Power take-off device, control method, joint actuator and actuation component

Abstract

The main object of the present invention is to provide a power output device, a control method, a joint actuator and an execution component. Specifically, the power output device includes a plurality of output members arranged coaxially, as well as a driving component, a feedback component and a control component that are配套 with the output members. Specifically, the first output member has a first encoder, which detects the rotation state of the first output member and outputs it to the control component to establish a closed-loop feedback link. The second output member sleeved on the first output member establishes a shift-axis closed-loop feedback link by adding a rotating member传动连接 with it and setting a second encoder on the rotating member to detect the rotation state of the second output member and output it to the control component. The control component adjusts the operation of the driving component in real time according to the detection information of the encoder and the signal of the upper computer, and then adjusts the rotation of one or more output members to实现 the closed-loop control of the entire power output device.

Description

Technical Field

[0001] This invention relates to the field of mechanical device technology, and in particular to a power output device, control method, joint actuator and execution component. Background Technology

[0002] Joint actuators, as key components of robot motion, play a crucial role in driving the movement of robot actuators. However, traditional joint actuators typically only provide motion control for a single degree of freedom, requiring multiple joint actuators to be linked and combined to achieve multi-degree-of-freedom motion. This modular joint structure does indeed bring a series of problems, making it difficult to obtain closed-loop position information for multiple degrees of freedom on the coaxial output axis.

[0003] Integrating multiple degrees of freedom into a single actuator can reduce the number of actuators required, thereby lowering system complexity and manufacturing costs. However, integrating multiple degrees of freedom into a single actuator typically means installing multiple moving parts and sensors within a limited space. Encoders are commonly used to measure the angle or position of a rotating shaft. When multiple outputs are mounted collinearly on the same spindle, the encoder on the spindle can only acquire information from the spindle itself and cannot simultaneously acquire information from multiple outputs. Summary of the Invention

[0004] The main objective of this invention is to provide a power output device, control method, joint actuator, and execution component, which aims to solve the problem of how to obtain information from multiple output ends when multiple output ends are coaxially arranged in existing joint actuators.

[0005] To address the above problems, this invention proposes a power output device, comprising a drive assembly, a transmission assembly, a feedback assembly, and a control assembly:

[0006] The transmission assembly includes a first output component, at least one set of second output components and a transmission component, wherein the second output component is rotatably sleeved on the first output component, and the transmission component is drivingly connected to the second output component;

[0007] The drive assembly has its output terminals connected to the first output component and the second output component respectively, and the drive assembly is used to drive the first output component and the second output component to rotate independently along the same rotation axis.

[0008] The feedback component includes a first encoder coaxially arranged with the first output component and a second encoder coaxially arranged with the transmission component. The first encoder is used to detect the rotation state of the first output component and generate a first detection information feedback output. The second encoder is used to detect the rotation state of the rotating component and output a second detection information feedback.

[0009] The control component is electrically connected to the feedback component and the drive component. The control component is used to receive and output a control signal based on the first detection information of the first encoder to adjust the movement of the drive component, so as to adjust the rotation state of the first output component. The control component is also used to output a control signal based on the second detection information of the second encoder to adjust the movement of the drive component, so as to adjust the rotation state of the second output component.

[0010] Optionally, the first output component includes a main shaft, and the second output component includes a first flange and a transmission gear fixedly connected, the first flange and the transmission gear being sleeved on the main shaft. The transmission component includes a gear disk and a connecting shaft arranged along the axis of the gear disk. The transmission gear is drivingly connected to the gear disk, and the second encoder is coaxially arranged with the connecting shaft.

[0011] Optionally, the first encoder and the second encoder are magnetic encoders, each including a magnetic element and a magnetic induction element. The magnetic element is disposed on the first output element and the connecting shaft, and the magnetic induction element is disposed opposite to and spaced apart from the magnetic element.

[0012] This invention proposes a control method based on the power output device described above, the method comprising the following steps:

[0013] Receive instruction information from the host computer, and extract the target parameters of the first output device and the target parameters of the second output device from the instruction information;

[0014] The system acquires first detection information generated by the first encoder detecting the rotation state of the first output component and transmission component detection information generated by the second encoder detecting the rotation state of the transmission component, and obtains second detection information based on the parameter conversion relationship between the second output component and the transmission component.

[0015] The first detection information is compared with the first target parameter, and the second detection information is compared with the second target parameter. When the first detection information deviates from the first target parameter, a control signal is output to adjust the movement of the drive component to adjust the rotation state of the first output component. When the second detection information deviates from the second target parameter, a control signal is output to adjust the movement of the drive component to adjust the rotation state of the second output component.

[0016] Optionally, the specific steps of obtaining the first detection information generated by the first encoder detecting the rotation state of the first output component and the transmission component detection information generated by the second encoder detecting the rotation state of the transmission component, and obtaining the second detection information based on the parameter conversion relationship between the second output component and the transmission component, include:

[0017] Obtain the first detection information generated by the first encoder detecting the rotation state of the first output component;

[0018] Obtain transmission component detection information generated by the second encoder detecting the rotational state of the transmission component;

[0019] The second output gear of the second output component is connected to the gear disk of the transmission component to make the rotation state of the second output component linearly proportional to the rotation state of the transmission component, so as to obtain second detection information consistent with the detection information of the transmission component.

[0020] Optionally, the specific steps for obtaining the first detection information generated by the first encoder detecting the rotation state of the first output component include:

[0021] When the first output component drives the magnetic element to rotate, causing the magnetic field of the magnetic element to change, the magnetic sensing element of the first encoder detects the change in the magnetic field of the magnetic element and generates a first electrical signal, thereby obtaining the first detection information converted by the first encoder from the first electrical signal.

[0022] And / or, the specific steps for obtaining the transmission component detection information generated by the second encoder detecting the rotation state of the transmission component include:

[0023] When the transmission component drives the magnetic element to rotate, causing the magnetic field of the magnetic element to change, the magnetic sensing element of the second encoder detects the change in the magnetic field of the magnetic element and generates a second electrical signal, thereby obtaining the transmission component detection information converted by the second encoder from the second electrical signal.

[0024] Optionally, the drive assembly includes a first motor, the transmission assembly further includes a first gear set, the first output member is provided with a first output gear, and the first motor is drivenly connected to the first output gear through the first gear set;

[0025] The specific steps of adjusting the rotation state of the first output component by outputting a control signal to adjust the movement of the drive component when the first detection information deviates from the first target parameter include:

[0026] When the first detection information deviates from the first target parameter, a control signal is output to adjust the motion state of the first motor, to adjust the rotation state of the first output gear through the first gear set, and to adjust the rotation state of the first output component.

[0027] And / or, the drive assembly further includes a second motor, the transmission assembly further includes a second gear set, the second output member is provided with a second output gear, and the second motor is drivenly connected to the second output gear through the second gear set;

[0028] The specific steps of adjusting the rotation state of the second output component by outputting a control signal to adjust the movement of the drive component when the second detection information deviates from the second target parameter include:

[0029] Output a control signal when the second detection information deviates from the second target parameter, so as to adjust the motion state of the second motor, adjust the rotation state of the second output gear through the second gear set, and adjust the rotation state of the second output member.

[0030] The present invention provides a joint actuator, including a housing and the power output device as described above;

[0031] The housing has an installation cavity, a first opening and a second opening communicating with the installation cavity;

[0032] The first output member and the second output member are arranged at the first opening.

[0033] Optionally, the transmission component further includes a third output member, the rotation axis of the first output member intersects with the rotation axis of the third output member, and the third output member is arranged at the second opening;

[0034] Wherein, the drive component is further used to drive the third output member to rotate respectively;

[0035] The feedback component further includes a third encoder, and the third encoder is used to detect the third detection information generated by the rotation state of the third output member and send it to the closed-loop control system;

[0036] The control component is further used to receive and control the drive component according to the third detection information of the feedback component, so as to adjust the rotation state of the third output member.

[0037] The present invention provides an execution component, including a connecting member and the joint actuator as described above, and the connecting member is drivingly connected to one or more of the first output member, the second output member and the third output member.

[0038] The technical solution of the present invention includes a plurality of output members arranged coaxially and a drive component, a feedback component and a control component supporting the output members. Specifically, the first output member has a first encoder, which detects the rotation state of the first output member and outputs it to the control component to establish a closed-loop feedback link; the second output member sleeved on the first output member is provided with a rotating member drivingly connected thereto, and a second encoder is arranged on the rotating member to detect the rotation state of the second output member and output it to the control component to establish a shifted-axis closed-loop feedback link. The control component adjusts the operation of the drive component in real time according to the detection information of the encoder and the upper computer signal, and then adjusts the rotation of one or more output members to achieve the closed-loop control of the entire power output device. Description of the Drawings

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of an embodiment of a power output device according to the present invention;

[0041] Figure 2 This is a schematic diagram showing the disassembled structure of the drive assembly and transmission assembly of an embodiment of the power output device of the present invention;

[0042] Figure 3 This is a schematic diagram of the transmission component structure of an embodiment of a power output device according to the present invention;

[0043] Figure 4 This is a schematic diagram showing the disassembled structure of the second output component, the second motor, the second gear set, and the transmission component according to an embodiment of the power output device of the present invention.

[0044] Figure 5 This is a schematic diagram showing the disassembled structure of the first output component, the first motor, and the first gear set according to an embodiment of a power output device of the present invention.

[0045] Figure 6 This is a flowchart of the method steps of an embodiment of the control method of the present invention;

[0046] Figure 7 This is a flowchart of step S200 of another embodiment of the control method of the present invention;

[0047] Figure 8 This is a schematic diagram of an embodiment of a joint actuator according to the present invention.

[0048] Reference numerals: 110, housing; 120, drive assembly; 121, first motor; 122, second motor; 130, transmission assembly; 131, first output component; 1312, main shaft; 132, second output component; 1322, first flange; 1324, transmission gear; 133, third output component; 140, feedback assembly; 141, first encoder; 1411, first magnetic induction element; 1412, first magnetic element; 142, first encoder; 1421, second magnetic induction element; 1422, second magnetic element; 150, transmission component; 151, gear disk; 152, connecting shaft.

[0049] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0051] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0054] This invention proposes a power output device; please refer to [link / reference]. Figures 1 to 5 It includes a drive assembly 120, a transmission assembly 130, a feedback assembly 140, and a control assembly:

[0055] The transmission assembly 130 includes a first output member 131, at least one set of second output members 132 and a transmission member 150, wherein the second output member 132 is rotatably sleeved on the first output member 131, and the transmission member 150 is connected to the second output member 132 in a transmission manner.

[0056] The drive assembly 120 has its output terminals connected to the first output component 131 and the second output component 132 respectively. The drive assembly 120 is used to drive the first output component 131 and the second output component 132 to rotate independently along the same rotation axis.

[0057] Feedback component 140 includes a first encoder 141 coaxially disposed with the first output component 131 and a second encoder 142 coaxially disposed with the transmission component 150. The first encoder 141 is used to detect the rotation state of the first output component 131 and generate a first detection information feedback output. The second encoder 142 is used to detect the rotation state of the rotating component and output a second detection information feedback.

[0058] The control component is electrically connected to the feedback component 140 and the drive component 120. The control component is used to receive and output a control signal based on the first detection information of the first encoder 141 to adjust the movement of the drive component 120, so as to adjust the rotation state of the first output component 131. The control component is also used to output a control signal based on the second detection information of the second encoder 142 to adjust the movement of the drive component 120, so as to adjust the rotation state of the second output component 132.

[0059] More specifically, joint actuators, as core components of a robot's motion system, directly impact the robot's motion capabilities and flexibility. Traditional joint actuators are limited to single-degree-of-freedom motion control; to achieve complex multi-degree-of-freedom motion, multiple joint actuators often need to work together. While this modular joint structure solves the problem to some extent, it also brings many challenges, such as increased system complexity, higher manufacturing costs, limited motion flexibility, and reduced response speed.

[0060] Integrating multiple degrees of freedom into a single actuator can overcome the aforementioned problems. This approach can significantly reduce the number of actuators required, thereby simplifying the system structure, reducing manufacturing costs, and improving motion flexibility.

[0061] However, this integrated design also brings new technical challenges. How to integrate multiple moving parts and sensors within a limited space, especially when multiple outputs are coaxially mounted on the same spindle 1312, is a challenge that traditional encoder configurations cannot meet the requirement of simultaneously acquiring information from multiple outputs. This is because encoders mounted on the spindle 1312 can typically only measure angles or positions, and cannot directly acquire information from other outputs connected to the spindle 1312.

[0062] To address the aforementioned problems, this application proposes a power output device, including a drive assembly 120, a transmission assembly 130, a feedback assembly 140, and a control assembly. Its specific working process is as follows:

[0063] The host computer sends a command to the control component to start the drive component 120; the power generated by the drive component 120 is transmitted to the transmission component 130 to achieve power output; the feedback component 140 monitors the working status of the power output device in real time and feeds the data back to the control component to achieve closed-loop feedback; the control component makes precise adjustments to the drive component 120 and the transmission component 130 based on the feedback data to achieve closed-loop control.

[0064] Specifically, the transmission assembly 130 includes a first output member 131, at least one set of second output members 132, and a transmission member 150. The second output member 132 is rotatably sleeved on the first output member 131, and the transmission member 150 is drively connected to the second output member 132. The output end of the drive assembly 120 is drivenly connected to the first output member 131 and the second output member 132 respectively, and the drive assembly 120 is used to drive the first output member 131 and the second output member 132 to rotate independently along the same rotation axis. The feedback assembly 140 includes a first encoder 141 coaxially arranged with the first output member 131 and a second encoder 142 coaxially arranged with the transmission member 150. The control assembly is electrically connected to the feedback assembly 140 and the drive assembly 120.

[0065] This can be understood as follows: the first output component 131 and the second output component 132 are coaxially arranged. The first output component 131 includes a main shaft 1312, and the entire first output component 131 rotates together with the main shaft 1312. One or more second output components 132 are collinearly mounted on the main shaft 1312 of the first output component 131, but are not fixedly connected to the main shaft 1312. That is, the second output component 132 can rotate relatively freely on the main shaft 1312 without being directly constrained by the rotation of the main shaft 1312. Each output component rotates independently coaxially with the drive assembly 120, suitable for applications requiring multiple output shafts to transmit power at different speeds or directions. The drive assembly 120 drives the first output component 131 and the second output component 132 to rotate independently around the rotation axis, allowing the speed and direction of rotation of the first output component 131 and the second output component 132 to be the same or different. This makes the rotation angle of the joint actuator unrestricted, and the movement of the robot more flexible and adaptable to more complex application scenarios.

[0066] Because the first output component 131 and the second output component 132 are coaxially arranged, the encoder installed on the main shaft 1312 can usually only measure the angle or position, and cannot directly obtain the information of other output ends connected to the main shaft 1312. As a result, the traditional encoder configuration method cannot meet the requirement of obtaining information from multiple output ends at the same time. The feedback component 140 of this application adopts two configuration methods. One is to be directly installed on the first output component 131 with the main shaft 1312, such as the first encoder 141 coaxially configured with the first output component 131. The first encoder 141 can directly detect the rotation state of the first output component 131 and obtain the first detection information of the first output component 131, including information such as actual position and speed, and then send this information to the control component. The other is to be installed on the rotating component, and the rotating component is drivenly connected to the second output component 132 sleeved on the main shaft 1312, such as the second encoder 142 coaxially configured with the transmission component 150. The second encoder 142 can detect the rotation state of the transmission component 150 and indirectly obtain the second detection information of the second output component 132, including information such as actual position and speed, and then send this information to the control component.

[0067] In one embodiment of the present invention, the feedback component 140 may employ one or more encoders such as a magnetic encoder, photoelectric encoder, eddy current encoder, and rotary encoder for detection. Of course, in addition to the aforementioned encoders, in some other embodiments of the present invention, sensors such as speed sensors and Hall effect sensors may also be used, as long as they can detect parameters such as the rotation angle and rotation speed of the first output component 131 and the second output component 132. No specific limitation is made here, and the appropriate sensor can be selected according to actual needs. Furthermore, in addition to detecting the rotation of the output components, the feedback component 140 also includes conventional auxiliary detection devices within the motor, such as temperature sensors and force sensors.

[0068] In addition to receiving external signals, such as instructions from the host computer, the control component also receives detection information from the feedback component 140. Based on this information, the control component acquires parameters such as the rotation angle, rotation speed, and rotation time of the first output component 131 and the second output component 132, and controls and adjusts the operation of the drive component 120 in real time according to these parameters and external signals to achieve closed-loop control. In one embodiment of the invention, the control component includes a control circuit board disposed within the housing 110. Specifically, the control circuit board is electrically connected to both the feedback component 140 and the drive component 120. This embodiment uses a flexible circuit board connected to the control circuit board; the bendable nature of the flexible circuit board facilitates component assembly.

[0069] The technical solution of the present invention includes a plurality of output components arranged coaxially, as well as a driving component 120, a feedback component 140 and a control component that are matched with the output components. Specifically, the first output component 131 has a first encoder 141, which detects the rotation state of the first output component 131 and outputs it to the control component to establish a closed-loop feedback link; the second output component 132 sleeved on the first output component 131 adds a rotating component传动连接with it, and a second encoder 142 is arranged on the rotating component to detect the rotation state of the second output component 132 and output it to the control component to establish a shifted-axis closed-loop feedback link. The control component adjusts the operation of the driving component 120 in real time according to the detection information of the encoder and the upper computer signal, and further adjusts the rotation of one or more output components to achieve the closed-loop control of the entire power output device.

[0070] In an embodiment, the first output component 131 includes a main shaft 1312, the second output component 132 includes a first flange 1322 and a transmission gear 1324 fixedly connected, the first flange 1322 and the transmission gear 1324 are sleeved on the main shaft 1312, the transmission component 150 includes a gear disk 151 and a connecting shaft 152 arranged along the axis direction of the gear disk 151, the transmission gear 1324 is传动连接with the gear disk 151, and the second encoder 142 is coaxially arranged with the connecting shaft 152.

[0071] The traditional joint structure generally uses two spaced output shafts to connect with two connecting rods of the robotic arm, which will cause certain limitations in the rotation angle of the robotic arm, resulting in restricted movement of the robot. In the embodiment, a through hole is provided through the center of the first flange 1322, the diameter of the through hole is larger than the diameter of the main shaft 1312, one end of the main shaft 1312 provided with the first connecting portion passes through the first flange 1322 from the through hole, and the rotation axes of the first flange 1322 and the main shaft 1312 coincide. The driving component 120 drives the main shaft 1312 and the first flange 1322 to rotate independently around the rotation axis, so that the rotation speeds and rotation directions of the main shaft 1312 and the first flange 1322 can be the same or different. The two connecting rods of the robotic arm are respectively connected to the main shaft 1312 and the first flange 1322, and both connecting rods can achieve 360° forward and reverse rotation. The rotation angle of the robotic arm is not restricted, and the movement of the robot is more flexible and changeable, and it can adapt to more complex application scenarios.

[0072] A transmission gear 1324 meshing with the gear disk 151 is arranged on the second output component 132. When the second output component 132 rotates around its own axis, it can带动the transmission component 150 to rotate共同around the connecting shaft 152. By the second encoder 142, parameters such as the rotation angle of the second output component 132 can be detected to实现the shifted-axis closed-loop feedback.

[0073] In one embodiment, the first encoder 141 and the second encoder 142 are magnetic encoders, each including a magnetic element and a magnetic induction element. The magnetic element is disposed on the first output element 131 and the connecting shaft 152, and the magnetic induction element is disposed opposite to and spaced apart from the magnetic element.

[0074] Specifically, the first encoder 141 includes a first magnetic induction element 1411 and a first magnetic element 1412. One end of the first output element 131 has a mounting groove. The first magnetic element 1412 is embedded in the mounting groove and is coaxially arranged with the first output element 131. The first output element 131 can drive the first magnetic element 1412 to rotate at the same speed around the rotation axis. The first magnetic induction element 1411 and the first magnetic element 1412 are opposite to each other and spaced apart. By detecting the change in the magnetic field of the first magnetic element 1412 through the first magnetic induction element 1411, information such as the rotation angle of the first output element 131 can be detected. The second encoder 142 includes a second magnetic induction element 1421 and a second magnetic element 1422. A mounting groove is also provided on the connecting shaft 152, and the second magnetic element 1422 is embedded in this groove and coaxially arranged with the connecting shaft 152. A transmission gear 1324 meshes with the gear disk 151 on the second output component 132. When the second output component 132 rotates around its own axis, it drives the transmission component 150 to rotate at the same speed around the connecting shaft 152. The rotation angle and other parameters of the second output component 132 can be detected through the second magnetic induction element 1421, realizing shaft-shifting closed-loop feedback. Both the first magnetic induction element 1411 and the second magnetic induction element 1421 are magnetic field sensors, and both the first magnetic element 1412 and the second magnetic element 1422 are circular magnets. The first magnetic induction element 1411, the second magnetic induction element 1421, and the third magnetic induction element are spaced apart on the flexible circuit board of the control component.

[0075] This invention proposes a control method based on the power output device described above. (See also...) Figure 6 The method includes the following steps:

[0076] S100: Receive instruction information from the host computer and extract the target parameters of the first output device 131 and the target parameters of the second output device 132 from the instruction information;

[0077] S200: Obtain the first detection information generated by the first encoder 141 detecting the rotation state of the first output component 131 and the transmission component 150 detection information generated by the second encoder 142 detecting the rotation state of the transmission component 150, and obtain the second detection information based on the parameter conversion relationship between the second output component 132 and the transmission component 150.

[0078] S300: Compare the first detection information with the first target parameter and the second detection information with the second target parameter; when the first detection information deviates from the first target parameter, output a control signal to adjust the movement of the drive component 120 to adjust the rotation state of the first output component 131; when the second detection information deviates from the second target parameter, output a control signal to adjust the movement of the drive component 120 to adjust the rotation state of the second output component 132.

[0079] In step S100, instruction information is received from the host computer (such as PLC, human-machine interface or other control system). This instruction information is the motion state that the power output device needs to achieve. The target parameters of the first output device 131 and the target parameters of the second output device 132 are extracted from the instruction information. The target parameters may include target speed, target position, etc.

[0080] In step S200, first detection information generated by the first encoder 141 detecting the rotational state of the first output component 131 and transmission component 150 detection information generated by the second encoder 142 detecting the rotational state of the transmission component 150 are obtained. Based on the parameter conversion relationship between the second output component 132 and the transmission component 150, second detection information is obtained. The first and second detection information include rotational speed, position, etc.

[0081] It is worth noting that the encoder needs to be calibrated before using it to obtain the detection information of the output component. This is to eliminate errors introduced during manufacturing and installation and to ensure that the encoder reading is consistent with the actual rotation state of the output component.

[0082] In step S300, the control system compares the first detection information with the first target parameter to determine whether the first output component 131 has achieved the expected motion state. Similarly, the control system compares the second detection information with the second target parameter to determine whether the second output component 132 has achieved the expected motion state.

[0083] If the first detection information deviates from the first target parameter, the control system will output a control signal to adjust the movement of the drive component 120 to correct the rotational state of the first output component 131, gradually bringing it closer to the target parameter. If the second detection information deviates from the second target parameter, the control system will also output a control signal to adjust the movement of the drive component 120 to correct the rotational state of the second output component 132. This adjustment may involve adjusting the speed, torque, or direction of the drive component 120.

[0084] In one embodiment, please refer to Figure 2 and Figure 7The specific steps for obtaining the first detection information generated by the first encoder 141 detecting the rotation state of the first output component 131 and the transmission component 150 detection information generated by the second encoder 142 detecting the rotation state of the transmission component 150, and obtaining the second detection information based on the parameter conversion relationship between the second output component 132 and the transmission component 150, include:

[0085] S210: Acquire the first detection information generated by the first encoder 141 detecting the rotational state of the first output component 131; the first encoder 141 is directly mounted on the first output component 131 and is used to detect its rotational state in real time, which typically includes key parameters such as rotational speed, position (angle), and / or direction. The first encoder 141 provides the control system with the actual motion state data of the first output component 131 so as to compare it with the target parameters set by the host computer.

[0086] S220: Obtain the transmission component 150 detection information generated by the second encoder 142 detecting the rotation state of the transmission component 150; the second encoder 142 is installed on the transmission component 150, which is mechanically connected or directly associated with the second output component 132. The second encoder 142 provides the control system with actual motion state data of the transmission component 150, which will be used to deduce the rotation state of the second output component 132.

[0087] S230: Based on the transmission connection between the second output gear of the second output member 132 and the gear disk 151 of the transmission member 150, the rotation state of the second output member 132 and the rotation state of the transmission member 150 are linearly proportional to each other, so as to obtain second detection information consistent with the detection information of the transmission member 150.

[0088] As described above, the second output component 132 is equipped with a transmission gear 1324 that meshes with the gear disk 151. When the second output component 132 rotates around its own axis, it drives the transmission component 150 to rotate around the connecting shaft 152. Therefore, the rotational speed of the transmission component 150 can be directly converted into the rotational speed of the second output component 132 through a proportional conversion, and the position information can also be converted through the gear ratio. The direction information is usually detected by the encoder along with the rotational speed, and since the gear transmission is rigid, the direction will remain consistent. Based on the above derivation, the control system can obtain second detection information that is consistent with the detection information of the transmission component 150.

[0089] In one embodiment, the specific steps for obtaining the first detection information generated by the first encoder 141 detecting the rotation state of the first output member 131 include:

[0090] When the first output unit 131 drives the magnetic element to rotate, causing the magnetic field of the magnetic element to change, the magnetic induction element of the first encoder 141 detects the change in the magnetic field of the magnetic element and generates a first electrical signal, thereby obtaining the first detection information converted by the first encoder 141 from the first electrical signal.

[0091] When the first output element 131 rotates, it drives the magnetic element to rotate as well. The rotation of the magnetic element causes a change in its magnetic field. This change can be in the strength or direction of the magnetic field, or both. The magnetic induction element in the first encoder 141 detects the change in the magnetic field of the magnetic element and converts the detected change into a first electrical signal. This electrical signal is usually an analog signal, and its voltage or current value changes with the magnetic field. The first encoder 141 contains a signal processing circuit that converts the analog electrical signal into a digital signal and further into first detection information (such as rotational speed, position, direction, etc.).

[0092] And / or, the specific steps for obtaining the transmission component 150 detection information generated by the second encoder 142 detecting the rotation state of the transmission component 150 include:

[0093] When the transmission component 150 drives the magnetic element to rotate, causing the magnetic field of the magnetic element to change, the magnetic induction element of the second encoder 142 detects the change in the magnetic field of the magnetic element and generates a second electrical signal, thereby obtaining the detection information of the transmission component 150 converted by the second encoder 142 from the second electrical signal.

[0094] The transmission component 150 (such as a gear) transmits power and motion in the mechanical system. When the transmission component 150 rotates, it also drives the magnetic element to rotate. Similar to the detection process of the first encoder 141, the magnetic induction element in the second encoder 142 detects the change in the magnetic field of the magnetic element and generates and converts the second electrical signal. The second electrical signal is converted into a digital signal by the signal processing circuit inside the second encoder 142, and further converted into the detection information of the transmission component 150.

[0095] It is important to note that the type, size, and magnetic properties of the magnetic components should be matched to the encoder's magnetic sensing element to ensure accurate detection and signal conversion. The encoder's accuracy and resolution determine the accuracy and reliability of the detection information; therefore, a suitable encoder should be selected based on application requirements.

[0096] In one embodiment, the drive assembly 120 includes a first motor 121, the transmission assembly 130 further includes a first gear set, the first output member 131 is provided with a first output gear, and the first motor 121 is drivenly connected to the first output gear through the first gear set;

[0097] When the first detection information deviates from the first target parameter, the specific steps for outputting a control signal to adjust the movement of the drive assembly 120 to adjust the rotation state of the first output component 131 include:

[0098] When the first detection information deviates from the first target parameter, a control signal is output to adjust the motion state of the first motor 121, to adjust the rotation state of the first output gear through the first gear set, and to adjust the rotation state of the first output component 131.

[0099] And / or, the drive assembly 120 further includes a second motor 122, the transmission assembly 130 further includes a second gear set, the second output member 132 is provided with a second output gear, and the second motor 122 is drivenly connected to the second output gear through the second gear set;

[0100] When the second detection information deviates from the second target parameter, the specific steps for adjusting the motion of the drive assembly 120 by outputting a control signal to adjust the rotation state of the second output component 132 include:

[0101] When the second detection information deviates from the second target parameter, a control signal is output to adjust the motion state of the second motor 122, to adjust the rotation state of the second output gear through the second gear set, and to adjust the rotation state of the second output component 132.

[0102] As can be seen from the above, the motor and gear sets can drive the two output components to rotate independently without interference between them. It should be noted that each gear set constitutes an independent reducer mechanism to reduce the high speed of the motor to the required low speed, in order to meet the specific speed and torque requirements of different applications.

[0103] This invention proposes a joint actuator; please refer to [link / reference]. Figure 8 It includes a housing 110 and a power output device as described above: the housing 110 has a mounting cavity and a first opening and a second opening communicating with the mounting cavity; a first output member 131 and a second output member 132 are disposed at the first opening.

[0104] The joint actuator includes a housing 110 and a power output device. The specific structure of the power output device is as described in the above embodiments. Since this actuator adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here. The housing 110 is a key support and protection component of the power output device. It has an internal mounting cavity designed to accommodate the drive assembly 120, part of the transmission assembly 130, and possibly other key components to ensure the compactness and stability of the entire power transmission system. In addition to the mounting cavity, the housing 110 is also designed with two important openings: a first opening and a second opening. Both of these openings communicate with the mounting cavity, providing the necessary channels for power output.

[0105] In one embodiment of the joint actuator, the transmission assembly 130 further includes a third output member 133, the rotation axis of the first output member 131 intersects the rotation axis of the third output member 133, and the third output member 133 is disposed at the second opening. The drive assembly 120 is also used to drive the third output member 133 to rotate; the feedback assembly 140 further includes a third encoder, which detects the rotation state of the third output member 133 and generates third detection information which is sent to the closed-loop control system; the control assembly is also used to receive and control the drive assembly 120 according to the third detection information from the feedback assembly 140 to adjust the rotation state of the third output member 133.

[0106] The joint actuator in this solution can be used to connect the robot's body and robotic arm. In one embodiment, the joint actuator is applied to a quadruped robot. The robot's body is connected by a third output component 133, and the robotic arm is connected by a first output component 131 and a second output component 132. Since the axes of the first output component 131 and the third output component 133 intersect, and the axes of the first output component 131 and the second output component 132 coincide, the joint actuator can provide multi-degree-of-freedom motion control for the robotic arm. Furthermore, since the axes of the first output component 131 and the third output component 133 intersect, and the axes of the first output component 131 and the second output component 132 coincide, the mathematical model of the joint actuator is simpler and easier to analyze and design, greatly reducing the computational difficulty of kinematic simulation and motion control. The use of the joint actuator enables the robot to be modularly assembled, simplifying the structure and facilitating assembly. On the other hand, the simple mathematical model also helps to reduce the load on the controller and reduce energy consumption.

[0107] Furthermore, the first output component 131 and the second output component 132 are symmetrical after rotating 180° around the axis of the third output component 133, so that the joint actuator has high compatibility. Different robotic arms can be connected using the same type of joint actuator, which can greatly reduce manufacturing costs.

[0108] This invention proposes an execution component, including a connector and a joint actuator as described above. The connector is drivenly connected to one or more of the first output component 131, the second output component 132, and the third output component 133. The execution component includes a connector and a joint actuator. The specific structure of the joint actuator is as described in the above embodiments. Since this execution component adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated further here. The connector can be a linkage, with multiple linkages forming a robotic arm and respectively connected to one or more of the first output component 131, the second output component 132, and the third output component 133 to form the execution component. This execution component is used to be assembled to the body of a robot to perform corresponding actions.

[0109] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A control method applied to a power output device, characterized in that, The power output device includes a drive assembly, a transmission assembly, a feedback assembly, and a control assembly. The transmission assembly includes a first output component, at least one set of second output components and a transmission component, wherein the second output component is rotatably sleeved on the first output component, and the transmission component is drivingly connected to the second output component; The drive assembly has its output terminals connected to the first output component and the second output component respectively, and the drive assembly is used to drive the first output component and the second output component to rotate independently along the same rotation axis. The feedback component includes a first encoder coaxially arranged with the first output component and a second encoder coaxially arranged with the transmission component. The first encoder is used to detect the rotation state of the first output component and generate a first detection information feedback output. The second encoder is used to detect the rotation state of the transmission component and output a second detection information feedback. A control component, electrically connected to a feedback component and a drive component, is configured to receive and output a control signal based on the first detection information of the first encoder to adjust the movement of the drive component, thereby adjusting the rotation state of the first output component; the control component is also configured to output a control signal based on the second detection information of the second encoder to adjust the movement of the drive component, thereby adjusting the rotation state of the second output component. The first output component includes a main shaft, and the second output component includes a first flange and a transmission gear that are fixedly connected. The first flange and the transmission gear are sleeved on the main shaft. The transmission component includes a gear disk and a connecting shaft arranged along the axis of the gear disk. The transmission gear is connected to the gear disk in a transmission manner, and the second encoder is coaxially arranged with the connecting shaft. The first encoder and the second encoder are magnetic encoders. The magnetic encoder includes a magnetic element and a magnetic induction element. The magnetic element is disposed on the first output element and the connecting shaft. The magnetic induction element is opposite to and spaced apart from the magnetic element. The method includes the following steps: Receive instruction information from the host computer, and extract the target parameters of the first output device and the target parameters of the second output device from the instruction information; The system acquires first detection information generated by the first encoder detecting the rotation state of the first output component and transmission component detection information generated by the second encoder detecting the rotation state of the transmission component. Based on the transmission connection between the second output gear of the second output component and the gear disk of the transmission component, the rotation state of the second output component and the rotation state of the transmission component are linearly proportional to each other, so as to obtain second detection information that is consistent with the transmission component detection information. The first detection information is compared with the first target parameter, and the second detection information is compared with the second target parameter. When the first detection information deviates from the first target parameter, a control signal is output to adjust the movement of the drive component to adjust the rotation state of the first output component. When the second detection information deviates from the second target parameter, a control signal is output to adjust the movement of the drive component to adjust the rotation state of the second output component.

2. The control method according to claim 1, characterized in that, The specific steps for obtaining the first detection information generated by the first encoder detecting the rotation state of the first output component include: When the first output component drives the magnetic element to rotate, causing the magnetic field of the magnetic element to change, the magnetic sensing element of the first encoder detects the change in the magnetic field of the magnetic element and generates a first electrical signal, thereby obtaining the first detection information converted by the first encoder from the first electrical signal. And / or, the specific steps for obtaining the transmission component detection information generated by the second encoder detecting the rotation state of the transmission component include: When the transmission component drives the magnetic element to rotate, causing the magnetic field of the magnetic element to change, the magnetic sensing element of the second encoder detects the change in the magnetic field of the magnetic element and generates a second electrical signal, thereby obtaining the transmission component detection information converted by the second encoder from the second electrical signal.

3. The control method according to claim 1, characterized in that, The drive assembly includes a first motor, the transmission assembly further includes a first gear set, the first output component is provided with a first output gear, and the first motor is driven by the first output gear through the first gear set. The specific steps of adjusting the rotation state of the first output component by outputting a control signal to adjust the movement of the drive component when the first detection information deviates from the first target parameter include: When the first detection information deviates from the first target parameter, a control signal is output to adjust the motion state of the first motor, to adjust the rotation state of the first output gear through the first gear set, and to adjust the rotation state of the first output component. And / or, the drive assembly further includes a second motor, the transmission assembly further includes a second gear set, the second output member is provided with a second output gear, and the second motor is drivenly connected to the second output gear through the second gear set; The specific steps of adjusting the rotation state of the second output component by outputting a control signal to adjust the movement of the drive component when the second detection information deviates from the second target parameter include: When the second detection information deviates from the second target parameter, a control signal is output to adjust the motion state of the second motor, to adjust the rotation state of the second output gear through the second gear set, and to adjust the rotation state of the second output component.

4. A joint actuator, characterized in that, It includes a housing and a power output device, the power output device being used to implement the steps of the control method as described in any one of claims 1 to 3; The housing has a mounting cavity and a first opening and a second opening communicating with the mounting cavity; The first output component and the second output component are located at the first opening.

5. The joint actuator according to claim 4, characterized in that, The transmission assembly further includes a third output component, wherein the rotation axis of the first output component intersects with the rotation axis of the third output component, and the third output component is disposed at the second opening; The drive component is also used to drive the third output component to rotate. The feedback component also includes a third encoder, which is used to detect the rotational state of the third output component and generate third detection information to the closed-loop control system. The control component is also used to receive and control the drive component based on the third detection information from the feedback component to adjust the rotation state of the third output component.

6. An execution component, characterized in that, It includes a connector and a joint actuator as described in any one of claims 4-5, wherein the connector is driven to one or more of the first output, the second output, and the third output.

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