Hollow, double-braided and integrated robot joint module with high torque density

Abstract

The embodiment of the invention discloses a hollow, double-braided and integrated robot joint module with high torque density, and relates to the technical field of frameless torque motors and robot integrated joints. The joint module comprises a planetary reducer, a hollow shaft, a composite Halbach structure frameless torque motor and the like. According to the composite Halbach structure frameless torque motor, through the distribution design of the main magnet and the auxiliary magnet in the steel ring magnetic group and the ferromagnetic design arranged on the main magnet and / or the auxiliary magnet, the effect of increasing the rotating speed and the torque of the shutdown module is achieved. The air cooling design of a variable-torsion-angle structure is adopted for the joint module, so that the temperature rise of the joint module during working can be effectively reduced; the hollow design of the joint module facilitates wiring planning and management in subsequent integration of the joint; the joint module adopts a magnetic double-braided design, has the function of synchronously detecting the rotation angles and the rotation speeds of an input end motor and an output end planetary reducer, and improves the joint transmission precision through position synchronization and speed synchronization.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot joint technology, specifically to a high torque density hollow, dual-braced, integrated robot joint module. Background Technology

[0002] Joint modules are the core execution units of a robot's power domain, and their performance directly determines the motion accuracy, speed, and flexibility of a humanoid robot. Lightweighting, integration, and intelligence are the development trends in the robot joint module industry.

[0003] Hollow design for easy routing of robot upper and lower limb joints, surface-mount Helbeck frameless torque motor with high torque density, magnetic dual encoder design with synchronous detection of input and output angle and angular velocity, and integrated joint with integrated motor driver are core components and key technologies urgently needed in the field of robotics. Summary of the Invention

[0004] To address this, embodiments of the present invention provide a high torque density hollow, dual-row, integrated robot joint module to solve one or more of the aforementioned technical problems.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] A high torque density hollow, dual-axis, integrated robot joint module is characterized by comprising a planetary reducer, a hollow shaft, a motor housing, a composite Helbeck frameless torque motor, a motor end cover, a driver, a magnetic dual encoder, and a driver heat dissipation end cover.

[0007] The motor housing is located on one side of the input end of the planetary reducer. The motor housing has a lower outer circular positioning surface, a lower inner circular positioning surface, a middle inner circular positioning surface, and an upper inner circular positioning surface.

[0008] The motor end cover is located at the end of the motor housing furthest from the planetary reducer. The motor end cover has an upper outer circumferential positioning surface, an upper inner circumferential positioning surface, a lower outer circumferential positioning surface, and a lower inner circumferential positioning surface.

[0009] The driver heat dissipation end cover is located at the end of the motor end cover away from the motor housing, and an installation compartment is formed between the motor end cover and the driver heat dissipation end cover.

[0010] The composite Helbeck frameless torque motor is housed within the motor housing and includes a motor stator, a Helbeck rotor, and a motor rotor shaft arranged radially inward from the motor housing. The motor stator is fixed to the motor housing. The Helbeck rotor is fixed to the motor rotor shaft, and both the Helbeck rotor and the motor rotor shaft are rotatable along their axes. One end of the motor rotor shaft is connected to the input end of the planetary reducer.

[0011] The windings (coils) in the stator of a three-phase current motor generate a rotating magnetic field. This magnetic field interacts with permanent magnets on a Helbeck rotor to produce electromagnetic torque, driving the Helbeck rotor to rotate and achieving direct torque and speed output. The motor stator and the Helbeck rotor have a fixed positional relationship in the axial and radial directions. The Helbeck rotor includes a steel ring, and multiple magnetic groups are arranged sequentially around the outer circumference of the steel ring. Each magnetic group includes a main magnet and auxiliary magnets on both sides of the main magnet, with the auxiliary magnets of adjacent magnetic groups being fitted together.

[0012] One end of the hollow shaft passes through the planetary reducer and is connected to the output end of the planetary reducer, while the other end of the hollow shaft passes through the motor rotor shaft.

[0013] The driver and the dual magnetic encoder are housed within the mounting compartment. The dual magnetic encoder is connected to the other end of the hollow shaft and the other end of the motor rotor shaft, respectively. The driver is electrically connected to both the dual magnetic encoder and the composite Helbeck frameless torque motor. The driver is mounted on the motor end cover and is sealed and cooled by a driver heat dissipation end cover.

[0014] Furthermore, the Heilbeck rotor structure also includes multiple ferromagnetic sheets, which are fixed to the main magnet and / or auxiliary magnet, and each ferromagnetic sheet can cover the main magnet and / or auxiliary magnet. The thickness of each ferromagnetic sheet gradually decreases from the center to both ends in the circumferential direction. The fixed connection between the ferromagnetic sheet and the magnetic assembly is a detachable connection. The ferromagnetic material of the ferromagnetic sheet is ferrite or silicon steel sheet.

[0015] Furthermore, the motor rotor shaft includes an inner support ring, an outer support ring, and spokes. The inner support ring is located inside the outer support ring, forming an annular space between them. The spokes are disposed within the annular space, and their two ends are respectively connected to the outer wall of the inner support ring and the inner wall of the outer support ring. The spokes are arc-shaped spokes with a variable torsion angle design. Multiple spokes are evenly distributed within the annular space and face the same direction. The hollow areas between adjacent spokes form gas channels. The hollow shaft passes through the inner support ring, and the two ends of the inner support ring are respectively connected to the input end of the planetary reducer and the magnetic dual encoder.

[0016] The motor rotor shaft adopts a hollow structure with a stepped outer surface. It has an upper outer circumferential positioning surface, a first upper inner circumferential positioning surface, a second upper inner circumferential positioning surface, a middle outer circumferential positioning surface, a lower inner circumferential positioning surface, a lower outer circumferential positioning surface, and a bottom mounting surface. The center hole of the motor rotor shaft is connected to the outer circumferential surface by spokes, with hollowed-out sections between the spokes to reduce weight. The spokes employ a variable torsion angle design, generating a pressure difference through the elevation angle to drive airflow, and optimizing airflow through a torsion angle gradient distribution. This airflow reduces the temperature of the Heilbeck frameless torque motor and integrated joint.

[0017] Further, the planetary reducer includes a mounting body structure, an internal gear ring, a first-stage sun gear, a first-stage planetary gear train, a first-stage planetary carrier, a second-stage sun gear, a second-stage planetary gear train, and a second-stage planetary carrier. The mounting body structure, internal gear ring, first-stage sun gear, first-stage planetary gear train, and first-stage planetary carrier constitute the input stage, while the second-stage sun gear, second-stage planetary gear train, and second-stage planetary carrier constitute the output stage. The mounting body structure is fixedly connected to the motor housing. The internal gear ring is fixed within the mounting body structure. The first-stage sun gear, first-stage planetary carrier, and second-stage sun gear are rotatably and non-contactly fitted onto the hollow shaft. The second-stage planetary carrier is fixedly fitted onto the hollow shaft. The first-stage sun gear is connected to the motor rotor shaft. The first-stage planetary gear train is mounted on the first-stage planetary carrier and meshes with the internal gear ring and the first-stage sun gear respectively. The first-stage planetary carrier is connected to the second-stage sun gear. The second-stage planetary gear train is mounted on the second-stage planetary carrier and meshes with the internal gear ring and the second-stage sun gear respectively. The first-stage sun gear serves as the input end, and the second-stage planetary carrier serves as the output end.

[0018] The first-stage sun gear receives the rotational power input from the composite Helbeck frameless torque motor. The first-stage planetary gear system rotates around the internal gear ring, simultaneously driving the first-stage planetary carrier. At this time, the speed of the first-stage planetary carrier is lower than that of the input-stage first-stage sun gear, achieving the first stage of speed reduction. The input-stage first-stage planetary carrier is fixedly connected to the second-stage sun gear as the output stage, driving the second-stage planetary gear system to rotate again. Since the internal gear ring is fixed, the second-stage planetary gear system will rotate around the output-stage second-stage sun gear, ultimately outputting power through the second-stage planetary carrier. At this time, the speed of the second-stage planetary carrier is further reduced, achieving the second stage of speed reduction, thereby increasing the torque. The reduction in speed of the integrated joint is inversely proportional to the transmission ratio, while the increase in torque is directly proportional to the transmission ratio. The planetary reducer can reduce the speed of the composite Helbeck frameless torque motor while increasing its torque.

[0019] Furthermore, the magnetic dual encoder adopts a master-slave dual sensor architecture, including a magnetic dual encoder stator, a magnetic dual encoder outer rotor, a magnetic dual encoder inner rotor, an outer rotor mounting base, and an inner rotor mounting base.

[0020] The stator of the magnetic dual encoder is fixedly mounted on the motor end cover. The outer rotor mounting base is mounted on the end of the motor rotor shaft away from the planetary reducer. The outer rotor of the magnetic dual encoder is mounted on the end of the outer rotor mounting base away from the motor rotor shaft. The inner rotor mounting base is mounted on the end of the hollow shaft away from the planetary reducer. The inner rotor of the magnetic dual encoder is mounted on the end of the inner rotor mounting base away from the hollow shaft.

[0021] The motor end cover has a window, and the stator of the magnetic dual encoder is spaced over the window. The outer rotor and inner rotor of the magnetic dual encoder pass through the window and are located on the side of the stator of the magnetic dual encoder, respectively, supported by the outer rotor mounting base and the inner rotor mounting base. The outer rotor mounting base is sleeved outside the inner rotor mounting base and the two do not contact each other. The outer rotor of the magnetic dual encoder is sleeved outside the inner rotor of the magnetic dual encoder and the two do not contact each other.

[0022] The outer rotor mounting base is a hollow stepped shaft structure with an upper outer circular positioning surface and a lower outer circular positioning surface; the inner rotor mounting base is a hollow stepped shaft structure with an upper outer circular positioning surface, a lower outer circular positioning surface, and a lower inner circular positioning surface; the magnetic dual encoder stator, magnetic dual encoder outer rotor, and magnetic dual encoder inner rotor have a fixed positional relationship in the axial and radial directions; the magnetic dual encoder outer rotor and magnetic dual encoder stator can detect the rotation angle and speed of the motor rotor shaft and the Heilbeck structure rotor, and feed them back to the driver; the magnetic dual encoder inner rotor and magnetic dual encoder stator can detect the rotation angle and speed of the secondary planetary carrier, and feed them back to the driver.

[0023] Furthermore, the hollow shaft has a hollow structure with an upper outer circular positioning surface and a lower outer circular positioning surface. It is connected to the output end of the planetary reducer through the lower outer circular positioning surface, so as to transmit the output angle and output speed of the planetary reducer to the magnetic dual encoder in a 1:1 ratio.

[0024] Furthermore, the magnetic dual encoder is used to: detect the rotation angle and speed of the motor rotor shaft and the Helbeck structure rotor, and feed them back to the driver; detect the output rotation angle and output speed of the planetary reducer, and feed them back to the driver;

[0025] The driver is used to: convert electrical energy from the power supply into the electrical energy required by the composite Helbeck frameless torque motor; receive and analyze the speed of the composite Helbeck frameless torque motor and the speed of the planetary reducer measured by the magnetic dual encoder; and adjust the output torque and speed of the composite Helbeck frameless torque motor by controlling the current and voltage to achieve precise control of the integrated joint and meet different load requirements.

[0026] Furthermore, the driver heat dissipation end cover is sealed to the motor end cover; heat dissipation fins are provided on the periphery of the motor housing; the two ends of the motor rotor shaft are rotatably connected to the lower end of the motor housing and the lower end of the inner circle positioning surface of the motor end cover respectively through bearings.

[0027] The embodiments of the present invention have the following advantages:

[0028] 1. This invention uses ferromagnetic sheets made of ferromagnetic material on the main magnet, auxiliary magnet, or main magnet and auxiliary magnet of a Hellbeck structure rotor. The ferromagnetic sheets prevent the main magnet and auxiliary magnet of the permanent magnet from demagnetizing, and at the same time, they can also function as built-in magnets, thereby increasing torque and maximum speed. By setting the thickness of the ferromagnetic sheets to gradually decrease from the center to the periphery, the air gap magnetic flux density can be made closer to a sine wave, reducing torque fluctuations.

[0029] 2. The mechanical transmission mechanism (reducer + transmission connection + standard motor) is combined and designed into a hollow, double-row, integrated robot joint module, making the joint more compact.

[0030] 3. The outer rotor of the magnetic dual encoder rotates synchronously with the motor rotor, and the inner rotor of the magnetic dual encoder rotates synchronously with the output end of the planetary reducer (i.e., the secondary planetary carrier) through the hollow shaft. In this way, the magnetic dual encoder can identify and calculate the rotation angle and speed of the input end and the output end, and can realize integrated joint position synchronization and speed synchronization, which increases the overall transmission accuracy.

[0031] 4. The spokes of the motor rotor shaft adopt a variable torsion angle design, which generates a pressure difference through the elevation angle to drive the airflow, and optimizes the airflow through the torsion angle gradient distribution, thereby reducing the temperature of the Heilbeck frameless torque motor and integrated joint through airflow.

[0032] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0033] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0034] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0035] Figure 1 The diagram shows the external shape of a high torque density hollow, dual-cable, integrated robot joint module provided in an embodiment of the present invention.

[0036] Figure 2 An exploded view of a high torque density hollow, dual-cable, integrated robot joint module provided in an embodiment of the present invention;

[0037] Figure 3This is a schematic diagram of the structure of a high torque density hollow, dual-cable, integrated robot joint module provided in an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of the structure of a Heilbeck rotor for a high torque density hollow, double-braced, integrated robot joint module provided in an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of the installation position of the ferromagnetic sheet in a high torque density hollow, double-braced, integrated robot joint module provided in an embodiment of the present invention.

[0040] Figure 6 This is a schematic diagram of another mounting position of the ferromagnetic sheet for a high torque density hollow, double-braced, integrated robot joint module provided in an embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of another mounting position of the ferromagnetic sheet of a high torque density hollow, double-braced, integrated robot joint module provided in an embodiment of the present invention.

[0042] In the picture:

[0043] 1. Planetary reducer; 2. Hollow shaft; 3. Motor housing; 4. Composite Heilbeck frameless torque motor; 5. Motor end cover; 6. Driver; 7. Magnetic dual encoder; 8. Driver heat dissipation end cover;

[0044] 101. Install the main structural components; 102. Internal gear ring; 103. First-stage sun gear; 104. First-stage planetary gear train; 105. First-stage planetary carrier; 106. Second-stage sun gear; 107. Second-stage planetary gear train; 108. Second-stage planetary carrier;

[0045] 401. Motor stator; 402. Heilbeck rotor structure; 403. Motor rotor shaft; 404. First deep groove ball bearing; 405. Second deep groove ball bearing; 411. Steel ring; 412. Main magnet; 413. Auxiliary magnet; 414. Ferromagnetic sheet;

[0046] 701. Stator of magnetic dual encoder; 702. Outer rotor of magnetic dual encoder; 703. Inner rotor of magnetic dual encoder; 704. Mounting base of outer rotor; 705. Mounting base of inner rotor; 706. Third deep groove ball bearing. Detailed Implementation

[0047] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] like Figure 1 and Figure 2 As shown, a high torque density hollow, dual-axis, integrated robot joint module includes a planetary reducer 1, a hollow shaft 2, a motor housing 3, a composite Halbach frameless torque motor 4, a motor end cover 5, a driver 6, a magnetic dual encoder 7, and a driver heat dissipation end cover 8.

[0049] like Figure 2 and Figure 3 As shown, the planetary reducer 1 includes an input stage consisting of a mounting body structure 101, an internal gear ring 102, a first-stage sun gear 103, a first-stage planetary gear train 104, and a first-stage planetary carrier 105; and an output stage consisting of a second-stage sun gear 106, a second-stage planetary gear train 107, and a second-stage planetary carrier 108.

[0050] Hollow shaft 2 has a hollow structure and has an upper outer circle positioning surface and a lower outer circle positioning surface.

[0051] The motor housing 3 has a lower outer circle positioning surface, a lower inner circle positioning surface, a middle inner circle positioning surface, and an upper inner circle positioning surface.

[0052] The motor end cover 5 has an upper outer circle positioning surface, an upper inner circle positioning surface, a lower outer circle positioning surface, and a lower inner circle positioning surface.

[0053] like Figure 2 and 3 As shown, the composite Halbach structure frameless torque motor 4 includes a motor stator 401, a Halbach structure rotor 402, a motor rotor shaft 403, a first deep groove ball bearing 404, and a second deep groove ball bearing 405. The motor stator 401 generates a rotating magnetic field by energizing the windings, which drives the Halbach structure rotor 402 to generate electromagnetic torque, thereby achieving direct torque and speed output.

[0054] like Figure 4As shown, the Heilbeck rotor 402 includes a steel ring 411. Magnetic groups are arranged on the outer periphery of the steel ring 411, with multiple magnetic groups sequentially arranged around the periphery of the steel ring 411. Each magnetic group includes a main magnet 412 and auxiliary magnets 413 on both sides of the main magnet. The auxiliary magnets 413 of adjacent magnetic groups are fitted together. Ferromagnetic sheets 414 of ferromagnetic material are arranged on the outer side of the magnetic groups, and the ferromagnetic sheets 414 are disposed on the main magnet 412 and / or the auxiliary magnets 413. Figure 5-7 The ferromagnetic sheet 414 is fixedly connected to the magnetic assembly. The ferromagnetic sheet 414 completely covers the main magnet 412 and / or the auxiliary magnet 413. Complete coverage is to further improve the anti-demagnetization effect; partial coverage can also achieve the anti-demagnetization effect, depending on actual needs. The fixed connection between the ferromagnetic sheet 414 and the magnetic assembly is a detachable connection. The ferromagnetic material of the ferromagnetic sheet 414 is ferrite or silicon steel.

[0055] The motor stator 401 is fixed on the inner circular positioning surface in the middle of the motor housing 3. The Heilbeck structure rotor 402 is fixed on the outer circular positioning surface in the middle of the motor rotor shaft 403. The lower outer circular positioning surface of the motor rotor shaft 403 is installed into the positioning hole on the bottom surface of the motor housing 3 through the first deep groove ball bearing 404 to achieve radial support and positioning. The upper outer circular positioning surface of the motor rotor shaft 403 is installed into the upper inner circular positioning surface of the motor end cover 5 through the second deep groove ball bearing 405. The lower outer circular positioning surface of the motor end cover 5 is installed into the upper inner circular positioning surface of the motor housing 3, thereby achieving axial and radial support and positioning of the motor rotor shaft 403. The motor stator 401 and the Heilbeck structure rotor 402 have a fixed positional relationship in the axial and radial directions.

[0056] The motor rotor shaft 403 has a hollow structure with a stepped outer surface. It has an upper outer circle positioning surface, a first upper inner circle positioning surface, a second upper inner circle positioning surface, a middle outer circle positioning surface, a lower inner circle positioning surface, a lower outer circle positioning surface, and a bottom mounting surface. The area between the center hole of the motor rotor shaft and the outer circle surface is in the form of spokes, with hollowed-out sections between the spokes to reduce weight. The spokes adopt a variable torsion angle design, which generates a pressure difference through the elevation angle to drive airflow and optimizes airflow through the torsion angle gradient distribution. The airflow reduces the temperature of the Haierbeck frameless torque motor 4 and the integrated joint.

[0057] The first-stage sun gear 103 is fixed in the bottom mounting surface of the motor rotor shaft 403, achieving axial and radial positioning, and receiving the rotational power input from the composite Heilbeck frameless torque motor 4. The first-stage planetary gear train 104 rotates around the internal gear ring 102, simultaneously driving the first-stage planetary carrier 105 to rotate. At this time, the speed of the first-stage planetary carrier 105 is lower than that of the input-stage first-stage sun gear 103, achieving the first stage of speed reduction. The input-stage first-stage planetary carrier 105 is fixed to the second-stage sun gear 106 as the output stage, driving the second-stage planetary gear train 107 to rotate again. Since the internal gear ring 102 is fixed, the second-stage planetary gear train 107 will rotate around the output-stage second-stage sun gear 106, ultimately outputting power through the second-stage planetary carrier 108. At this time, the speed of the second-stage planetary carrier 108 is further reduced, achieving the second stage of speed reduction, thereby increasing the torque. The reduction in speed of the integrated joint is inversely proportional to the transmission ratio, and the increase in torque is directly proportional to the transmission ratio.

[0058] The driver 6 receives and analyzes the speed of the composite Helbeck frameless torque motor 4 and the planetary reducer 1 measured by the magnetic dual encoder 7. It adjusts the output torque and speed of the composite Helbeck frameless torque motor 4 by controlling the current and voltage, thereby achieving precise control of the integrated joint. Its core function is to convert the electrical energy of the power supply into the electrical energy required by the composite Helbeck frameless torque motor 4 and meet different load requirements by adjusting the parameters. The driver 6 is installed on the motor end cover 8 and is sealed and cooled by the driver heat dissipation end cover.

[0059] The magnetic dual encoder 7 adopts a master-slave dual sensor architecture, including a magnetic dual encoder stator 701, a magnetic dual encoder outer rotor 702, a magnetic dual encoder inner rotor 703, an outer rotor mounting base 704, and an inner rotor mounting base 705. The outer rotor mounting base 704 is a hollow stepped shaft structure with an upper outer circular positioning surface and a lower outer circular positioning surface. The inner rotor mounting base 705 is a hollow stepped shaft structure with an upper outer circular positioning surface, a lower outer circular positioning surface, and a lower inner circular positioning surface.

[0060] The hollow shaft 2 is positioned and fixed on the secondary planetary carrier 108 by the lower outer circle positioning surface. The lower inner circle positioning surface of the inner rotor mounting base 705 is mounted on the upper outer circle positioning surface of the hollow shaft 2. The lower outer circle positioning surface of the inner rotor mounting base 705 is used to install the third deep groove ball bearing 706, which is then installed into the second upper inner circle positioning surface of the motor rotor shaft 403 and then pressed and glued for fixation. The inner rotor 703 of the magnetic dual encoder is fixed on the upper outer circle positioning surface of the inner rotor mounting base 705. The outer rotor mounting base 704 is installed in the first upper inner circle positioning surface of the motor rotor shaft 403 to achieve axial and radial fixation and positioning, and to fix the axial position of the third deep groove ball bearing 706. The stator 701 of the magnetic dual encoder is installed in the upper inner circle positioning surface of the motor end cover 5 to achieve axial and radial fixation and positioning. The outer rotor 702 of the magnetic dual encoder is fixed on the upper outer circle positioning surface of the outer rotor mounting base 704 for axial and radial fixation. The magnetic dual encoder stator 701, magnetic dual encoder outer rotor 702, and magnetic dual encoder inner rotor 703 have a fixed positional relationship in the axial and radial directions. The magnetic dual encoder outer rotor 702 and magnetic dual encoder stator 701 can detect the rotation angle and speed of the motor rotor shaft 403 and the Heilbeck structure rotor 402, and feed them back to the driver 6. The magnetic dual encoder inner rotor 703 and magnetic dual encoder stator 701 can detect the rotation angle and speed of the secondary planetary carrier 108, and feed them back to the driver 6. The driver 6 adjusts the current direction and amplitude in real time according to the feedback signal of the magnetic dual encoder 7, and precisely controls the rotation angle and speed of the Heilbeck structure rotor 402.

[0061] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A high torque density hollow, dual-cable, integrated robot joint module, characterized in that, Includes planetary reducer, hollow shaft, motor housing, composite Helbeck frameless torque motor, motor end cover, driver, magnetic dual encoder and driver heat dissipation end cover; The motor housing is located on one side of the input end of the planetary reducer; The motor end cover is located at the end of the motor housing away from the planetary reducer; The driver heat dissipation end cover is located at the end of the motor end cover away from the motor housing, and an installation compartment is formed between the motor end cover and the driver heat dissipation end cover. The composite Helbeck structure frameless torque motor is housed within the motor housing and includes a motor stator, a Helbeck structure rotor, and a motor rotor shaft arranged radially inward from the motor housing. The motor stator is fixed to the motor housing, and the Helbeck structure rotor is fixed to the motor rotor shaft, and both the Helbeck structure rotor and the motor rotor shaft are rotatable along the axis. One end of the motor rotor shaft is connected to the input end of the planetary reducer. The Helbeck structure rotor includes a steel ring, and multiple magnetic groups are arranged on the outer circumference of the steel ring. The multiple magnetic groups are arranged sequentially and continuously on the circumference of the steel ring. Each magnetic group includes a main magnet and auxiliary magnets on both sides of the main magnet. The auxiliary magnets of two adjacent magnetic groups are fitted together. One end of the hollow shaft passes through the planetary reducer and is connected to the output end of the planetary reducer; the other end of the hollow shaft passes through the motor rotor shaft. The driver and the magnetic dual encoder are housed in the mounting compartment. The magnetic dual encoder is connected to the other end of the hollow shaft and the other end of the motor rotor shaft, respectively. The driver is electrically connected to the magnetic dual encoder and the composite Heilbeck frameless torque motor, respectively.

2. The high torque density hollow, dual-programmable, integrated robot joint module as described in claim 1, characterized in that, The Heilbeck rotor structure also includes multiple ferromagnetic sheets, which are disposed on the main magnet and / or auxiliary magnet, and each ferromagnetic sheet can cover the main magnet and / or auxiliary magnet; wherein, the thickness of each ferromagnetic sheet gradually decreases from the center to both ends in the circumferential direction.

3. The high torque density hollow, dual-programmable, integrated robot joint module as described in claim 2, characterized in that, The ferromagnetic sheet and the magnetic assembly are detachably fixed.

4. The high torque density hollow, dual-cable, integrated robot joint module as described in claim 2 or 3, characterized in that, The ferromagnetic material of the ferromagnetic sheet is ferrite or silicon steel sheet.

5. The high torque density hollow, dual-programmable, integrated robot joint module as described in claim 1, characterized in that, The motor rotor shaft includes an inner support ring, an outer support ring, and spokes. The inner support ring is located inside the outer support ring, and an annular space is formed between the two. The spokes are disposed in the annular space, and the two ends of the spokes are respectively connected to the outer wall of the inner support ring and the inner wall of the outer support ring. The spokes are arc-shaped spokes with variable twist angle design. Multiple spokes are evenly distributed in the annular space and face the same direction. The hollow area between adjacent spokes forms a gas channel. The hollow shaft passes through the inner support ring, and the two ends of the inner support ring are respectively connected to the input end of the planetary reducer and the magnetic dual encoder.

6. The high torque density hollow, dual-programmable, integrated robot joint module as described in claim 1, characterized in that, The planetary reducer includes a mounting body structure, an internal gear ring, a first-stage sun gear, a first-stage planetary gear train, a first-stage planetary carrier, a second-stage sun gear, a second-stage planetary gear train, and a second-stage planetary carrier; The mounting body structure is fixedly connected to the motor housing, the internal gear ring is fixed inside the mounting body structure, the first-stage sun gear, the first-stage planetary carrier and the second-stage sun gear are rotatably and non-contactly sleeved outside the hollow shaft, and the second-stage planetary carrier is fixedly sleeved outside the hollow shaft; The first-stage sun gear is connected to the motor rotor shaft. The first-stage planetary gear system is mounted on the first-stage planetary carrier and meshes with the internal gear ring and the first-stage sun gear respectively. The first-stage planetary carrier is connected to the second-stage sun gear. The second-stage planetary gear system is mounted on the second-stage planetary carrier and meshes with the internal gear ring and the second-stage sun gear respectively. The first-stage sun gear serves as the input end, and the second-stage planetary carrier serves as the output end.

7. The high torque density hollow, dual-programmable, integrated robot joint module as described in claim 1, characterized in that, The magnetic dual encoder adopts a master-slave dual sensor architecture, including a magnetic dual encoder stator, a magnetic dual encoder outer rotor, a magnetic dual encoder inner rotor, an outer rotor mounting base, and an inner rotor mounting base; The stator of the magnetic dual encoder is fixedly mounted on the motor end cover. The outer rotor mounting base is mounted on the end of the motor rotor shaft away from the planetary reducer. The outer rotor of the magnetic dual encoder is mounted on the end of the outer rotor mounting base away from the motor rotor shaft. The inner rotor mounting base is mounted on the end of the hollow shaft away from the planetary reducer. The inner rotor of the magnetic dual encoder is mounted on the end of the inner rotor mounting base away from the hollow shaft. The motor end cover has a window, and the stator of the magnetic dual encoder is spaced over the window. The outer rotor and inner rotor of the magnetic dual encoder pass through the window and are located on the side of the stator of the magnetic dual encoder, respectively, supported by the outer rotor mounting base and the inner rotor mounting base. The outer rotor mounting base is sleeved outside the inner rotor mounting base and the two do not contact each other. The outer rotor of the magnetic dual encoder is sleeved outside the inner rotor of the magnetic dual encoder and the two do not contact each other.

8. The high torque density hollow, dual-programmable, integrated robot joint module as described in claim 1, characterized in that, The hollow shaft has a hollow structure with an upper outer circular positioning surface and a lower outer circular positioning surface. It is connected to the output end of the planetary reducer through the lower outer circular positioning surface, and transmits the output angle and output speed of the planetary reducer to the magnetic dual encoder in a 1:1 ratio.

9. The high torque density hollow, dual-programmable, integrated robot joint module as described in claim 1, characterized in that, The magnetic dual encoder is used to: detect the rotation angle and speed of the motor rotor shaft and the Helbeck rotor, and feed them back to the driver; detect the output rotation angle and output speed of the planetary reducer, and feed them back to the driver. The driver is used to: convert electrical energy from the power supply into the electrical energy required by the composite Heilbeck frameless torque motor; The system receives and analyzes the speed of the composite Helbeck frameless torque motor and the speed of the planetary reducer measured by the magnetic dual encoder. By controlling the current and voltage, the output torque and speed of the composite Helbeck frameless torque motor are adjusted to achieve precise control of the integrated joint and meet different load requirements.

10. The high torque density hollow, dual-programmable, integrated robot joint module as described in claim 1, characterized in that, The driver heat dissipation end cover is sealed to the motor end cover; The motor housing is provided with heat dissipation fins on its periphery; The two ends of the motor rotor shaft are rotatably connected to the lower end of the motor housing and the lower end of the inner circle positioning surface of the motor end cover via bearings.

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