A load-adaptive joint module and its control method and control system

Abstract

The present invention relates to the field of robotics, and in particular to a load-adaptive joint module and a control method and control system thereof, wherein the joint module comprises: a motor assembly, comprising a frameless torque motor and an output shaft; a torque compensation assembly, comprising a torque compensation shaft and a compensation gear set, wherein one end of the compensation gear set is rigidly connected to the torque compensation shaft, and the other end is linked to the output shaft through a switchable transmission structure; a torque switching assembly, comprising a clutch drive device and a clutch sleeved on the output shaft, wherein the clutch has a coupling sleeve, and the clutch drive device is used to drive the coupling sleeve to move axially to control the power on and off of the compensation gear set and the output shaft; a sensor module, comprising a torque sensor fixed on the output shaft, wherein the torque sensor is used to monitor the load torque of the output shaft in real time. The torque switching assembly realizes the parallel connection and disconnection of the torque compensation assembly and the power output of the motor assembly, significantly improving the load adaptive capability and energy efficiency of the joint module.

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 advancement of robotics, especially for highly agile robots like humanoids, the conflict between torque output and dynamic response speed in joint drive systems has become a key design challenge. While traditional motor-driven systems offer high efficiency and fast response, they often lack torque output when facing heavy loads, potentially causing system 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 one 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, the motor assembly includes a drive shaft; the reducer includes an output component that is transmission-connected to the drive shaft, 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 the joint module being subjected to excessive external impact force and thus 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 existing technology, 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 increase 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 surplus, 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 the joint module torque compensation mechanism.

[0007] In order to solve the above technical problems, the embodiments of the present invention provide a technical solution as follows:

[0008] A load-adaptive joint module, comprising:

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

[0010] A torque compensation assembly includes 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 to the output shaft through a switchable transmission structure;

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

[0012] The sensor module includes a torque sensor fixed on the output shaft, and the torque sensor is used to monitor the load torque of the output shaft in real time.

[0013] Furthermore, the compensation gear set includes: a first gear fixed on the torque compensation shaft, and a second gear rotatably mounted 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] Furthermore, an axially extending groove is provided on the inner periphery of the coupling sleeve of the clutch, a first synchronizer ring corresponding to the coupling sleeve is provided on the output shaft, and a second synchronizer ring corresponding to the coupling sleeve is provided on the second gear of the compensation gear set, and protrusions matching the groove are provided on the outer peripheries of the first synchronizer ring and the second synchronizer ring; when the coupling sleeve moves axially to the first position, its groove simultaneously engages with the protrusions of the first synchronizer ring and the second synchronizer ring, thereby realizing power coupling between the torque compensation assembly and the output shaft.

[0015] Furthermore, the sensor module further includes an electric slip ring for transmitting torque sensor signals, and the electric slip ring includes a rotor fixedly mounted on the output shaft and a stationary stator.

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

[0017] Furthermore, the output shaft is arranged in parallel with the torque compensation shaft and a distance therebetween is maintained by a shaft connecting sleeve, and both ends of the shaft connecting sleeve are rotatably connected to the two shafts through bearings.

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

[0019] A load-adaptive joint module control method comprises the following steps:

[0020] The load torque of the output shaft is obtained in real time through the torque sensor;

[0021] When the load torque exceeds 85% of the rated torque of the frameless torque motor, the clutch drive device is controlled to drive the clutch to close, so that the hydraulically driven torque compensation component is linked to 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, the clutch drive device is controlled to drive the clutch to disengage, cutting off the linkage between the torque compensation component and the output shaft, and the torque is output by the frameless torque motor alone.

[0023] Furthermore, when the clutch is closed, the hydraulic drive pressure 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, and the hydraulic cylinder output pressure is adjusted through the proportional valve to adjust the compensation torque of the torque compensation component.

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

[0025] A load-adaptive joint module control system includes a control device, and a motor assembly electrically connected to the control device, a torque compensation assembly, a torque switching assembly, and a torque sensor; the motor assembly includes a frameless torque motor and an output shaft, the output shaft is fixedly provided with a torque sensor; the torque switching assembly includes a clutch and a clutch drive device; the torque compensation assembly is hydraulically driven;

[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 component and the motor component combine to output power. When the clutch is open, the power connection between the torque compensation component and the motor component is cut off.

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

[0028] Compared with the existing technology, the load-adaptive joint module and its control method and control system provided by the present invention realize the parallel connection and disconnection of the hydraulically driven torque compensation component and the motor component power output through a torque switching component; under light load conditions, the power connection between the torque compensation component and the motor component is disconnected by a clutch, so that the joint module can maintain power output only through the motor under light load conditions, thereby maintaining the flexibility of the dynamic response of the joint module; under heavy load conditions, the torque compensation component and the motor component are superimposed on each other through the closing of the clutch to ensure the stability of the power output of the joint module, thereby effectively improving the load adaptability and energy utilization efficiency of the joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0030] Figure 1 This is a schematic diagram of the main structure of the load adaptive joint module in an embodiment of the present invention;

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

[0032] Figure 3 Schematic diagram of the decomposition structure of the load adaptive joint module in an embodiment of the present invention;

[0033] Figure 4 Schematic diagram of the decomposition structure of the load adaptive joint module at different angles in an embodiment of the present invention;

[0034] Figure 5 It is a schematic diagram of the decomposed structure of the clutch and the synchronizer ring in an embodiment of the present invention.

[0035] Explanation of the accompanying drawings: 100, motor assembly; 200, torque compensation assembly; 300, torque switching assembly; 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, shift fork; 52, coupling sleeve; 521, groove; 522, bump; 6, first synchronizer ring; 7, second synchronizer ring; 8, clutch drive device; 9, hydraulic drive device. DETAILED DESCRIPTION

[0036] To make the objectives, technical solutions, and advantages of the present invention more apparent, various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will appreciate that many technical details are provided in various embodiments of the present invention to facilitate a better understanding of the present application. However, even without these technical details and the various variations and modifications based on the following embodiments, the technical solutions claimed in the claims of this application can be implemented.

[0037] like Figure 1-Figure 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, 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 (not shown in the drawings) fixed to the output shaft 10, 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 gluing. It can accurately measure the tiny 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 disc-type torque motor with radial flux or axial flux.

[0039] In one embodiment, a load-adaptive joint module is provided, wherein a motor assembly 100 includes a frameless torque motor 2 , a reducer 1 connected to an output end of the frameless torque motor 2 , and an output shaft 10 driven by the reducer 1 . The end of the output shaft 10 is connected with an output flange 11, which has threaded through holes on both the outer and inner sides. The outer side is used to connect to other parts of the robot, and the inner side is used to connect to the output shaft 10 of the joint module, which plays the role of outputting torque and ensuring stable motion transmission; the reducer 1 is a hollow planetary reducer, which reduces the speed of the frameless torque motor 2 through deceleration and amplifies the output torque at the same time; wherein, 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 mounted on the output shaft 10; the first gear 31 and the second gear 32 are meshed and driven by at least one intermediate gear, or directly meshed to form a transmission chain, the hydraulic drive device 9 is a hydraulic cylinder, and there are two hydraulic cylinders, which are arranged on both sides of the torque compensation shaft 20, and the output end of the hydraulic cylinder is connected to the output shaft 10 through a coupling rod 21, and the torque compensation shaft 20 is driven to rotate by the drive of the two hydraulic cylinders, thereby outputting the compensation torque. The multi-stage arrangement of the compensation gear set 3 is conducive to achieving efficient amplification of the compensation torque of the torque compensation shaft 20.

[0040] like Figure 5As shown, in one embodiment, a load-adaptive joint module is involved, wherein a torque switching assembly 300 includes a clutch driving device 8 and a clutch 5 sleeved on an output shaft 10, the clutch 5 includes a shift fork 51 connected to the clutch driving device 8, and a coupling sleeve 52 engaged with the shift fork 51, the inner periphery of the coupling sleeve 52 of the clutch 5 is provided with an axially extending groove 521, the output shaft 10 is provided with a first synchronizer ring 6 corresponding to the coupling sleeve 52, the second gear 32 of the compensation gear set 3 is provided with a second synchronizer ring 7 corresponding to the coupling sleeve 52, the outer peripheries of the first synchronizer ring 6 and the second synchronizer ring 7 are provided with a protrusion 522 matching the groove 521; the first synchronizer ring 6 is rigidly connected to the output shaft 10, and the second synchronizer ring 7 is rigidly connected to the second gear 3 2 rigid connection; when the clutch drive device 8 drives the shift fork 51 to cause the coupling sleeve 52 to move axially to the first position, that is, the coupling sleeve 52 is simultaneously mounted on the outside of the first synchronizer ring 6 and the second synchronizer ring 7, and its groove 521 simultaneously engages the protrusion 522 of the first synchronizer ring 6 and the second synchronizer ring 7, achieving power coupling between the torque compensation assembly 200 and the output shaft 10. That is, the power of the torque compensation shaft 20 is transmitted to the output shaft 10 through the engagement of the compensation gear set 3, achieving combined power output of the torque compensation assembly 200 and the output shaft 10; when the clutch drive device 8 drives the shift fork 51 to cause the coupling sleeve 52 to move axially to disengage from the first synchronizer ring 6 and the second synchronizer ring 7, the power transmission between the torque compensation shaft 20 and the output shaft 10 is cut off, and the motor assembly 100 performs the power output alone. Preferably, the output shaft 10 and the torque compensation shaft 20 are arranged parallel to each other and maintained at a distance by the shaft connecting sleeve 12. The ends of the shaft connecting sleeve 12 are rotatably connected to the two shafts through bearings. By providing the shaft connecting sleeve 12 , the parallel distance between the output shaft 10 and the torque compensation shaft 20 is stabilized, thereby ensuring the stability of the meshing transmission of the compensation gear set 3 .

[0041] In one embodiment, the sensor module also includes an electrical slip ring (not shown) for transmitting torque sensor signals. The slip ring comprises a rotor fixedly mounted on the output shaft 10 and a stationary stator fixedly mounted on the stationary component of the joint module. In one exemplary embodiment, the slip ring structure primarily includes a stator, rotor, conductive rings, brushes, insulating material, and a housing. The rotor is mounted on the rotating shaft and connected to the torque sensor. The conductive rings are mounted on the rotor for transmitting electrical signals. The brushes are mounted on the stator and contact the conductive rings to transmit electrical signals to an external control device. The insulating material isolates the electrical connections between the conductive rings to prevent short circuits. The housing protects the internal components from contaminants such as dust and moisture. The slip ring, through contact between the conductive rings and the brushes, transmits the electrical signals measured by the torque sensor to the control system in real time, ensuring stable signal transmission. Preferably, the sensor module also 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 to monitor the rotational angle of the output shaft 10. By setting up a strain gauge torque sensor and an electric slip ring, the response speed of the joint module under dynamic load conditions can be effectively improved, and the torque compensation component 200 can ensure that the torque output under heavy load will not be limited by the insufficient torque of the frameless torque motor 2.

[0042] Here's how it works:

[0043] In the light-load working mode, when the torque required by the robot joint module is small, the clutch 5 remains in a disengaged state. At this time, the joint module only outputs preliminary torque through the frameless torque motor 2, and reduces the speed output by the frameless torque motor 2 through the hollow planetary reducer 1, amplifies the torque, ensures the light-load operation of the joint, and maintains the flexibility of the joint module. In this mode, the clutch 5 is in a disengaged state, and there is no direct power transmission connection between the output shaft 10 of the frameless torque motor 2 and the torque compensation assembly 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 movement. There is no direct power transmission connection between the output shaft 10 and the torque compensation shaft 20. The torque compensation shaft 20 is in a non-working state and does not participate in the output of torque.

[0044] Heavy-load operating mode: As the load increases, an external control system electrically connected to the torque sensor monitors the torque of the output shaft 10 in real time via a strain-gauge torque sensor. When the detected load torque reaches a preset threshold, the control system automatically closes the clutch 5, locking the first and second synchronizer rings 6 and 7 via the coupling sleeve 52. At this point, the hydraulic cylinder begins operating, transmitting additional thrust to the gear set via the torque compensation shaft 20, further compensating 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 clutch 5 coupling sleeve 52 circumferentially secures the first and second synchronizer rings 6 and 7, ensuring synchronization between the output of the frameless torque motor 2 and the torque compensation assembly 200. The hydraulic cylinder's thrust is transmitted via the torque compensation shaft 20 to the compensation gear set 3, which then transmits the compensation torque to the output shaft 10. This combined torque, combined with the output torque of the frameless torque motor 2, creates a higher total output torque, meeting heavy-load requirements. The output shaft 10 establishes a power transmission connection with the torque compensation shaft 20 via 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 via the compensation gear set 3. This torque is combined with the torque of the frameless torque motor 2 to drive the robot joint movement, ensuring stable power output for the joint module under heavy loads. Through the torque switching assembly 300 and real-time feedback from the torque sensor, the switching of the clutch 5 and the hydraulically driven torque compensation mechanism automatically adjust the joint module's operating mode based on load changes, providing precise, stable, and adaptive torque output.

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

[0046] The load torque of the output shaft 10 is obtained in real time by a torque sensor, and the measured load torque is compared with the rated torque of the frameless torque motor 2;

[0047] When the measured load torque reaches a preset value, the clutch 5 is triggered to close, and the torque compensation assembly 200 is activated to provide torque compensation. In one exemplary embodiment, when the load torque exceeds 85% of the rated torque of the frameless torque motor 2, the clutch drive 8 is controlled to drive the clutch 5 to close, so that the hydraulically driven torque compensation assembly 200 and the output shaft 10 are combined and output, and the compensation torque of the torque compensation assembly 200 is superimposed on the output torque of the frameless torque motor 2. Preferably, the pressure of the hydraulic drive 9 is dynamically adjusted according to the load torque, and 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 9 is adjusted, and the compensation torque of the torque compensation assembly 200 is adjusted. In one embodiment, the working pressure of the hydraulic cylinder is adjusted in real time through a proportional valve based on the real-time measurement data of the load torque to provide a compensation torque that matches 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 by the frameless torque motor 2 alone.

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

[0050] In one embodiment of the present invention, a load-adaptive joint module control system is provided for realizing dynamic torque switching of the joint module, comprising 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 comprises a frameless torque motor 2 and an output shaft 10, on which a torque sensor is fixed; the torque switching assembly 300 comprises a clutch 5 and a clutch drive device 8; the torque compensation assembly 200 is hydraulically driven, and the hydraulic drive device 9 is a hydraulic cylinder; the control device is configured to: control the opening and closing of the clutch 5 according to the torque sensor feedback signal, when the clutch 5 is closed, the torque compensation assembly 200 and the motor assembly 100 are combined to output power, and when the clutch 5 is disconnected, the power connection between the torque compensation assembly 200 and the motor assembly 100 is cut off. In an exemplary embodiment, when the joint module is in a heavy-load working mode, that is, when the torque sensor feedback signal output shaft 10 load torque 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 torque sensor feedback signal, and transmits the compensation torque to the gear set through the torque compensation shaft 20, which acts together on the output shaft 10 to increase the overall torque output; when the joint module is in a light-load working mode, that is, when the torque sensor feedback signal output shaft 10 load torque is less than 75% of the rated torque of the frameless torque motor 2, the clutch 5 is kept open or triggered to disconnect, cutting off the power connection between the torque compensation assembly 200 and the motor assembly 100, 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 torque sensor, which is directly attached to or attached to the output shaft 10 and accurately measures torque changes through the strain signal of the strain gauge. The strain gauge sensor has high sensitivity, can reflect torque changes in real time, and can withstand high-frequency dynamic response. The control device can receive real-time measurement signals fed back by the torque sensor, automatically switch the working mode, control the clutch 5 to switch, achieve rapid response under different load conditions, provide accurate and stable torque output, achieve rapid response under light load and stable output under heavy load, and improve the load adaptability and energy utilization efficiency of the joint module.

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

[0052] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and that in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A load-adaptive joint module, characterized in that: include: A motor assembly (100) includes a frameless torque motor (2), a reducer (1) connected to an output end of the motor (2), and an output shaft (10) driven by the reducer (1); A torque compensation assembly (200) comprises a hydraulically driven torque compensation shaft (20) and a compensation gear set (3), wherein 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) via a switchable transmission structure; A torque switching assembly (300) includes a clutch drive device (8) and a clutch (5) sleeved on an output shaft (10), wherein 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); A sensor module comprises a torque sensor fixed on the output shaft (10), wherein the torque sensor is used to monitor the load torque of the output shaft (10) in real time; The compensation gear set (3) comprises: 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 via at least one intermediate gear, or are directly meshed to form a transmission chain; An axially extending groove (521) is provided on the inner periphery of the coupling sleeve (52) of the clutch (5); a first synchronizer ring (6) corresponding to the coupling sleeve (52) is provided on the output shaft (10); a second synchronizer ring (7) corresponding to the coupling sleeve (52) is provided on the second gear (32) of the compensation gear set (3); and a protrusion (522) matching the groove (521) is provided on the outer periphery of the first synchronizer ring (6) and the second synchronizer ring (7); When the coupling sleeve (52) moves axially to the first position, its groove (521) simultaneously engages with the protrusions (522) of the first synchronizer ring (6) and the second synchronizer ring (7), thereby achieving dynamic coupling between the torque compensation assembly (200) and the output shaft (10); The output shaft (10) and the torque compensation shaft (20) are arranged in parallel and are spaced apart by a shaft connecting sleeve (12). Both ends of the shaft connecting sleeve (12) are rotatably connected to the two shafts via bearings.

2. The load-adaptive joint module according to claim 1, characterized in that: The sensor module further comprises an electric slip ring for transmitting torque sensor signals, wherein the electric slip ring comprises a rotor fixedly mounted on the output shaft (10) and a stationary stator.

3. The load-adaptive joint module according to claim 1, characterized in that: The sensor module further comprises an angle sensor (4) arranged between the motor (2) and the coupling sleeve (52), and the angle sensor (4) is fixedly connected to the output shaft (10).

4. A control method for a load adaptive joint module according to any one of claims 1 to 3, characterized in that: The following steps are involved: Obtaining the load torque of the output shaft (10) in real time through a torque sensor; 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 linked to the output shaft (10), and the compensation torque of the torque compensation component (200) is superimposed on the output torque of the motor (2); 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, thereby cutting off the linkage between the torque compensation component (200) and the output shaft (10), and the torque is outputted solely by the motor (2).

5. The control method according to claim 4, characterized in that: When the clutch (5) is in a closed state, the hydraulic driving pressure 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, and the hydraulic cylinder output pressure is adjusted through a proportional valve to adjust the compensation torque of the torque compensation component (200).

6. A control system for a load adaptive joint module according to any one of claims 1 to 3, characterized in that: It comprises a control device, and a motor component (100), a torque compensation component (200), a torque switching component (300) and a torque sensor electrically connected to the control device; The motor assembly (100) comprises a frameless torque motor (2) and an output shaft (10), wherein a torque sensor is fixedly provided on the output shaft (10); The torque switching assembly (300) includes a clutch (5) and a clutch drive device (8); The torque compensation assembly (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 torque compensation component (200) and the motor component (100) combine to output power; when the clutch (5) is disconnected, the power connection between the torque compensation component (200) and the motor component (100) is cut off.

7. The control system of the load adaptive joint module according to claim 6, characterized in that: When the torque sensor feedback signal output shaft (10) load torque is greater than 85% of the rated torque of the motor (2), the clutch (5) is triggered to close; When the torque sensor feedback signal output shaft (10) load torque is less than 75% of the rated torque of the motor (2), the clutch (5) is triggered to disconnect.

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