Load self-adaptive joint module and control method and control system thereof

Abstract

The invention relates to the technical field of robots, in particular to a load self-adaptive joint module and a control method and system thereof, and the joint module comprises a motor assembly which comprises a frameless torque motor and an output shaft; the torque compensation assembly comprises a torque compensation shaft and a compensation gear set, one end of the compensation gear set is rigidly connected with the torque compensation shaft, and the other end of the compensation gear set is linked with the output shaft through a switchable transmission structure; the torque switching assembly comprises a clutch driving device and a clutch arranged on the output shaft in a sleeving mode, the clutch is provided with a combination sleeve, and the clutch driving device is used for driving the combination sleeve to move axially so as to control power on-off of the compensation gear set and the output shaft; and the sensor module comprises a torque sensor fixed on the output shaft, and the torque sensor is used for monitoring the load torque of the output shaft in real time. Parallel connection and disconnection of power output of the torque compensation assembly and power output of the motor assembly are achieved through the torque switching assembly, and the load self-adaptive capacity and the energy efficiency of the joint module are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a load-adaptive joint module and a control method and control system thereof. Background Art

[0002] With the development of robot technology, especially for highly flexible robots such as humanoid robots, the contradiction between the torque output and dynamic response speed of joint drive systems has gradually become a key challenge in design. Although traditional motor drive systems can provide high efficiency and high response speed, when facing large loads, the torque output of the motor itself is often insufficient, which may cause the system to overload.

[0003] In the prior art, in order to deal with the situation where the joint load exceeds the rated load, a common solution is to release the external impact force on the joint module, such as the technical solution disclosed in Publication No. CN The Chinese patent document 221774531U discloses a joint module, a motor assembly, a reducer, a clutch assembly and a mounting sleeve, wherein the motor assembly includes a drive shaft; the reducer includes an output component connected to the drive shaft in a transmission manner, the clutch assembly is sleeved on the outside of the output component and forms a mounting cavity with the output component, the clutch assembly also includes a power output end, the power output end is used to output power to the force-bearing end of the robot, the mounting sleeve is located in the mounting cavity and sleeved on the outside of the output component, the mounting sleeve is used to provide a friction driving force acting between the clutch assembly and the output component through elastic deformation; when the impact force borne by the force-bearing end of the robot is greater than the friction driving force, the output component and the clutch assembly rotate relative to each other; when the impact force borne by the mechanical leg is greater than the friction driving force of the mounting sleeve, the output component and the mounting sleeve rotate relative to each other, that is, the output component and the clutch assembly rotate relative to each other (that is, synchronous coaxial reverse rotation), thereby releasing the impact force and avoiding the problem of excessive external impact force on the joint module, thereby avoiding wear or failure.

[0004] Although the above technical solution can protect the operational safety of the joint module to a certain extent, it does not actually solve the problem of the joint module facing heavy loads, and has obvious limitations and impacts on the performance of the robot installed with this joint module.

[0005] In the prior art, a common solution to heavy loads is to increase the output torque by increasing the motor power. However, this will increase the weight of the motor and the cost. At the same time, it will increase the rotational inertia of the robot joints, affecting flexibility. When the joints are under normal load, the motor energy is too abundant, resulting in reduced energy efficiency. Summary of the invention

[0006] The purpose of the present invention is to provide a robot load-adaptive joint module, which improves the load adaptability and energy efficiency of the joint module through a joint module torque compensation mechanism.

[0007] To solve the above technical problems, an embodiment of the present invention provides a technical solution as follows:

[0008] A load adaptive joint module, comprising:

[0009] A motor assembly, including a frameless torque motor, a speed reducer connected to the output end of the frameless torque motor, and an output shaft driven by the speed reducer;

[0010] A torque compensation assembly, including a hydraulically driven torque compensation shaft and a compensation gear set. One end of the compensation gear set is rigidly connected to the torque compensation shaft, and the other end is linked with the output shaft through a switchable transmission structure;

[0011] A torque switching assembly, including a clutch driving device and a clutch sleeved on the output shaft. The clutch has a coupling sleeve, and the clutch driving device is used to drive the coupling sleeve to axially move to control the power on and off between the compensation gear set and the output shaft;

[0012] A sensor module, including a torque sensor fixed on the output shaft, and the torque sensor is used to real-time monitor the load torque of the output shaft.

[0013] Further, the compensation gear set includes: a first gear fixed on the torque compensation shaft, and a second gear rotatably installed on the output shaft; the first gear and the second gear are meshed and driven through at least one intermediate gear, or directly meshed to form a transmission chain.

[0014] Further, an axially extending groove is provided on the inner circumference of the coupling sleeve of the clutch. A first synchronizing ring corresponding to the coupling sleeve is provided on the output shaft, and a second synchronizing ring corresponding to the coupling sleeve is provided on the second gear of the compensation gear set. Convex blocks matching the groove are provided on the outer circumferences of the first synchronizing ring and the second synchronizing ring; when the coupling sleeve axially moves to the first position, its groove meshes with the convex blocks of the first synchronizing ring and the second synchronizing ring at the same time to realize the power coupling between the torque compensation assembly and the output shaft.

[0015] Further, the sensor module further includes a slip ring for signal transmission of the torque sensor, and the slip ring includes a rotor fixedly installed on the output shaft and a stator fixedly arranged.

[0016] Further, the sensor module further includes an angle sensor arranged between the frameless torque motor and the coupling sleeve, and the angle sensor is fixedly connected to the output shaft.

[0017] Further, the output shaft and the torque compensation shaft are arranged in parallel and kept at a distance through a shaft connecting sleeve. Both ends of the shaft connecting sleeve are rotatably connected to the two shafts through bearings.

[0018] To solve the above technical problems, the present invention also provides a technical solution as follows:

[0019] A control method for a load - adaptive joint module, comprising the following steps:

[0020] Obtain the load torque of the output shaft in real time through a torque sensor;

[0021] When the load torque exceeds 85% of the rated torque of the frameless torque motor, control the clutch driving device to drive the clutch to close, so that the torque compensation component driven by hydraulic pressure is linked with the output shaft, and the compensation torque of the torque compensation component is superimposed on the output torque of the frameless torque motor;

[0022] When the load torque drops below 75% of the rated torque of the frameless torque motor, control the clutch driving device to drive the clutch to disengage, cut off the linkage between the torque compensation component and the output shaft, and the torque is output solely by the frameless torque motor.

[0023] Furthermore, in the closed state of the clutch, dynamically adjust the hydraulic driving pressure according to the load torque, calculate the compensation amount in real time based on the difference between the load torque and the rated torque, and adjust the output pressure of the hydraulic cylinder through a proportional valve to adjust the compensation torque of the torque compensation component.

[0024] To solve the above technical problems, the present invention also provides a technical solution as follows:

[0025] A load - adaptive joint module control system, comprising a control device, and a motor assembly, a torque compensation assembly, a torque switching assembly and a torque sensor electrically connected to the control device; the motor assembly includes a frameless torque motor and an output shaft, a torque sensor is fixedly arranged on the output shaft; the torque switching assembly includes a clutch and a clutch driving device; the torque compensation assembly is driven by hydraulic pressure;

[0026] The control device is configured to: control the opening and closing of the clutch according to the feedback signal of the torque sensor. When the clutch is closed, the torque compensation assembly and the motor assembly output power together. When the clutch is disengaged, the power connection between the torque compensation assembly and the motor assembly is cut off.

[0027] Furthermore, when the feedback signal of the torque sensor, the load torque of the output shaft is greater than 85% of the rated torque of the frameless torque motor, trigger the clutch to close; when the feedback signal of the torque sensor, the load torque of the output shaft is less than 75% of the rated torque of the frameless torque motor, trigger the clutch to disengage.

[0028] A load adaptive joint module and its control method and control system provided by the present invention, compared with the prior art, realize the parallel connection and disconnection of the power output of the torque compensation component driven by hydraulic pressure and the motor component through the torque switching component; in the case of light load, the power connection between the torque compensation component and the motor component is disconnected through the clutch, so that the joint module can maintain the power output only through the motor in the case of light load, maintaining the flexibility of the dynamic response of the joint module; in the case of heavy load, the power of the torque compensation component and the motor component is superimposed through the closing of the clutch to ensure the stability of the power output of the joint module, effectively improving the load adaptive ability and energy utilization efficiency of the joint module. Description of the Drawings

[0029] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the drawings in the figures do not constitute a proportional limitation.

[0030] Figure 1 It is a front view structural schematic diagram of the load adaptive joint module in the embodiment of the present invention;

[0031] Figure 2 It is a three-dimensional structural schematic diagram of the load adaptive joint module in the embodiment of the present invention;

[0032] Figure 3 It is an exploded structural schematic diagram of the load adaptive joint module in the embodiment of the present invention;

[0033] Figure 4 It is an exploded structural schematic diagram of the load adaptive joint module at different angles in the embodiment of the present invention;

[0034] Figure 5 It is an exploded structural schematic diagram of the clutch and the synchronizing ring in the embodiment of the present invention.

[0035] Description of the reference numerals in the drawings: 100, motor component; 200, torque compensation component; 300, torque switching component; 10, output shaft; 11, output flange; 12, shaft connecting sleeve; 13, limiting ring; 20, torque compensation shaft; 21, coupling rod; 1, reducer; 2, frameless torque motor; 3, compensation gear set; 31, first gear; 32, second gear; 4, angle sensor; 5, clutch; 51, fork; 52, engaging sleeve; 521, groove; 522, convex block; 6, first synchronizing ring; 7, second synchronizing ring; 8, clutch driving device; 9, hydraulic driving device. Detailed Embodiments

[0036] In order to make the purpose, technical scheme and advantages of the present invention clearer, the following will be described in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present invention, many technical details are provided in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed for protection in the claims of the present application can be implemented.

[0037] like Figures 1-5 As shown, one embodiment of the present invention relates to a load adaptive joint module, comprising:

[0038] The motor assembly 100 includes a frameless torque motor 2, a reducer 1 connected to the output end of the frameless torque motor 2, and an output shaft 10 driven by the reducer 1; the torque compensation assembly 200 includes a hydraulically driven torque compensation shaft 20 and a compensation gear set 3, one end of the compensation gear set 3 is rigidly connected to the torque compensation shaft 20, and the other end is linked to the output shaft 10 through a switchable transmission structure; the torque switching assembly 300 includes a clutch drive device 8 and a clutch 5 sleeved on the output shaft 10, the clutch 5 has a coupling sleeve 52, and the clutch drive device 8 is used to drive the coupling sleeve 52 to move axially to control the power connection and disconnection between the compensation gear set 3 and the output shaft 10; the sensor module includes a torque sensor fixed on the output shaft 10 (not shown in the drawings), the torque sensor is used to monitor the load torque of the output shaft 10 in real time, preferably, the torque sensor adopts a strain gauge sensor, which is attached to the output shaft 10 by pasting, and can accurately measure the small strain generated by the output shaft 10 when it is subjected to force, and convert it into an electrical signal. The frameless torque motor 2 may be a radial flux or axial flux disc-type torque motor.

[0039] In one embodiment, a load adaptive joint module is involved. Among them, the motor assembly 100 includes a frameless torque motor 2, a speed reducer 1 connected to the output end of the frameless torque motor 2, and an output shaft 10 driven by the speed reducer 1. An output flange 11 is connected to the end of the output shaft 10. There are threaded through holes on both the outer and inner sides of the output flange 11. The outer side is used to connect other parts of the robot, and the inner side is used to connect the joint module output shaft 10, which plays a role in outputting torque and ensuring stable motion transmission. The speed reducer 1 is a hollow planetary speed reducer, which reduces the speed of the frameless torque motor 2 through the reduction effect and simultaneously amplifies the output torque. Among them, the torque compensation assembly 200 includes a torque compensation shaft 20 driven by a hydraulic drive device 9 and a compensation gear set 3. The compensation gear set 3 includes a first gear 31 fixed on the torque compensation shaft 20 and a second gear 32 rotatably installed on the output shaft 10. The first gear 31 and the second gear 32 are meshed and transmitted through at least one intermediate gear, or directly meshed to form a transmission chain. The hydraulic drive device 9 is a hydraulic cylinder. There are two hydraulic cylinders, which are respectively arranged on both sides of the torque compensation shaft 20. The output end of the hydraulic cylinder is connected to the output shaft 10 through a coupling rod 21. The rotation of the torque compensation shaft 20 is driven by the drive of the two hydraulic cylinders, so as to output the compensated torque. Through the multi-stage setting of the compensation gear set 3, it is beneficial to realize the efficient amplification of the compensated torque of the torque compensation shaft 20.

[0040] As Figure 5As shown, in one embodiment, a load adaptive joint module is involved. Among them, the torque switching component 300 includes a clutch driving device 8 and a clutch 5 sleeved on the output shaft 10. The clutch 5 includes a fork 51 connected to the clutch driving device 8 and a sleeve 52 clamped with the fork 51. An axially extending groove 521 is provided on the inner circumference of the sleeve 52 of the clutch 5. A first synchronizing ring 6 corresponding to the sleeve 52 is provided on the output shaft 10. A second synchronizing ring 7 corresponding to the sleeve 52 is provided on the second gear 32 of the compensation gear set 3. Protrusions 522 matching the groove 521 are provided on the outer circumferences of the first synchronizing ring 6 and the second synchronizing ring 7. The first synchronizing ring 6 is rigidly connected to the output shaft 10, and the second synchronizing ring 7 is rigidly connected to the second gear 32. When the clutch driving device 8 drives the fork 51 to drive the sleeve 52 to axially move to the first position, that is, the sleeve 52 is sleeved outside the first synchronizing ring 6 and the second synchronizing ring 7 at the same time, and its groove 521 meshes with the protrusions 522 of the first synchronizing ring 6 and the second synchronizing ring 7 at the same time, the power coupling of the torque compensation component 200 and the output shaft 10 is realized, that is, the power of the torque compensation shaft 20 is transmitted to the output shaft 10 through the meshing transmission of the compensation gear set 3, and the combined power output of the torque compensation component 200 and the output shaft 10 is realized. When the clutch driving device 8 drives the fork 51 to drive the sleeve 52 to axially move away from the first synchronizing ring 6 and the second synchronizing ring 7, the power transmission between the torque compensation shaft 20 and the output shaft 10 is cut off, and the power is output separately by the motor assembly 100. Preferably, the output shaft 10 and the torque compensation shaft 20 are arranged in parallel and kept at a distance by a shaft connecting sleeve 12. Both ends of the shaft connecting sleeve 12 are rotatably connected to the two shafts through bearings. Through the setting of the shaft connecting sleeve 12, the parallel distance between the output shaft 10 and the torque compensation shaft 20 is stabilized, and the stability of the meshing transmission of the compensation gear set 3 is ensured.

[0041] In one embodiment, the sensor module further includes a slip ring (not shown in the drawings) for torque sensor signal transmission. The slip ring includes a rotor fixedly mounted on the output shaft 10 and a stator fixedly arranged. The stator is fixedly mounted on the stationary component of the joint module. In an exemplary example, the structure of the slip ring mainly includes a stator, a rotor, a conductive ring, a brush, insulating material, and a housing. The rotor is mounted on the rotating shaft and is connected to the torque sensor. The conductive ring is mounted on the rotor for transmitting electrical signals. The brush is mounted on the stator and contacts the conductive ring to achieve the transmission of electrical signals to the external control device. The insulating material is used to isolate the electrical connections between different conductive rings to prevent short circuits. The housing serves to protect the internal components and prevent contaminants such as dust and moisture from entering. The slip ring transmits the electrical signals measured by the torque sensor to the control system in real time through the contact between the conductive ring and the brush to ensure stable signal transmission. Preferably, the sensor module further includes an angle sensor 4 disposed between the frameless torque motor 2 and the coupling sleeve 52. The angle sensor 4 is fixedly connected to the output shaft 10 and is used to monitor the rotation angle of the output shaft 10 in real time. By providing a strain gauge type torque sensor and a slip ring, the response speed of the joint module under dynamic load conditions can be effectively improved, and the torque output during heavy load can be ensured not to be limited by the insufficient torque of the frameless torque motor 2 through the torque compensation component 200.

[0042] Its working principle is as follows:

[0043] In the light load working mode, when the torque required by the robot joint module is small, the clutch 5 remains disengaged. At this time, the joint module only outputs an initial torque through the frameless torque motor 2, and the speed output by the frameless torque motor 2 is reduced and the torque is amplified by the hollow planetary reducer 1 to ensure the light load operation of the joint and maintain the flexibility of the joint module. In this mode, the clutch 5 is disengaged, and there is no direct power transmission connection between the output shaft 10 of the frameless torque motor 2 and the torque compensation component 200. The output torque of the frameless torque motor 2 is directly transmitted to the output shaft 10 through the hollow planetary reducer 1 to drive the robot joint to move. There is no direct power transmission connection between the output shaft 10 and the torque compensation shaft 20, and the torque compensation shaft 20 is in a non-working state and does not participate in the torque output.

[0044] Heavy load working mode: When the load increases, the external control system electrically connected to the torque sensor monitors the torque of the output shaft 10 in real time through the strain gauge torque sensor. When the detected load torque reaches the preset threshold, the control system commands the clutch 5 to automatically close, and locks the first synchronizing ring 6 and the second synchronizing ring 7 through the engaging sleeve 52. At this time, the hydraulic cylinder starts to work, and the additional thrust is transmitted to the gear set through the torque compensation shaft 20 to further compensate for the insufficient torque of the frameless torque motor 2. In this mode, after the clutch 5 closes, a power transmission connection is established between the output shaft 10 of the frameless torque motor 2 and the torque compensation shaft 20. The engaging sleeve 52 of the clutch 5 is circumferentially fixed to the first synchronizing ring 6 and the second synchronizing ring 7 to ensure the synchronization of the power output between the output of the frameless torque motor 2 and the torque compensation assembly 200. The thrust of the hydraulic cylinder is transmitted to the compensation gear set 3 through the torque compensation shaft 20, and the compensation gear set 3 then transmits the compensation torque to the output shaft 10, which combines with the output torque of the frameless torque motor 2 to form a larger total output torque to meet the heavy load requirements. A power transmission connection is established between the output shaft 10 and the torque compensation shaft 20 through the clutch 5 and the compensation gear set 3. The compensation torque of the torque compensation shaft 20 is transmitted to the output shaft 10 through the compensation gear set 3 and superimposed on the torque of the frameless torque motor 2 to jointly drive the robot joint movement to meet the power stable output requirement of the joint module under heavy load. Through the setting of the torque switching component 300 and combined with the real-time feedback of the torque sensor, the switching of the clutch 5 and the torque compensation mechanism of the hydraulic drive can automatically adjust the working mode of the joint module according to the load change, providing accurate, stable and adaptive torque output.

[0045] In one embodiment of the present invention, a load adaptive joint module control method is provided, including the following steps:

[0046] Obtain the load torque of the output shaft 10 in real time through the torque sensor, and compare the measured load torque with the rated torque of the frameless torque motor 2;

[0047] When the measured load torque value reaches the preset value, the clutch 5 is triggered to close, and the torque compensation component 200 is activated to provide torque compensation. In an exemplary example, when the load torque exceeds 85% of the rated torque of the frameless torque motor 2, the clutch drive device 8 is controlled to drive the clutch 5 to close, so that the hydraulically driven torque compensation component 200 is power-combined with the output shaft 10 for output, and the compensation torque of the torque compensation component 200 is superimposed on the output torque of the frameless torque motor 2; preferably, the pressure of the hydraulic drive device 9 is dynamically adjusted according to the load torque, the compensation amount is calculated in real time based on the difference between the load torque and the rated torque, the output pressure of the hydraulic drive device 9 is adjusted, and the compensation torque of the torque compensation component 200 is adjusted. In one embodiment, according to the real-time measurement data of the load torque, the working pressure of the hydraulic cylinder is adjusted in real time through a proportional valve to provide a compensation torque matching the load torque to cope with different load conditions.

[0048] When the load torque drops below 75% of the rated torque of the frameless torque motor 2, the clutch drive device 8 is controlled to drive the clutch 5 to disconnect, cutting off the linkage between the torque compensation component 200 and the output shaft 10, and the torque is output solely by the frameless torque motor 2.

[0049] When the load torque is in the range of 75% - 85% relative to the rated torque of the frameless torque motor 2, it is the dead zone of the clutch 5, that is, the clutch 5 maintains its original state and does not perform switching actions, and the joint module maintains the current working mode, which can effectively avoid the frequent switching of the clutch 5 caused by small fluctuations in the load torque, reduce the wear of the clutch 5, and ensure the stability of the system.

[0050] In an embodiment of the present invention, a load adaptive joint module control system is provided for realizing dynamic torque switching of the joint module, which includes a control device, and a motor assembly 100, a torque compensation assembly 200, a torque switching assembly 300 and a torque sensor electrically connected to the control device; the motor assembly 100 includes a frameless torque motor 2 and an output shaft 10, and a torque sensor is fixedly arranged on the output shaft 10; the torque switching assembly 300 includes a clutch 5 and a clutch driving device 8; the torque compensation assembly 200 is hydraulically driven, and the hydraulic driving device 9 is a hydraulic cylinder; the control device is configured to: control the opening and closing of the clutch 5 according to the feedback signal of the torque sensor. When the clutch 5 is closed, the power of the torque compensation assembly 200 and the motor assembly 100 is combined and output. When the clutch 5 is disconnected, the power connection between the torque compensation assembly 200 and the motor assembly 100 is cut off. In a demonstrative example, when the joint module is in the heavy load working mode, that is, when the load torque of the output shaft 10 in the feedback signal of the torque sensor is greater than 85% of the rated torque of the frameless torque motor 2, the clutch 5 is triggered to close, and the control device dynamically controls the hydraulic cylinder to provide matching torque compensation according to the feedback signal of the torque sensor. The compensation torque is transmitted to the gear set through the torque compensation shaft 20 and acts on the output shaft 10 together to increase the overall torque output; when the joint module is in the light load working mode, that is, when the load torque of the output shaft 10 in the feedback signal of the torque sensor is less than 75% of the rated torque of the frameless torque motor 2, the clutch 5 is kept disconnected or triggered to disconnect, and the power connection between the torque compensation assembly 200 and the motor assembly 100 is cut off, and the power output is provided solely by the motor assembly 100 to reduce energy consumption and improve energy utilization efficiency. The torque sensor is a strain gauge type torque sensor, which is directly pasted or attached to the output shaft 10, and the torque change is accurately measured through the strain signal of the strain gauge. The strain gauge sensor has high sensitivity, can reflect the change of torque in real time, and can withstand high-frequency dynamic response. The control device can receive the real-time measurement signal feedback by the torque sensor, automatically switch the working mode, control the clutch 5 to switch, realize rapid response under different load conditions, provide accurate and stable torque output, realize fast response under light load and stable output under heavy load, and improve the load adaptive ability and energy utilization efficiency of the joint module.

[0051] A load adaptive joint module and its control method and control system provided by the present invention, compared with the prior art, realize the parallel connection and disconnection of the power output of the torque compensation component driven by hydraulic pressure and the motor component through the torque switching component. By disconnecting the power connection between the torque compensation component and the motor component through the clutch, the joint module can maintain the power output only through the motor under light load conditions, maintaining the flexibility of the dynamic response of the joint module; under heavy load conditions, the power of the torque compensation component and the motor component is superimposed through the closing of the clutch to ensure the stability of the power output of the joint module, effectively improving the load adaptation ability and energy utilization efficiency of the joint module.

[0052] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in actual applications, various changes can be made in form and details without departing from the spirit and scope of the present invention.

Claims

1. A load-adaptive joint module, characterized in that Comprising: A motor assembly (100), including a frameless torque motor (2), a speed reducer (1) connected to the output end of the frameless torque motor (2), and an output shaft (10) driven by the speed reducer (1); A torque compensation assembly (200), including a hydraulically driven torque compensation shaft (20) and a compensation gear set (3), one end of the compensation gear set (3) is rigidly connected to the torque compensation shaft (20), and the other end is linked with the output shaft (10) through a switchable transmission structure; A torque switching assembly (300), including a clutch driving device (8) and a clutch (5) sleeved on the output shaft (10), the clutch (5) has a coupling sleeve (52), and the clutch driving device (8) is used to drive the coupling sleeve (52) to axially move to control the power on and off between the compensation gear set (3) and the output shaft (10); A sensor module, including a torque sensor fixed on the output shaft (10), and the torque sensor is used to monitor the load torque of the output shaft (10) in real time.

2. The load-adaptive joint module according to claim 1, wherein The compensation gear set (3) includes: a first gear (31) fixed on the torque compensation shaft (20), and a second gear (32) rotatably mounted on the output shaft (10); The first gear (31) and the second gear (32) are meshed and driven through at least one intermediate gear, or directly meshed to form a transmission chain.

3. The load-adaptive joint module according to claim 2, wherein An axially extending groove (521) is provided on the inner circumference of the coupling sleeve (52) of the clutch (5), a first synchronizing ring (6) corresponding to the coupling sleeve (52) is provided on the output shaft (10), and a second synchronizing ring (7) corresponding to the coupling sleeve (52) is provided on the second gear (32) of the compensation gear set (3), and bumps (522) matching the groove (521) are provided on the outer circumferences of the first synchronizing ring (6) and the second synchronizing ring (7); When the coupling sleeve (52) axially moves to the first position, its groove (521) meshes with the bumps (522) of the first synchronizing ring (6) and the second synchronizing ring (7) at the same time, realizing the power coupling between the torque compensation assembly (200) and the output shaft (10).

4. The load-adaptive joint module according to claim 1, wherein The sensor module further includes a slip ring for signal transmission of the torque sensor, and the slip ring includes a rotor fixedly installed on the output shaft (10) and a stator fixedly arranged.

5. The load-adaptive joint module according to claim 1, wherein The sensor module further includes an angle sensor (4) arranged between the frameless torque motor (2) and the coupling sleeve (52), and the angle sensor (4) is fixedly connected to the output shaft (10).

6. The load-adaptive joint module according to claim 1, characterized in that, The output shaft (10) and the torque compensation shaft (20) are arranged in parallel and kept at a distance through a shaft connecting sleeve (12), and both ends of the shaft connecting sleeve (12) are rotatably connected to the two shafts through bearings.

7. A load adaptive joint module control method, characterized in that, Including the following steps: Obtaining the load torque of the output shaft (10) in real time through the torque sensor; When the load torque exceeds 85% of the rated torque of the frameless torque motor (2), control the clutch driving device (8) to drive the clutch (5) to close, so that the hydraulically driven torque compensation component (200) is linked with the output shaft (10), and the compensation torque of the torque compensation component (200) is superimposed on the output torque of the frameless torque motor (2); When the load torque drops below 75% of the rated torque of the frameless torque motor (2), control the clutch driving device (8) to drive the clutch (5) to disengage, cut off the linkage between the torque compensation component (200) and the output shaft (10), and the torque is output solely by the frameless torque motor (2).

8. The control method according to claim 7, wherein When the clutch (5) is in the closed state, dynamically adjust the hydraulic driving pressure according to the load torque, calculate the compensation amount in real time based on the difference between the load torque and the rated torque, and adjust the output pressure of the hydraulic cylinder through a proportional valve to adjust the compensation torque of the torque compensation component (200).

9. A load adaptive joint module control system, characterized in that, It includes a control device, and a motor assembly (100), a torque compensation component (200), a torque switching component (300) and a torque sensor that are electrically connected to the control device; The motor assembly (100) includes a frameless torque motor (2) and an output shaft (10), and a torque sensor is fixedly arranged on the output shaft (10); The torque switching component (300) includes a clutch (5) and a clutch driving device (8); The torque compensation component (200) is hydraulically driven; The control device is configured to: control the opening and closing of the clutch (5) according to the feedback signal of the torque sensor. When the clutch (5) is closed, the power of the torque compensation component (200) and the motor assembly (100) is combined and output. When the clutch (5) is disengaged, the power connection between the torque compensation component (200) and the motor assembly (100) is cut off.

10. The load adaptive joint module control system according to claim 9, wherein, When the feedback signal of the torque sensor indicates that the load torque of the output shaft (10) is greater than 85% of the rated torque of the frameless torque motor (2), trigger the clutch (5) to close; When the feedback signal of the torque sensor indicates that the load torque of the output shaft (10) is less than 75% of the rated torque of the frameless torque motor (2), trigger the clutch (5) to disengage.

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