An intelligent joint module integrating sensors and axial flux motors

Abstract

The present invention provides an intelligent joint module integrating a sensor and an axial flux motor, comprising a main body component, wherein the main body component comprises a casing, an end cover, a drive disk, a retaining ring, a reducer, an axial flux motor, an encoder, two limit frames, a connecting rod, two connecting rings, a positioning hole and a positioning rod; the output shaft of the axial flux motor is connected to the power input end of the reducer. The present invention facilitates the disassembly of the internal structure of the joint module by adopting a detachable design, thereby facilitating subsequent maintenance. During disassembly, first remove the nut connecting the lower end cover and the positioning rod, then pull the limit frame, and the axial flux motor and the reducer can be taken out together, and then remove the nut connecting the lower connecting rod and the limit frame, and the disassembly of the axial flux motor and the reducer can be completed. Compared with the prior art, the present invention can realize the disassembly of each component, reduce the difficulty of disassembly, and facilitate maintenance of the joint module.

Description

Technical Field

[0001] The present invention relates to a joint module, in particular to an intelligent joint module integrating a sensor and an axial flux motor, and belongs to the technical field of robot joint modules. Background Art

[0002] The robot joint module is a highly integrated modular joint, serving as the core component of the robot's joint system. It enables relative motion between the robot's various components and meets the robot's requirements for high torque output, high motion precision, and high reliability. The joint module's design enables the robot to rapidly implement various applications and functional requirements while significantly reducing the time and labor costs of robot development.

[0003] The robot joint module usually consists of the following key structures:

[0004] Motor: As the power source of the joint module, the motor is responsible for providing the necessary torque and speed. Common motor types include axial flux motors. Due to its unique structural design, the axial flux motor has the characteristics of small size, high efficiency and high torque density. Its working principle is to generate torque through the interaction of the axial magnetic field between the stator and the rotor. Compared with the traditional radial flux motor, the axial flux motor can provide higher power output in the same volume. In the robot joint module, the axial flux motor can effectively meet the needs of high torque and small size, especially in application scenarios with limited space, its advantages are particularly obvious.

[0005] Reducer: Reducers are used to reduce the speed of the motor and increase the output torque while reducing energy loss. Reducers can be planetary reducers, harmonic reducers, or cycloid reducers. Different types of reducers have their own advantages and disadvantages in terms of accuracy, torque carrying capacity, and service life. For example, planetary reducers have higher torque carrying capacity, while harmonic reducers are known for their high precision and compact structure. In the robot joint module, the choice of reducer needs to be optimized according to the specific load and motion requirements to ensure that the joint module can provide stable torque output during operation.

[0006] Sensors: Sensors are used to monitor the status of joint modules in real time, including position sensors, velocity sensors, and force sensors. Position sensors (such as encoders) can accurately measure changes in joint position, velocity sensors are used to monitor the movement speed of joints, and force sensors can detect the force acting on the joints. Real-time data feedback from these sensors is crucial for achieving precise motion control. In robotic joint modules, the accuracy and response speed of the sensors directly affect the robot's control performance. For example, absolute encoders can directly provide absolute position information after a power outage, eliminating the need for recalibration and are therefore widely used in high-precision applications.

[0007] Structural Frame: The structural frame provides physical support for the joint modules and also determines the robot's overall appearance and strength. The structural frame's design must balance lightweight construction with high strength, and is typically constructed from aluminum alloy or high-strength steel. During the design process, the structure is optimized through methods such as finite element analysis to ensure stability and reliability under high torque and impact loads. Furthermore, the structural frame must provide adequate mounting space for internal components such as the motor, reducer, and sensors, enabling a compact, integrated design.

[0008] Connectors: Connectors are used to connect different joint modules, enabling the robot to perform coordinated multi-joint motion. The design of these connectors must ensure both strength and flexibility between the joint modules, while also considering environmental requirements such as waterproofing and dustproofing. Common connectors include flanges, connecting shafts, and flexible joints. Their selection depends on the specific robot structure and motion requirements.

[0009] Existing intelligent joint modules that integrate sensors and axial flux motors typically house the motor, reducer, and other components inside the housing. Joint modules often pursue a high degree of integration and compactness to reduce size, improve efficiency, and lower costs. This compact design limits the space between components, requiring more skill and tools for disassembly and maintenance, making disassembly more difficult.

[0010] To address this issue, a smart joint module integrating sensors and an axial flux motor was proposed. Through optimized design, efficient heat dissipation and convenient maintenance are achieved. The module's detachable design facilitates disassembly and maintenance of its internal structure. Furthermore, an intelligent cooling system automatically activates the cooling fan when the temperature reaches a set value, ensuring the joint module maintains optimal operating conditions under various operating conditions. Summary of the Invention

[0011] In view of this, the present invention provides an intelligent joint module that integrates a sensor and an axial flux motor to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0012] The technical solution of an embodiment of the present invention is implemented as follows: an intelligent joint module integrating a sensor and an axial flux motor includes a main body component, and the main body component includes a casing, an end cover, a drive disk, a retaining ring, a reducer, an axial flux motor, an encoder, two limit frames, a connecting rod, two connecting rings, a positioning hole and a positioning rod.

[0013] The output shaft of the axial flux motor is connected to the power input end of the reducer, the drive disk is fixedly connected to the output shaft of the reducer, one end of the positioning rod is symmetrically fixedly connected to one side of the inner wall of the casing, the retaining ring is fixedly connected to the outer wall of the positioning rod, one end of the connecting rod is fixedly connected to one of the limit frames, the other end of the connecting rod is fixedly connected to the other limit frame through a nut, the connecting ring is fixedly connected to the outer wall of the limit frame, the positioning holes are evenly opened inside the connecting ring, the end cover is fixedly connected to the casing by bolts, a driving gear is installed on the outer wall of the output shaft of the reducer, a driven gear is installed on the rotating shaft of the encoder, and a temperature sensor is installed on one side of the inner wall of the casing.

[0014] As a new motor structure, the axial flux motor features a compact size, high efficiency, and high torque density. Its operating principle is to generate torque through the interaction of the axial magnetic field between the stator and rotor. Compared with traditional radial flux motors, axial flux motors can provide higher power output within the same volume. In this invention, the axial flux motor serves as the power source for the joint module, effectively meeting the high torque and compact size requirements of the robot joint.

[0015] Further preferably, the outer side wall of the driven gear is meshedly connected to the outer side wall of the driving gear, and the encoder is installed on one side of the inner wall of the housing.

[0016] As a key sensor in the joint module, the encoder monitors the position changes of the reducer output shaft in real time, thereby achieving precise position control. In the present invention, the encoder is connected to the driven gear through the meshing of the driving gear, which can accurately reflect the rotation angle of the reducer output shaft. The encoder type can be incremental or absolute. Absolute encoders can directly provide absolute position information after power failure, avoiding the trouble of recalibration. Therefore, absolute encoders are preferred in the present invention.

[0017] Further preferably, the two limiting frames are symmetrically located outside the reducer and the axial flux motor and are in contact with the outer side walls of the reducer and the outer side walls of the axial flux motor.

[0018] The design of the limiter not only secures the reducer and axial flux motor in place but also prevents displacement during operation. Limiters are typically constructed from high-strength aluminum alloys or steel to ensure long-term stability. Furthermore, the limiter's shape can be optimized to accommodate compact internal structures based on actual space requirements.

[0019] Further preferably, the connecting ring is slidably connected to the outer side wall of the positioning rod through the positioning hole, and one side of the connecting ring is in contact with the outer side wall of the retaining ring.

[0020] The combined design of the connecting ring and positioning rod makes the joint module easier to install and remove. During installation, the connecting ring slides along the positioning rod through the positioning hole to ensure accurate positioning of the components. During removal, simply loosen the nut to remove the connecting ring and the positioning rod together. This design not only improves assembly efficiency but also reduces maintenance.

[0021] Further preferably, one end of the positioning rod away from the housing passes through the end cover and is slidably connected to the end cover, and the positioning rod is fixedly connected to the end cover via a nut.

[0022] The end cap, as the housing's sealing element, not only protects the internal components but also provides support and anchorage for the positioning rod. Nuts secure the positioning rod to the end cap, ensuring the stability of the entire structure. For disassembly, simply remove the nut to easily remove the positioning rod and associated components.

[0023] Further preferably, a heat dissipation assembly is installed on the outside of the axial flux motor, and the heat dissipation assembly includes a heat dissipation fan, a mounting backplate, a guide hole and an air inlet hole; the guide holes are evenly opened inside the end cover, the air inlet holes are symmetrically opened on the side of the casing away from the end cover, and the heat dissipation fan is installed inside the mounting backplate.

[0024] The heat dissipation component is designed to handle the heat generated by the joint module during high-load operation. Axial flux motors generate significant heat during operation. If not dissipated promptly, motor performance may degrade or even damage the motor. The cooling fan selection must be calculated based on the actual heat load. Brushless DC fans are typically used due to their low noise, long life, and low energy consumption.

[0025] Further preferably, the heat dissipation assembly also includes guide blades, grooves and dust screens; the grooves are opened on one side of the casing, the position of the grooves corresponds to the position of the air inlet, the dust screen is installed on the inner wall of the grooves, and the guide blades are evenly fixedly connected to the inner wall of the casing.

[0026] Dust filters are designed to prevent dust and impurities from entering the chassis, thereby protecting the delicate components within. Dust filters are typically made of stainless steel or nylon mesh. The pore size should be selected based on actual needs, ensuring both good ventilation and effective dust filtering. The guide vanes optimize the airflow path, ensuring efficient heat removal while reducing air flow resistance.

[0027] Further preferably, the mounting back plate is fixedly connected to a side of the end cover away from the casing by bolts.

[0028] The mounting plate not only provides a mounting location for the cooling fan but also provides support and anchorage. Bolting the mounting plate to the end cap ensures the fan's stability during operation. Furthermore, the mounting plate's design can be adjusted to accommodate cooling fans of varying specifications.

[0029] Further preferably, the guide vane is located outside the limiting frame, and the position of the guide vane corresponds to the position of the guide hole.

[0030] The guide vanes are positioned to ensure a rational air flow path. They align with the guide holes, guiding air entering through the air inlet, along the guide vanes, and ultimately out of the holes, achieving efficient heat dissipation.

[0031] Further preferably, the output shaft of the reducer passes through one side of the housing and is rotatably connected to the housing through a bearing.

[0032] The output shaft of the reducer is connected to the housing through a bearing, ensuring smooth rotation of the output shaft. The bearing selection needs to be calculated based on the actual load and speed. Deep groove ball bearings or angular contact ball bearings are usually used to meet the requirements of high precision and high torque.

[0033] The embodiment of the present invention adopts the above technical solution, which has the following advantages:

[0034] 1. The present invention adopts an axial flux motor as the power source, and the power is output from the output shaft of the reducer. The reducer drives the drive disk, and then drives the robot joint module to move. During the working process, the position is monitored by the encoder to achieve precise position control, and the temperature is monitored by the temperature sensor to achieve precise temperature control. When the temperature reaches the rated value, the temperature sensor sends a signal to the control system, and the control system controls the operation of the cooling fan. When the cooling fan is working, the interior of the casing is under negative pressure, and the external air enters the casing through the air inlet and is then discharged from the guide hole. In this process, the heat inside the casing is discharged, thereby achieving heat dissipation of the joint module.

[0035] The high efficiency and torque density of axial flux motors give them significant advantages in robotic joint modules. Compared to traditional motors, axial flux motors offer higher power output in a smaller package, which is particularly important for robotic joint modules that strive for compact designs. Furthermore, through dual monitoring via encoders and temperature sensors, joint modules can achieve real-time position and temperature feedback, ensuring stable and reliable operation.

[0036] In practical applications, the heat dissipation design of the joint module is crucial. Especially during high-load operation, if the heat generated by the motor and reducer is not dissipated promptly, it can cause component overheating, affecting performance or even damaging the equipment. This invention utilizes an intelligent heat dissipation system that automatically activates the cooling fan when the temperature reaches a set value, ensuring that the joint module maintains optimal operating conditions under various operating conditions.

[0037] 2. The present invention adopts a detachable design, which facilitates the disassembly of the internal structure of the joint module and facilitates subsequent maintenance. During disassembly, first remove the nut connecting the lower end cover and the positioning rod, and then pull the limit frame to take out the axial flux motor and the reducer together, and then remove the nut connecting the lower connecting rod and the limit frame to complete the disassembly of the axial flux motor and the reducer for maintenance. Compared with the existing technology, the present invention can realize the disassembly of various components, reduce the difficulty of disassembly, and facilitate maintenance of the joint module.

[0038] Another major innovation of this invention is its detachable design. Due to the compact structure of traditional joint modules, disassembly of internal components often requires complex tools and techniques, increasing the difficulty and cost of maintenance. This invention, through the combined design of a retaining frame, connecting ring, and positioning rod, makes the disassembly process simple and efficient. Maintenance personnel simply need to follow the steps to remove the nut and retaining frame to easily remove the internal components, greatly improving maintenance efficiency.

[0039] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 This is a structural diagram of the main components of the present invention;

[0042] Figure 2 This is an exploded view of the present invention;

[0043] Figure 3 It is a structural diagram of the casing of the present invention;

[0044] Figure 4 This is a schematic diagram of the installation position of the limit frame of the present invention;

[0045] Figure 5 It is a structural diagram of the limiting frame of the present invention;

[0046] Figure 6 This is a schematic diagram of the connection between the guide vane and the casing of the present invention;

[0047] Figure 7 This is a structural diagram of the heat dissipation assembly of the present invention;

[0048] Figure 8 It is the structural diagram of the end cover of the present invention.

[0049] Figure numerals: 101, main body assembly; 11, housing; 12, end cover; 14, drive disk; 15, retaining ring; 16, reducer; 17, axial flux motor; 18, driven gear; 19, encoder; 20, driving gear; 21, limit frame; 22, connecting rod; 23, connecting ring; 24, positioning hole; 25, positioning rod; 26, temperature sensor; 27, guide vane; 301, heat dissipation assembly; 31, heat dissipation fan; 32, mounting back plate; 33, guide hole; 34, air inlet; 35, groove; 36, dust net. DETAILED DESCRIPTION

[0050] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0051] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0052] Existing intelligent joint modules that integrate sensors and axial flux motors typically install the axial flux motor, reducer, and other components inside the housing. Joint modules often pursue a high degree of integration and compactness to reduce size, improve efficiency, and lower costs. This compact design limits the space between components, requiring more skill and tools to disassemble, making disassembly more difficult.

[0053] To do this, see Figures 1-8An embodiment of the present invention provides an intelligent joint module that integrates sensors and axial flux motors, including a main body component 101. The main body component 101 includes a casing 11, an end cover 12, a drive disk 14, a retaining ring 15, a reducer 16, an axial flux motor 17, an encoder 19, two limit frames 21, a connecting rod 22, two connecting rings 23, a positioning hole 24 and a positioning rod 25.

[0054] The output shaft of the axial flux motor 17 is connected to the power input end of the reducer 16, the drive disk 14 is fixedly connected to the output shaft of the reducer 16, one end of the positioning rod 25 is symmetrically fixedly connected to one side of the inner wall of the casing 11, the retaining ring 15 is fixedly connected to the outer wall of the positioning rod 25, one end of the connecting rod 22 is fixedly connected to a limit frame 21, the other end of the connecting rod 22 is fixedly connected to another limit frame 21 through a nut, the connecting ring 23 is fixedly connected to the outer wall of the limit frame 21, the positioning holes 24 are evenly opened inside the connecting ring 23, the end cover 12 is fixedly connected to the casing 11 by bolts, the outer wall of the output shaft of the reducer 16 is installed with a driving gear 20, the rotating shaft of the encoder 19 is installed with a driven gear 18, and the inner wall side of the casing 11 is installed with a temperature sensor 26.

[0055] The output shaft of the speed reducer 16 passes through one side of the housing 11 and is rotatably connected to it via a bearing. The drive plate 14 is used to connect to the external robot joint. When the axial flux motor 17 is in operation, power is output from the output shaft of the speed reducer 16, which drives the drive plate 14, thereby driving the robot joint module to move.

[0056] By monitoring the position through the encoder 19, precise position control can be achieved, and by monitoring the temperature through the temperature sensor 26, precise temperature control can be achieved. The positions of the axial flux motor 17 and the reducer 16 can be limited by the two limit frames 21 and the connecting rod 22. During installation, the axial flux motor 17 and the reducer 16 can be assembled externally first, and then the axial flux motor 17 and the reducer 16 can be installed through the connecting ring 23 and the positioning rod 25. Finally, the end cover 12 and the drive disk 14 are installed to complete the assembly of the joint module.

[0057] In one embodiment, the outer wall of the driven gear 18 is meshedly connected to the outer wall of the driving gear 20, and the encoder 19 is installed on one side of the inner wall of the housing 11. When the reducer 16 rotates, it drives the driving gear 20, and the driving gear 20 drives the driven gear 18, which in turn drives the rotating shaft of the encoder 19 to rotate. Position monitoring is performed through the encoder 19, and precise position control can be achieved.

[0058] The transmission ratio of reducer 16 can be designed based on actual needs. Typically, in a robot joint module, the transmission ratio of reducer 16 must meet the requirements of high torque output and low speed operation. Reducer 16 can be a planetary reducer, a harmonic reducer, or a cycloid reducer. Each type of reducer has its own advantages and disadvantages in terms of accuracy, torque capacity, and service life. For example, planetary reducers have higher torque capacity, while harmonic reducers are known for their high precision and compact structure.

[0059] In one embodiment, the two limit frames 21 are symmetrically located outside the reducer 16 and the axial flux motor 17 and are in contact with the outer wall of the reducer 16 and the outer wall of the axial flux motor 17. The two limit frames 21 are fixedly connected to the axial flux motor 17 and the reducer 16 by bolts respectively, thereby limiting the positions of the axial flux motor 17 and the reducer 16.

[0060] The retaining bracket 21 not only secures the position of the axial flux motor 17 and reducer 16 but also prevents displacement of these components during operation. The retaining bracket 21 is typically constructed from high-strength aluminum alloy or steel to ensure long-term stability. Furthermore, the shape of the retaining bracket 21 can be optimized based on actual space requirements to accommodate a compact internal structure.

[0061] In one embodiment, the connecting ring 23 is slidably connected to the outer wall of the positioning rod 25 through the positioning hole 24, and one side of the connecting ring 23 is fitted to the outer wall of the retaining ring 15. The end of the positioning rod 25 away from the housing 11 passes through the end cover 12 and is slidably connected to the end cover 12. The positioning rod 25 is fixedly connected to the end cover 12 through a nut. When the internal structure of the joint module needs to be disassembled and maintained, first remove the nut connecting the end cover 12 and the positioning rod 25, and then pull the limit frame 21. The axial flux motor 17 and the reducer 16 can be taken out together, and then the nut connecting the connecting rod 22 and the limit frame 21 can be removed to complete the disassembly of the axial flux motor 17 and the reducer 16 for maintenance.

[0062] The detachable design allows for easy disassembly and maintenance of the joint module's internal structure. In practical applications, robot joint modules require regular maintenance and inspection, particularly in the field of industrial robotics, where their reliability directly impacts production line efficiency. Therefore, designing an easily disassembled structure is crucial for improving equipment maintainability.

[0063] In order to solve the problems existing in the prior art, an embodiment of the present invention provides an intelligent joint module that integrates a sensor and an axial flux motor and achieves a solution to the problem through the above technical solution: by adopting a detachable type, it is convenient to disassemble the internal structure of the joint module, thereby facilitating later maintenance. During disassembly, first remove the nut connecting the lower end cover 12 and the positioning rod 25, and then pull the limit frame 21, so that the axial flux motor 17 and the reducer 16 can be taken out together, and then remove the nut connecting the lower connecting rod 22 and the limit frame 21, and the disassembly of the axial flux motor 17 and the reducer 16 can be completed for maintenance. Compared with the prior art, the present invention can realize the disassembly of each component, reduce the difficulty of disassembly, and facilitate maintenance of the joint module.

[0064] In one embodiment, a heat dissipation assembly 301 is installed on the outside of the axial flux motor 17, and the heat dissipation assembly 301 includes a heat dissipation fan 31, a mounting backplate 32, a guide hole 33 and an air inlet 34; the guide holes 33 are evenly opened inside the end cover 12, and the air inlet 34 is symmetrically opened on the side of the casing 11 away from the end cover 12, and the heat dissipation fan 31 is installed inside the mounting backplate 32.

[0065] The heat dissipation assembly 301 is designed to handle the heat generated by the joint module during high-load operation. The axial flux motor 17 generates significant heat during operation. If not dissipated promptly, this can lead to motor performance degradation or even damage. The cooling fan 31 is selected based on the actual heat load. A brushless DC fan is typically used due to its low noise, long life, and low energy consumption.

[0066] The heat dissipation assembly 301 also includes a guide blade 27, a groove 35 and a dustproof net 36; the groove 35 is opened on one side of the casing 11, and the position of the groove 35 corresponds to the position of the air inlet 34. The dustproof net 36 is installed on the inner wall of the groove 35. The guide blade 27 is evenly fixedly connected to the inner wall of the casing 11. The dustproof net 36 can protect the air inlet 34 to prevent dust and impurities in the external air from entering the interior of the casing 11 during the heat dissipation process.

[0067] The dust screen 36 is used to prevent dust and impurities from entering the housing 11, thereby protecting the precision components inside. The dust screen 36 is usually made of stainless steel wire mesh or nylon mesh, and its pore size needs to be selected according to actual needs to ensure good ventilation and effective dust filtering.

[0068] In one embodiment, the mounting back plate 32 is fixedly connected to the side of the end cover 12 away from the casing 11 by bolts, the guide blade 27 is located outside the limit frame 21, and the position of the guide blade 27 corresponds to the position of the guide hole 33. The operating temperature of the joint module is monitored by the temperature sensor 26. When the temperature reaches the rated value, the temperature sensor 26 sends a signal to the control system, and the control system controls the operation of the cooling fan 31.

[0069] The selection and installation location of temperature sensor 26 are crucial to the effectiveness of the cooling system. Temperature sensor 26 is typically a thermistor or thermocouple and should be installed close to a heat source (such as the stator windings of the axial flux motor 17) to ensure accurate internal temperature monitoring. The control system automatically adjusts the speed of cooling fan 31 based on feedback from temperature sensor 26, achieving intelligent cooling.

[0070] When the cooling fan 31 is working, the interior of the casing 11 is under negative pressure, and the external air enters the casing 11 through the air inlet 34 and is then discharged from the guide hole 33. In this process, the heat inside the casing 11 is discharged, thereby achieving heat dissipation for the joint module.

[0071] The cooling system operates based on convection heat transfer. When cooling fan 31 is operating, negative pressure forms inside housing 11. External air enters through air inlet 34, removes internal heat, and is then exhausted through guide holes 33. Guide vanes 27 optimize the air flow path, ensuring efficient heat removal while reducing air flow resistance.

[0072] When the present invention is working: the axial flux motor 17 is working, and the power is output from the output shaft of the reducer 16. The reducer 16 drives the drive disk 14, and then drives the robot joint module to move. During the working process, the position is monitored by the encoder 19, and precise position control can be achieved. The temperature is monitored by the temperature sensor 26, and precise temperature control can be achieved. When the temperature reaches the rated value, the temperature sensor 26 sends a signal to the control system, and the control system controls the cooling fan 31 to work. When the cooling fan 31 is working, the interior of the casing 11 is under negative pressure, and then the external air enters the casing 11 through the air inlet 34, and then is discharged from the guide hole 33. In this process, the heat inside the casing 11 is discharged, thereby achieving heat dissipation of the joint module.

[0073] The position monitoring function of encoder 19 is key to achieving precise control of the joint module. Encoder 19 typically uses an incremental or absolute encoder. Incremental encoders calculate position changes using pulse signals, while absolute encoders directly provide absolute position information. Absolute encoders are widely used in robotic joint modules due to their high precision and the fact that they do not require recalibration after power failure.

[0074] During disassembly and maintenance, first remove the nut connecting the lower end cover 12 and the positioning rod 25, then pull the limit frame 21, take out the axial flux motor 17 and the reducer 16 together, and then remove the nut connecting the lower connecting rod 22 and the limit frame 21. The disassembly of the axial flux motor 17 and the reducer 16 can be completed for maintenance.

[0075] During maintenance, it's important to protect all components, especially precision parts like the encoder 19 and temperature sensor 26. During reassembly, ensure that all components are correctly positioned to avoid affecting the joint module's performance. Regular lubrication and cleaning of the joint module are also crucial for ensuring long-term stable operation.

[0076] The intelligent joint module of this invention is not only suitable for industrial robots, but also for medical robots, service robots, and other fields. In medical robots, the accuracy and reliability of the joint module directly affect the success of the operation; in service robots, the compactness and low noise characteristics of the joint module are even more important. With the continuous development of robotics technology, the demand for intelligent joint modules will continue to grow.

[0077] In the future, with advances in materials science and intelligent manufacturing technologies, joint modules will further develop towards lightweight, efficient, and intelligent features. For example, the use of new composite materials can reduce module weight, while the integration of intelligent sensors and control algorithms can achieve more precise control and fault diagnosis. Furthermore, modular design will become a key trend in the development of joint modules. Through standardized interfaces and functional modules, different specifications and performance levels can be quickly combined to meet diverse application needs.

[0078] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various modifications and substitutions within the technical scope disclosed in the present invention, and such modifications and substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. An intelligent joint module integrating a sensor and an axial flux motor, comprising a main body component (101), characterized in that: The main assembly (101) includes a housing (11), an end cover (12), a drive disc (14), a retaining ring (15), a reducer (16), an axial flux motor (17), an encoder (19), two limit frames (21), a connecting rod (22), two connecting rings (23), a positioning hole (24) and a positioning rod (25); The output shaft of the axial flux motor (17) is connected to the power input end of the reducer (16), the drive disc (14) is fixedly connected to the output shaft of the reducer (16), one end of the positioning rod (25) is symmetrically fixedly connected to one side of the inner wall of the housing (11), the retaining ring (15) is fixedly connected to the outer wall of the positioning rod (25), one end of the connecting rod (22) is fixedly connected to one of the limit frames (21), and the other end of the connecting rod (22) is fixedly connected to the other through a nut. The limiting frame (21) is fixedly connected, the connecting ring (23) is fixedly connected to the outer wall of the limiting frame (21), the positioning holes (24) are evenly opened inside the connecting ring (23), the end cover (12) is fixedly connected to the housing (11) by bolts, the outer wall of the output shaft of the reducer (16) is installed with a driving gear (20), the rotating shaft of the encoder (19) is installed with a driven gear (18), and a temperature sensor (26) is installed on one side of the inner wall of the housing (11); The outer wall of the driven gear (18) is meshedly connected to the outer wall of the driving gear (20), and the encoder (19) is installed on one side of the inner wall of the housing (11); The two limiting frames (21) are symmetrically located outside the reducer (16) and the axial flux motor (17) and are in contact with the outer side walls of the reducer (16) and the outer side walls of the axial flux motor (17); The connecting ring (23) is slidably connected to the outer wall of the positioning rod (25) through the positioning hole (24), and one side of the connecting ring (23) is attached to the outer wall of the retaining ring (15); One end of the positioning rod (25) away from the housing (11) passes through the end cover (12) and is slidably connected to the end cover (12), and the positioning rod (25) is fixedly connected to the end cover (12) via a nut.

2. The intelligent joint module integrating sensors and axial flux motors according to claim 1, characterized in that: A heat dissipation assembly (301) is installed on the outside of the axial flux motor (17), and the heat dissipation assembly (301) includes a heat dissipation fan (31), a mounting back plate (32), a guide hole (33), and an air inlet hole (34); The guide holes (33) are evenly arranged inside the end cover (12), the air inlet holes (34) are symmetrically arranged on a side of the housing (11) away from the end cover (12), and the heat dissipation fan (31) is installed inside the mounting back plate (32).

3. The intelligent joint module integrating sensors and axial flux motors according to claim 2, characterized in that: The heat dissipation assembly (301) further includes guide blades (27), grooves (35) and a dust screen (36); The groove (35) is opened on one side of the housing (11), and the position of the groove (35) corresponds to the position of the air inlet (34). The dust screen (36) is installed on the inner wall of the groove (35), and the guide blades (27) are evenly fixedly connected to the inner wall of the housing (11).

4. The intelligent joint module integrating sensors and axial flux motors according to claim 3, characterized in that: The mounting back plate (32) is fixedly connected to a side of the end cover (12) away from the housing (11) by means of bolts.

5. The intelligent joint module integrating sensors and axial flux motors according to claim 4, characterized in that: The guide blade (27) is located outside the limiting frame (21), and the position of the guide blade (27) corresponds to the position of the guide hole (33).

6. The intelligent joint module integrating sensors and axial flux motors according to claim 5, characterized in that: The output shaft of the reducer (16) passes through one side of the housing (11) and is rotationally connected to the housing (11) via a bearing.

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