rotor shaft when the target current is obtained from the inverter 102. After the harmonic reducer 105 adjusts the initial speed and initial torque, it outputs the target speed and target torque to the output flange 106, so that the output flange 106 drives the robot joint to move to the target position at the target speed and target torque.

[0030] Figure 2 The inverter 102 and the current sensor 103 are not shown. It can be understood that the servo driver 101 obtains the initial current input to the drive motor 104 through the current sensor 103, and adjusts the control signal output to the inverter 102 according to the initial current to adjust the output current of the inverter, thereby achieving the purpose of regulating the output speed and output torque of the drive motor 104.

[0031] The current sensor 103 is used to obtain the initial current output by the inverter 102 to the drive motor 104, and send the initial current to the servo driver 101; the servo driver 101 is used to send a control signal to the inverter 102 according to the initial current; the inverter 102 is used to adjust the initial current according to the control signal to obtain the target current; the drive motor 104 is used to rotate and transmit the harmonic reducer 105 at the initial speed and initial torque when the target current is obtained; the harmonic reducer 105 is used to adjust the initial speed and the initial torque to obtain the target speed and target torque; and output the target speed and the target torque to the robot joint to drive the robot joint to move to the target position.

[0032] It can be understood that the initial speed and initial torque output by the rotor shaft of the drive motor 104 are determined according to the acquired target current. The reduction ratio of the harmonic reducer 105 is determined by the structure of the harmonic reducer 105. Different types of harmonic reducers 105 can be selected for different reduction requirements.

[0033] The initial speed and initial torque output by the rotor shaft of the drive motor 104 are decelerated by the harmonic reducer 105 to obtain the target speed and target torque. The harmonic reducer 105 transmits the output flange 106 at the target speed and target torque, and then transmits the movement of the robot joint that is engaged or fixedly connected with the output flange 106. During the movement of the robot joint, the servo drive motor 104 monitors the current position of the drive motor 104 and the current position of the output flange 106, and adjusts the output control signal in real time to realize feedback regulation to control the robot joint to move to the target position.

[0034] In one embodiment, the servo module 100 also includes: a first encoder 107 and a first magnetic ring 108; the first magnetic ring 108 is arranged on the rotor shaft of the drive motor 104; the first encoder 107 is arranged close to the first magnetic ring 108 and is electrically connected to the servo driver 101; the first encoder 107 is used to obtain first position information when the first magnetic ring 108 rotates, and send the first position information to the servo driver 101, and the first position information includes: the current position of the drive motor 104.

[0035] In this embodiment, a first magnetic ring 108 is disposed on the rotor shaft of the drive motor 104, and a first encoder 107 is disposed at a position adjacent to the first magnetic ring 108, for example, the first encoder 107 is disposed at a position 0.5 mm away from the first magnetic ring 108, and the first encoder 107 is electrically connected to the servo driver 101. When the rotor shaft of the drive motor 104 rotates, the first magnetic ring 108 disposed on the rotor shaft rotates accordingly, so that the magnetic field around the first magnetic ring 108 changes accordingly. The first encoder 107 corresponding to the first magnetic ring 108 determines the current position of the drive motor 104 by detecting the change in the magnetic field.

[0036] In one embodiment, the servo module 100 also includes an output flange 106, which is arranged between the harmonic reducer 105 and the robot joint, and is used to connect the harmonic reducer 105 and the robot joint; the servo module 100 also includes: a second encoder 109 and a second magnetic ring 110; the second magnetic ring 110 is arranged on the output flange 106; the second encoder 109 is arranged close to the second magnetic ring 110 and is electrically connected to the servo driver 101; the second encoder 109 is used to obtain second position information when the second magnetic ring 110 rotates, and send the second position information to the servo driver 101, and the second position information includes: the current position of the output flange 106.

[0037] In this embodiment, similar to the first magnetic ring 108 and the first encoder 107 described above, the second magnetic ring 110 is arranged on the output flange 106, and the second encoder 109 is arranged at a position adjacent to the second magnetic ring 110. It can be understood that the actual arrangement positions of the second magnetic ring 110 and the second encoder 109 can be selected according to actual conditions. When the output flange 106 rotates, the second magnetic ring 110 arranged on the output flange 106 rotates accordingly, so that the magnetic field around the second magnetic ring 110 changes, and the second encoder 109 corresponding to the second magnetic ring 110 determines the current position of the output flange 106 by detecting the change in the magnetic field. It can be understood that the output flange 106 is used to connect the reducer and the robot joint, and the current position of the robot joint can be further determined by detecting the current position of the output flange 106.

[0038] It should be noted that the first magnetic ring 108 and the first encoder 107 are also used to obtain the rotation speed and rotation angle of the rotor shaft, and the second magnetic ring 110 and the second encoder 109 are also used to obtain the rotation speed and rotation angle of the output flange 106 .

[0039] In one implementation, the servo driver 101 is further configured to adjust the control signal according to the first position information and the second position information.

[0040] In this embodiment, the servo drive machine sends a control signal to the drive motor 104. During the process of transmitting the robot joint movement through the drive motor 104, the harmonic reducer 105 and the output flange 106, the servo driver 101 monitors the current position of the drive motor 104 and the current position of the output flange 106, and feedbacks and adjusts the output control signal to achieve closed-loop control, so as to accurately control the robot joint movement to the target position. It can be understood that the control signal includes: PWM signal.

[0041] In one implementation, the servo driver 101 includes: a digital signal processor; the digital signal processor is electrically connected to the drive motor 104 and is used to send the control signal to the drive motor 104 .

[0042] In this embodiment, please refer again to Figure 1 The servo driver 101 includes a digital signal processor (DSP), which includes multiple pins: a PWM pin, multiple ADC pins, a COM pin, an IIC pin, multiple SPI pins, a UART pin, multiple IO pins, an EMIF pin, and multiple VCC pins, wherein the PWM pin is used to output a control signal to the inverter 102, the IIC pin is used to communicate with an external device through an EEPROM bus, the CAN pin is used to communicate with an external device through a CAN communication protocol, the EMIF pin is used to communicate with an external device through an EarthCAT protocol, each SPI pin is electrically connected to the first encoder 107 and the second encoder 109, respectively, and each ADC pin is electrically connected to the current sensor 103, the voltage detection circuit 111, and the temperature sensor 112, respectively.

[0043] It can be understood that an inverter 102 is also connected in series between the digital signal processor and the drive motor 104, and the inverter 102 includes a three-phase inverter. The control signal output by the digital signal processor controls the current magnitude and current frequency output by the three-phase inverter to the drive motor 104, thereby controlling the initial speed and initial torque of the drive motor 104.

[0044] In one embodiment, the servo module 100 further includes: a voltage detection circuit 111 , a temperature sensor 112 , and a current sensor 103 ; the servo driver 101 is electrically connected to the voltage detection circuit 111 and the temperature sensor 112 , respectively.

[0045] Please see again Figure 1 The drive motor 104 is also electrically connected to the power supply 200, and an EMC filter 300 and a current sensor 103 are sequentially arranged between the power supply 200 and the drive motor 104, wherein the EMC filter 300 is used to suppress EMI radiation and conduction generated during the driving process, and the current sensor 103 is used to detect the input current of the drive motor 104 and send the acquired input current to the digital signal processor. It can be understood that an overcurrent protector 400 is also arranged between the digital signal processor and the current sensor 103.

[0046] Furthermore, the drive motor 104 is also electrically connected to a temperature sensor 112 , and the temperature sensor 112 is used to detect the current temperature of the drive motor 104 and send the current temperature to the digital signal processor.

[0047] Furthermore, the power supply 200 of the drive motor 104 is connected to the voltage detection circuit 111, and the voltage detection circuit 111 is used to detect the input voltage of the input drive motor 104 and send the input voltage to the digital signal processor.

[0048] The voltage detection circuit 111 is used to obtain the input voltage of the drive motor 104 and send the input voltage to the servo driver 101; the temperature sensor 112 is used to obtain the current temperature of the drive motor 104 and send the current temperature to the servo driver 101; the current sensor 103 is used to obtain the input current of the drive motor 104 and send the input current to the servo driver 101; the servo driver 101 is also used to adjust the control signal according to the input voltage, the current temperature and the input current.

[0049] It is understandable that the digital signal processor also needs to monitor the input voltage, input current and current temperature of the drive motor 104 during the process of controlling the joint movement of the robot, and adjust the output control signal according to the input voltage, input current and current temperature of the drive motor 104. For example, the input current of the drive motor 104 is adjusted to adjust the initial torque.

[0050] The servo module provided in the embodiment of the present application includes: a servo driver, an inverter, a current sensor, a drive motor and a harmonic reducer; the servo driver is electrically connected to the inverter and the current sensor respectively; the inverter is also electrically connected to the current sensor; the current sensor is also electrically connected to the drive motor; the rotor shaft of the drive motor is meshed with the input end of the harmonic reducer; the output end of the harmonic reducer is meshed with the robot joint; the current sensor is used to obtain the initial current output by the inverter to the drive motor and send the initial current to the servo driver; the servo driver is used to send a control signal to the inverter according to the initial current; the inverter is used to adjust the initial current according to the control signal to obtain a target current; the drive motor is used to rotate and drive the harmonic reducer at an initial speed and initial torque when the target current is obtained; the harmonic reducer is used to adjust the initial speed and the initial torque to obtain a target speed and a target torque; the target speed and the target torque are output to the robot joint to drive the robot joint to move to a target position. This application improves the integration of the servo module, reduces the weight of the servo module, and reduces the manufacturing cost of the servo module through modular design.

[0051] Example 2

[0052] Also, see Figure 3 , an embodiment of the present application also provides a robot joint control method, including: steps S310 to S330.

[0053] S310, a current sensor acquires an initial current outputted from the inverter to the drive motor, and sends the initial current to the servo driver.

[0054] S320: The servo driver sends a control signal to the inverter according to the initial current.

[0055] S330: The inverter adjusts the initial current according to the control signal to obtain a target current.

[0056] S340, when the target current is obtained, the drive motor rotates at an initial speed and initial torque and drives the harmonic reducer.

[0057] S350, the harmonic reducer adjusts the initial rotational speed and the initial torque to obtain a target rotational speed and a target torque; and outputs the target rotational speed and the target torque to the robot joint to drive the robot joint to move to a target position.

[0058] In one embodiment, the method further includes: when the first magnetic ring rotates, the first encoder acquires first position information, and sends the first position information to the servo driver, where the first position information includes: the current position of the drive motor.

[0059] In one embodiment, the method further includes: when the second magnetic ring rotates, the second encoder acquires second position information, and sends the second position information to the servo driver, wherein the second position information includes: the current position of the output flange.

[0060] In one embodiment, the method further includes: the servo driver adjusting the control signal according to the first position information and the second position information.

[0061] In one embodiment, the method also includes: a voltage detection circuit obtains the input voltage of the drive motor and sends the input voltage to the servo driver; a temperature sensor obtains the current temperature of the drive motor and sends the current temperature to the servo driver; and the servo driver adjusts the control signal according to the input voltage and the current temperature.

[0062] In one embodiment, the servo driver includes: a digital signal processor; the method further includes: the digital signal processor sending the control signal to the drive motor.

[0063] The robot joint control method provided in the embodiment of the present invention is applied to the servo module 100 provided in the above-mentioned embodiment 1, and will not be described again here to avoid repetition.

[0064] The robot joint control method provided in the embodiment of the present application obtains the initial current output by the inverter to the drive motor through a current sensor, and sends the initial current to the servo driver; the servo driver sends a control signal to the inverter according to the initial current; the inverter adjusts the initial current according to the control signal to obtain the target current; when the target current is obtained, the drive motor rotates at the initial speed and initial torque and transmits the harmonic reducer; the harmonic reducer adjusts the initial speed and the initial torque to obtain the target speed and target torque; the target speed and the target torque are output to the robot joint to drive the robot joint to move to the target position, thereby realizing the robot joint motion control.

[0065] Example 3

[0066] In addition, an embodiment of the present application further provides a robotic leg, comprising at least one robotic joint and the servo module 100 described in Embodiment 1, wherein the servo module 100 is disposed in the robotic joint.

[0067] The mechanical leg provided in the embodiment of the present invention can realize the functions of the servo module 100 provided in the above-mentioned embodiment 1, and will not be described again here to avoid repetition.

[0068] In addition, an embodiment of the present application also provides a robot, including a robot body and at least one mechanical leg as described above, wherein the robot body is communicatively connected to the mechanical leg.

[0069] The robot provided in the embodiment of the present invention can realize the functions of the servo module 100 provided in the first embodiment, and will not be described again here to avoid repetition.

[0070] Example 4

[0071] In addition, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the robot joint control method provided in Example 2 is implemented.

[0072] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0073] The computer-readable storage medium provided in this embodiment can implement the robot joint control method provided in Example 2, and will not be described again here to avoid repetition.

[0074] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0075] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0076] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A servo module, characterized in that: include: Servo drives, inverters, current sensors, drive motors and harmonic reducers; The servo driver is electrically connected to the inverter and the current sensor respectively; The inverter is also electrically connected to the current sensor; The current sensor is also electrically connected to the drive motor; The rotor shaft of the driving motor is meshed with the input end of the harmonic reducer; The output end of the harmonic reducer is meshed with the robot joint; The current sensor is used to obtain the initial current output by the inverter to the drive motor, and send the initial current to the servo driver; The servo driver is used to send a control signal to the inverter according to the initial current; The inverter is used to adjust the initial current according to the control signal to obtain a target current; The driving motor is used to rotate and drive the harmonic reducer at an initial speed and initial torque when the target current is obtained; The harmonic reducer is used to adjust the initial rotational speed and the initial torque to obtain a target rotational speed and a target torque; and output the target rotational speed and the target torque to the robot joint to drive the robot joint to move to a target position.

2. The servo module according to claim 1, characterized in that: The servo module also includes: a first encoder and a first magnetic ring; The first magnetic ring is arranged on the rotor shaft of the driving motor; The first encoder is arranged close to the first magnetic ring and is electrically connected to the servo driver; The first encoder is used to obtain first position information when the first magnetic ring rotates, and send the first position information to the servo driver, where the first position information includes: the current position of the drive motor.

3. The servo module according to claim 2, characterized in that: The servo module further includes an output flange, which is disposed between the harmonic reducer and the robot joint and is used to connect the harmonic reducer and the robot joint; The servo module also includes: a second encoder and a second magnetic ring; The second magnetic ring is arranged on the output flange; The second encoder is arranged close to the second magnetic ring and is electrically connected to the servo driver; The second encoder is used to obtain second position information when the second magnetic ring rotates, and send the second position information to the servo driver, where the second position information includes: the current position of the output flange.

4. The servo module according to claim 3, characterized in that: The servo driver is further used for adjusting the control signal according to the first position information and the second position information.

5. The servo module according to claim 1, characterized in that: The servo module also includes: a voltage detection circuit and a temperature sensor; The servo driver is electrically connected to the voltage detection circuit and the temperature sensor respectively; The voltage detection circuit is used to obtain the input voltage of the drive motor and send the input voltage to the servo driver; The temperature sensor is used to obtain the current temperature of the drive motor and send the current temperature to the servo driver; The servo driver is further used to adjust the control signal according to the input voltage and the current temperature.

6. The servo module according to any one of claims 1 to 5, characterized in that: The servo driver comprises: a digital signal processor; The digital signal processor is electrically connected to the inverter and is used to send the control signal to the inverter.

7. A robot joint control method, characterized in that: The servo module applied to any one of claims 1 to 6, the method comprising: The current sensor obtains the initial current output by the inverter to the drive motor, and sends the initial current to the servo driver; The servo driver sends a control signal to the inverter according to the initial current; The inverter adjusts the initial current according to the control signal to obtain a target current; When the target current is obtained, the drive motor rotates at an initial speed and initial torque and transmits the harmonic reducer; The harmonic reducer adjusts the initial rotational speed and the initial torque to obtain a target rotational speed and a target torque; and outputs the target rotational speed and the target torque to the robot joint to drive the robot joint to move to a target position.

8. A mechanical leg, characterized in that: include: At least one robot joint and the servo module according to any one of claims 1 to 6, wherein the servo module is arranged in the robot joint.

9. A robot, characterized in that: include: A robot body and at least one mechanical leg as claimed in claim 8, wherein the robot body is communicatively connected to the mechanical leg.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the robot joint control method of claim 7 is implemented.

Images