Joint device and robot

Abstract

The invention provides a joint device and a robot. The joint device comprises a motor, a speed reducer, a first rotating wheel, a second rotating wheel, a transmission assembly and an encoder. The center of the motor is of a hollow structure; the speed reducer is driven by a motor rotor of the motor to rotate; the first rotating wheel is fixedly connected with the motor rotor, and a hollow hole is formed in the middle of the first rotating wheel; the second rotating wheel and the first rotating wheel are arranged on the same plane, the second rotating wheel is driven by the first rotating wheel to rotate through the transmission assembly, and the encoder is arranged in the center of the second rotating wheel.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and particularly to a joint device and a robot. Background Art

[0002] In the current design of robot joints, a hollow design is usually adopted to record the joint position and the current joint position can be detected after power-off. To meet the high-precision requirements, off-axis magnetic track encoders are generally used in hollow encoders, and a battery solution is required for multi-turn recording to maintain the data recorded after power-off. The following are several typical solutions:

[0003] Solution 1: Since wiring needs to be reserved in the middle of the joint, the original axis position for placing the shaft magnetic steel magnetic encoder has to be avoided, so only an off-axis encoder design can be adopted. In this solution, an encoder with a single-pole pair magnetic ring is used. However, as the diameter of the magnetic ring increases, the pole width also increases, which will lead to a decrease in the effective resolution of the encoder. To improve the accuracy, a higher positioning accuracy can be obtained through a hollow joint design and the use of multi-pole pair magnetic tracks. The absolute position is determined by detecting the difference between the inner and outer two magnetic pole pairs, and the rotational angular velocity is calculated by detecting the speed of the magnetic pole change, but the cost is relatively high.

[0004] Solution 2: In some large hexapod robots, a double magnetic ring design is adopted, where the inner and outer two magnetic rings are respectively used to measure the rotor speed and the joint position. The outer magnetic ring is connected to the electronic rotor, and the inner magnetic ring is connected to the reducer. To accurately record the position after power-off, two multi-turn magnetic track encoders are required for data recording. In addition, a battery is needed to maintain the number of turns information after power-off.

[0005] Solution 3: A single-pole pair radial magnetic steel and a single-pole pair outer ring magnetic ring encoder are adopted. The main advantage of this solution is the low usage cost; however, since the magnetic induction lines of the single-pole pair magnetic ring and the magnetic steel will interfere with each other, this may cause errors in the read data, and due to the influence of noise, when restarting after power-off, the system cannot accurately determine the sector position where the magnetic ring is located, resulting in problems with position judgment.

[0006] Therefore, a joint device with low cost and guaranteed accuracy is needed. Summary of the Invention

[0007] The present disclosure provides a joint device and a robot to at least solve the above technical problems existing in the prior art.

[0008] According to a first aspect of the present disclosure, a joint device is provided, the device including: a motor, a reducer, a first runner, a second runner, a transmission component, and an encoder;

[0009] The center of the motor is a hollow structure;

[0010] The speed reducer is driven to rotate by the motor rotor of the motor;

[0011] The first runner is fixedly connected to the motor rotor, and a hollow hole is provided in the middle of the first runner; the second runner is arranged on the same plane as the first runner, the second runner is driven to rotate by the first runner through the transmission assembly, and the encoder is provided at the central position of the second runner.

[0012] According to a second aspect of the present disclosure, there is provided a robot, which includes a first component and a second component, and a joint device is arranged between the first component and the second component. The device includes: a motor, a speed reducer, a first runner, a second runner, a transmission assembly and an encoder. The motor is relatively fixed in position with respect to the first component, and the speed reducer is used to drive the second component to move;

[0013] The center of the motor has a hollow structure;

[0014] The speed reducer is driven to rotate by the motor rotor of the motor;

[0015] The first runner is fixedly connected to the motor rotor, and a hollow hole is provided in the middle of the first runner; the second runner is arranged on the same plane as the first runner, the second runner is driven to rotate by the first runner through the transmission assembly, and the encoder is provided at the central position of the second runner. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By referring to the accompanying drawings and reading the detailed description below, the above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood. In the drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, wherein:

[0017] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0018] Figure 1 It is a schematic structural diagram of a joint device provided by an embodiment of the present disclosure;

[0019] Figure 2 It is a schematic structural diagram of a structure for driving rotation provided by an embodiment of the present disclosure;

[0020] Figure 3 It is another schematic structural diagram of a structure for driving rotation provided by an embodiment of the present disclosure;

[0021] Figure 4 It is a schematic structural diagram of a joint device of a robot provided by an embodiment of the present disclosure;

[0022] Figure 5A structural schematic diagram of a robot provided by an embodiment of the present disclosure. Detailed implementation manners

[0023] To make the objectives, features, and advantages of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present disclosure.

[0024] In the following descriptions, "some embodiments" are involved, which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0025] In the following descriptions, the terms "first / second" involved are only used to distinguish similar objects, and do not represent a specific order for the objects. It can be understood that "first / second" can be interchanged with a specific order or sequence when allowed, so that the embodiments of the present disclosure described here can be implemented in an order other than that illustrated or described here.

[0026] Unless otherwise defined, all technical and scientific terms used in the present disclosure have the same meanings as those commonly understood by those skilled in the technical field to which the present disclosure belongs. The terms used in the present disclosure are only for the purpose of describing the embodiments of the present disclosure, and are not intended to limit the present disclosure.

[0027] It should be understood that in various embodiments of the present disclosure, the magnitude of the serial numbers of the various implementation processes does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present disclosure.

[0028] Figure 1 A structural schematic diagram of a joint device provided by an embodiment of the present disclosure, as Figure 1 shown, the device includes: a motor, a reducer, a first runner, a second runner, a transmission assembly, and an encoder;

[0029] The center of the motor is a hollow structure;

[0030] The reducer is driven to rotate by the motor rotor of the motor;

[0031] The first runner is fixedly connected to the motor rotor, and a hollow hole is provided in the middle of the first runner; the second runner and the first runner are arranged on the same plane, the second runner is driven to rotate by the first runner through the transmission assembly, and an encoder is provided at the central position of the second runner.

[0032] Here, through the encoder, the movement of the second runner can be tracked and monitored in real time, so as to achieve accurate position and speed feedback.

[0033] Moreover, the center of the motor is a hollow structure, which reduces the space occupation, realizes the conversion of the position data of the rotation of the magnetic ring of the motor rotor into the pole change of the second runner, and can provide accurate motion detection.

[0034] In some embodiments, the transmission assembly adopts a flexible transmission assembly.

[0035] Here, the flexible transmission assembly is a transmission component that can provide a certain degree of flexibility in the mechanical transmission system and adapt to different working conditions and operating states.

[0036] For example, a belt is used as the flexible transmission assembly, and the belt can be a transmission assembly with large elasticity and buffering effect such as a V-belt or a synchronous belt.

[0037] Here, the belt drive has good flexibility and buffering effect, can effectively absorb the vibration and impact between the runners, reduce the running noise and wear; in addition, the belt drive has a simple structure, is easy to install, has a low cost, and can realize a large range of transmission ratio adjustment, which is suitable for the stable transmission between the runners. Driving the second runner by the belt can also achieve a certain axial deviation compensation and avoid the overload of the transmission system, improving the reliability and stability of the system.

[0038] In some embodiments, the encoder is a first encoder, and the device further includes: a third runner, the third runner rotates based on the rotation of the first runner, when the first runner rotates, the rotation speed of the third runner is different from that of the second runner, and a second encoder is provided at the central position of the third runner, and the first encoder and the second encoder cooperate to obtain the rotation position corresponding to the motor and the rotation position corresponding to the reducer.

[0039] Here, when the first runner rotates, the rotation speed of the third runner is different from that of the second runner, which means that although both the third runner and the second runner are driven by the rotation of the first runner, their rotation speeds are different, and this different rotation speed can be caused by the different gear ratios and transmission ratios between the runners.

[0040] Through the design of the first runner, the second runner, and the third runner, precise control and feedback of the device can be achieved. Specifically, in combination with the design of the first encoder and the second encoder, the device can provide more precise feedback on the rotational position. For example, the first encoder can be used to obtain the rotational speed of the motor, and in combination with the second encoder, it can be used to obtain the rotational position of the reducer and the rotational position of the motor. By using these two encoders in cooperation, the transmission relationship and real-time position changes between the motor and the reducer can be precisely monitored.

[0041] In some embodiments, the first runner drives the second runner and the third runner to rotate simultaneously through the transmission assembly.

[0042] Here, the third runner, the second runner, and the first runner are arranged on the same plane.

[0043] Provide an example of driving rotation, such as Figure 2 As shown, the hollow driving wheel 11 is an example of a first runner, the first driven wheel 22 is an example of a second runner, and the second driven wheel 21 is an example of a third runner. As Figure 2 The hollow driving wheel can drive the first driven wheel 22 and the second driven wheel 21 to rotate simultaneously through a belt.

[0044] This structure simplifies the transmission path, making the structure inside the device more compact. Moreover, since the first runner directly drives the second runner and the third runner, it has the advantages of efficient transmission and a streamlined structure.

[0045] In some embodiments, there is a first transmission ratio between the second runner and the first runner, and a second transmission ratio between the third runner and the first runner, and the first transmission ratio and the second transmission ratio are relatively prime.

[0046] Here, if a structure is adopted in which the first runner drives the second runner and the third runner to rotate simultaneously through the transmission assembly (such as Figure 2 ), the first transmission ratio corresponding to the second runner and the second transmission ratio corresponding to the third runner are relatively prime.

[0047] At this time, the first transmission ratio between the second runner and the first runner can also be expressed as the rotational speed ratio or the tooth number ratio of the two runners. Suppose that when the second runner rotates one circle, the number of circles the first runner rotates is another value, such as 3:1, which means that when the first runner rotates 1 circle, the second runner rotates 3 circles.

[0048] The second transmission ratio between the third runner and the first runner is similar to the first transmission ratio. Suppose it is 5:1, which means that when the first runner rotates 1 circle, the third runner rotates 5 circles.

[0049] The first transmission ratio and the second transmission ratio are relatively prime. Here, being relatively prime means that the numerical values of these two transmission ratios have no common divisors and no other common factors except 1. For example, if the first transmission ratio is 3:4 and the second transmission ratio is 5:6, their numerical values have no common factors.

[0050] Of course, there can also be a transmission ratio between the second runner and the third runner. For example, the transmission ratio between the first runner and the second runner is 4:1, and the transmission ratio between the second runner and the third runner is 9:8.

[0051] Here, two relatively prime transmission ratios can ensure that the rotational speed relationship of the transmission system is independent, avoiding possible periodic coincidence or synchronization problems in the system. Selecting relatively prime transmission ratios helps avoid the repetition of the rotation period, ensuring that the rotation of the runners is uniform and without irregular gaps, thereby avoiding potential impacts or instabilities in the system.

[0052] In some embodiments, the transmission assembly is a first transmission assembly, and the first runner drives the second runner to rotate through the first transmission assembly;

[0053] The second runner drives the third runner to rotate through a second transmission assembly.

[0054] Here, the third runner, the second runner, and the first runner are arranged on the same plane.

[0055] Provide an example of driving rotation, such as Figure 3 shown, the hollow driving wheel 11 is an example of a first runner, the first driven wheel 31 is an example of a second runner, and the second driven wheel 32 is an example of a third runner; as Figure 3 shown, the hollow driving wheel 11 drives the first driven wheel 31 to rotate through a first belt, and the first driven wheel 31 drives the second driven wheel 32 to rotate through a second belt; the first transmission assembly and the second transmission assembly are belts.

[0056] Here, the second runner can adopt a stepped pulley, and there is a certain ratio between its outer wheel and inner wheel, such as outer wheel: inner wheel = 8, and this stepped pulley can drive the third runner to rotate.

[0057] This structure controls the second runner and the third runner separately through independent transmission assemblies, and can perform more precise adjustments for different working requirements, and is suitable for complex systems that require higher adjustment accuracy and independent control.

[0058] It should be noted that for Figure 2 and Figure 3Two designs can be selected according to actual requirements. For example, if the number of rotations required for the motor is not very large and the requirement for the reduction ratio is not high, the method of driving the second runner and the third runner to rotate simultaneously can be adopted; if a higher reduction ratio is required, such as 1:20, a two-stage transmission (the first runner drives the second runner, and the second runner drives the third runner) can effectively achieve a larger reduction ratio and meet the system accuracy requirements.

[0059] In some embodiments, when the motor rotor rotates, the rotation speed ratio of the third runner to the reducer is an integer.

[0060] Here, if the rotation speed ratio between the third runner and the reducer is an integer, it means that the rotation speed of the third runner is an integer multiple of the rotation speed of the reducer, and it can also be understood that the tooth ratio between the two is an integer. For example, if the rotation speed of the reducer is 100 revolutions per minute, the rotation speed of the third runner may be 200 revolutions per minute or 50 revolutions per minute, that is, the rotation speed ratio of the third runner to the reducer is an integer multiple (2:1 or 1:2).

[0061] Such a design helps to improve the balance of the system, simplify the operation, and improve the stability of the system. For example, in some applications (such as robots or precision machinery), it is necessary to ensure that the operation of each component is very precise, and an integer multiple rotation speed ratio helps to ensure accuracy and stability.

[0062] In some embodiments, both the first encoder and the second encoder are single-pole pair magnetic encoders;

[0063] The first encoder is used to detect the rotation position of the second runner; the indexing difference of the second runner is greater than the minimum resolution of the first encoder;

[0064] The second encoder is used to detect the rotation position of the third runner; the indexing difference of the third runner is greater than the minimum resolution of the second encoder.

[0065] Here, a single-pole pair magnetic encoder refers to an encoder that detects the rotation angle or position through magnetic field changes. The encoder generates an electrical signal by sensing the change of the magnetic field to measure the rotation of an object.

[0066] Single-pole means that the magnetic field used by the encoder has a clear polarity (north pole or south pole).

[0067] Specifically, the encoder can include a magnetic steel and a magnetic encoder.

[0068] Here, a magnet can be provided at the central position of the second runner, and a magnetic encoder can be provided perpendicular to the magnet, that is, on the central axis of the second runner. In this way, the magnetic field change generated by the rotation of the magnet of the second runner is sensed by the magnetic encoder on the central axis of the second runner, and the magnetic encoder detects the magnetic field change in this way, so as to reflect the rotation angle or position of the second runner in real time.

[0069] Similarly, a magnet can be provided at the central position of the third runner, and a magnetic encoder can be provided perpendicular to the magnet, that is, on the central axis of the third runner. In this way, the magnetic field change generated by the rotation of the magnet of the third runner is sensed by the magnetic encoder on the central axis of the third runner, and the magnetic encoder detects the magnetic field change in this way, so as to reflect the angle or position of the third runner in real time.

[0070] Combined Figure 2 For example, a first single-pole pair magnet 202 can be provided at the central position of the first driven wheel 22; a second single-pole pair magnet 201 can be provided at the central position of the second driven wheel 21.

[0071] Combined Figure 3 For example, a third single-pole pair magnet 301 can be provided at the central position of the first driven wheel 31, and a fourth single-pole pair magnet 302 can be provided at the central position of the second driven wheel 32.

[0072] Here, the indexing difference of the runner refers to the angular difference between adjacent scales on the runner. Generally, the smaller the indexing difference, the denser the scales on the runner.

[0073] An encoder is a device used to measure angular or position changes, and its minimum resolution represents the minimum angular change that the encoder can distinguish.

[0074] Here, the indexing difference of the runner is greater than the minimum resolution of its corresponding encoder, in order to ensure that the encoder can accurately and stably capture each detailed change of the runner, thereby improving the measurement accuracy and reliability of the entire system and avoiding errors and parsing problems.

[0075] The embodiment of the present disclosure provides a robot, the robot includes a first component and a second component, and a joint device is provided between the first component and the second component, and the device includes: a motor, a reducer, a first runner, a second runner, a transmission component and an encoder, the motor is relatively fixed in position with the first component, and the reducer is used to drive the second component to move;

[0076] The center of the motor is a hollow structure;

[0077] The reducer is driven to rotate by the motor rotor of the motor;

[0078] The first runner is fixedly connected to the motor rotor, and a hollow hole is provided in the middle of the first runner; the second runner and the first runner are arranged on the same plane, and the second runner is driven to rotate by the first runner through the transmission assembly, and an encoder is provided at the central position of the second runner.

[0079] Figure 5 The figure is a schematic structural diagram of a robot provided by an embodiment of the present disclosure. As Figure 5 shown, the robot may include at least one set of a first component and a second component, and a joint device is arranged between each set of the first component and the second component; for example, Figure 5 a joint device 52 is arranged between the connecting member 51 of the robot body and the lower arm 53 of the robot in [the figure]; another joint device 54 is arranged between the lower arm 53 of the robot and the upper arm 55 of the robot; still another joint device 56 may be arranged between the upper arm 55 of the robot and the wrist 57 of the robot.

[0080] Among them, the connecting member 51 and the lower arm 53 of the robot are a set of a first component and a second component. Here, the connecting member 51 may be a first component, and the lower arm 53 of the robot may be a second component.

[0081] The lower arm 53 of the robot and the upper arm 55 of the robot are another set of a first component and a second component. Here, the lower arm 53 of the robot may be a first component in this set, and the upper arm 55 of the robot may be a second component.

[0082] The upper arm 55 of the robot and the wrist 57 of the robot are still another set of a first component and a second component. Here, the upper arm 55 of the robot may be a first component in this set, and the wrist 57 of the robot may be a second component.

[0083] It should be noted that the robot may further include a robot body, a robot manipulator 58, other sets of a first component and a second component, etc. Of course, the first component and the second component of each set may be different, and details are not described one by one here.

[0084] In some embodiments, the transmission assembly adopts a flexible transmission assembly.

[0085] In some embodiments, the encoder is a first encoder, and the device further includes: a third runner, which rotates based on the rotation of the first runner. When the first runner rotates, the rotation speed of the third runner is different from that of the second runner, and a second encoder is arranged at the central position of the third runner. The first encoder and the second encoder cooperate to obtain the rotation position corresponding to the motor and the rotation position corresponding to the speed reducer.

[0086] In some embodiments, the first runner drives the second runner and the third runner to rotate simultaneously through the transmission assembly.

[0087] In some embodiments, there is a first transmission ratio between the second runner and the first runner, and a second transmission ratio between the third runner and the first runner, and the first transmission ratio and the second transmission ratio are relatively prime.

[0088] In some embodiments, the transmission assembly is a first transmission assembly, and the first runner drives the second runner to rotate through the first transmission assembly;

[0089] The second runner drives the third runner to rotate through a second transmission assembly.

[0090] In some embodiments, when the motor rotor rotates, the rotation speed ratio between the third runner and the reducer is an integer.

[0091] In some embodiments, both the first encoder and the second encoder are single-pole pair magnetic encoders;

[0092] The first encoder is used to detect the rotation position of the second runner; the indexing difference of the second runner is greater than the minimum resolution of the first encoder;

[0093] The second encoder is used to detect the rotation position of the third runner; the indexing difference of the third runner is greater than the minimum resolution of the second encoder.

[0094] Regarding the above-mentioned encoders, the driving methods between the runners, etc., have been combined with Figure 1 、 Figure 2 、 Figure 3 described, and will not be elaborated here.

[0095] In some embodiments, the robot further includes: a control unit, and the control unit is used to control the rotation of the motor according to the data collected by the encoder.

[0096] Here, the control unit can detect the rotation of the motor and control the rotation of the motor.

[0097] In one example, the control unit can detect the rotation speed of the motor according to the encoder provided at the center position of the second runner.

[0098] Specifically, the control unit can determine the rotation speed of the motor rotor according to the gear ratio between the motor rotor, the reducer, and the second runner, in combination with the detected rotation condition of the second runner.

[0099] Here, the gear ratio refers to the ratio of the number of teeth between a pair of gears of two rotating wheels. The first rotating wheel drives the second rotating wheel to rotate. The rotational speed of the first rotating wheel is the same as that of the motor rotor. The gear ratio determines how many circles the second rotating wheel will turn when the motor rotor rotates one circle. For example, if the gear ratio is 2:1, it means that when the motor rotor rotates one circle, the second rotating wheel only rotates half a circle.

[0100] In this way, the control unit can obtain the rotational speed of the second rotating wheel (such as how many circles it rotates per second) through the encoder, and then reverse-calculate the rotational speed of the motor rotor according to the preset gear ratio. Since the gear ratio between the motor rotor and the reducer is also known, the speed of the reducer can be further calculated. Conversely, according to the required speed of the reducer, the rotational speed of the motor can be reverse-calculated and controlled.

[0101] In another example, the control unit can detect the position data of the output end of the reducer according to the first encoder provided at the center position of the second rotating wheel and the second encoder provided at the center position of the third rotating wheel.

[0102] Specifically, the control unit can detect the position data of the output end of the reducer according to the gear ratios between the motor rotor and the reducer, the second rotating wheel, and the third rotating wheel, and in combination with the rotational conditions of the first rotating wheel and the second rotating wheel detected.

[0103] Suppose the motor rotor is denoted as Km, the reducer is denoted as Kn, the second rotating wheel is denoted as Ka, and the third rotating wheel is denoted as Kb; let the gear ratio of the motor rotor (Km): reducer (Kn): second rotating wheel (Ka): third rotating wheel (Kb) be 1:20:1:40. The initial positions of their respective angles are set to zero positions, and the following relationships are satisfied during operation:

[0104] If the reducer rotates the first circle, then

[0105] The second rotating wheel rotates 20 circles, which is 360° * 0 = 0°;

[0106] The third rotating wheel rotates 0.5 circle, which is 360° * 0.5 = 180°;

[0107] If the reducer rotates the second circle, then

[0108] The second rotating wheel rotates 40 circles, which is 360° * 0 = 0°;

[0109] The third rotating wheel rotates 1 circle, which is 360° * 0 = 0°.

[0110] Position data of the output end of the reducer Among them, Pm represents the final output position, that is, the current angle value of the second component controlled by the reducer; P A refers to the position of the second rotating wheel, MOD(P A)React to the angular change of the second runner, with one revolution as a unit (i.e., the part where the angle of each rotation of the second runner is less than 360°); P B Refers to the position of the third runner, which can reflect the number of rotation cycles.

[0111] Combined with the above examples, it can be seen that according to the rotation conditions of the second runner and the third runner detected by the first encoder and the second encoder, the precise position output by the speed reducer can be determined. This position can be obtained by combining the rotation sector taken by P B and the single-turn angular value of P A Conversely, according to the required position of the speed reducer output, the rotation of the second runner, the rotation of the third runner, and the rotation of the motor can also be deduced and controlled.

[0112] In another example, after the robot joint is powered off and restarted, the control unit can detect the first angle of the second runner and the second angle of the third runner; according to the initial angle of the second runner and the initial angle of the third runner, as well as the first angle and the second angle, the current position of the speed reducer is determined. In this way, while ensuring accuracy, it is possible to achieve the same cost as the shaft encoder and precise detection of the multi-turn power-off position under the premise of ensuring a hollow structure, without increasing the joint thickness, and without relying on an external battery.

[0113] In some embodiments, the robot may further include devices for fixing or mounting the joint device, such as a drive board, a motor rear housing flange, etc.

[0114] Such as Figure 4 shown, a schematic diagram of a joint device of a robot is provided; Figure 4 In it, the center of the motor 43 is a hollow structure; the speed reducer 44 is driven to rotate by the motor rotor of the motor 43.

[0115] The second runner 41 and the third runner 42 are on the same plane and can be installed on the motor rear housing flange 46. The installation structures of the second runner 41 and the third runner 42 are compatible with the motor rear housing flange. The second runner 41 and the third runner 42 are driven to rotate by the first runner (the first runner is on the same plane as the second runner and the third runner, not shown in the figure). The first runner is fixedly connected to the motor rotor, and a hollow hole is provided in the middle of the first runner.

[0116] A single-pole pair magnet 411 can be provided at the center position of the second runner 41; a single-pole pair magnet 421 can be provided at the center position of the third runner 42.

[0117] A first magnetic encoder 412 corresponding to the second runner 41 is further provided on the central axis of the second runner 41; a second magnetic encoder 422 corresponding to the third runner 42 is further provided on the central axis of the third runner 42.

[0118] Among them, the first magnetic encoder 412 and the second magnetic encoder 422 can be installed on the drive board 45. The control unit can be a processor included in the drive board 45.

[0119] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added, or deleted. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and no limitation is imposed herein.

[0120] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In the description of this disclosure, "a plurality of" means two or more unless otherwise specifically defined.

[0121] As described above, the above are only specific embodiments of this disclosure, but the protection scope of this disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed by this disclosure can easily think of changes or substitutions, which should all be covered by the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be subject to the protection scope of the claimed rights.

Claims

1. A joint device, comprising: A motor, a reducer, a first rotating wheel, a second rotating wheel, a transmission assembly and an encoder; The center of the motor is a hollow structure; The reducer is driven to rotate by the motor rotor of the motor; The first rotating wheel is fixedly connected to the motor rotor, and a hollow hole is provided in the middle of the first rotating wheel; the second rotating wheel is arranged on the same plane as the first rotating wheel, and the second rotating wheel is driven to rotate by the first rotating wheel through the transmission assembly, and the encoder is provided at the center position of the second rotating wheel.

2. According to the device according to claim 1, the transmission component adopts a flexible transmission component.

3. The device according to claim 1, wherein the encoder is a first encoder, and the device further comprises: A third wheel, the third wheel rotates based on the rotation of the first wheel. When the first wheel rotates, the rotation speed of the third wheel is different from that of the second wheel. A second encoder is provided at the center position of the third wheel. The first encoder and the second encoder cooperate to obtain the rotation position corresponding to the motor and the rotation position corresponding to the reducer.

4. The device according to claim 3, wherein the first rotating wheel drives the second rotating wheel and the third rotating wheel to rotate simultaneously through the transmission assembly.

5. The device according to claim 4, wherein the second rotating wheel has a first transmission ratio with the first rotating wheel, the third rotating wheel has a second transmission ratio with the first rotating wheel, and the first transmission ratio and the second transmission ratio are mutually prime.

6. The device according to claim 3, wherein the transmission assembly is a first transmission assembly, and the first rotating wheel drives the second rotating wheel to rotate through the first transmission assembly; The second rotating wheel drives the third rotating wheel to rotate through the second transmission assembly.

7. The device according to claim 4 or 6, wherein when the motor rotor rotates, a rotation speed ratio between the third rotating wheel and the reducer is an integer.

8. The device according to claim 3, wherein the first encoder and the second encoder are both single-pole magnetic encoders; The first encoder is used to detect the rotation position of the second rotating wheel; the graduation difference of the second rotating wheel is greater than the minimum resolution of the first encoder; The second encoder is used to detect the rotation position of the third rotating wheel; the graduation difference of the third rotating wheel is greater than the minimum resolution of the second encoder.

9. A robot, comprising a first component and a second component, wherein a joint device is provided between the first component and the second component, and the device comprises: A motor, a reducer, a first rotating wheel, a second rotating wheel, a transmission component and an encoder, wherein the motor and the first component are relatively fixed in position, and the reducer is used to drive the second component to move; The center of the motor is a hollow structure; The reducer is driven to rotate by the motor rotor of the motor; The first rotating wheel is fixedly connected to the motor rotor, and a hollow hole is provided in the middle of the first rotating wheel; the second rotating wheel is arranged on the same plane as the first rotating wheel, and the second rotating wheel is driven to rotate by the first rotating wheel through the transmission assembly, and the encoder is provided at the center position of the second rotating wheel.

10. The robot according to claim 9, further comprising: A control unit is used to control the rotation of the motor according to the data collected by the encoder.

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