Driving device, joint module, robot and resetting method

Abstract

The invention discloses a driving device, a joint module, a robot and a resetting method, the driving device comprises a driving assembly and a position detection assembly, and the reduction ratio of a speed reducer included in the driving assembly is 1: m; a transmission part of the position detection assembly is in transmission connection between the rotating shaft and a second magnetic part, a first single-ring absolute value magnetic encoder is used for transmitting a detected first angle to the controller, and a second single-ring absolute value magnetic encoder is used for transmitting a detected second angle to the controller; the transmission part is configured to enable the rotation angle of the second magnetic part to be larger than or smaller than the rotation angle of the rotating shaft, the absolute value C of the angle difference between the first angle and the second angle and the number x of rotation turns of the rotating shaft meet the relational expression that C = x * (360 degrees / m), and the controller is configured to calculate x based on the values of C and m. According to the invention, the problem that the single-turn absolute value magnetic encoder cannot identify the number of operation turns of the motor after the robot joint module is powered off and powered on again is solved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a drive device, a joint module, a robot, and a resetting method. Background Art

[0002] The motors in the joint modules of current biomimetic robots typically use single-turn absolute magnetic encoders to detect motor position. Due to the presence of a reducer within the joint module, after the robot's joint module loses power and then powers back on, the single-turn absolute magnetic encoder can detect the motor's single-turn position, but it cannot identify the number of motor revolutions and, consequently, cannot accurately determine the position of the joint module's reducer output. Manually restoring the biomimetic robot's joint module to its default (manufacturer-specified) position is necessary to recalibrate the position of the single-turn absolute magnetic encoder within the joint module. Summary of the Invention

[0003] The main purpose of this application is to provide a drive device, a joint module, a robot and a reset method to solve the problem in the background technology that after the robot joint module is powered off and then powered on again, the single-turn absolute magnetic encoder cannot identify the number of running circles of the motor.

[0004] According to one aspect of the present application, a driving device is provided, wherein the driving device is at least provided at a joint module of a robot, and the driving device comprises:

[0005] A drive assembly, the drive assembly comprising a motor and a reducer, the motor comprising a rotating shaft, the reducer comprising an input end and an output end, the input end being connected to the first end of the rotating shaft, and the reduction ratio of the reducer being 1:m, where m is an integer;

[0006] A position detection assembly, the position detection assembly comprising a first magnetic member, a second magnetic member, a transmission member, a first single-turn absolute magnetic encoder, a second single-turn absolute magnetic encoder, and a controller, wherein the first magnetic member is mounted on the rotating shaft and coaxially arranged with the rotating shaft, the first single-turn absolute magnetic encoder is arranged opposite to the first magnetic member, the transmission member is transmission-connected between the rotating shaft and the second magnetic member to drive the second magnetic member to rotate, the second single-turn absolute magnetic encoder is arranged opposite to the second magnetic member, the controller is respectively connected to the first single-turn absolute magnetic encoder and the second single-turn absolute magnetic encoder, the first single-turn absolute magnetic encoder is used to transmit a detected first angle of rotation of the rotating shaft to the controller, and the second single-turn absolute magnetic encoder is used to transmit a detected second angle of rotation of the second magnetic member to the controller;

[0007] The transmission component is configured to make the angle of rotation of the second magnetic component greater than or less than the angle of rotation of the rotating shaft. The absolute value of the angular difference between the first angle and the second angle is C. When the number of rotations of the output end is no more than one circle, the number of rotations of the rotating shaft is x. C and x satisfy the relationship: C=x×(360°÷m). The controller is configured to calculate x based on the values ​​of C and m.

[0008] Furthermore, the transmission component includes:

[0009] A gear transmission system, the gear transmission system includes at least two gears meshing with each other. Based on the power transmission sequence of the gear transmission system, the gear serving as the first stage of the gear transmission system is sleeved on the rotating shaft, and the second magnetic member is coaxially arranged on the gear serving as the last stage of the gear transmission system, and the transmission ratio of the gear transmission system is greater than or less than 1.

[0010] Furthermore, the transmission component includes a gear transmission system, and the gear transmission system includes:

[0011] a first gear, wherein the first gear is sleeved on the rotating shaft, and the first gear and the first magnetic element are both located at a second end of the rotating shaft away from the input end and are coaxially arranged;

[0012] The second gear is installed on one side of the first gear along its own radial direction, the second gear is meshed with the first gear and can rotate around its own axis, the second magnetic member is installed in the middle of the second gear and is coaxially arranged with the second gear, and the number of teeth of the second gear is more or less than the number of teeth of the first gear.

[0013] Furthermore, the number of teeth of the first gear is N1, the number of teeth of the second gear is N2, and the ratio between N1 and N2 satisfies the following relationship:

[0014] N1:N2=[(m-1)×n]:[m×n], where n is an integer; or

[0015] N1:N2=[m×n]:[(m+1)×n], where n is an integer.

[0016] Furthermore, it also includes:

[0017] An installation shell is provided with an installation cavity in the installation shell, the motor is installed in the installation cavity and the second end is extended to the outside of the installation cavity and is engaged with the first gear, a rotating connection structure is provided between the installation shell and the second gear, and the rotating connection structure rotationally connects the second gear to the installation shell.

[0018] Furthermore, the mounting housing includes:

[0019] A shell body is provided with a mounting hole along the axial direction of the rotating shaft;

[0020] An end cover is arranged at one end of the shell body along the axial direction of the rotating shaft and covers the mounting hole. The end cover and the inner wall surface of the mounting hole are arranged to form the mounting cavity. The second end passes through the end cover and extends outside the mounting cavity. The rotating connection structure is arranged between the end cover and the second gear.

[0021] Furthermore, the rotating connection structure includes:

[0022] a connecting hole, the connecting hole being provided on the end cover;

[0023] A bearing, the outer peripheral surface of the bearing being fixedly connected to the inner wall surface of the connecting hole;

[0024] A connecting shaft, one end of which is connected to the second gear and the other end of which is sleeved with the bearing, and the connecting shaft and the second gear are coaxially arranged.

[0025] Furthermore, the position detection component further includes:

[0026] a circuit board, along the axial direction of the rotating shaft, the circuit board being connected to the mounting housing and disposed opposite to the gear transmission system;

[0027] Wherein, along the axial direction of the rotating shaft, the first single-turn absolute magnetic encoder and the second single-turn absolute magnetic encoder are spaced apart and arranged on a side of the circuit board close to the gear transmission system, and there is an installation gap between the first single-turn absolute magnetic encoder and the second single-turn absolute magnetic encoder and the first gear and the second gear respectively; and / or,

[0028] Along the axial direction of the rotating shaft, the controller is arranged on a side of the circuit board away from the gear transmission system.

[0029] Furthermore, along the axial direction of the rotating shaft, a groove is provided on a side of the mounting housing close to the circuit board, the gear transmission system is located at the bottom of the groove, and the circuit board is mounted in the groove; and / or,

[0030] Along the axial direction of the first gear, the first magnetic member and the second magnetic member have the same thickness, and along the axial direction of the first gear, the first magnetic member and the second magnetic member are located in the same horizontal plane.

[0031] On the other hand, the present application also provides a joint module, the joint module comprising:

[0032] moving parts;

[0033] The driving device, the moving component is connected to the output end of the reducer of the driving device.

[0034] On the other hand, the present application also provides a robot comprising the joint module.

[0035] On the other hand, the present application also provides a method for resetting the motion posture of the joint module, the method being performed by the robot, the method comprising:

[0036] After the drive device is powered off and then powered on again, a first angle and a second angle are received by a controller, so that the controller calculates an angle difference C based on the first angle and the second angle, wherein the first angle is an angle of rotation of the motor shaft detected by the first single-turn absolute magnetic encoder before the drive device is powered off, and the second angle is an angle of rotation of the second magnetic member detected by the second single-turn absolute magnetic encoder before the drive device is powered off;

[0037] The controller calculates the number of revolutions x of the motor shaft according to the pre-acquired value m of the reduction ratio of the reducer and the angle difference C, and determines the angular position p of the shaft within a single-revolution range based on the first angle.

[0038] The controller calculates the angle y of the current position of the rotating shaft relative to the starting position based on the number of turns x and the angular position p, and controls the rotating shaft to rotate back to the starting position based on the angle y, wherein the angle y satisfies the relationship: y=x×360°+p.

[0039] Furthermore, the method further comprises:

[0040] When the driving device is powered on for the first time, the position of the rotating shaft is set as the starting position by the controller.

[0041] In the present application, the drive device includes a drive assembly and a position detection assembly. The first magnetic member of the position detection assembly is mounted on and coaxially arranged with the rotating shaft. The first single-turn absolute magnetic encoder is arranged relative to the first magnetic member. Thus, the magnetic field changes generated during the rotation of the first magnetic member with the rotating shaft enable the first single-turn absolute magnetic encoder to detect the first angle of rotation of the rotating shaft. The transmission component of the position detection assembly can transfer the rotational kinetic energy of the rotating shaft to the second magnetic member, thereby enabling the second magnetic member to rotate. The second single-turn absolute magnetic encoder is arranged relative to the second magnetic member. Thus, the magnetic field changes generated during the rotation of the second magnetic member enable the second single-turn absolute magnetic encoder to detect the second angle of rotation of the second magnetic member. The controller is connected to the first single-turn absolute magnetic encoder and the second single-turn absolute magnetic encoder respectively to receive the first angle and second angle detected by each magnetic encoder.

[0042] The transmission component is configured to cause the second magnetic member to rotate at an angle greater than or less than the angle of rotation of the shaft. Since the absolute value C of the angular difference between the first angle and the second angle and the number of rotations of the shaft, x, satisfy the relationship: C = x × (360° ÷ m), the controller is configured to calculate x based on the values ​​of C and m. Thus, in this embodiment, the kinetic energy of the shaft's rotation is transferred to the second magnetic member via the transmission component, so that during the rotation of the first and second magnetic members driven by the shaft, the angles of rotation of the shaft and the second magnetic member are detected by a first single-turn absolute magnetic encoder and a second single-turn absolute magnetic encoder, respectively. After the controller receives the angles of rotation of the shaft and the second magnetic member (i.e., the first angle and the second angle), it calculates the angle difference C by taking the difference between the two angles. The controller can then calculate the number of rotations x of the shaft based on the value of m in the speed reduction ratio of the reducer, based on the angle difference C. At the same time, the angular position p of the shaft within a single turn (i.e., within 360°) can also be read using the first angle detected by the first single-turn absolute magnetic encoder. Subsequently, the robot can use the controller to calculate the angle y of the current position of the shaft relative to the starting position based on the number of turns x and the angular position p, and then control the shaft to rotate back to the starting position based on the angle y. After the shaft returns to the starting position, the moving parts of the joint module can automatically return to the factory posture. There is no need to manually restore the robot to the factory posture, and each single-turn absolute encoder can be re-calibrated. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0044] Figure 1 A schematic structural diagram of a driving device provided in one embodiment of the present invention;

[0045] Figure 2 for Figure 1 Schematic diagram of the decomposition;

[0046] Figure 3 for Figure 2 Schematic diagram of the structure of the middle circuit board near the gear transmission system;

[0047] Figure 4 for Figure 2 Assembly diagram of the gear transmission system and mounting housing;

[0048] Figure 5 is an exploded schematic diagram between the second gear and the end cover of the mounting housing;

[0049] Figure 6 This is a diagram showing the positional relationship between the single-turn absolute magnetic encoder and the magnetic component in the position detection assembly;

[0050] Figure 7 A schematic flow chart of a robot resetting method provided in one embodiment of the present invention.

[0051] The above drawings include the following reference numerals:

[0052] 10. Drive assembly; 11. Motor; 110. Rotating shaft; 101. First mounting slot; 12. Reducer; 20. Position detection assembly; 21. First magnetic member; 22. Second magnetic member; 23. Transmission component; 231. Gear transmission system; 311. First gear; 312. Second gear; 121. Second mounting slot; 211. First avoidance hole; 24. First single-turn absolute magnetic encoder; 25. Second single-turn absolute magnetic encoder; 26. Controller; 27. Circuit board; 30. Mounting shell; 301. Mounting cavity; 31. Shell body; 310. Mounting hole; 32. End cover; 321. Second avoidance hole; 33. Groove; 331. Boss; 34. Locking assembly; 40. Rotating connection structure; 41. Connecting hole; 42. Bearing; 43. Connecting shaft. DETAILED DESCRIPTION

[0053] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0054] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0055] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary, not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0056] Since the joint modules of current bionic robots (such as humanoid robots, biomimetic robots, etc.) usually use a single-turn absolute value encoder to detect the position of the motor 11 (i.e., the angular position after the motor 11 shaft 110 rotates a certain angle). At this time, a magnet corresponding to the single-turn absolute value magnetic encoder can be set on the rotor of the rotating motor 11. During the rotation of the motor 11 rotor, the single-turn absolute value magnetic encoder analyzes and outputs the position by collecting the changes in the magnetic field, thereby realizing the detection and positioning of the position of the motor 11. However, since there is a reducer 12 between the power component of the joint module of the bionic robot and the motor 11 rotor, when the reducer 12 rotates within one circle, although the precise position of the motor 11 rotor within a single rotation circle (360°) can be detected, the actual number of circles of the motor 11 rotor cannot be detected. If the joint module loses power, after the joint module is powered on again, it can only detect the position of the motor 11 single circle, but cannot identify the number of circles of the motor 11, and thus cannot accurately determine the exact position of the power component at the output end of the joint module reducer 12. Under such a structure, the joint module needs to be manually restored to the specified posture in order to re-calibrate the position of the single-turn absolute magnetic encoder.

[0057] In the field of collaborative robots in the prior art, in order to be able to detect the actual number of running circles of the motor 11 within the single-turn range of the reducer output end, there is a method of using two off-axis absolute magnetic encoders for position detection. The working principle of this position detection is to use multi-pole magnetic rings as sensors, and fix them on the rotor shaft of the motor 11 and the output shaft of the reducer 12 respectively, to detect the single-turn absolute position of the motor 11 end and the single-turn absolute position of the reducer 12 output end respectively. The latter can directly reflect the number of circles rotated by the motor 11, and realize the detection and memory of the position after power failure. However, this position detection method is suitable for hollow joint module products. At the same time, since there are currently no domestically produced products on the market, all chips are imported, and the cost of multi-polar magnetic rings is relatively high, the method of using two off-axis absolute magnetic encoders for position detection is difficult to be widely used.

[0058] In view of the above problems, the first embodiment of the present invention provides a driving device, see Figures 1 to 5 The driving device is at least provided in the joint module of the robot. The driving device includes a driving component 10 and a position detection component 20.

[0059] The drive assembly 10 includes a motor 11 and a reducer 12. The motor 11 includes a rotating shaft 110. The reducer 12 includes an input and an output. The input is connected to the first axial end of the rotating shaft 110. The reduction ratio of the reducer 12 is 1:m, where m is an integer. For example, a reducer 12 with a reduction ratio of 1:12 can be selected. The output of the reducer 12 can be connected to the power component of the robot joint module to drive the power component's motion.

[0060] like Figures 2 to 3 As shown, the position detection assembly 20 includes a first magnetic member 21, a second magnetic member 22, a transmission component 23, a first single-turn absolute magnetic encoder 24, a second single-turn absolute magnetic encoder 25, and a controller 26. The first magnetic member 21 is mounted on and coaxial with the rotating shaft 110, and the first single-turn absolute magnetic encoder 24 is disposed opposite the first magnetic member 21. When the motor 11 is operating to rotate the rotating shaft 110, the first single-turn absolute magnetic encoder 24 can detect the position of the rotating shaft 110 within a single rotation by capturing the changes in the magnetic field generated by the first magnetic member 21 as the rotating shaft 110 rotates. For example, it can detect that the rotating shaft 110 of the motor 11 has rotated 270° within a single rotation.

[0061] The transmission component 23 is connected between the rotating shaft 110 and the second magnetic member 22 to drive the second magnetic member 22 to rotate. The second single-turn absolute magnetic encoder 25 is disposed opposite the second magnetic member 22. The transmission component 23 is capable of transferring the rotational kinetic energy of the rotating shaft 110 to the second magnetic member 22, thereby driving the second magnetic member 22 to rotate. As the second magnetic member 22 rotates, the second single-turn absolute magnetic encoder 25 detects the single-turn rotational position of the second magnetic member 22 by detecting changes in the magnetic field caused by the second magnetic member 22.

[0062] The controller 26 is connected to the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 respectively. The first single-turn absolute magnetic encoder 24 is used to transmit the detected first angle of rotation of the rotating shaft 110 to the controller 26, and the second single-turn absolute magnetic encoder 25 is used to transmit the detected second angle of rotation of the second magnetic part 22 to the controller 26.

[0063] The transmission component 23 is configured to make the angle of rotation of the second magnetic component 22 greater than or less than the angle of rotation of the rotating shaft 110. The absolute value of the angular difference between the first angle and the second angle is C. When the number of rotations of the output end is not greater than one circle, the number of rotations of the rotating shaft 110 is x. C and x satisfy the relationship: C=x×(360°÷m). The controller 26 is configured to calculate x based on the values ​​of C and m.

[0064] That is to say, this embodiment sets a transmission component 23 between the rotating shaft 110 and the second magnetic component 22, so that the angle of rotation of the first magnetic component 21 with the rotating shaft 110 and the angle of rotation of the second magnetic component 22 have a difference C, thereby realizing the transmission of the position information of the output end of the reducer 12 to the angle difference C between the first magnetic component 21 and the second magnetic component 22. The angle difference can record the actual running circle value of the motor 11, and at the same time, the first single-turn absolute magnetic encoder 24 can be used to detect and record the single-turn rotation position of the rotating shaft 110 of the motor 11.

[0065] Controller 26 can set the position of motor 11's rotating shaft 110 when the drive device is first powered on as the starting position. If the starting position of motor 11's rotating shaft 110 is 0°, for example, when motor 11's rotating shaft 110 rotates one revolution, the first angle detected by the first single-turn absolute magnetic encoder 24 is 360°, and the second angle detected by the second single-turn absolute magnetic encoder 25 is 300°. In this case, controller 26 calculates the difference between the first and second angles based on the received first and second angles, and obtains an angle difference C of 60°. The value of angle difference C can also be obtained by configuring an operational amplifier or logic gate and then transmitted to controller 26. In this case, the operational amplifier or logic gate can be directly configured with controller 26 or electrically connected to controller 26 to realize the angle difference calculation.

[0066] If the motor 11 shaft 110 rotates two turns, the motor 11 returns to the 360° position again. At this time, after the second magnetic member 22 rotates another 300°, the second single-turn absolute magnetic encoder 25 detects that the position of the second magnetic member 22 within the single turn is at 240°. The controller 26 then obtains an angular difference C of 120°. Similarly, if the motor 11 rotates x turns, C is 60° multiplied by x. After the number of turns x of the motor 11 equals m, the angular difference C between the first angle and the second angle detected by the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 is reset to zero. The number of turns of the motor 11 can be detected within the angular range of the next turn of the reducer 12 output end.

[0067] Because the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 can respectively detect the specific values ​​of the first angle and the second angle, the value of C can be specifically calculated by controller 26 based on the obtained first and second angle values. Therefore, after obtaining the value of C, controller 26 can calculate the value of x based on the pre-configured value of m, thereby obtaining the actual number of revolutions of motor 11. Simultaneously, controller 26 can also determine the specific position p of motor 11's shaft 110 within a single revolution using the received first angle value.

[0068] As can be seen, in this embodiment, the drive device includes a drive assembly 10 and a position detection assembly 20. The first magnetic member 21 of the position detection assembly 20 is mounted on and coaxially disposed with the rotating shaft 110. The first single-turn absolute magnetic encoder 24 is disposed opposite the first magnetic member 21. Thus, the magnetic field changes generated by the first magnetic member 21 during rotation with the rotating shaft 110 enable the first single-turn absolute magnetic encoder 24 to detect a first angle of rotation of the rotating shaft 110. The transmission component 23 of the position detection assembly 20 is capable of transmitting the rotational kinetic energy of the rotating shaft 110 to the second magnetic member 22, thereby enabling the second magnetic member 22 to rotate. The second single-turn absolute magnetic encoder 25 is disposed opposite the second magnetic member 22. Thus, the magnetic field changes generated during the rotation of the second magnetic member 22 enable the second single-turn absolute magnetic encoder 25 to detect a second angle of rotation of the second magnetic member 22. The controller 26 is connected to the first and second single-turn absolute magnetic encoders 24, 25, respectively, to receive the first and second angles detected by each magnetic encoder.

[0069] Among them, the transmission component 23 is configured to make the angle of rotation of the second magnetic member 22 greater than or less than the angle of rotation of the rotating shaft 110. Since when the number of rotations at the output end of the reducer 12 is not greater than one circle, the absolute value C of the angular difference between the first angle and the second angle and the number of rotations of the rotating shaft 110 is x, which satisfies the relationship: C = x × (360° ÷ m). The controller 26 is configured to calculate x based on the values ​​of C and m. Therefore, in this embodiment, the kinetic energy of the rotation of the rotating shaft 110 is transmitted to the second magnetic member 22 through the transmission component 23, so that when the first magnetic member 21 and the second magnetic member 22 are both rotated under the drive of the rotating shaft 110, the first single-turn absolute value magnetic encoder 24 and the second single-turn absolute value magnetic encoder 25 are used to respectively detect the angles of rotation of the rotating shaft 110 and the second magnetic member 22. After the controller 26 receives the angles of rotation of the rotating shaft 110 and the second magnetic member 22 (i.e., the first angle and the second angle), and calculates the difference between the two angle values ​​to obtain the angle difference C, the controller 26 can then calculate the number of revolutions x of the rotating shaft 110 based on the value of m in the reduction ratio of the reducer 12. At the same time, the angular position p of the rotating shaft 110 within a single revolution (i.e., within 360°) can also be read through the first angle detected by the first single-turn absolute magnetic encoder 24. The robot can then calculate the angle y of the rotating shaft 110's current position relative to the starting position based on the number of revolutions x and the angular position p through the controller 26, and then control the rotating shaft 110 to rotate back to the starting position based on the angle y. After the rotating shaft 110 returns to the starting position, the moving parts of the joint module can automatically return to the factory position, and each single-turn absolute encoder can be recalibrated to zero without manually restoring the robot to the factory position.

[0070] Secondly, the position detection assembly 20 provided in this embodiment is not limited to hollow joint module products. By connecting the position detection assembly 20 to the rotating shaft 110 side of the motor 11 of the hollow joint module, the single-turn position and number of rotations of the motor 11 can be detected, which has a wider scope of application. Secondly, the first magnetic member 21 and the second magnetic member 22 in this application may preferably have magnets with S poles and N poles, which are lower in cost than multi-polar magnetic rings and are more conducive to being widely used.

[0071] The transmission component 23 in the present application includes a gear transmission system 231, which includes at least two meshing gears. Based on the power transmission sequence of the gear transmission system 231, the first gear of the gear transmission system 231 is mounted on the rotating shaft 110, and the second magnetic member 22 is coaxially mounted on the last gear of the gear transmission system 231. The gear transmission system 231 sequentially transmits the rotational kinetic energy of the rotating shaft 110 from the first gear to the last gear, thereby driving the second magnetic member 22 to rotate.

[0072] The transmission ratio of the gear transmission system 231 is greater than or less than 1. That is, the number of teeth of at least one gear in the gear transmission system 231 is different from the number of teeth of at least another gear, thereby making the transmission ratio of the gear transmission system 231 greater than or less than 1. The gear transmission system 231 is easy to assemble. By simply setting the number of teeth of at least two gears to be different based on the difference between the first angle and the second angle, it can be ensured that the angle at which the first magnetic member 21 rotates with the rotating shaft 110 is different from the angle at which the second magnetic member 22 rotates under the drive of the gear transmission system 231.

[0073] It can be understood that the number of gears in the gear transmission system 231 may include two, three, four, or any other number not less than two, depending on the size of the drive device and the installation space, and this embodiment does not impose the sole limitation.

[0074] The rotating shaft 110 includes a first end and a second end along its own axial direction, and the input end of the reducer is connected to the first end.

[0075] like Figure 2 as well as Figure 4 As shown, when the transmission component 23 in this embodiment includes a gear transmission system 231, the gear transmission system 231 includes a first gear 311 and a second gear 312. The first gear 311 is sleeved on the rotating shaft 110 so that the rotating shaft 110 can drive the first gear 311 to rotate. The first gear 311 and the first magnetic member 21 are both located at the second end of the rotating shaft 110 away from the input end (i.e., away from the reducer 12) and are coaxially arranged so that the first magnetic member 21 can accurately reflect the number of rotations of the rotating shaft 110 and the single-turn angle (i.e., the specific angular position within the single-turn rotation range), while the first gear 311 can accurately transmit the rotational kinetic energy of the rotating shaft 110 to the second gear 312 at the rear.

[0076] The second gear 312 is mounted on one side of the first gear 311 along its own radial direction. The second gear 312 is meshed with the first gear 311 and can rotate around its own axis, so that the first gear 311 can transfer the rotational kinetic energy of the rotating shaft 110 to the second gear 312. Moreover, since the second gear 312 is located on one side of the first gear 311 along its own radial direction, this will also reduce the installation space occupied by the gear transmission system 231 in the drive device and reduce the number of transmission components in the gear transmission system 231, thereby reducing the assembly difficulty of the gear transmission system 231 and making the cost of the drive device lower. The second magnetic member 22 is mounted in the middle of the second gear 312 and is coaxially arranged with the second gear 312. The number of teeth of the second gear 312 is more or less than the number of teeth of the first gear 311, so that when the second gear 312 drives the second magnetic member 22 to rotate, the angle of rotation is smaller than the angle of rotation of the first magnetic member 21, thereby obtaining the required angle difference C.

[0077] As can be seen, this embodiment achieves an angle difference C between the rotation angles of the first magnetic member 21 and the second magnetic member 22 by disposing a gear transmission system 231 comprising a first gear 311 and a second gear 312 that mesh with each other between the rotating shaft 110 and the second magnetic member 22. The gear transmission system 231 is easy to assemble and has low cost, making it easy to integrate into the drive device of a joint module with limited installation space, reducing the complexity of the overall structure of the drive device and facilitating the promotion and utilization of the drive device.

[0078] like Figure 4 As shown, in order to facilitate the installation of the first magnetic component 21, a first mounting groove 101 is provided at the second end of the rotating shaft 110 away from the input end of the reducer 12. The first mounting groove 101 is arranged opposite to the first single-turn absolute magnetic encoder 24. The first magnetic component 21 is embedded in the first mounting groove 101 to correspond to the first single-turn absolute magnetic encoder 24 to realize the detection of the first angle, and the assembly is efficient and convenient.

[0079] Secondly, a second mounting groove 121 is provided on the second gear 312. The axis of the second mounting groove 121 coincides with the axis of the second gear 312 and is arranged opposite to the second single-turn absolute magnetic encoder 25. The second magnetic part 22 is embedded in the second mounting groove 121 to correspond to the second single-turn absolute magnetic encoder 25 to realize the detection of the second angle. The second mounting groove 121 is easy to process and easy to assemble the second magnetic part 22.

[0080] When the projected outer contours of the first magnetic member 21 and the second magnetic member 22 are both circular along the axial direction of the rotating shaft 110, the projected outer contours of the first mounting groove 101 and the second mounting groove 121 along the axial direction of the rotating shaft 110 are also circular. The outer shape of the first magnetic member 21 is adapted to the inner wall surface of the first mounting groove 101, thereby improving the stability and reliability of the first magnetic member 21 and the rotating shaft 110 after assembly. The outer shape of the second magnetic member 22 is adapted to the inner wall surface of the second mounting groove 121, thereby improving the stability and reliability of the second magnetic member 22 and the second gear 312 after assembly.

[0081] In some embodiments, it is convenient to disassemble and maintain the first magnetic member 21 and the second magnetic member 22, such as Figure 4 As shown, the bottoms of the first and second mounting grooves 101, 121 are each provided with a first avoidance hole 211. Along the axial direction of the rotating shaft 110, the first avoidance hole 211 in the first mounting groove 101 extends through the rotating shaft 110, while the first avoidance hole 211 in the second mounting groove 121 extends through the second gear 312. When the magnetic component needs to be replaced, the corresponding tool can be used to push the magnetic component out of the first and second mounting grooves 101, 121 along the first avoidance hole 211.

[0082] In this embodiment, the number of teeth of the first gear 311 is N1, and the number of teeth of the second gear 312 is N2. The ratio between N1 and N2 satisfies the following relationship:

[0083] N1:N2=[(m-1)×n]:[m×n], where n is an integer; or

[0084] N1:N2=[m×n]:[(m+1)×n], where n is an integer.

[0085] For example, when the reduction ratio of the reducer 12 is 1:12, N1:N2=24:26 (or 12:13).

[0086] Therefore, in this embodiment, by making the tooth ratio between the first gear 311 and the second gear 312 satisfy one of the above two relationship equations, after the rotational kinetic energy of the rotating shaft 110 is transferred to the second magnetic member 22 through the first gear 311 and the second gear 312, the angle difference C between the first angle detected by the first single-turn absolute magnetic encoder 24 and the second angle detected by the second single-turn absolute magnetic encoder 25 satisfies the relationship C = x × (360° ÷ m), thereby improving the accuracy of the actual number of rotations x of the rotating shaft 110 calculated by the controller 26 based on the relationship C = x × (360° ÷ m).

[0087] That is to say, in this embodiment, the number of teeth of the first gear 311 and the number of teeth of the second gear 312 are set according to one of the above two relationship equations. By setting the difference between the number of teeth of the first gear 311 and the second gear 312, the rotational position information of the output end of the reducer 12 can be transmitted to the angle difference C detected by the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25, so that the controller 26 can accurately obtain the actual number of running circles x of the motor 11 based on the angle difference C, and can also accurately record the single-turn rotation position of the motor 11 through the first angle detected by the first single-turn absolute encoder.

[0088] like Figure 2 As shown, the drive device in this embodiment also includes a mounting housing 30, which defines a mounting cavity 301. The motor 11 is mounted within the mounting cavity 301, with its second end extending outside the mounting cavity 301 to engage with a first gear 311. The mounting housing 30 improves the protection provided to the motor 11, making the overall structure of the drive device more reliable and stable. The reducer 12 is at least partially located within the mounting cavity 301 to connect to the rotating shaft 110, further enhancing the overall compactness of the drive device.

[0089] Among them, a rotating connection structure 40 is provided between the mounting shell 30 and the second gear 312, and the rotating connection structure 40 rotationally connects the second gear 312 to the mounting shell 30 to improve the stability of the second gear 312 during the rotation process of the second magnetic part 22 driven by the first gear 311, and facilitates assembly, and makes the structure of the driving device more compact and stable.

[0090] When the housing 30 is installed, it includes a housing body 31 and an end cap 32. A mounting hole 310 is defined within the housing body 31 along the axial direction of the rotating shaft 110. The end cap 32 is positioned at one end of the housing body 31 along the axial direction of the rotating shaft 110, covering the mounting hole 310. The end cap 32 and the inner wall of the mounting hole 310 define a mounting cavity 301. The second end of the rotating shaft 110 extends through the end cap 32 and out of the mounting cavity 301. The rotational connection structure 40 is positioned between the end cap 32 and the second gear 312.

[0091] Based on the above structure, in this embodiment, the first end of the reducer 12 and the motor 11 shaft 110 can be connected and then integrally sleeved in the mounting hole 310, and then a second avoidance hole 321 (such as the one in FIG. 32 ) is reserved on the end cover 32 for the second end of the shaft 110 to pass through the outside of the mounting cavity 301. Figure 2 as well as Figure 5 Then, after aligning the second avoidance hole 321 with the rotating shaft 110 and moving the end cover 32 to a position that fits the shell body 31, the end cover 32 and the shell body 31 are connected together. The drive assembly 10 and the mounting shell 30 can be assembled together. The assembly is easy, efficient and convenient.

[0092] At the same time, since the second end of the rotating shaft 110 is located outside the end cover 32 away from the installation cavity 301, it is convenient to sleeve the first gear 311 on the rotating shaft 110. In addition, the rotation connection structure 40 is provided between the end cover 32 and the second gear 312, which further improves the assembly convenience of the second gear 312.

[0093] In some embodiments, the end cap 32 and the housing body 31 can be detachably connected via a locking assembly 34, so that after the end cap 32 and the housing body 31 are disassembled, the drive assembly 10 and the position detection assembly 20 can be replaced and maintained. The locking assembly 34 may include a locking member (such as a screw and / or bolt) and a corresponding locking hole. The locking member may be provided on at least one of the housing body 31 and the end cap 32, and the locking hole may be provided on at least the other of the housing body 31 and the end cap 32. The locking member and the locking hole cooperate to detachably connect the end cap 32 and the housing body 31.

[0094] like Figure 5As shown, the rotational connection structure 40 includes a connection hole 41, a bearing 42, and a connection shaft 43. The connection hole 41 is provided in the end cover 32. The outer peripheral surface of the bearing 42 is fixedly connected to the inner wall surface of the connection hole 41. The connection shaft 43 is connected to the second gear 312 at one end and is sleeved with the bearing 42 at the other end. The connection shaft 43 and the second gear 312 are arranged coaxially. Therefore, in this embodiment, after the bearing 42 is installed in the connection hole 41 on the end cover 32, the connection shaft 43 provided on the second gear 312 is sleeved into the bearing 42, so that the second gear 312 can be rotatably mounted on the mounting housing 30, which facilitates assembly.

[0095] Among them, the connecting shaft 43 can be connected to the second gear 312 through a predetermined connection method (such as welding, screw fixing, etc.), and the connecting shaft 43 can also be integrally formed with the second gear 312. When integrally formed, the assembly difficulty between the gear transmission system 231 and the mounting shell 30 can be further reduced, resulting in fewer assembly steps and lower production costs.

[0096] The position detection assembly 20 in this embodiment further includes a circuit board 27 . Along the axial direction of the rotating shaft 110 , the circuit board 27 is connected to the mounting housing 30 and is disposed opposite to the gear transmission system 231 .

[0097] Axially along the rotating shaft 110, the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 are spaced apart and positioned on a side of the circuit board 27 near the gear transmission system 231. This allows the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 to be integrated on the same circuit board 27, thereby reducing the number of circuit boards 27 used and further improving the assembly efficiency of the drive device.

[0098] Moreover, along the axial direction of the rotating shaft 110 , there is an installation gap between the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 and the first gear 311 and the second gear 312 respectively, so that the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 will not interfere with the movement of the first gear 311 and the second gear 312.

[0099] When there are installation gaps between the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 and the first gear 311 and the second gear 312, respectively, along the axial direction of the rotating shaft 110, there is a first gap between the first single-turn absolute magnetic encoder 24 and the first magnetic element, and there is a second gap between the second single-turn absolute magnetic encoder 25 and the second magnetic element. The first gap and the second gap are as follows: Figure 6As shown in L. The sizes of the first gap and the second gap are both less than 5mm (unit: millimeter) to prevent interference with the movement of the gear transmission system 231 while improving the capture accuracy of the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 on the magnetic field changes generated by the operation of the first magnetic member 21 and the second magnetic member 22. The sizes of the first gap and the second gap can specifically include one of 4.8mm, 4.5mm, 4.3mm, 4.0mm, 3.7mm, 3.5mm, 3.3mm, 3.0mm, etc., or any other value less than 5mm. This embodiment does not impose a sole limitation on this, as long as it is ensured that the gear transmission system 231 does not contact the corresponding single-turn absolute magnetic encoder to cause interference.

[0100] The first gap and the second gap may be the same or different. When they are the same, the first magnetic member 21 and the second magnetic member 22 are located in the same horizontal plane. At this time, it is beneficial to integrate the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 on the same circuit board 27 to save installation space of the drive device.

[0101] Secondly, the first magnetic member 21 and the second magnetic member 22 have a first central axis, and the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 have a second central axis. Along the radial direction of the rotating shaft 110, the distance between the first central axis and the second central axis (i.e., the center point deviation DISP, as shown in FIG. Figure 6 ) is less than 1.0 mm to ensure that the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 can accurately detect the first angle and the second angle, respectively.

[0102] The distance between the first central axis and the second central axis is one of 0.9mm, 0.8mm, 0.6mm, 0.5mm, 0.4mm, 0.3mm, 0.1mm, 0mm, etc., or any other value less than 1.0mm. This embodiment does not impose the sole limitation on this.

[0103] When the position detection assembly 20 further includes a circuit board 27, the controller 26 is disposed on the side of the circuit board 27 away from the gear transmission system 231 along the axial direction of the rotating shaft 110. This improves the structural compactness of the position detection assembly 20 while reducing the installation space occupied by components disposed on the side of the circuit board 27 closer to the gear transmission system 231, making the overall structural layout of the circuit board 27 more compact and reasonable.

[0104] Along the axial direction of the rotating shaft 110, a groove 33 is provided on the side of the mounting shell 30 close to the circuit board 27 (or a groove 33 is provided on the side of the end cover 32 away from the shell body 31), the gear transmission system 231 is located at the bottom of the groove 33, and the circuit board 27 is installed in the groove 33.

[0105] Therefore, this embodiment makes the overall structure of the drive device more compact by installing the gear transmission system 231 and the circuit board 27 in the groove 33 of the mounting shell 30, while improving the protection performance of the gear transmission system 231 and the various components on the circuit board 27.

[0106] The bottom of the groove 33 is provided with at least two bosses 331, spaced apart and arranged around the outer periphery of the bottom of the groove 33. The circuit board 27 rests on and is connected to the bosses 331. The height of the bosses 331 along the axial direction of the rotating shaft 110 can be determined based on the size of the mounting gap mentioned above, thereby facilitating assembly between the circuit board 27 and the mounting housing 30. The number of bosses 331 can include two, three, four, or any other number not less than two, to ensure that the circuit board 27 is stably and securely mounted within the groove 33.

[0107] Along the axial direction of the rotating shaft 110 or the axial direction of the first gear 311, the first magnetic member 21 and the second magnetic member 22 can be arranged on the same horizontal plane. However, in this case, to ensure the installation clearance between the corresponding magnetic member and the corresponding single-turn absolute magnetic encoder, the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 may need to be installed on different circuit boards 27. To this end, along the axial direction of the first gear 311, the first magnetic member 21 and the second magnetic member 22 have the same thickness and are located on the same horizontal plane. This allows the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 to be integrated on a single circuit board 27, thereby saving installation space for the drive device.

[0108] The second embodiment of the present invention further provides a joint module, which includes a moving part and a drive device, wherein the moving part is connected to the output end of the reducer 12 of the drive device. The structure of the drive device is specifically described in the first embodiment of the present invention, and will not be repeated in this embodiment.

[0109] The third embodiment of the present invention further provides a robot, which includes a joint module. The structure of the joint module is specifically described in the second embodiment of the present invention, and this embodiment will not be repeated here.

[0110] The fourth embodiment of the present invention further provides a robot resetting method, which is performed by the robot. Figure 7 As shown, the method includes the following steps:

[0111] Step S1: After the drive device is powered off and then powered on again, the first angle and the second angle are received by the controller 26, so that the controller 26 calculates the angle difference C based on the first angle and the second angle, where the first angle is the angle of rotation of the rotating shaft 110 of the motor 11 detected by the first single-turn absolute magnetic encoder 24 before the drive device is powered off, and the second angle is the angle of rotation of the second magnetic part 22 detected by the second single-turn absolute magnetic encoder 25 before the drive device is powered off.

[0112] Step S2: The controller 26 calculates the number of revolutions x of the rotating shaft 110 of the motor 11 based on the pre-acquired value of m in the reduction ratio of the reducer 12 and the angle difference C, and determines the angular position p of the rotating shaft 110 within the single-circle rotation range based on the first angle.

[0113] Step S3: The controller 26 calculates the angle y of the current position of the rotating shaft 110 relative to the starting position based on the number of revolutions x and the angular position p, and controls the rotating shaft 110 to rotate back to the starting position based on the angle y, wherein the angle y satisfies the relationship: y = x × 360° + p.

[0114] Thus, this embodiment, based on the above-mentioned steps S1 to S3, calculates the number of revolutions of the motor 11 through the controller 26 after the drive device is powered off and then powered on again. Simultaneously, the controller 26 can also read the angular position p of the rotating shaft 110 within a single revolution (i.e., within a 360° range) through the first angle detected by the first single-turn absolute magnetic encoder 24. Subsequently, the robot can calculate the angle y of the rotating shaft 110's current position relative to the starting position based on the number of revolutions x and the angular position p through the controller 26, and then control the rotating shaft 110 to rotate back to the starting position based on the angle y. After the rotating shaft 110 returns to the starting position, the moving parts of the joint module can automatically return to the factory position, eliminating the need to manually restore the robot to the factory position and re-zeroing each single-turn absolute encoder. This reset method does not require the installation of a complex revolution detection device. Instead, the controller 26 can reset the robot's posture and zero each single-turn absolute magnetic encoder through the additional gear transmission system 231, the second magnetic member 22, and the second single-turn absolute magnetic encoder 25, thereby improving the user experience.

[0115] The robot reset method provided in this embodiment also includes the following steps: when the drive device is powered on for the first time, the position of the rotating shaft 110 is set as the starting position by the controller 26, so that the angle detected by each single-turn absolute magnetic encoder can be calculated based on the starting position.

[0116] In summary, in this embodiment, when the number of teeth on the first gear 311 is N1 and the number of teeth on the second gear 312 is N2, and the ratio between N1 and N2 satisfies one of the two relationships N1:N2=[(m-1)×n]:[m×n] or N1:N2=[m×n]:[(m+1)×n], the principle of the robot reset method is as follows:

[0117] When the robot's joint module is powered on for the first time after leaving the factory, the controller 26 sets the position of the motor 11 at the time of power-on to the starting position. After the motor 11 drives the shaft 110 to rotate one revolution, the position difference (i.e., the angle difference C) detected by the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 is 360° / m. After the motor 11 rotates x revolutions, the position difference detected by the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 is x × (360° / m). At this time, even if the drive device loses power, after the drive device is powered on again, the angle difference C detected by the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 will not change. At this time, the controller 26 calculates the angle difference C, and can deduce the number of revolutions of the motor 11 corresponding to one revolution of the reducer 12 output end (i.e., x revolutions). At the same time, the controller 26 can also read the accurate scale position p of the motor 11 within a single 360° revolution through the first single-turn absolute magnetic encoder 24 (e.g., if the motor 11 rotates three times, 30°, then x = 3, p = 30°). The controller 26 can calculate the relative position of the motor 11 relative to the factory starting position as y = x × 360° + p, and then, based on the obtained y value, control the robot's joint module to return to its original position and perform the zeroing operation of the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25.

[0118] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0119] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0120] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A driving device, characterized in that: The driving device is at least provided on the joint module of the robot, and the driving device includes: A drive assembly (10), the drive assembly (10) comprising a motor (11) and a reducer (12), the motor (11) comprising a rotating shaft (110), the reducer (12) comprising an input end and an output end, the input end being connected to a first end of the rotating shaft (110), and the reduction ratio of the reducer (12) being 1:m, where m is an integer; A position detection assembly (20), the position detection assembly (20) comprising a first magnetic member (21), a second magnetic member (22), a transmission member (23), a first single-turn absolute magnetic encoder (24), a second single-turn absolute magnetic encoder (25) and a controller (26), wherein the first magnetic member (21) is mounted on the rotating shaft (110) and is coaxially arranged with the rotating shaft (110), the first single-turn absolute magnetic encoder (24) is arranged opposite to the first magnetic member (21), and the transmission member (23) is transmission-connected between the rotating shaft (110) and the second magnetic member (22). The second magnetic member (22) is driven to rotate, the second single-turn absolute magnetic encoder (25) is arranged opposite to the second magnetic member (22), the controller (26) is connected to the first single-turn absolute magnetic encoder (24) and the second single-turn absolute magnetic encoder (25), respectively, the first single-turn absolute magnetic encoder (24) is used to transmit the detected first angle of rotation of the rotating shaft (110) to the controller (26), and the second single-turn absolute magnetic encoder (25) is used to transmit the detected second angle of rotation of the second magnetic member (22) to the controller (26); The transmission component (23) is configured to make the second magnetic component (22) rotate at an angle greater than or less than the angle of rotation of the rotating shaft (110), the absolute value of the angular difference between the first angle and the second angle is C, the number of rotations of the rotating shaft (110) when the number of rotations of the output end is not greater than one circle is x, C and x satisfy the relationship: C=x×(360°÷m), and the controller (26) is configured to calculate x based on the values ​​of C and m.

2. The driving device according to claim 1, characterized in that The transmission component (23) comprises: A gear transmission system (231), the gear transmission system (231) includes at least two gears meshing with each other, based on the power transmission sequence of the gear transmission system (231), the gear serving as the first stage of the gear transmission system (231) is sleeved on the rotating shaft (110), the second magnetic member (22) is coaxially arranged on the gear serving as the last stage of the gear transmission system (231), and the transmission ratio of the gear transmission system (231) is greater than or less than 1.

3. The driving device according to claim 1, characterized in that The transmission component (23) includes a gear transmission system (231), and the gear transmission system (231) includes: a first gear (311), the first gear (311) being sleeved on the rotating shaft (110), the first gear (311) and the first magnetic member (21) being both located at a second end of the rotating shaft (110) away from the input end and being coaxially arranged; The second gear (312) is mounted on one side of the first gear (311) along its own radial direction, the second gear (312) is meshed with the first gear (311) and can rotate around its own axis, the second magnetic member (22) is mounted in the middle of the second gear (312) and is coaxially arranged with the second gear (312), and the number of teeth of the second gear (312) is greater or less than the number of teeth of the first gear (311).

4. The driving device according to claim 3, characterized in that The number of teeth of the first gear (311) is N1, the number of teeth of the second gear (312) is N2, and the ratio between N1 and N2 satisfies the following relationship: N1:N2=[(m-1)×n]:[m×n], where n is an integer; or N1:N2=[m×n]:[(m+1)×n], where n is an integer.

5. The driving device according to claim 3, characterized in that Also includes: A mounting shell (30) is provided with a mounting cavity (301) in the mounting shell (30), the motor (11) is installed in the mounting cavity (301) and the second end is extended to the outside of the mounting cavity (301) to be sleeved with the first gear (311), a rotating connection structure (40) is provided between the mounting shell (30) and the second gear (312), and the rotating connection structure (40) rotationally connects the second gear (312) to the mounting shell (30).

6. The driving device according to claim 5, characterized in that The mounting housing (30) comprises: A shell body (31) is provided with a mounting hole (310) along the axial direction of the rotating shaft (110); An end cover (32) is arranged at one end of the shell body (31) along the axial direction of the rotating shaft (110) and covers the mounting hole (310). The end cover (32) and the inner wall surface of the mounting hole (310) are arranged to form the mounting cavity (301). The second end passes through the end cover (32) and extends to the outside of the mounting cavity (301). The rotating connection structure (40) is arranged between the end cover (32) and the second gear (312).

7. The driving device according to claim 6, characterized in that The rotating connection structure (40) comprises: a connecting hole (41), the connecting hole (41) being provided on the end cover (32); A bearing (42), wherein the outer peripheral surface of the bearing (42) is fixedly connected to the inner wall surface of the connecting hole (41); A connecting shaft (43) is provided, wherein one end of the connecting shaft (43) is connected to the second gear (312) and the other end is sleeved with the bearing (42), and the connecting shaft (43) and the second gear (312) are coaxially arranged.

8. The driving device according to claim 5, characterized in that The position detection component (20) further includes: A circuit board (27) is connected to the mounting housing (30) along the axial direction of the rotating shaft (110) and is disposed opposite to the gear transmission system (231); Wherein, along the axial direction of the rotating shaft (110), the first single-turn absolute value magnetic encoder (24) and the second single-turn absolute value magnetic encoder (25) are spaced apart and arranged on a side of the circuit board (27) close to the gear transmission system (231), and there is an installation gap between the first single-turn absolute value magnetic encoder (24) and the second single-turn absolute value magnetic encoder (25) and the first gear (311) and the second gear (312), respectively; and / or, Along the axial direction of the rotating shaft (110), the controller (26) is arranged on a side of the circuit board (27) away from the gear transmission system (231).

9. The driving device according to claim 8, characterized in that Along the axial direction of the rotating shaft (110), a groove (33) is provided on one side of the mounting housing (30) close to the circuit board (27), the gear transmission system (231) is located at the bottom of the groove (33), and the circuit board (27) is mounted in the groove (33); and / or, Along the axial direction of the first gear (311), the first magnetic member (21) and the second magnetic member (22) have the same thickness, and along the axial direction of the first gear (311), the first magnetic member (21) and the second magnetic member (22) are located on the same horizontal plane.

10. A joint module, characterized in that: The joint module includes: moving parts; The driving device according to any one of claims 1 to 9, wherein the moving component is connected to an output end of a reducer (12) of the driving device.

11. A robot, characterized in that: The robot includes the joint module according to claim 10.

12. A method for resetting a robot, characterized in that: The method is performed by the robot according to claim 11, and the method comprises: After the drive device is powered off and then powered on again, a first angle and a second angle are received by a controller (26), so that the controller (26) calculates an angle difference C based on the first angle and the second angle, wherein the first angle is the angle of rotation of the shaft (110) of the motor (11) detected by a first single-turn absolute magnetic encoder (24) before the drive device is powered off, and the second angle is the angle of rotation of the second magnetic member (22) detected by a second single-turn absolute magnetic encoder (25) before the drive device is powered off; The controller (26) calculates the number of revolutions x of the rotating shaft (110) of the motor (11) based on the value m of the reduction ratio of the reducer (12) obtained in advance and the angle difference C, and determines the angular position p of the rotating shaft (110) within a single-revolution range based on the first angle. The controller (26) calculates the angle y of the current position of the rotating shaft (110) relative to the starting position based on the number of revolutions x and the angular position p, and controls the rotating shaft (110) to rotate back to the starting position based on the angle y, wherein the angle y satisfies the relationship: y=x×360°+p.

13. The robot resetting method according to claim 12, characterized in that: The method further comprises: When the driving device is powered on for the first time, the position of the rotating shaft (110) is set as the starting position by the controller (26).

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