High-precision small light-weight planetary joint module

Abstract

The invention relates to the technical field of robot joint structures, in particular to a high-precision small lightweight planetary joint module which comprises a motor, and the motor drives an output flange to operate through a planetary transmission mechanism; the output flange is matched with an output flange shaft rotating synchronously, and the output flange shaft is provided with a first magnetic induction assembly; a rotor base of the motor is matched with a second magnetic induction assembly, and the second magnetic induction assembly and the first magnetic induction assembly are located on the same plane; a main control board is further included, and a first detection assembly and a second detection assembly are arranged on the main control board. The planetary joint module adopts two groups of coding structures, feedback delay and errors in a control system are effectively reduced, the response speed and stability of the whole system are improved, meanwhile, the first magnetic induction assembly and the second magnetic induction assembly are located on the same plane, the size of the joint module can be reduced, and the reliability of the joint module is improved. The joint module can better adapt to micro-robots and compact automatic equipment, and the application range of the joint module is widened.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joint structures, and in particular to a high-precision, small-sized, lightweight planetary joint module. Background Art

[0002] In the field of modern industry and science and technology, planetary joint modules, as an important mechanical transmission device, are widely used in the fields of robots, precision instruments, and automation equipment. With the rapid development of automation equipment and robotics technology, the market demand for high-precision, miniaturized, and lightweight planetary joint modules is increasing. Traditional planetary joint modules are difficult to meet the application requirements of modern compact equipment, especially micro robots and industrial automation equipment, due to their relatively large axial distance and weight.

[0003] The existing technology usually adopts a standard two-stage gear transmission structure, which realizes the transmission of torque and the conversion of motion through the interaction of the sun gear, planetary gear and internal gear. However, this design usually leads to a large axial distance and cannot meet the needs of miniaturized equipment. At the same time, the transmission ratio of the single-pole gear is small, and the torque transmitted is also limited, resulting in limited overall performance.

[0004] In order to achieve high-precision control, the existing technology usually adopts a dual encoder design, but this requires additional space, further increasing the size and weight of the module. In the past, joint modules that combined dual encoders with two-stage gear transmission were often large in size and not suitable for use in miniaturized equipment.

[0005] It can be seen that the current planetary joint module still has room for improvement and should be optimized to adapt to the control requirements of miniaturized equipment. Therefore, it is necessary to reduce the overall size of the joint module while ensuring control accuracy. Therefore, it is necessary to propose a more reasonable technical solution to solve the technical problems existing in the prior art. Summary of the invention

[0006] In order to overcome at least one of the defects mentioned above, the present invention proposes a high-precision, small and lightweight planetary joint module, which achieves high precision, miniaturization and lightness by adjusting and improving the joint module.

[0007] In order to achieve the above objectives, the planetary joint module disclosed in the present invention can adopt the following technical solutions:

[0008] A high-precision, small and lightweight planetary joint module comprises a motor, which drives an output flange to rotate through a planetary transmission mechanism; the output flange is matched with a synchronously rotating output flange shaft, one end of the output flange shaft is matched with the output flange, and the other end is provided with a first magnetic induction component; the rotor seat of the motor is matched with a second magnetic induction component, and the second magnetic induction component and the first magnetic induction component are located in the same plane; and also includes a main control board, on which a first detection component is provided, which corresponds to the first magnetic induction component to form a first coding structure, and a second detection component is provided, which corresponds to the second magnetic induction component to form a second coding structure.

[0009] In the planetary joint module disclosed above, the first magnetic induction component rotates synchronously with the output flange shaft, and when the output flange rotates, the output flange shaft is driven to rotate synchronously, and the first magnetic induction component is sensed and detected by the first detection component to obtain the operating state of the output flange; the second magnetic induction component rotates synchronously with the rotor seat, and when the motor starts, the rotor seat operates and drives the second magnetic induction component to operate, and the second magnetic induction component is sensed and detected by the second detection component to obtain the operating state of the rotor seat. The transmission ratio of the joint module can be accurately detected by the working operation of the above-mentioned first encoding structure and the second encoding structure, thereby improving the control accuracy. By using two encoders at the same time, the feedback delay and error in the control system can be effectively reduced, and the response speed and stability of the overall system can be improved. This dual feedback mechanism can ensure good control performance under complex motion and rapid change conditions. At the same time, the first magnetic induction component and the second magnetic induction component are in the same plane, which greatly reduces the size of the joint module, thereby streamlining the structure and being able to better meet the needs of micro robots and compact automation equipment.

[0010] Furthermore, the first magnetic induction component is used to generate a magnetic field, which is detected and sensed by the first detection component. Its structure is not limited to a single one. Here, it is optimized and one of the feasible options is proposed: the first magnetic induction component includes an inner magnetic disc mounting seat arranged at the end of the output flange and rotating synchronously, and also includes an inner magnetic disc arranged on the inner magnetic disc mounting seat. When the above scheme is adopted, the inner magnetic disc mounting seat can be sleeved on the output flange shaft, or fixed by other matching methods. A mounting groove is formed on the inner magnetic disc mounting seat, and the inner magnetic disc can be arranged in the mounting groove and rotate with the inner magnetic disc mounting seat.

[0011] Furthermore, the second induction component is used to generate a magnetic field, which is detected and sensed by the second detection component. Its structure is not limited to a single one. Here, it is optimized and one of the feasible options is proposed: the second magnetic induction component includes a magnet disk that cooperates with the rotor seat and rotates synchronously, and an outer magnetic ring is arranged on the magnet disk. When the above scheme is adopted, the magnet disk is sleeved on the rotor seat, and other methods can also be used to cooperate and fix it. The outer magnetic ring can be sleeved on the outer circumference of the magnet disk, or it can be arranged on the lower surface of the magnet disk.

[0012] Furthermore, the second magnetic induction component and the first magnetic induction component are also matched on the circumference when they maintain the same horizontal position: the second magnetic induction component is coaxially arranged with the first magnetic induction component, and the second magnetic induction component is located outside the first magnetic induction component. When the above scheme is adopted, the second magnetic induction component and the first magnetic induction component rotate relative to each other, and are detected by the second detection component and the first detection component on the main control board below.

[0013] Furthermore, the planetary transmission mechanism can be used in various forms to output torque after deceleration, and its structure is not limited to a single one. Here, it is optimized and one of the feasible options is proposed: the planetary transmission mechanism includes a sun gear that cooperates with the rotor seat and rotates synchronously, and the outer side of the sun gear is matched with a first-stage reduction planetary gear, and the first-stage reduction planetary gear is matched with the planet carrier; the first-stage reduction planetary gear is coaxially arranged with a second-stage reduction planetary gear that rotates synchronously, the rotating shaft of the second-stage reduction planetary gear cooperates with the planet carrier, and the outer teeth of the second-stage reduction planetary gear cooperate with the fixed inner gear ring; when the sun gear is driven by the rotor seat, the first-stage reduction planetary gear and the second-stage reduction planetary gear rotate synchronously, and the second-stage reduction planetary gear moves along the circumference of the fixed inner gear ring, driving the planet carrier to rotate, and the planet carrier cooperates with the output flange through the matching structure and drives the output flange to rotate synchronously. When the above scheme is adopted, by simplifying the gear transmission system and using a single-stage gear transmission combined with a planetary gear system, not only the axial distance is reduced, but also the torque transmission efficiency is improved, making the entire module more compact and efficient.

[0014] Furthermore, the planetary transmission mechanism operates in a closed space to maintain stable and reliable operation, and its structure is not limited to a single one. Here, an optimization is made and one of the feasible options is proposed: the planetary transmission mechanism also includes a transmission housing, and the fixed inner gear ring is fixed with the transmission housing. When the above solution is adopted, the transmission housing forms a circumferential space to accommodate the planetary transmission mechanism, and the fixed inner gear ring fits the transmission housing and remains fixed as a whole, so that the planet carrier rotates around the sun gear, thereby driving the output flange to rotate.

[0015] Furthermore, when the secondary reduction planetary wheel is matched to the planetary carrier, its stable rotation can drive the planetary carrier to rotate stably. Its structure is not limited to a single one. Here, it is optimized and one of the feasible options is proposed: the secondary reduction planetary wheel is matched with the planetary carrier through a needle roller bearing. When the above scheme is adopted, the needle roller bearing and the planetary carrier are closely matched to achieve relative rotation while stably driving the planetary carrier to rotate. High-performance needle roller bearings and cross roller bearings ensure the stability and durability of the module under long-term and high-load conditions.

[0016] Furthermore, the structure of the motor is also optimized and adjusted to facilitate the coordination with the planetary transmission mechanism and the main control board structure. The structure is not limited to a single one. Here, an optimization is made and one of the feasible options is proposed: it also includes a motor housing, the motor is arranged in the motor housing, and the main control board is located at the lower part of the motor housing. When the above scheme is adopted, a docking surface is formed on the motor housing, and the main control board is arranged at the docking surface to realize contact support, thereby realizing the installation and fixation of the main control board.

[0017] Furthermore, an additional structure is provided at the motor housing for forming a closed cavity and accommodating the main control board therein. The additional structure can be constructed in a variety of forms and its structure is not limited to a single one. Here, an optimization is performed and one of the feasible options is proposed: a rear cover is provided at the lower part of the motor housing, and a heat dissipation structure is provided on the rear cover. The heat dissipation structure includes heat dissipation ribs provided on the outer side of the rear cover and a contoured heat conduction layer provided on the inner side of the rear cover. A high thermal conductivity heat dissipation gel is filled between the contoured heat conduction layer and the electrical components of the main control board (2) to transfer the heat of the electrical components to the rear cover.

[0018] Furthermore, the planetary transmission mechanism is located on the upper part of the motor housing, and other matching structures are also located on the upper part of the motor housing: the transmission housing is arranged on the upper part of the motor housing, and a transmission end cover is also arranged above the transmission housing; a cross roller bearing matching with the output flange is arranged at the transmission end cover, and an oil seal is also arranged inside the transmission end cover, and the oil seal is located in the gap between the output flange and the transmission end cover. When the above scheme is adopted, the transmission end cover forms a fence around the output flange, and the disk surface of the output flange is nearly flush with the port of the transmission end cover.

[0019] Compared with the prior art, some beneficial effects of the technical solution disclosed in the present invention include:

[0020] In the present invention, the planetary joint module adopts two sets of coding structures, which effectively reduce the feedback delay and error in the control system and improve the response speed and stability of the overall system. At the same time, the first magnetic induction component and the second magnetic induction component are on the same plane, which can reduce the size of the joint module, better adapt to micro robots and compact automation equipment, and increase the application range of the joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only represent some embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0022] Figure 1This is a cross-sectional diagram of the internal structure of the joint module.

[0023] Figure 2 This is a schematic diagram of the overall structure of the joint module.

[0024] Figure 3 It is an overall schematic diagram of the planetary transmission mechanism.

[0025] Figure 4 It is a schematic diagram of the cross-sectional structure of the planetary transmission mechanism from one perspective.

[0026] Figure 5 It is a cross-sectional schematic diagram of the planetary transmission mechanism from another perspective.

[0027] Figure 6 It is a schematic diagram of the structure viewed from above at the planetary transmission mechanism.

[0028] Figure 7 It is a schematic diagram of the structure on the outside of the end cover.

[0029] Figure 8 Schematic diagram of the structure inside the end cover.

[0030] In the above drawings, the meanings of the symbols are as follows:

[0031] 1. Back cover; 101. Heat dissipation ribs; 2. Main control board; 3. External magnetic ring; 4. Magnetic disk; 5. Motor housing; 6. First bearing; 7. Rotor seat; 8. Second bearing; 9. Planetary pin; 10. First-stage reduction planetary gear; 11. Second-stage reduction planetary gear; 12. Planetary carrier; 13. Output flange; 14. Oil seal; 15. Transmission end cover; 16. Cross roller bearing; 17. Fourth bearing; 18. Fixed inner gear ring; 19. Transmission housing; 20. Sun gear; 21. Output flange shaft; 22. Motor; 23. Third bearing; 24. Inner magnetic disc mounting seat; 25. Inner magnetic disc; 26. Needle roller bearing. DETAILED DESCRIPTION

[0032] The present embodiment is further explained below in conjunction with the accompanying drawings and specific embodiments.

[0033] In view of the fact that the planetary joint module in the prior art is large in size and is not suitable for use in micro robots and automated equipment, and the problem that the existing joint module has poor control accuracy, the following embodiments are optimized and overcome the defects in the prior art.

[0034] Example

[0035] like Figure 1 , Figure 2As shown, this embodiment provides a high-precision, small-sized, lightweight planetary joint module, including a motor 22, which drives the output flange 13 to operate through a planetary transmission mechanism; the output flange 13 is equipped with a synchronously rotating output flange shaft 21, one end of the output flange shaft 21 is equipped with the output flange 13, and the other end is provided with a first magnetic induction component; the rotor seat 7 of the motor 22 is equipped with a second magnetic induction component, and the second magnetic induction component and the first magnetic induction component are located in the same plane; it also includes a main control board 2, on which a first detection component is provided, which corresponds to the first magnetic induction component to form a first coding structure, and a second detection component is also provided, which corresponds to the second magnetic induction component to form a second coding structure.

[0036] The planetary joint module disclosed in this embodiment, the first magnetic induction component rotates synchronously with the output flange shaft 21, and when the output flange 13 rotates, the output flange shaft 21 is driven to rotate synchronously, and the first magnetic induction component is sensed and detected by the first detection component to obtain the operating state of the output flange 13; the second magnetic induction component rotates synchronously with the rotor seat 7, and when the motor 22 is started, the rotor seat 7 operates and drives the second magnetic induction component to operate, and the second magnetic induction component is sensed and detected by the second detection component to obtain the operating state of the rotor seat 7. The working operation of the above-mentioned first encoding structure and the second encoding structure can accurately detect the transmission ratio of the joint module, thereby improving the control accuracy. By using two encoders at the same time, the feedback delay and error in the control system can be effectively reduced, and the response speed and stability of the overall system can be improved. This dual feedback mechanism can ensure that good control performance is maintained under complex motion and rapid change conditions. At the same time, the first magnetic induction component and the second magnetic induction component are in the same plane, which greatly reduces the size of the joint module, thereby streamlining the structure and being able to better meet the needs of micro robots and compact automation equipment.

[0037] The first magnetic sensing component is used to generate a magnetic field, which is detected and sensed by the first detection component. Its structure is not limited to a single one. This embodiment is optimized and adopts one of the feasible options: Figure 1 As shown, the first magnetic induction component includes an inner magnetic disc mounting seat 24 which is arranged at the end of the output flange 13 and rotates synchronously, and also includes an inner magnetic disc 25 which is arranged on the inner magnetic disc mounting seat 24. When the above scheme is adopted, the inner magnetic disc mounting seat 24 can be sleeved on the output flange shaft 21, or can be fixed by other matching methods. A mounting groove is formed on the inner magnetic disc mounting seat 24, and the inner magnetic disc 25 can be arranged in the mounting groove and rotate with the inner magnetic disc mounting seat 24.

[0038] Preferably, the inner magnetic ring is matched at the bottom of the output flange shaft 21, and is radially constrained with the output shaft of the motor 22 through the third bearing 23, where the third bearing 23 is a rolling bearing. A groove is provided at the bottom of the inner magnetic ring, and the inner magnetic cake 25 is pressed into the groove to detect the output signal at the output flange 13 end.

[0039] The second induction component is used to generate a magnetic field, which is detected and sensed by the second detection component. Its structure is not limited to a single one. This embodiment is optimized and adopts one of the feasible options: the second magnetic induction component includes a magnet disk 4 that cooperates with the rotor seat 7 and rotates synchronously, and an outer magnetic ring 3 is arranged on the magnet disk 4. When the above scheme is adopted, the magnet disk 4 is sleeved on the rotor seat 7, and other methods can also be used for matching and fixing. The outer magnetic ring 3 can be sleeved on the outer circumference of the magnet disk 4, or can be arranged on the lower surface of the magnet disk 4.

[0040] Preferably, the main control board 2 is a PCB board, on which a Hall sensor or the like is arranged to detect and sense the magnetic field, and can sense the rotation speed of the first magnetic sensing component and the second magnetic sensing component.

[0041] When the second magnetic induction component and the first magnetic induction component maintain the same horizontal position, they also cooperate on the circumference: the second magnetic induction component is coaxially arranged with the first magnetic induction component, and the second magnetic induction component is located outside the first magnetic induction component. When the above scheme is adopted, the second magnetic induction component rotates relative to the first magnetic induction component, and is detected by the second detection component and the first detection component on the main control board 2 below.

[0042] The planetary transmission mechanism is used to output torque after deceleration, and can adopt various forms, and its structure is not limited to a single one. This embodiment optimizes and adopts one of the feasible options: Figure 3 to Figure 6 As shown, the planetary transmission mechanism includes a sun gear 20 that cooperates with the rotor seat 7 and rotates synchronously, and the outer side of the sun gear 20 is matched with a first-stage reduction planetary gear 10, and the first-stage reduction planetary gear 10 is matched with the planet carrier 12; the first-stage reduction planetary gear 10 is coaxially arranged with a second-stage reduction planetary gear 11 that rotates synchronously, the rotating shaft of the second-stage reduction planetary gear 11 cooperates with the planet carrier 12, and the outer teeth of the second-stage reduction planetary gear 11 cooperate with the fixed inner gear ring 18; when the sun gear 20 is driven by the rotor seat 7, the first-stage reduction planetary gear 10 and the second-stage reduction planetary gear 11 rotate synchronously, and the second-stage reduction planetary gear 11 moves along the circumference of the fixed inner gear ring 18, driving the planet carrier 12 to rotate, and the planet carrier 12 cooperates with the output flange 13 through the matching structure and drives the output flange 13 to rotate synchronously. When the above scheme is adopted, by simplifying the gear transmission system and using a single-stage gear transmission combined with a planetary gear system, not only the axial distance is reduced, but also the torque transmission efficiency is improved, making the entire module more compact and efficient.

[0043] Preferably, in this embodiment, three primary reduction planetary gears 10 are arranged on the outer side of the sun gear 20, and the primary reduction planetary gear 10 is matched with the secondary reduction planetary gear 11 through tooth matching, and the secondary reduction planetary gear 11 is meshed with the fixed inner gear ring 18. Specifically, a spline of the same size as the secondary reduction planetary gear 11 is arranged at the center position of the primary reduction planetary gear 10, so that the secondary reduction planetary gear 11 is matched with the primary reduction planetary gear 10.

[0044] The inner side of the planet carrier 12 used in this embodiment is matched with the outer side of the sun gear 20 through a deep groove ball bearing for axial limitation, the outer side of the planet carrier 12 is interference fit with the inner side of the cross roller bearing 16, and the outer side of the cross roller bearing 16 is clearance fit with the inner side of the transmission end cover 15. In this embodiment, the deep groove ball bearing provided at the sun gear 20 is the fourth bearing 17.

[0045] Preferably, the planet carrier 12 cooperates with the output flange 13 and drives it to rotate. In this embodiment, the output flange 13 and the planet carrier 12 are fixed by screws. A hole is provided at the center of the output flange 13 to be threadedly connected with the output flange shaft 21.

[0046] The planetary transmission mechanism operates in a closed space to maintain stable and reliable operation. Its structure is not limited to a single one. This embodiment is optimized and adopts one of the feasible options: the planetary transmission mechanism also includes a transmission housing 19, and the fixed inner gear ring 18 is fixed with the transmission housing 19. When the above solution is adopted, the transmission housing 19 forms a circumferential space to accommodate the planetary transmission mechanism, and the fixed inner gear ring 18 fits the transmission housing 19 and remains fixed, so that the planet carrier 12 rotates around the sun gear 20, thereby driving the output flange 13 to rotate.

[0047] When the secondary reduction planetary gear 11 is matched with the planetary carrier 12, it can drive the planetary carrier 12 to rotate stably by maintaining stable rotation. Its structure is not limited to the only one. This embodiment is optimized and adopts one of the feasible options: the secondary reduction planetary gear 11 is driven by the planetary carrier 12 through the needle roller bearing 26. When the above scheme is adopted, the needle roller bearing 26 and the planetary carrier 12 are closely matched to achieve relative rotation while stably pushing the planetary carrier 12 to rotate. The high-performance needle roller bearing 26 and the cross roller bearing 16 ensure the stability and durability of the module under long-term and high-load conditions.

[0048] Preferably, a planet pin 9 is provided on the planet carrier 12 , and the secondary reduction planetary gear 11 and the planet pin 9 are matched through a needle bearing 26 , that is, the planet pin 9 passes through the needle bearing 26 on the secondary reduction planetary gear 11 and is matched to the planet carrier 12 .

[0049] The structure of the motor 22 is also optimized and adjusted to facilitate the coordination with the planetary transmission mechanism and the structure of the main control board 2. The structure is not limited to the only one. This embodiment optimizes and adopts one of the feasible options: it also includes a motor housing 5, the motor 22 is arranged in the motor housing 5, and the main control board 2 is located at the lower part of the motor housing 5. When the above solution is adopted, a docking surface is formed on the motor housing 5, and the main control board 2 is arranged at the docking surface to achieve contact support, thereby achieving the installation and fixation of the main control board 2.

[0050] Preferably, a bracket is provided inside the motor housing 5 for fixing and supporting related components.

[0051] Preferably, the bottom of the output shaft of the motor 22 is interference-fitted with the magnet disk 4 , and the outer magnetic ring 3 is press-fitted with the magnet disk 4 and connected with glue to detect the output end signal of the motor 22 .

[0052] The motor housing 5 is also provided with an additional structure for forming a closed cavity and accommodating the main control board 2. The additional structure can be constructed in various forms, and its structure is not limited to a single one. This embodiment is optimized and adopts one of the feasible options: Figure 1 , Figure 7 and Figure 8 As shown, a rear cover 1 is provided at the lower portion of the motor housing 5, and a heat dissipation structure is provided on the rear cover 1. The heat dissipation structure includes heat dissipation ribs 101 provided on the outer side of the rear cover 1, and also includes a heat conduction layer provided on the inner side of the rear cover 1. The heat conduction layer is in contact with the electrical components of the main control board 2 to transfer the heat of the electrical components to the rear cover 1.

[0053] Preferably, the structure of the heat dissipation ribs 101 is designed to be wavy in shape to increase the heat dissipation area and the air circulation channel; the heat transfer layer includes a layer of heat dissipation gel applied at the position of the components on the PCB board inside the back cover 1, and the application position of the heat dissipation gel is adjusted according to the height of the components to ensure that the heat dissipation gel can fit closely to the surface of the components, quickly conduct the heat generated by the components to the back cover 1, and dissipate the heat to the environment through the external heat dissipation ribs 101.

[0054] The planetary transmission mechanism is located at the upper part of the motor housing 5, and other matching structures are also located at the upper part of the motor housing 5: the transmission housing 19 is arranged at the upper part of the motor housing 5, and a transmission end cover 15 is also arranged above the transmission housing 19; a cross roller bearing 16 matching with the output flange 13 is arranged at the transmission end cover 15, and an oil seal 14 is also arranged inside the transmission end cover 15, and the oil seal 14 is located in the gap between the output flange 13 and the transmission end cover 15. When the above scheme is adopted, the transmission end cover 15 forms a fence around the output flange 13, and the disk surface of the output flange 13 is nearly flush with the port of the transmission end cover 15.

[0055] Preferably, the outer side of the rotor seat 7 of the motor 22 is matched with the transmission housing 19 and the motor housing 5 through a rolling bearing, and the inner side is press-fitted with the rotor seat 7, the inner ring of the bearing is in interference, and the outer ring rotates. In this embodiment, the rolling bearing is a deep groove ball bearing, and includes a first bearing 6 and a second bearing 8 arranged on the rotor seat 7.

[0056] When implementing the above case, the relevant parameters of the joint module are as follows:

[0057] Reduction ratio: 10

[0058] model Rated current Peak current Rated output torque Peak output torque Reducer efficiency 30 2.7A 5A 2Nm 3.8Nm 92％

[0059] The above are the implementation methods listed in this embodiment, but this embodiment is not limited to the above optional implementation methods. Those skilled in the art can arbitrarily combine the above methods to obtain other various implementation methods. Anyone can derive other various implementation methods under the inspiration of this embodiment. The above specific implementation methods should not be understood as limiting the protection scope of this embodiment. The protection scope of this embodiment should be based on the definition in the claims.

Claims

1. A high-precision, small and lightweight planetary joint module, characterized by: The invention comprises a motor (22), wherein the motor (22) drives an output flange (13) to rotate via a planetary transmission mechanism; the output flange (13) is matched with an output flange shaft (21) that rotates synchronously, one end of the output flange shaft (21) is matched with the output flange (13), and the other end is provided with a first magnetic induction component; a rotor seat (7) of the motor (22) is matched with a second magnetic induction component, and the second magnetic induction component and the first magnetic induction component are located in the same plane; and the invention also comprises a main control board (2), wherein a first detection component is provided on the main control board (2) and corresponds to the first magnetic induction component to form a first coding structure, and a second detection component is also provided and corresponds to the second magnetic induction component to form a second coding structure.

2. The high-precision, small-sized, lightweight planetary joint module according to claim 1, characterized in that: The first magnetic induction component comprises an inner magnetic disc mounting seat (24) which is arranged at the end of the output flange (13) and rotates synchronously, and also comprises an inner magnetic disc (25) which is arranged on the inner magnetic disc mounting seat (24).

3. The high-precision, small-sized, lightweight planetary joint module according to claim 1, characterized in that: The second magnetic induction component comprises a magnet disk (4) which cooperates with the rotor seat (7) and rotates synchronously, and an outer magnetic ring (3) is arranged on the magnet disk (4).

4. The high-precision, small-sized, lightweight planetary joint module according to any one of claims 1 to 3, characterized in that: The second magnetic induction component is coaxially arranged with the first magnetic induction component, and the second magnetic induction component is located outside the first magnetic induction component.

5. The high-precision, small-sized, lightweight planetary joint module according to claim 1, characterized in that: The planetary transmission mechanism comprises a sun gear (20) which cooperates with a rotor seat (7) and rotates synchronously, the outer side of the sun gear (20) is cooperated with a primary reduction planetary gear (10), and the primary reduction planetary gear (10) is arranged in cooperation with a planet carrier (12); a secondary reduction planetary gear (11) which rotates synchronously is coaxially arranged on the primary reduction planetary gear (10), the rotating shaft of the secondary reduction planetary gear (11) cooperates with the planet carrier (12), and the outer teeth of the secondary reduction planetary gear (11) cooperate with a fixed inner gear ring (18); when the sun gear (20) is driven by the rotor seat (7), the primary reduction planetary gear (10) and the secondary reduction planetary gear (11) rotate synchronously, the secondary reduction planetary gear (11) moves along the circumference of the fixed inner gear ring (18), and drives the planet carrier (12) to rotate, and the planet carrier (12) cooperates with the output flange (13) through a matching structure and drives the output flange (13) to rotate synchronously.

6. The high-precision, small-sized, lightweight planetary joint module according to claim 5, characterized in that: The planetary transmission mechanism further comprises a transmission housing (19), and the fixed inner gear ring (18) is fixedly matched with the transmission housing (19).

7. The high-precision, small-sized, lightweight planetary joint module according to claim 5, characterized in that: The secondary reduction planetary wheel (11) cooperates with the planetary carrier (12) for transmission via a needle bearing (26).

8. The high-precision, small-sized, lightweight planetary joint module according to claim 6, characterized in that: It also includes a motor housing (5), the motor (22) is arranged in the motor housing (5), and the main control board (2) is located at the lower part of the motor housing (5).

9. The high-precision, small-sized, lightweight planetary joint module according to claim 8, characterized in that: A rear cover (1) is disposed at the lower part of the motor housing (5), and a heat dissipation structure is disposed on the rear cover (1). The heat dissipation structure includes heat dissipation ribs (101) disposed on the outer side of the rear cover (1), and also includes a contoured heat conduction layer disposed on the inner side of the rear cover (1). Heat dissipation gel is filled between the contoured heat conduction layer and the electrical components of the main control board (2) to transfer the heat of the electrical components to the rear cover (1).

10. The high-precision, small-sized, lightweight planetary joint module according to claim 8, characterized in that: The transmission housing (19) is arranged on the upper part of the motor housing (5), and a transmission end cover (15) is also arranged above the transmission housing (19); a cross roller bearing (16) matched with the output flange (13) is arranged at the transmission end cover (15), and an oil seal (14) is also arranged in the transmission end cover (15), and the oil seal (14) is located in the gap between the output flange (13) and the transmission end cover (15).

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