Encoder device for joint actuator, robot joint actuator, and robot

Abstract

The invention relates to the technical field of robots, in particular to an encoder device of a joint actuator, the robot joint actuator and a robot. The device specifically comprises at least one rotating assembly (4), wherein the rotating assembly (4) is connected with a speed reducer output shaft disc (202) through a corresponding transmission mechanism (5); the rotor of the first encoder (3) and the rotating assembly (4) rotate around a first rotating shaft in a relatively fixed mode, and the first rotating shaft is different from a second rotating shaft where the rotor (2) of the joint actuator is located. On the basis of a traditional encoder structure, the encoder device supporting the high-resolution joint actuator is provided, the stability of the traditional encoder structure can be improved, the problem of complex wiring is solved, the axial length of the joint actuator is shortened, the integration degree of the joint actuator is improved, and the cost of the joint actuator is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robots, and in particular to an encoder device of a joint actuator, a robot joint actuator, and a robot. Background Art

[0002] The robot's motion joints need to be equipped with integrated actuators to complete the motion commands of the master control unit. For joint actuators, in addition to providing sufficient torque, humanoid robots have higher requirements for the motion accuracy, size, structural stability, etc. of joint actuators. The motion accuracy of humanoid robots depends on the accuracy of each actuator. On the basis of having the best precision mechanical parts, the control accuracy of each actuator must rely on the encoder's precise position feedback of the motion to obtain high-precision motion of the robot as a whole. The humanoid robot has a small joint space, but the encoder topology of traditional joint actuators makes it longer in axis and difficult to miniaturize. The humanoid robot joints have high requirements for stability, but the encoder topology of traditional joint actuators makes its routing complex and its stability poor.

[0003] The encoder structure of the traditional joint actuator is as follows Figure 1 As shown, it belongs to a dual encoder topology. The two encoders of the traditional dual encoder topology usually include a motor side encoder and an output side encoder, which are located on the motor side (i.e., the actuator stator side) and the output side (i.e., the actuator rotor side), respectively. The output side encoder is the first encoder referred to in the present disclosure, and the motor side encoder is the second encoder referred to in the present disclosure.

[0004] Motor-side encoder: The feedback data is used for motor PID (Proportional-Integral-Derivative Control) and FOC (Field-Oriented Control) control, and is an important data input for the motor's rotation performance.

[0005] Output side encoder: used to directly measure the change in the output side position of the actuator rotor. The torque is measured by comparing the motor side encoder data through the above algorithm. Its resolution needs to match the torque range to be measured in the algorithm. For the output side encoder, resolution is the most important parameter, which is mainly used to measure small changes, increases and decreases (relative change values).

[0006] The traditional dual encoder topology has the following main problems: (1) The position problem of the output side encoder and the output flange: To use the encoder to measure the change of the actuator rotor, the encoder stator must be fixed to the actuator stator, which means that the output side encoder must be installed on the side of the output flange close to the actuator stator, resulting in a complex structure. The increase in the length of the output shaft increases the bending moment, making the joint actuator larger and the structural stability relatively poor. (2) The routing problem of the output side encoder: Since the output side encoder is on the actuator rotor side, the source of its power supply and communication lines must pass through the slip ring of the hollow shaft of the actuator along the axial direction ( Figure 1 The H) shown in the figure is guided from the stator side to the rotor side, which increases the number and size of the slip rings, making the design redundant, the wiring complex, and the structural stability relatively poor. (3) Due to the position of the output side encoder on the rotor side, there are great restrictions on the selection of the encoder structure and size, and the encoder resolution cannot be high.

[0007] like Figure 2 As shown, in order to solve the above problems, the prior art also provides another better dual encoder solution. Through the hollow shaft design, the installation position of the output side encoder is transferred to the stator side of the actuator, and the output shaft has an additional loop axis Z (Z) passing through the hollow shaft in the reverse direction. Figure 2 As shown), the encoder is provided with rotation data, and the encoder stator fixing and routing problems are solved. However, this hollow shaft design makes the actuator mechanical structure too complicated and the cost is extremely high. In addition, the output side encoder is greatly limited in size when it is set on the stator side, and the resolution cannot be high. Compared with the present disclosure, it does not have the advantages of cost and performance. Summary of the invention

[0008] The present disclosure provides an encoder device for a joint actuator, a robot joint actuator, and a robot.

[0009] According to one aspect of the present disclosure, an encoder device for a joint actuator is provided, which is applied to the joint actuator, wherein the joint actuator comprises a joint actuator stator, a joint actuator rotor and an encoder device, wherein the joint actuator rotor comprises a reducer input shaft and a reducer output shaft disc, and the reducer output shaft disc is arranged on the output side of the joint actuator rotor; the encoder device comprises:

[0010] At least one rotating assembly, the rotating assembly is connected to the output shaft disc of the reducer through a corresponding transmission mechanism;

[0011] At least one first encoder, the rotor of the first encoder rotates relatively fixedly with the rotating assembly around a first rotation axis, and the first rotation axis is different from a second rotation axis where the rotor of the joint actuator is located.

[0012] Optionally, the encoder device comprises:

[0013] Two or more rotating components; the first rotating component is connected to the output shaft disc of the reducer through a corresponding transmission mechanism, and the remaining rotating components are connected to the previous rotating component through a corresponding transmission mechanism, or the remaining rotating components are connected to the output shaft disc of the reducer through a corresponding transmission mechanism;

[0014] Two or more first encoders; the rotor of each first encoder and the corresponding rotating assembly rotate relatively fixedly around the corresponding first rotating axis; all the first rotating axes are different from the second rotating axis where the rotor of the joint actuator is located;

[0015] The diameters of the rotating component and the rotating component connected thereto are different.

[0016] Optionally, the first rotation axis is parallel to the second rotation axis.

[0017] Optionally, the first rotation axis is not parallel to the second rotation axis.

[0018] Optionally, the reducer output shaft disc (202) performs reciprocating rotational motion within a first angular range; and the rotating assembly (4) connected thereto performs reciprocating rotational motion within a second angular range.

[0019] When the angle measurement range required for the reducer output shaft disc is 0-60°, the diameter of the reducer output shaft disc is at most 6 times the diameter of the rotating component; or

[0020] When the angle measurement range required for the reducer output shaft disc is 0 to 72°, the diameter of the reducer output shaft disc is at most 5 times the diameter of the rotating assembly;

[0021] When the angle measurement range required for the reducer output shaft disc is 0-90°, the diameter of the reducer output shaft disc is at most 4 times the diameter of the rotating component; or

[0022] When the angle measurement range required for the reducer output shaft disc is 0 to 120°, the diameter of the reducer output shaft disc is at most 3 times the diameter of the rotating assembly;

[0023] When the angle measurement range required for the reducer output shaft disc is 0-180°, the diameter of the reducer output shaft disc is at most twice the diameter of the rotating component.

[0024] For more angle measurement ranges, please refer to the embodiments.

[0025] Optionally, the reducer output shaft disc is arranged to protrude from the surface of the joint actuator housing, and the rotating component is arranged on the surface of the joint actuator housing and is parallel to the reducer output shaft disc.

[0026] Optionally, the encoder device further includes:

[0027] A first connecting member, one end of which passes through a channel provided on the housing of the joint actuator and is connected to the bottom of the rotating assembly, and the other end of the first connecting member is connected to the first encoder.

[0028] Optionally, the first encoder includes a first encoder chip, a first sensing element, and a first encoder circuit board; wherein, the first encoder chip is arranged on the first encoder circuit board below the channel; the first sensing element is embedded in the bottom of the first connecting member and can rotate with the rotating component; the first sensing element corresponds to the first encoder chip.

[0029] Optionally, an inner diameter of the channel is smaller than a diameter of the first encoder circuit board.

[0030] Optionally, the inner diameter of the channel is equal to the diameter of the first encoder circuit board.

[0031] Optionally, an inner diameter of the channel is greater than a diameter of the first encoder circuit board.

[0032] Optionally, the first encoder is an incremental magnetic encoder.

[0033] Optionally, the encoder device further includes:

[0034] The second encoder is arranged at one end of the reducer input shaft away from the reducer output shaft disc, and the rotor of the second encoder rotates relatively fixedly with the reducer input shaft around the second rotating axis.

[0035] Optionally, the second encoder includes a second encoder chip, a second sensing element, and a second encoder circuit board; wherein, the second encoder chip is arranged in the motor driver, and the second sensing element is connected to the reducer input shaft through a second connecting member and rotates with the reducer input shaft; the second encoder chip is arranged on the second encoder circuit board and is arranged corresponding to the second sensing element.

[0036] Optionally, the transmission mechanism may be driven by a belt, a gear, a worm gear, or a friction wheel.

[0037] According to a second aspect of the present disclosure, a robot joint actuator is provided, comprising an encoder device as described in any one of the above technical solutions.

[0038] According to a third aspect of the present disclosure, a robot is provided, comprising at least one robot joint actuator described in the above technical solution.

[0039] The present invention provides an encoder device for a joint actuator, a robot joint actuator, and a robot, and proposes an encoder device that supports high-resolution joint actuators. It creatively proposes to move the encoder and related rotating components and other devices from the position of the reducer output shaft with limited spatial dimensions to a position with larger spatial dimensions, and proposes a closely related set of solutions for this purpose, which solves the problem of complex topological routing of traditional encoders, shortens the axial length of the joint actuator, improves the integration of the joint actuator, improves the stability of the encoder topological structure, and reduces the cost of the joint actuator.

[0040] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0042] Figure 1 It is the first dual encoder topology in the prior art;

[0043] Figure 2 It is the second dual encoder topology in the prior art;

[0044] Figure 3 is a schematic structural diagram of an encoder device of a joint actuator in an embodiment of the present disclosure;

[0045] Figure 4 is a schematic structural diagram of a transmission mechanism of a joint actuator in an embodiment of the present disclosure;

[0046] Figure 5 is one of the structural schematic diagrams of an encoder device including two rotating assemblies in an embodiment of the present disclosure;

[0047] Figure 6 is a second structural schematic diagram of an encoder device including two rotating components in an embodiment of the present disclosure;

[0048] Figure 7 is one of the structural schematic diagrams of an encoder device including three rotating components in an embodiment of the present disclosure;

[0049] Figure 8 is the second structural schematic diagram of an encoder device including three rotating components in an embodiment of the present disclosure;

[0050] Fig. 9 is a curve diagram of the absolute position of the output shaft of the actuator and the rotation angles of the first encoder and the second encoder in the embodiment of the present disclosure;

[0051] Fig.10 is a schematic diagram of another transmission connection method including two rotating assemblies in an embodiment of the present disclosure;

[0052] Fig.11 is a schematic diagram of another transmission connection method including three rotating components in an embodiment of the present disclosure;

[0053] Fig.12 is a schematic diagram of the gear transmission method of the joint actuator in the embodiment of the present disclosure;

[0054] Fig.13 It is a schematic diagram of the friction wheel transmission mode of the joint actuator in the embodiment of the present disclosure.

[0055] The reference numerals in the specific implementation manner are as follows:

[0056] Joint actuator housing 1; joint actuator rotor 2; reducer input shaft 201; reducer output shaft disc 202; first encoder 3; first encoder chip 301; first sensing element 302; first encoder circuit board 303; rotating component 4; transmission mechanism 5; second encoder 6; second encoder chip 601; second sensing element 602; second encoder circuit board 603; first connecting member 7; second connecting member 8. DETAILED DESCRIPTION

[0057] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0058] All technical terms used in this document have the same meanings as those generally understood by technicians in the technical field to which this application belongs; the terms used in this document are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0059] In the description of the embodiments of the present application, the term "at least one" refers to one or more, and "plurality" refers to more than two (including two).

[0060] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0061] With the rapid development of the robotics industry, robots are increasingly being used to collaborate with humans. In order to meet the various standards for collaboration with humans, higher requirements are placed on collaborative robots in terms of accuracy, volume, safety, and other aspects. For a robot, the movement of each joint is inseparable from the motor, reducer, encoder, and driver. For traditional large robots, the space requirements for robots are not high, so in order to save costs, traditional robots are basically directly spliced ​​together by many of the above-mentioned modules with different functions, with a low degree of integration, resulting in traditional robots being larger and more bulky.

[0062] For robots that work with people, the space requirements are extremely high. The present invention combines all functional modules to obtain a more integrated modular actuator, which is installed at each joint to obtain the most compact space layout, which is also conducive to production and maintenance, and has more cost advantages. It can be said that the integration, space layout and cost of the joint actuator are the core competitiveness of the robot.

[0063] In view of the above technical problems, the present disclosure provides an encoder device for a joint actuator, which is applied to a joint actuator, such as Figure 3 As shown, the joint actuator includes a joint actuator housing 1, a joint actuator rotor 2 and an encoder device, wherein the joint actuator rotor 2 includes a reducer input shaft 201 and a reducer output shaft disc 202, and the reducer output shaft disc 202 is arranged on the output side of the joint actuator rotor 2; the encoder device includes:

[0064] At least one rotating assembly 4, the rotating assembly 4 is connected to the reducer output shaft disc 202 through a corresponding transmission mechanism 5;

[0065] At least one first encoder 3 , the rotor of the first encoder 3 rotates relatively fixedly with the rotating assembly 4 around a first rotation axis, and the first rotation axis is different from the second rotation axis where the joint actuator rotor 2 is located.

[0066] The first encoder includes an encoder stator and an encoder rotor. The encoder stator does not rotate, and the encoder rotor can rotate. The rotor of the first encoder 3 and the rotating assembly 4 rotate relatively fixedly around the first rotating axis, so that the first encoder 3 can capture the rotation angle of the rotating assembly 4.

[0067] The first rotating axis is different from the second rotating axis where the rotor 2 of the joint actuator is located, so that the first encoder can be installed in a position away from the second rotating axis. Because when the first encoder is installed on the second rotating axis, the second rotating axis must be lengthened, which makes the joint actuator too long in the axial direction. Therefore, it is difficult to install in places where the space size is insufficient. The first encoder is installed in a position away from the second rotating axis, that is, on the outside of the upper surface of the joint actuator. When installed in this position, the first encoder and the rotating assembly and the transmission mechanism that work with it will not increase the axial length in the axial direction. Since the first encoder is buried in the joint actuator housing, the volume of the joint actuator will not be significantly increased. Although the rotating assembly is located outside the joint actuator housing, the rotating assembly is arranged in a flat state near the housing, and the volume of the joint actuator will not be significantly increased. Visually speaking, it is installed in a position such as Figure 3 The first encoder and the rotating assembly of the position hardly add any volume.

[0068] like Figure 3 As shown, a rotating component 4 is located on the same side as the reducer output shaft disc 202 of the joint actuator rotor 2, and is connected to the reducer output shaft disc 202 through a corresponding transmission mechanism 5. The rotating component 4 rotates along with the joint actuator rotor 2 under the transmission action of the transmission mechanism 5.

[0069] like Figure 3 As shown, the first encoder 3 is disposed in the joint actuator housing 1 and is disposed corresponding to the rotating component 4. The first encoder 3 and the rotating component 4 rotate relatively fixedly around the first rotating axis.

[0070] The rotating assembly 4 , also referred to as an encoder wheel, cooperates with the first encoder 3 .

[0071] In one embodiment, the first rotation axis is parallel to the second rotation axis on which the joint actuator rotor 2 is located.

[0072] In another embodiment, the first rotation axis is not parallel to the second rotation axis of the joint actuator rotor 2. At this time, the rotating assembly 4 is connected to the reducer output shaft disc 202 through the connection of a well-designed transmission mechanism 5.

[0073] Regardless of whether they are parallel or not, the first encoder 3 and the first rotating axis of the rotating assembly 4 are different from the second rotating axis of the joint actuator rotor 2, so that the first encoder 3 can be installed at other positions away from the output shaft. The first encoder will not increase the axial length of the entire joint actuator, thereby reducing the size of the actuator. In addition, the power supply and communication lines of the first encoder away from the output shaft do not need to be guided from the stator side to the rotor side through the slip ring in the axial direction (but can be routed from the periphery of the actuator), thereby avoiding complex routing and improving structural stability.

[0074] The first encoder 3 is used to detect the rotation angle of the rotating component 4 .

[0075] Specifically, the first encoder 3 in this embodiment is an output side encoder, which is used to directly measure the change in the output side position of the joint actuator rotor 2, that is, to measure the rotation angle of the output side of the joint actuator rotor 2. For the output side encoder, resolution is the most important parameter, which is mainly used to measure small changes and increase or decrease relative change values. To use the first encoder 3 to measure the change of the joint actuator rotor 2, it is necessary to fix the stator (encoder chip) of the first encoder 3 on the stator of the joint actuator. At the same time, the sensing element (permanent magnet) of the first encoder 3 rotates with the joint actuator rotor 2, thereby capturing the change of the joint actuator rotor 2.

[0076] The joint actuator housing 1 in this embodiment belongs to the stator side of the joint actuator, the joint actuator rotor 2 belongs to the rotor side of the joint actuator, the joint actuator rotor 2 and the rotating assembly 4 are connected through a transmission mechanism 5, and the rotating assembly 4 rotates with the rotation of the joint actuator rotor 2 under the transmission action. Through this design of connecting the first encoder 3 and the joint actuator rotor 2 with different axes, the first encoder 3 can calculate the position (rotation angle) of the joint actuator rotor 2 by detecting the position (rotation angle) of the rotating assembly 4.

[0077] For a single first encoder 3, the first encoder 3 can measure the precise rotation angle of the rotating component 4 within a range of 360 degrees, that is, the measurement range of the first encoder 3 for the rotating component 4 is 360 degrees. The reason for 360 degrees is that when the rotating component rotates more than 360 degrees, a single encoder cannot measure an angle exceeding 360 degrees.

[0078] Since the rotation range of the robot joint is usually within a certain range, when the rotating component 4 rotates within a 360-degree range, the rotation angle of the reducer output shaft disc 202 connected thereto can be calculated according to the formula. Assuming that the diameter of the reducer output shaft disc 202 is a, the diameter of the rotating component 4 is b, the rotation angle of the reducer output shaft disc 202 is c, and the rotation angle of the rotating component 4 is d, then a / b=d / c. The relationship between the rotation angle and the diameter will be illustrated below.

[0079] Therefore, when the rotation range of the robot joint is within a certain range, for example, if the opening and closing rotation angle of the robot's elbow joint within a range of 180 degrees needs to be measured, the diameter of the reducer output shaft disc 202 is set at most to 1 / 2 of the diameter of the rotating component 4 directly connected thereto. By measuring the rotation angle of the rotating component 4 through the first encoder 3, the rotation angle of the reducer output shaft disc 202, that is, the rotation angle of the elbow joint, can be calculated.

[0080] The first encoder 3 can measure the angle of the rotating component 4 within 360 degrees. If the diameter of the rotating component 4 is smaller than the diameter of the reducer output shaft disc 202, the angle of the reducer output shaft disc 202 that can be measured is within 360° (excluding 360°). If the diameter of the rotating component 4 is the same as the diameter of the reducer output shaft disc 202, the maximum angle that the output shaft can measure can reach 360°. If the diameter of the rotating component 4 is larger than the diameter of the reducer output shaft disc 202, the maximum angle that the output shaft can measure can be greater than 360°.

[0081] In response to the above technical problems, the present disclosure further provides an encoder device for a joint actuator, comprising two or more first encoders 3 , and corresponding rotating components 4 and transmission mechanisms 5 .

[0082] It should be noted that the number of the first encoders 3 can be one or more, and each first encoder 3 is provided with a corresponding rotating component 4 and a transmission mechanism 5 .

[0083] like Figure 5 , Fig.10 The diagram shows two first encoders, which are provided with two corresponding rotating components 4 and a transmission mechanism 5. The specific structure will be described in detail later.

[0084] like Figure 7 , Fig.11 The diagram shows three first encoders, each of which is provided with three corresponding rotating components 4 and transmission mechanisms 5. The specific structure will be described in detail later.

[0085] In robot applications, joint actuators usually do not rotate in one direction (clockwise or counterclockwise) for a long time, but rotate back and forth within a certain angle range. In other words, the rotation range of the output shaft of the joint actuator is usually within one or more circles.

[0086] The single-wheel solution (i.e., a single first encoder 3, a single rotating assembly 4, and a single transmission mechanism 5) can only measure the absolute position of the reducer output shaft within an angle of 360°*b / a. The diameter of the reducer output shaft disc 202 is a, and the diameter of the rotating assembly 4 is b. For example, when b / a is 1 / 2, the rotation angle of the reducer output shaft disc 202 can only be measured within the range of 360°*1 / 2, i.e., 180°.

[0087] If it is necessary to measure the absolute position in a larger range, a multi-wheel solution can be used. For example, a two-wheel encoder structure, that is, an encoder structure including two first encoders 3, a rotating component 4, and a transmission mechanism 5. The multi-wheel measurement has a wider range of applications, but the cost and structure are more complicated than a single-wheel one.

[0088] Two or more rotating components; the first rotating component is connected to the output shaft disc of the reducer through a corresponding transmission mechanism, and the remaining rotating components are connected to the previous rotating component through a corresponding transmission mechanism (such as Figure 5 , Figure 7 Or, the remaining rotating components are connected to the output shaft disc of the reducer through corresponding transmission mechanisms (such as Fig.10 , Fig.11 shown).

[0089] like Figure 5 and 9 As shown, this embodiment takes a two-wheel encoder structure as an example to illustrate the detection principle of the encoder: comprising a first encoder 3A and a first encoder 3B ( Figure 5 The rotor of the first encoder 3A and the rotating assembly 4A rotate around the first rotation axis A ( Figure 5 The first encoder 3B and the rotating assembly 4B rotate relatively fixedly, and the rotating assembly 4A is connected to the output shaft disc 202 of the reducer through a transmission mechanism 5A (such as a transmission belt). The first encoder 3B and the rotating assembly 4B rotate around the first rotating axis B ( Figure 5The first rotating component 4A is connected to the second rotating component 4B by a transmission mechanism 5B (such as a transmission belt or a gear worm gear or a friction wheel, etc.). The same is true for the case of three or more wheels. The following rotating component 4 is connected to the previous rotating component 4 by a corresponding transmission mechanism 5. This is a connection method between the rotating component 4 and the output shaft disc of the reducer. This connection method allows multiple rotating components to be connected in order, and the output shaft disc of the reducer only needs to accommodate a transmission mechanism connected to one rotating component (for example, only one belt needs to be accommodated, or only one gear needs to be docked). For another connection method, see Fig.10 , Fig.11 .

[0090] The transmission mechanism 5 includes a transmission belt drive, a gear drive, a worm gear, or a friction wheel drive. Fig.12 As shown, the friction wheel transmission is Fig.13 Corresponding to various implementations of the transmission mechanism 5, the output shaft disc can be not only a disc supporting belt drive, but also a circular mechanism supporting gear drive or worm gear or friction wheel drive.

[0091] like Fig.10 As shown, it includes two first encoders 3 and two rotating components 4, each rotating component 4 is directly connected to the reducer output shaft disc 202 through a transmission mechanism 5. This method allows multiple rotating components to be directly connected to the reducer output shaft disc, and multiple transmission mechanisms (such as belts) are arranged in sequence on the reducer output shaft disc, which will slightly increase the axial height, but also has the advantages of simple and reliable connection.

[0092] The rotating axes in the multi-wheel scheme can be parallel or non-parallel. The first rotating axis A, the first rotating axis B, and the second rotating axis where the joint actuator rotor 2 is located can be parallel to each other; can be non-parallel to each other; can be partially parallel and partially non-parallel. The first encoder 3A and the first encoder 3B can be installed at other positions away from the output shaft. The first encoder does not increase the axial length of the entire joint actuator, thereby reducing the size of the actuator. In addition, the power supply and communication lines of the first encoder away from the output shaft position do not have to be guided from the stator side of the joint actuator to the rotor side along the hollow shaft through the slip ring (but can be routed from the periphery of the actuator), thereby avoiding complex routing and improving structural stability.

[0093] The joint actuator stator may include a housing (which may make the structure compact and have fewer parts), or may not include a housing (which may make installation simple).

[0094] The joint actuator includes a reducer, half of which is located in the stator of the joint actuator, and the other half is located in the rotor of the joint actuator.

[0095] In order to measure the absolute position (rotation angle) of the reducer output shaft disc, when the reducer output shaft disc 202 of the actuator rotates, it will drive the two rotating components 4A and 4B to rotate at the same time. At this time, the first encoder 3A records the angle data of the rotation of 4A, and the first encoder 3B records the angle data of the rotation of 4B. The method of driving the rotating components 4A and 4B to rotate is that the reducer output shaft disc 202 drives the rotating component 4A, and the rotating component 4A then drives the rotating component 4B (see Figure 5 , Figure 7 ); the other is that the reducer output shaft disc 202 drives the rotating components 4A and 4B at the same time (see Fig.10 , Fig.11 ).

[0096] Because the diameters of the multiple wheels are different (that is, the diameters of the rotating components are different), the angle difference of the multiple wheels can measure an angle of more than 360 degrees, that is, the multi-wheel solution can allow the rotating component to rotate multiple times. Therefore, the multi-wheel solution greatly increases the angle measurement range of the encoder, thereby increasing the angle measurement range of the output shaft.

[0097] The following is an explanation of the two-round scheme. The first encoder 3A can only record angle data within 0 to 360° (i.e., the data recorded by it will be repeated continuously within 0 to 360°); the first encoder 3B can also only record angle data within 0 to 360° (i.e., the data recorded by it will be repeated continuously within 0 to 360°); but due to the different diameters of the rotating components 4A and 4B, the angular positions of the two rotating components 4A and 4B when driven by the transmission mechanism 5B are different; therefore, the angle value recorded by the first encoder 3A (assuming it is called 6A) and the angle value recorded by the first encoder 3B (assuming it is called 6B) will differ by a certain angle in each rotation cycle.

[0098] The diameters of the rotating components in the multi-wheel solution and the rotating components connected to it are not the same.

[0099] Figure 5 , Fig.10 In the embodiment, two rotating components 4A and 4B are directly connected, and the diameters of the two components are different. The diameter of 4A may be larger than 4B, or the diameter of 4A may be smaller than 4B.

[0100] The multi-wheel scheme can determine the rotation angle of the output shaft within a larger range based on the output values ​​of multiple first encoders by properly selecting the diameter of the rotating component.

[0101] Figure 5 , Fig.10In the embodiment, by properly selecting the diameters of the two rotating components 4, the absolute position of the rotating component 4A in multiple turns (after exceeding 360 degrees) can be uniquely determined based on the vector (6A, 6B) composed of the two encoder values ​​6A and 6B. For example, when the rotating component 4A is in the first turn, the encoder value 6A is from 0 degrees to 360 degrees, and the recorded encoder value 6B is, for example, from 0 degrees to 350 degrees; when the rotating component 4A is in the second turn, the encoder value 6A is still from 0 degrees to 360 degrees, but the recorded encoder value 6B is, for example, from 350 degrees to 360 degrees and then from 0 degrees to 340 degrees; when the rotating component 4A is in the third turn, the encoder value 6A is still from 0 degrees to 360 degrees, but the recorded encoder value 6B is, for example, from 340 degrees to 350 degrees and then from 0 degrees to 330 degrees.

[0102] That is, there is a mapping relationship between the absolute position of the reducer output shaft disc 202 and the vector composed of the encoder value. Therefore, the absolute position of the reducer output shaft disc 202 of the actuator can be calculated by only measuring the angle values ​​recorded by the first encoder 3A and the first encoder 3B.

[0103] like Fig. 9 As shown, line L1 represents the absolute position of the output shaft of the actuator to be measured (maximum two turns, 720°), L2 represents the angle measured by the first encoder 3A, and L3 represents the angle measured by the first encoder 3B. As can be seen from the figure, the angles measured by the two encoder wheels change with time within 0 to 360°. The measured values ​​of the first encoder 3A and the first encoder 3B are recorded as L2 and L3 respectively, then the absolute position of each actuator output shaft corresponds to a unique set of measured values ​​(L2, L3). Therefore, the absolute position L1 of the actuator output shaft can be calculated by measuring (L2, L3).

[0104] The present disclosure can fix the stator (encoder chip) of the first encoder 3 on the stator side of the joint actuator, that is, fixed in the joint actuator housing 1, and at the same time, the rotating component is set at the position of the joint actuator housing 1 corresponding to the first encoder 3, so that the first encoder 3 can detect the change of the rotating component 4, thereby detecting the change of the output side of the joint actuator rotor 2. Through the above technical solution, compared with the traditional hollow shaft structure, the stability of the traditional dual encoder topology structure can be improved, the problem of complex wiring of the traditional dual encoder topology can be solved, the axial length of the joint actuator can be shortened, the integration of the joint actuator can be improved, and the cost of the joint actuator can be reduced.

[0105] As an optional implementation, Figure 3As shown, the top of the rotating component 4 can also be designed to be disc-shaped, and grooves can be set on the circumference of the rotating component 4 and the reducer output shaft disc 202 for installing the transmission mechanism 5, such as a transmission belt. The rotating component 4 is connected to the reducer output shaft disc 202 to achieve connection with the joint actuator rotor 2. The joint actuator rotor 2 rotates and drives the rotating component 4 to rotate through the transmission mechanism 5. The encoder 3 is composed of components 301, 302 and 303. The power supply and communication lines of the encoder 3 no longer need to be routed from the hollow shaft through the slip ring, but can be routed from the side of the joint driver, thereby solving the problem of complex routing of the traditional dual encoder topology and improving the structural stability.

[0106] Specifically, in practical applications, the number of the first encoder 3 (i.e., the output side encoder) is not limited to one. Two, three or more first encoders 3 may be provided. Since the rotation angle of the first encoder 3 is limited, providing more first encoders 3 may make the rotation angle of the joint actuator rotor 2 not limited to 360°, further expand the measurement range and measurement accuracy of the output side rotation angle of the actuator, and realize a combined encoding method using multiple low-cost encoders.

[0107] For example, Figure 7 As shown, the encoder structure of the three encoder wheels includes a first encoder 3A, a first encoder 3B and a first encoder 3C ( Figure 7 The first encoder 3A and the rotating component 4A rotate around the first rotation axis A ( Figure 7 The first encoder 3B and the rotating assembly 4B rotate relatively fixedly, and the rotating assembly 4A is connected to the output shaft disc 202 of the reducer through a transmission mechanism 5A (such as a transmission belt). The first encoder 3B and the rotating assembly 4B rotate around the first rotating axis B ( Figure 7 The first encoder 3C rotates relatively fixedly with the rotating assembly 4C (not shown), and then the rotating assembly 4B is connected to the first rotating assembly 4A through a transmission mechanism 5B (such as a transmission belt). The first encoder 3C and the rotating assembly 4C rotate around the first rotation axis C ( Figure 7 The rotating assembly 4C is relatively fixed and rotated, and then the rotating assembly 4C is connected to the first rotating assembly 4B through a transmission mechanism 5C (such as a transmission belt).

[0108] like Fig.11 As shown, it includes three first encoders 3 and three rotating components 4, each rotating component 4 is directly connected to the reducer output shaft disc 202 through a transmission mechanism 5. This method allows multiple rotating components to be directly connected to the reducer output shaft disc, and multiple transmission mechanisms (such as belts) are arranged in sequence on the reducer output shaft disc, which will slightly increase the axial height, but also has the advantages of simple and reliable connection.

[0109] As an optional embodiment, the angular measurement range of the encoder device is related to the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 (4A, 4B, 4C), that is, related to the transmission ratio of the transmission mechanism 5 (5A, 5B, 5C).

[0110] Figure 3 In the embodiment, the preset transmission ratio of the transmission mechanism 5 is related to the diameter of the reducer output shaft disc 202 and the diameter of the rotating component 4. Figure 5 and Figure 7 In the figure, the preset transmission ratio of the transmission mechanism 5A is related to the diameter of the reducer output shaft disc 202 and the diameter of the rotating component 4A. For example, when the transmission mechanism 5 adopts a transmission belt, the larger the diameter of the driven wheel in the belt transmission, the lower the speed of the driven wheel. This is because the principle of belt transmission is to transmit power through the friction between the transmission belt and the driving wheel and the driven wheel. According to the basic formula of transmission, the transmission ratio is inversely proportional to the diameter of the driving wheel (reducer output shaft disc 202) and the driven wheel (rotating component 4), that is, the transmission ratio = driving wheel diameter / driven wheel diameter. Therefore, when the diameter of the driven wheel increases, the transmission ratio decreases, resulting in a decrease in the speed of the driven wheel. The transmission ratio can be designed by changing the driving wheel diameter and / or the driven wheel diameter.

[0111] Specifically, the transmission ratio of the transmission mechanism 5, or the diameter ratio of the reducer output shaft disc 202 and the rotating component 4, can be selected as needed. Since the rotation range of the robot joint is usually within a certain angle range, the rotation range of the reducer output shaft disc 202 of the joint actuator is limited (that is, it will not rotate all the time, but will return after reaching a certain number of circles and / or angles). By selecting the appropriate diameters of the reducer output shaft disc 202 and the rotating component 4, and measuring the rotation angle of the rotating component 4, the absolute position of the reducer output shaft disc 202 can be indirectly measured. By selecting a suitable diameter ratio, the rotation angle of the reducer output shaft disc 202 can meet the design requirements.

[0112] For example, when a single-wheel solution is adopted (i.e., the encoder device includes only one first encoder 3 and one rotating component 4), the rotation angle of the rotating component 4 cannot be greater than 360° under the premise of satisfying the output shaft measurement angle. Therefore, the diameter of the reducer output shaft disc 202 and the diameter of the rotating component 4 need to meet a certain proportional relationship, that is, different transmission ratios can be selected according to different measurement ranges, for example:

[0113] 1) If the absolute position of the reducer output shaft disc 202 is measured within the range of 0 to 60°, the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 is at most 6:1, that is, the diameter of the reducer output shaft disc 202 is at most 6 times the diameter of the rotating component 4, and the rotation angle of the rotating component 4 can reach 0 to 360°. By measuring the position of the rotating component 4 within 0 to 360°, the absolute position of the reducer output shaft disc 202 within the range of 0 to 60° can be obtained.

[0114] 2) When the angle measurement range required for the reducer output shaft disc 202 is 0 to 72°, the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 is at most 5:1, that is, the diameter of the reducer output shaft disc 202 is at most 5 times the diameter of the rotating component 4, which can make the rotating angle of the rotating component 4 reach 0 to 360°. By measuring the position of the rotating component 4 within 0 to 360°, the absolute position of the reducer output shaft disc 202 within the range of 0 to 72° can be obtained.

[0115] 3) If the absolute position of the reducer output shaft disc 202 is measured within the range of 0 to 90°, the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 is at most 4:1, that is, the diameter of the reducer output shaft disc 202 is at most 4 times the diameter of the rotating component 4, and the rotation angle of the rotating component 4 can reach 0 to 360°. By measuring the position of the rotating component 4 within 0 to 360°, the absolute position of the reducer output shaft disc 202 within the range of 0 to 90° can be obtained.

[0116] 4) When the angle measurement range required for the reducer output shaft disc 202 is 0 to 120°, the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 is at most 3:1, that is, the diameter of the reducer output shaft disc 202 is at most 3 times the diameter of the rotating component 4, which can make the rotating angle of the rotating component 4 reach 0 to 360°. By measuring the position of the rotating component 4 within 0 to 360°, the absolute position of the reducer output shaft disc 202 within the range of 0 to 120° can be obtained.

[0117] 5) If the absolute position of the reducer output shaft disc 202 within the range of 0 to 180° is measured, the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 is at most 2:1, that is, the diameter of the reducer output shaft disc 202 is at most twice the diameter of the rotating component 4, and the rotation angle of the rotating component 4 can reach 0 to 360°. By measuring the position of the rotating component 4 within 0 to 360°, the absolute position of the reducer output shaft disc 202 within the range of 0 to 180° can be obtained.

[0118] 6) If the absolute position of the reducer output shaft disc 202 within the range of 0 to 360° is measured, the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 is at most 1:1, that is, the diameter of the reducer output shaft disc 202 is at most 1 times the diameter of the rotating component 4, and the rotation angle of the rotating component 4 can reach 0 to 360°. By measuring the position of the rotating component 4 within 0 to 360°, the absolute position of the reducer output shaft disc 202 within the range of 0 to 360° can be obtained.

[0119] 7) If the absolute position of the reducer output shaft disc 202 within the range of 0 to 720° is measured, the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 is at most 1:2, that is, the diameter of the reducer output shaft disc 202 is at most 1 / 2 times the diameter of the rotating component 4, and the rotation angle of the rotating component 4 can reach 0 to 360°. By measuring the position of the rotating component 4 within 0 to 360°, the absolute position of the reducer output shaft disc 202 within the range of 0 to 720° can be obtained.

[0120] 8) When the angle measurement range required for the reducer output shaft disc 202 is 0 to 1080°, the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 is at most 1:3, that is, the diameter of the reducer output shaft disc 202 is at most 1 / 3 times the diameter of the rotating component 4, which can make the rotating angle of the rotating component 4 reach 0 to 360°. By measuring the position of the rotating component 4 within 0 to 360°, the absolute position of the reducer output shaft disc 202 within the range of 0 to 1080° can be obtained.

[0121] 9) If the absolute position of the reducer output shaft disc 202 is measured within the range of 0 to 1440°, the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 is at most 1:4, that is, the diameter of the reducer output shaft disc 202 is at most 1 / 4 times the diameter of the rotating component 4, and the rotation angle of the rotating component 4 can reach 0 to 360°. By measuring the position of the rotating component 4 within 0 to 360°, the absolute position of the reducer output shaft disc 202 within the range of 0 to 1440° can be obtained.

[0122] 10) When the angle measurement range required for the reducer output shaft disc 202 is 0 to 1800°, the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 is at most 1:5, that is, the diameter of the reducer output shaft disc 202 is at most 1 / 5 times the diameter of the rotating component 4, which can make the rotating angle of the rotating component 4 reach 0 to 360°. By measuring the position of the rotating component 4 within 0 to 360°, the absolute position of the reducer output shaft disc 202 within the range of 0 to 1800° can be obtained.

[0123] 11) If the absolute position of the reducer output shaft disc 202 is measured within the range of 0 to 2160°, the diameter ratio between the reducer output shaft disc 202 and the rotating component 4 is at most 1:6, that is, the diameter of the reducer output shaft disc 202 is at most 1 / 6 times the diameter of the rotating component 4, which can make the rotating angle of the rotating component 4 reach 0 to 360°. By measuring the position of the rotating component 4 within 0 to 360°, the absolute position of the reducer output shaft disc 202 within the range of 0 to 2160° can be obtained.

[0124] The joint actuator rotor 2 and the rotating component 4 are connected through a transmission mechanism 5. Since the mechanical angle of rotation of some humanoid robot joints (i.e., the rotation angle of the joint actuator rotor 2) is less than 360° (for example, the maximum active angle of many joints is even around 180 degrees), by designing the transmission ratio of the transmission mechanism 5 (i.e., the diameter of the joint actuator rotor 2 and the rotating component 4 disc), the rotation angle of the rotating component 4 can be made no greater than one circle (i.e., 360°), thereby achieving the effect of replacing the absolute position encoder with a magnetic encoder, reducing the complexity of the encoder technology on the output side of the joint actuator and reducing the cost of the encoder on the output side of the joint actuator.

[0125] As an optional implementation, Figure 3 As shown, the reducer output shaft disc 202 of the joint actuator rotor 2 is protruding from the surface of the joint actuator housing 1 , and the rotating component 4 is arranged on the surface of the joint actuator housing 1 and is parallel to the reducer output shaft disc 202 of the joint actuator rotor 2 .

[0126] Specifically, the height of the rotating assembly 4 can be lower than the reducer output shaft disc 202 of the joint actuator rotor 2 , and can be the same as the reducer output shaft disc 202 of the joint actuator rotor 2 , thereby reducing the axial length of the joint actuator as much as possible.

[0127] As an optional implementation, Figure 3 As shown, the encoder device also includes:

[0128] The first connecting member 7 has one end that passes through a channel provided on the joint actuator housing 1 and is connected to the bottom of the rotating assembly 4 , and the other end of the first connecting member 7 is connected to the first encoder 3 .

[0129] The first encoder 3 includes a first encoder chip 301, a first sensing element 302, and a first encoder circuit board 303; wherein the first encoder chip 301 is arranged on the first encoder circuit board 303 below the channel; the first sensing element 302 is embedded in the bottom of the first connecting member 7 and can rotate with the rotating component 4; the first sensing element 302 corresponds to the first encoder chip 301.

[0130] Specifically, a first groove may be provided at the bottom of the rotating component 4, and the top of the first connecting member 7 may be embedded in the first groove at the bottom of the rotating component 4. Meanwhile, a second groove may be provided at the bottom of the first connecting member 7 for fixing the first sensing element 302 of the first encoder 3. The channel may be designed as a circular through hole, and the inner diameter of the channel needs to be slightly larger than the diameter of the first connecting member 7, so that the first connecting member 7 can rotate in the channel, thereby driving the first sensing element 302 to rotate, and the first encoder chip 301 receives the alternating magnetic field information generated by the rotation of the first sensing element 302, and decodes and generates a position signal to the first encoder circuit board 303.

[0131] As an optional implementation, the inner diameter of the channel is smaller than the diameter of the first encoder circuit board 303, which has a limiting effect on it, thereby fixing the first encoder circuit board 303 in the joint actuator housing 1. At the same time, the channel forms a detection channel between the first encoder chip 301 fixed on the first encoder circuit board 303 and the first sensing element 302, thereby preventing the joint actuator housing 1 from blocking the first sensing element 302 and affecting the accuracy of the detection.

[0132] As an optional implementation, the first encoder 3 is an incremental magnetic encoder.

[0133] Since the first encoder 3 is located inside the joint actuator housing 1, the axial length of the joint actuator is reduced. The joint actuator rotor 2 and the rotating assembly 4 are connected through a transmission mechanism 5, and the rotating assembly 4 rotates following the joint actuator rotor 2. Since the mechanical angle of rotation of the robot joint (i.e., the rotation angle of the joint actuator rotor 2) will not be greater than 360°, the number of revolutions of the magnetic encoder (i.e., the rotation angle of the rotating assembly 4) will not be greater than one revolution. Therefore, the incremental magnetic encoder is used in this embodiment, which reduces the complexity of the encoder technology on the output side of the joint actuator compared to the use of an absolute encoder, and reduces the cost of the encoder on the output side of the joint actuator.

[0134] As an optional implementation, Figure 3 As shown, the encoder device of the joint actuator also includes:

[0135] The second encoder 6 is arranged at one end of the reducer input shaft 201 away from the reducer output shaft disc 202 , and the rotor of the second encoder 6 rotates relatively fixedly with the reducer input shaft 201 around the second rotation axis.

[0136] The second encoder 6 includes a second encoder chip 601, a second sensing element 602, and a second encoder circuit board 603; wherein the second encoder chip 601 is arranged in the motor driver, and the second sensing element 602 is connected to the reducer input shaft 201 through the second connecting member 8, and can rotate with the reducer input shaft 201; the second encoder chip 601 is arranged on the second encoder circuit board 603, and is arranged corresponding to the second sensing element 602.

[0137] Specifically, the top of the second connecting member 8 is connected to the reducer input shaft 201 through the third connecting member, and a third groove is provided on the top of the second connecting member 8 for fixing the second sensing element 602, so that the second sensing element 602 can rotate with the reducer input shaft 201. The second encoder chip 601 receives the alternating magnetic field information generated by the rotation of the second sensing element 602, and decodes and generates a position signal to the second encoder circuit board 603. The second encoder 6 is a motor side encoder, which is used to collect real-time position information of the joint actuator rotor 2. The feedback data is used for PID and FOC control of the motor, and is an important data input for the motor's rotation performance. By integrating the motor, the second encoder and the motor driver, the axial length of the joint actuator is reduced.

[0138] As an optional embodiment, the transmission mechanism 5 includes a transmission belt or a transmission gear. The present disclosure is not limited to the transmission belt or the transmission gear driving the rotating assembly. The present disclosure is intended to enable the joint actuator rotor 2 to drive the rotating assembly 4 to rotate through the transmission mechanism 5, so that the first encoder 3 indirectly detects the change of the joint actuator rotor 2 by detecting the rotation angle of the rotating assembly 4. In this way, the first encoder 3 can be installed on the stator side of the joint actuator, and the change of the joint actuator rotor 2 can also be accurately detected. Avoid setting the first encoder 3 on the output flange, thereby reducing the axial length of the joint actuator.

[0139] The present disclosure provides a robot joint actuator, including an encoder device as described in any one of the above embodiments. By fixing the stator (encoder chip) of the first encoder 3 on the stator side of the joint actuator, that is, fixing it in the joint actuator housing 1, and at the same time, setting the rotating component at the position of the joint actuator housing 1 corresponding to the first encoder 3, the first encoder 3 can detect the changes of the rotating component 4, thereby detecting the changes on the output side of the joint actuator rotor 2. Through the above technical solution, compared with the traditional hollow shaft structure, the stability of the traditional dual encoder topology structure can be improved, the problem of complex wiring of the traditional dual encoder topology can be solved, the axial length of the joint actuator can be shortened, the integration of the joint actuator can be improved, and the cost of the joint actuator can be reduced.

[0140] The present disclosure also provides a robot, comprising at least one robot joint actuator as described in the above embodiments. Since the robot joint actuator fixes the stator (encoder chip) of the first encoder 3 to the stator side of the joint actuator, that is, fixed in the joint actuator housing 1, and at the same time, the rotating assembly is arranged at the position of the joint actuator housing 1 corresponding to the first encoder 3, so that the first encoder 3 can detect the change of the rotating assembly 4, thereby detecting the change of the output side of the joint actuator rotor 2. Through the above technical solution, compared with the traditional dual-encoder topology structure, the stability of the traditional dual-encoder topology structure can be improved, the problem of complex wiring of the traditional dual-encoder topology can be solved, the axial length of the joint actuator can be shortened, the integration of the joint actuator can be improved, and the cost of the joint actuator can be reduced. As the integration of the robot joint actuator is further improved, the size of the robot can be further reduced, the execution accuracy and safety performance of the robot can be improved, and the overall manufacturing cost of the robot can be reduced.

[0141] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0142] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An encoder device for a joint actuator, applied to the joint actuator, the joint actuator comprising a joint actuator stator (1), a joint actuator rotor (2) and an encoder device, the joint actuator rotor (2) comprising a reducer input shaft (201) and a reducer output shaft disc (202), characterized in that: The encoder device comprises: at least one rotating assembly (4), the rotating assembly (4) being connected to the reducer output shaft disc (202) via a corresponding transmission mechanism (5); At least one first encoder (3), the rotor of the first encoder (3) and the rotating assembly (4) rotate relatively fixedly around a first rotating axis, and the first rotating axis is different from a second rotating axis on which the rotor (2) of the joint actuator is located.

2. The encoder device according to claim 1, characterized in that The encoder device comprises: Two or more rotating components (4); the first rotating component (4) is connected to the reducer output shaft disc (202) via a corresponding transmission mechanism (5), and the remaining rotating components (4) are connected to the previous rotating component (4) via a corresponding transmission mechanism (5), or the remaining rotating components (4) are connected to the reducer output shaft disc (202) via a corresponding transmission mechanism (5); Two or more first encoders (3); the rotor of each first encoder (3) and the corresponding rotating assembly (4) rotate relatively fixedly around the corresponding first rotating axis; all the first rotating axes are different from the second rotating axis where the joint actuator rotor (2) is located; The diameters of the rotating component (4) and the rotating component (4) connected thereto are different.

3. The encoder device according to claim 1 or 2, characterized in that: The first rotation axis is parallel to the second rotation axis.

4. The encoder device according to claim 1 or 2, characterized in that: The reducer output shaft disc (202) performs reciprocating rotational motion within a first angle range; and the rotating assembly (4) connected thereto performs reciprocating rotational motion within a second angle range.

5. The encoder device according to claim 3, characterized in that The reducer output shaft disc (202) performs reciprocating rotational motion within a first angle range; and the rotating assembly (4) connected thereto performs reciprocating rotational motion within a second angle range.

6. The encoder device according to claim 1 or 2, wherein the reducer output shaft disc (202) is arranged to protrude from the surface of the joint actuator housing (1), characterized in that: The rotating component (4) is arranged on the surface of the joint actuator housing (1) and is parallel to the reducer output shaft disc (202).

7. The encoder device according to claim 1 or 2, characterized in that: Also includes: A first connecting member (7), one end of the first connecting member (7) passes through a channel opened on the joint actuator housing (1) to connect to the bottom of the rotating component (4), and the other end of the first connecting member (7) is connected to the first encoder (3).

8. The encoder device according to claim 7, characterized in that The first encoder (3) comprises a first encoder chip (301), a first sensing element (302), and a first encoder circuit board (303); wherein the first encoder chip (301) is arranged on the first encoder circuit board (303) below the channel; the first sensing element (302) is embedded in the bottom of the first connecting member (7) and can rotate with the rotating component (4); the first sensing element (302) corresponds to the first encoder chip (301).

9. The encoder device according to claim 1 or 2, characterized in that: The first encoder (3) is an incremental magnetic encoder.

10. The encoder device according to claim 1 or 2, characterized in that: The encoder device also includes: The second encoder (6) is arranged at one end of the reducer input shaft (201) away from the reducer output shaft disc (202), and the rotor of the second encoder (6) rotates relatively fixedly with the reducer input shaft (201) around the second rotation axis.

11. The encoder device according to claim 10, characterized in that The second encoder (6) comprises a second encoder chip (601), a second sensing element (602), and a second encoder circuit board (603); wherein the second encoder chip (601) is arranged in the motor driver, and the second sensing element (602) is connected to the reducer input shaft (201) via a second connecting member (8) and rotates with the reducer input shaft (201); the second encoder chip (601) is arranged on the second encoder circuit board (603) and is arranged corresponding to the second sensing element (602).

12. The encoder device according to claim 1 or 2, characterized in that: The transmission mechanism (5) has a transmission mode including a transmission belt transmission, a gear transmission, a worm gear, or a friction wheel transmission.

13. A robot joint actuator, characterized in that: An encoder device comprising any one of claims 1-12.

14. A robot, characterized in that: Comprising at least one robot joint actuator as claimed in claim 13.

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