Joint motor with torque control

Abstract

The invention relates to the technical field of motors, in particular to a joint motor with torque control, which comprises a motor shell; the torque sleeve assembly is arranged between the output end of the speed reducer and the output shaft of the motor; the first coil assembly is connected with the motor shell and is matched with the torque sleeve assembly so as to obtain the rotating torque of the motor output shaft; the motor driving control board is connected with the motor shell and electrically connected with the first coil assembly; the code channel is arranged on an output shaft of the motor; and the electronic induction assembly is arranged on the motor driving control panel and is matched with the code channel so as to obtain the rotation angle of the motor output shaft, and the motor driving control panel is electrically connected with the electronic induction assembly. According to the joint gear motor, the rotating torque and the rotating angle of the output shaft of the motor can be accurately detected, and the size of the joint motor cannot be large.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric machines, in particular to a joint motor with torque control. BACKGROUND

[0002] In the field of joint reduction motors, most joint reduction motors obtain the position information of the rotor through an encoder, and the torque information is usually calculated based on the feedback information such as the current loop position loop. The rotation angle and output torque at the output shaft end of the reducer cannot be directly obtained, and there are problems such as the inability to accurately feedback the accurate position of the output shaft end when initially powered on, slow torque control response speed, and untimely stop control, which makes it difficult to meet the actual use of the product to respond quickly, execute flexibly, and smoothly. In addition, although there are mature products of current encoders and torque sensors, they are usually installed and used independently, and the encoder is arranged at the motor shaft end and the torque sensor is arranged at the output shaft end of the reducer, which occupies a large axial space. These deficiencies seriously restrict the application of joint reduction motors in high-precision and compact scenarios. SUMMARY

[0003] The purpose of the present application is to provide a joint motor with torque control, which can accurately detect the rotation torque and rotation angle of the motor output shaft without causing the joint motor to be too large.

[0004] The embodiment of the present application provides a joint motor with torque control, which comprises: a motor housing; a torque sleeve assembly arranged between the output end of the reducer and the motor output shaft; a first coil assembly connected with the motor housing and arranged in cooperation with the torque sleeve assembly to obtain the rotation torque of the motor output shaft; a motor drive control board connected with the motor housing and electrically connected with the first coil assembly; a code track arranged on the motor output shaft; an electronic induction assembly arranged on the motor drive control board and arranged in cooperation with the code track to obtain the rotation angle of the motor output shaft, and the motor drive control board is electrically connected with the electronic induction assembly.

[0005] As a preferred embodiment of the present application, the torque sleeve assembly specifically comprises: a connecting disc connected with the output end of the reducer; a torque sleeve, the axial first end of which is connected with the connecting disc, and the outer peripheral wall of the torque sleeve is provided with a reverse magnetostrictive sheet or the torque sleeve is made of a reverse magnetostrictive material; a connecting shaft connected with the axial second end of the torque sleeve.

[0006] As a preferred embodiment of the present application, the first coil assembly specifically comprises: The coil frame is non-contactingly sleeved with the torque sleeve; The coil is arranged on the coil frame; The frame fixing frame connects the motor housing and the coil frame.

[0007] As a preferred embodiment of the present application, the coil frame is in the form of a sleeve, and the coil frame has a first coil accommodating groove and a second coil accommodating groove formed in the outer peripheral wall thereof; the coil comprises a primary coil arranged in the first coil accommodating groove and a secondary coil arranged in the second coil accommodating groove.

[0008] As a preferred embodiment of the present application, the frame fixing frame comprises: The support sleeve allows the coil frame to be inserted into the sleeve hole of the support sleeve in the axial direction of the support sleeve; The support ring is arranged on the inner wall of the sleeve hole of the support sleeve and located at one end of the support sleeve in the axial direction, and the support ring is bonded with the frame fixing frame; The support arm has a first length direction end connected with the outer peripheral wall of the support sleeve; the motor housing comprises a main housing in the form of a sleeve, and a support plate arranged on the inner cavity wall of the main housing, and a second length direction end of the support arm is connected with the support plate.

[0009] As a preferred embodiment of the present application, the motor output shaft comprises a shaft plate portion and a shaft sleeve portion, and the shaft sleeve portion is connected with the connecting shaft.

[0010] As a preferred embodiment of the present application, the motor drive control board has a through hole allowing the shaft sleeve portion to pass through and non-contacting with the shaft sleeve portion; the motor housing comprises a main housing in the form of a sleeve, and a support protrusion arranged on the inner cavity wall of the main housing, and the motor drive control board is connected with the support protrusion.

[0011] As a preferred embodiment of the present application, the code track is arranged on the motor output shaft through a code disc; the code disc has a through hole allowing the shaft sleeve portion to pass through, and the code disc is connected with the side of the shaft plate portion facing the motor drive control board.

[0012] As a preferred embodiment of the present application, the electronic induction assembly comprises an excitation coil and an induction coil drawn on the motor drive control board, and the induction coil is located in an excitation interval formed by the excitation coil; the code track comprises metal regions and non-metal regions which appear alternately.

[0013] As a preferred embodiment of the present application, the electronic induction assembly comprises a coil bearing plate arranged on the motor drive control board, and an excitation coil and an induction coil drawn on the coil bearing plate, and the induction coil is located in an excitation interval formed by the excitation coil; the code track comprises metal regions and non-metal regions which appear alternately.

[0014] As a preferred embodiment of the present application, the electronic sensing assembly comprises a plurality of magnetic sensitive elements arranged on the motor drive control board; the code track is a magnetic ring, and the magnetic ring is provided with a magnetic area and a non-magnetic area.

[0015] As a preferred embodiment of the present application, the motor housing comprises a sleeve-shaped main housing, and a support plate arranged on the wall of the inner cavity of the main housing, the support plate divides the inner cavity of the main housing into a first cavity and a second cavity in communication, the speed reducer is arranged in the first cavity, the torque sleeve assembly, the first coil assembly, the motor drive control board, the code track and the electronic sensing assembly are arranged in the second cavity. The motor housing further comprises a first housing cover assembled and connected with the main housing at one end of the first cavity, and a second housing cover assembled and connected with the main housing at one end of the second cavity, the second housing cover is provided with a shaft hole allowing the motor output shaft to pass through.

[0016] In summary, the present application has the following beneficial effects: The joint speed reducer motor of the embodiment of the present application can directly obtain the rotation torque of the output end of the speed reducer through the torque sleeve assembly and the first coil assembly, and can directly obtain the rotation angle of the output end of the speed reducer through the code track and the electronic sensing assembly. Compared with the prior art of obtaining the rotation angle through an independent encoder and obtaining the rotation torque through an independent torque sensor, the torque sleeve assembly and the first coil assembly of the present embodiment are arranged between the output end of the speed reducer and the motor output shaft, the code track is arranged on the motor output shaft, and the electronic sensing assembly is integrated on the motor drive control board, so that the size of the joint motor is not large, and the joint motor can be applied to compact scenes.

[0017] Further or more detailed beneficial effects will be described in the specific embodiments in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The overall structure schematic diagram of the joint motor with torque control of the embodiment of the present application is shown; Figure 2 The exploded view of the joint motor with torque control of the embodiment of the present application is shown; Figure 3 The cross-sectional view of the joint motor with torque control of the embodiment of the present application is shown; Figure 4 The schematic diagram of the code track of the embodiment of the present application is shown; Figure 5 The schematic diagram of the magnetic sensitive element and the magnetic ring of the embodiment of the present application is shown. DETAILED DESCRIPTION

[0019] Embodiments of the present application will be described below in greater detail with reference to the accompanying drawings. While certain embodiments of the present application are shown in the drawings, it is understood that the present application can be embodied in various forms and should not be interpreted in a limiting sense. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It is understood that the drawings and embodiments are for illustrative purposes only and should not be construed as limiting the scope of the present application.

[0020] In the description of embodiments of the present application, the term "includes" and its derivatives are to be construed as open-ended, that is, "including but not limited to". The term "based on" is to be construed as "based at least in part on". The term "one embodiment" or "the embodiment" is to be construed as "at least one embodiment". The terms "first", "second", etc. can refer to different or same objects. Other explicit and implicit definitions can also be included below.

[0021] The joint motor with torque control provided by the embodiments of the present application is shown in the drawings, which comprises: Figures 1 to 3 a motor housing 500; a torque sleeve assembly 100 arranged between the output end of the reducer 200 and the motor output shaft 300; the torque sleeve assembly 100 comprises a magnetostrictive sheet. The reducer 200 comprises an input end and an output end, the rotation speed of the input end is large and the torque is small, and the rotation speed of the output end is small and the torque is large. The reducer 200 can make the motor output shaft 300 rotate at a certain reduction ratio. For example, when the reduction ratio of the reducer 200 is 16:1, if the input end of the reducer 200 rotates one circle (mechanical angle 360°), then theoretically the output end of the reducer 200 (i.e. the motor output shaft 300) rotates 1 / 16 circle (mechanical angle 22.5°).

[0022] a first coil assembly 400 connected with the motor housing 500 and arranged in cooperation with the torque sleeve assembly 100 to obtain the rotation torque of the motor output shaft 300; a motor drive control board 600 connected with the motor housing 500 and electrically connected with the first coil assembly 400; a code track arranged on the motor output shaft 300; an electronic induction assembly arranged on the motor drive control board 600 and arranged in cooperation with the code track to obtain the rotation angle of the motor output shaft 300, and the motor drive control board 600 is electrically connected with the electronic induction assembly. The electronic induction assembly comprises an excitation coil and an induction coil drawn on the motor drive control board 600, and the induction coil is located in the excitation interval formed by the excitation coil. In this embodiment, the induction coil of the electronic induction assembly is provided with two, and the phase difference of the two induction coils is 90°.

[0023] The joint motor in the embodiment can obtain the rotation torque and rotation angle of the output end of the speed reducer 200. The torque sleeve assembly 100 cooperates with the first coil assembly 400 to obtain the rotation torque of the output end of the speed reducer 200. The code track cooperates with the electronic induction assembly to obtain the rotation angle of the output end of the speed reducer 200. The torque sleeve assembly 100 and the code track rotate with the motor output shaft 300; the first coil assembly 400, the motor drive control board 600, and the electronic induction assembly are fixed.

[0024] For the rotation torque, when the output end of the speed reducer 200 drives the motor output shaft 300 to rotate, the torque sleeve assembly 100 generates shear stress; when the torque sleeve assembly 100 generates shear stress, the inverse magnetostrictive sheet on the torque sleeve assembly 100 deforms; when the inverse magnetostrictive sheet deforms, the magnetic permeability of the inverse magnetostrictive sheet changes; when the magnetic permeability of the inverse magnetostrictive sheet changes, the magnetic flux of the first coil assembly 400 changes; when the magnetic flux of the first coil assembly 400 changes, the electrical parameter (for example, the voltage value) of the first coil assembly 400 obtained by the motor drive control board 600 changes; the motor drive control board 600 can directly calculate the rotation torque of the output end of the speed reducer 200 based on the changed electrical parameter. After obtaining the rotation torque of the output end of the speed reducer 200, the motor drive control board 600 can control the joint motor through the rotation torque.

[0025] For the rotation angle, the exciting coil generates a periodic uniform magnetic field within the coil range, assuming the magnetic field S=A*sin(ωt). If there is no code track, the magnetic field received by the induction coil is always S1=A*sin(ωt). If there is a code track, the code track changes the magnetic field when the motor output shaft 300 rotates. When the motor output shaft 300 rotates to a certain angle, the first induction coil receives a magnetic field S1=A*sin(θ)*sin(ωt); the second induction coil (the phase difference between the two receiving coils is 90°) receives a magnetic field S2=A*cos(θ)*sin(ωt). It can be understood that the motor drive control board 600 can directly obtain the specific value of sin(θ) through the first induction coil, and directly obtain the specific value of cos(θ) through the second induction coil, and then directly calculate the value of the electric angle θ through the formula θ=arctan(sinθ / cosθ). In this embodiment, the rotation angle of the output end of the speed reducer 200 is the same as the value of the electric angle θ. After obtaining the rotation angle of the output end of the speed reducer 200, the motor drive control board 600 can directly send the rotation angle to the display terminal (such as a computer) for display. In addition, after obtaining the rotation angle of the output end of the speed reducer 200, the motor drive control board 600 can calculate the mechanical angle of the input end (i.e. the high-speed end) of the speed reducer 200 through the speed reduction ratio of the speed reducer 200, for example, when the speed reduction ratio is 16:1 and the rotation angle of the output end of the speed reducer 200 is 66°, the mechanical angle of the input end of the speed reducer 200 is 1056°. Based on the mechanical angle of the input end of the speed reducer 200, the electric angle of the input end of the speed reducer 200 can be determined, for example, when the mechanical angle of the input end of the speed reducer 200 is 1056°, the electric angle of the input end of the speed reducer 200 is 336°. After obtaining the electric angle of the input end of the speed reducer 200, the motor drive control board 600 can control the joint motor through the electric angle.

[0026] The joint motor of the embodiment of the application can directly and accurately obtain the rotation torque of the output end of the speed reducer 200 through the torque sleeve assembly 100 and the first coil assembly 400, and can directly and accurately obtain the rotation angle of the output end of the speed reducer 200 through the code track and the electronic induction assembly. Compared with the prior art, which obtains the rotation angle through an independent encoder and obtains the rotation torque through an independent torque sensor, the torque sleeve assembly 100 and the first coil assembly 40 are arranged between the output end of the speed reducer 200 and the motor output shaft 300, the code track is arranged on the motor output shaft 300, and the electronic induction assembly is integrated on the motor drive control board 600, so that the volume of the joint motor is not large.

[0027] Further, as Figure 2The torque sleeve assembly 100 in the embodiment includes, as shown: a connecting disc 110, connected with an output end of the speed reducer 200; a torque sleeve 120, with an axial first end connected with the connecting disc 110, and an outer peripheral wall of the torque sleeve 120 provided with a magnetostrictive piece, which can be bonded to the outer peripheral wall of the torque sleeve 120.

[0028] a connecting shaft 130, connected with an axial second end of the torque sleeve 120. The diameter of the connecting shaft 130 is smaller than that of the torque sleeve 120.

[0029] The torque sleeve assembly 100 in the embodiment can be simply disassembled and assembled with the output end of the speed reducer 200 through the connecting disc 110, and can be simply disassembled and assembled with the motor output shaft 300 through the connecting shaft 130. The wall thickness of the torque sleeve 120 is smaller than a set wall thickness threshold, so that the torque sleeve 120 can effectively drive the magnetostrictive piece to deform, thereby ensuring the accuracy of the obtained torque.

[0030] Further, as shown in Figure 2 and Figure 3 The first coil assembly 400 in the embodiment includes, as shown: a coil former 410, non-contactingly sleeved with the torque sleeve 120. The coil former 410 is in a sleeve shape, and the outer peripheral wall of the coil former 410 is provided with a first coil accommodating groove and a second coil accommodating groove.

[0031] a coil 420, wound on the coil former 410. The coil 420 includes a primary coil arranged in the first coil accommodating groove and a secondary coil arranged in the second coil accommodating groove. The primary coil is used to pass through high-frequency alternating excitation to generate an alternating magnetic field; and the secondary coil is used to induce voltage amplitude / phase changes when the magnetic flux changes.

[0032] a former fixing frame 430, connecting the motor housing 500 and the coil former 410.

[0033] The first coil assembly 400 in the embodiment installs the coil 420 through the coil former 410 in a sleeve shape and having coil accommodating grooves, so that the coil 420 can be simply installed, and the structure is compact, small in size and good in stability.

[0034] Further, as shown in Figure 2 and Figure 3 The former fixing frame 430 in the embodiment includes, as shown: a support sleeve, allowing the coil former 410 to be inserted into a sleeve hole of the support sleeve along an axial direction of the support sleeve; a support ring, arranged on an inner wall of the sleeve hole of the support sleeve and located at one end of the support sleeve in the axial direction, and the support ring is bonded to the former fixing frame 430. The support arm has a first length direction end connected with the outer peripheral wall of the support sleeve; the motor housing 500 comprises a sleeve-shaped main housing, and a support plate 510 arranged on the inner cavity wall of the main housing, and a second length direction end of the support arm is connected with the support plate 510. The support plate 510 in the embodiment can be annular.

[0035] In the embodiment, when the coil former 410 with the coil 420 mounted, only the support sleeve of the former fixing frame 430 is sleeved on the torque sleeve 120, then the support arm of the former fixing frame 430 is connected and fixed with the support plate 510 through a fastener (for example, a screw), finally, glue is applied on the bottom of the coil former 410, and the coil former 410 is inserted into the sleeve hole of the support sleeve along the axial direction of the support sleeve until the bottom of the coil former 410 abuts against the support ring. The structure of the former fixing frame 430 makes the installation operation of the coil former 410 very convenient, and makes the structure stability of the coil former 410 after installation good.

[0036] Further, as shown in Figure 3 The motor output shaft 300 in the embodiment comprises a shaft plate part and a shaft sleeve part, and the shaft sleeve part is connected with the connecting shaft 130.

[0037] When the motor output shaft 300 is connected with the connecting shaft 130 of the torque sleeve assembly 100, only the shaft sleeve part of the motor output shaft 300 is sleeved on the connecting shaft 130, then the two are connected and fixed by using a fastener (for example, a screw), and the connection operation of the motor output shaft 300 and the torque sleeve assembly 100 is also very simple.

[0038] Further, as shown in Figure 2 and Figure 3 The motor drive control board 600 in the embodiment is provided with a perforation allowing the shaft sleeve part to pass through and not in contact with the shaft sleeve part; the motor housing 500 comprises a sleeve-shaped main housing, and a support protrusion 520 arranged on the inner cavity wall of the main housing, and the motor drive control board 600 is connected with the support protrusion 520.

[0039] When the first coil assembly 400 is installed, only the motor drive control board 600 is placed into the inner cavity of the main housing and in contact with the support protrusion 520, then the two are connected and fixed by using a fastener (for example, a screw), and the motor output shaft 300 is not installed at this time, the perforation of the motor drive control board 600 is sleeved on the connecting shaft 130 of the torque sleeve assembly 100 and not in contact with the connecting shaft 130.

[0040] Firstly, the motor driving control board 600 is very convenient to disassemble and assemble; secondly, since the motor driving control board 600 is sleeved on the torque sleeve assembly 100, the axial size of the joint motor can be reduced, so that the joint motor has a smaller size. Finally, the motor driving control board 600 is arranged such that the coil 420 of the first coil assembly 400 is close to the motor driving control board 600, and the coil 420 and the motor driving control board 600 are conveniently connected by wires.

[0041] In addition, as shown in Figure 2 The motor driving control board 600 can be connected with an external host computer through a connecting wire 610, and a wire hole is formed in the main shell to allow the connecting wire 610 to pass through.

[0042] Further, as shown in Figure 2 and Figure 3 In this embodiment, the code track is arranged on the motor output shaft 300 by the code disc 700; the code disc 700 is provided with a through hole allowing the shaft sleeve part to pass through, and the code disc 700 is connected with the shaft plate part facing the side of the motor driving control board 600.

[0043] In this embodiment, the code disc 700 is bonded with the shaft plate part of the motor output shaft 300 on the side of the shaft sleeve part. After the code disc 700 is bonded and fixed with the motor output shaft 300, only the connection of the motor output shaft 300 and the connecting shaft 130 of the torque sleeve assembly 100 is needed to realize the installation of the code disc 700.

[0044] Firstly, the code disc 700 is very convenient to disassemble and assemble; secondly, since the code disc 700 is sleeved on the shaft sleeve part of the motor output shaft 300 (i.e. the torque sleeve assembly 100), the axial size of the joint motor can be reduced, so that the joint motor has a smaller size. Finally, the code disc 700 is arranged such that the code disc 700 is close to the electronic sensing assembly on the motor driving control board 600, and the rotation angle of the motor output shaft 300 can be accurately and effectively obtained.

[0045] In this embodiment, the code track includes alternating metal regions and non-metal regions, and the code track can be formed by removing metal or adding metal on the code disc 700. The metal can be removed by forming a notch on the code disc 700 (the code disc 700 is made of metal material). As shown in Figure 4As shown, the code track can include eight first metal slots 710 arranged uniformly along a first circumferential direction and seven second metal slots 720 arranged uniformly along a second circumferential direction, and the eight first metal slots 710 and the seven second metal slots 720 are arranged non-uniformly as a whole along the circumferential direction. The code track of this structure, together with the excitation coil and the two induction coils, forms an inductive absolute value encoder based on the principle of electromagnetic induction. The motor drive control board 600 can directly obtain the mechanical angle of the motor output shaft 300 through the electrical angle of the motor output shaft 300, and the inductive absolute value encoder makes the electrical angle of the motor output shaft 300 the same as the mechanical angle of the motor output shaft 300.

[0046] Further, as shown in Figure 2 and Figure 3 The motor housing 500 in the embodiment includes a sleeve-shaped main housing, and a support plate 510 arranged on the inner cavity wall of the main housing. The support plate 510 divides the inner cavity of the main housing into a first cavity and a second cavity in communication. The reducer 200 is arranged in the first cavity, and the torque sleeve assembly 100, the first coil assembly 400, the motor drive control board 600, the code track and the electronic induction assembly are arranged in the second cavity. The motor housing 500 further includes a first housing cover 530 assembled and connected with the main housing at one end of the first cavity, and a second housing cover 540 assembled and connected with the main housing at one end of the second cavity. The second housing cover 540 is provided with an axle hole allowing the motor output shaft 300 to pass through.

[0047] Firstly, the main housing is divided into two cavities by the support plate 510, and each cavity is provided with a detachable housing cover. This arrangement makes it very convenient to assemble components such as the reducer 200, the torque sleeve assembly 100, the first coil assembly 400 and the motor drive control board 600, and the overall structure after assembly is compact and small in size.

[0048] Secondly, the joint motor of the embodiment can calculate the rotation angle of the input end of the reducer 200 through the rotation angle of the output end of the reducer 200 and the reduction ratio of the reducer 200. In this way, only the reducer 200, the motor rotor and the motor stator need to be installed in the first cavity, and a high-speed end encoder (mainly used to obtain the rotation angle of the input end of the reducer 200) can be omitted, thereby further reducing the size of the joint motor and enabling it to be applied in compact scenarios.

[0049] The embodiment of the application further provides a joint motor with torque control, which is different from the first embodiment in that the torque sleeve 120 is directly made of inverse magnetostrictive material.

[0050] The joint motor with torque control also provided by the embodiment of the application is different from the first embodiment in that the electronic induction assembly comprises a coil bearing plate arranged on the motor drive control board 600, and the excitation coil and the induction coil are drawn on the coil bearing plate, and the induction coil is located in the excitation interval formed by the excitation coil.

[0051] The joint motor with torque control also provided by the embodiment of the application is different from the first embodiment in that the code track is directly arranged on the motor output shaft 300, and it can be understood that the code disc 700 is integrated with the motor output shaft 300.

[0052] The joint motor with torque control also provided by the embodiment of the application is different from the first embodiment in that, as shown in Figure 5 The code track is a magnetic ring 720, and the magnetic ring is provided with a magnetic area 721 and a non-magnetic area 722.

[0053] In the embodiment, the magnetic ring 720 can be sequentially provided with a first non-magnetic area, a first magnetic area, a second non-magnetic area, a second magnetic area, a third non-magnetic area, a third magnetic area, a fourth non-magnetic area and a fourth magnetic area along the circumferential direction, and the first non-magnetic area and the first magnetic area each account for one fourth of the circumference of the magnetic ring 720, the second magnetic area and the third non-magnetic area each account for one eighth of the circumference of the magnetic ring 720, and the second non-magnetic area, the third magnetic area, the fourth non-magnetic area and the fourth magnetic area each account for one sixteenth of the circumference of the magnetic ring 720. The embodiment is equivalent to dividing the magnetic ring 720 into 16 sectors (each sector is 22.5°), assuming that the first non-magnetic area includes the first sector, the second sector, the third sector and the fourth sector, the first magnetic area includes the fifth sector, the sixth sector, the seventh sector and the eighth sector, the second non-magnetic area is the ninth sector, the second magnetic area includes the tenth sector and the eleventh sector, the third non-magnetic area includes the twelfth sector and the thirteenth sector, the third magnetic area is the fourteenth sector, the fourth non-magnetic area is the fifteenth sector, and the fourth magnetic area is the sixteenth sector.

[0054] When the motor output shaft 300 rotates to a certain angle (for example, the four magnetic sensitive elements 710 are approximately aligned with the second sector, the third sector, the fourth sector and the fifth sector), the motor drive control board 600 can obtain the code value "0001", and the mechanical angle to which the motor output shaft 300 rotates can be determined through the code value. In actual use, the number of magnetic sensitive elements 710 can be more, and the number of sector divisions can also be more, so that when a certain code value is obtained, the mechanical angle to which the motor output shaft 300 rotates can be accurately obtained.

[0055] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A joint motor with torque control, characterized in that, include: Motor housing (500); A torque sleeve assembly (100) is disposed between the output end of the reducer (200) and the output shaft of the motor (300); The first coil assembly (400) is connected to the motor housing (500) and is configured to cooperate with the torque sleeve assembly (100) to obtain the rotational torque of the motor output shaft (300); The motor drive control board (600) is connected to the motor housing (500) and electrically connected to the first coil assembly (400); The code track is set on the motor output shaft (300); An electronic sensing component is disposed on the motor drive control board (600) and configured in conjunction with the code track to obtain the rotation angle of the motor output shaft (300), and the motor drive control board (600) is electrically connected to the electronic sensing component.

2. The joint motor according to claim 1, characterized in that, The torque sleeve assembly (100) specifically includes: A connecting plate (110) is connected to the output end of the reducer (200); A torque sleeve (120) has its first axial end connected to the connecting disc (110), and the outer peripheral wall of the torque sleeve (120) is provided with a magnetostrictive sheet or the torque sleeve (120) is made of a magnetostrictive material; The connecting shaft (130) is connected to the second axial end of the torque sleeve (120).

3. The joint motor according to claim 2, characterized in that, The first coil assembly (400) specifically includes: The coil frame (410) is non-contactly sleeved with the torque sleeve (120); A coil (420) is wound on the coil frame (410); A frame fixing bracket (430) connects the motor housing (500) and the coil frame (410).

4. The joint motor according to claim 3, characterized in that, The coil frame (410) is sleeve-shaped, and the outer peripheral wall of the coil frame (410) is provided with a first coil receiving groove and a second coil receiving groove; the coil (420) includes a primary coil disposed in the first coil receiving groove and a secondary coil disposed in the second coil receiving groove.

5. The joint motor according to claim 4, characterized in that, The skeleton fixing frame (430) includes: A support sleeve allows the coil bobbin (410) to be inserted into the sleeve hole of the support sleeve along the axial direction of the support sleeve; A support ring is disposed on the inner wall of the sleeve hole of the support sleeve and located at one axial end of the support sleeve, and the support ring is bonded to the skeleton fixing frame (430). The support arm has its first length direction end connected to the outer peripheral wall of the support sleeve; the motor housing (500) includes a sleeve-shaped main housing and a support plate (510) disposed on the inner cavity wall of the main housing, and the second length direction end of the support arm is connected to the support plate (510).

6. The joint motor according to claim 2, characterized in that, The motor output shaft (300) includes a shaft plate portion and a bushing portion, the bushing portion being connected to the connecting shaft (130).

7. The joint motor according to claim 6, characterized in that, The motor drive control board (600) has a through hole that allows the bushing portion to pass through without contacting the bushing portion; the motor housing (500) includes a sleeve-shaped main housing and a support protrusion (520) disposed on the inner wall of the main housing, and the motor drive control board (600) is connected to the support protrusion (520).

8. The joint motor according to claim 7, characterized in that, The code track is set on the motor output shaft (300) via a code disk (700); the code disk (700) has an opening that allows the bushing portion to pass through, and the code disk (700) is connected to the side of the shaft plate portion facing the motor drive control board (600).

9. The joint motor according to claim 1, characterized in that, The electronic sensing component includes an excitation coil and an induction coil drawn on the motor drive control board (600), and the induction coil is located within the excitation range formed by the excitation coil; the code track includes alternating metal and non-metal regions.

10. The joint motor according to claim 1, characterized in that, The electronic sensing component includes a coil carrier plate disposed on the motor drive control board (600), and an excitation coil and an induction coil drawn on the coil carrier plate, wherein the induction coil is located within the excitation range formed by the excitation coil; the code track includes alternating metal and non-metal regions.

11. The joint motor according to claim 1, characterized in that, The electronic sensing component includes a plurality of magnetic sensitive elements (710) disposed on the motor drive control board (600); the code track is a magnetic ring (720), and the magnetic ring (720) is provided with a magnetic region (721) and a non-magnetic region (722).

12. The joint motor according to claim 1, characterized in that, The motor housing (500) includes a sleeve-shaped main housing and a support plate (510) disposed on the inner wall of the main housing. The support plate (510) divides the inner cavity of the main housing into a first cavity and a second cavity that are connected. The reducer (200) is disposed in the first cavity. The torque sleeve assembly (100), the first coil assembly (400), the motor drive control board (600), the code track and the electronic sensing assembly are disposed in the second cavity. The motor housing (500) further includes a first cover (530) assembled and connected to the main housing at one end of the first cavity, and a second cover (540) assembled and connected to the main housing at one end of the second cavity. The second cover (540) has a shaft hole that allows the motor output shaft (300) to pass through.

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