Humanoid robot joint module based on two-stage planetary speed reduction and double-encoder feedback

Abstract

The invention provides a humanoid robot joint module based on two-stage planetary speed reduction and double-encoder feedback, and relates to the technical field of robots. The humanoid robot joint module comprises a driving motor, a first-stage planetary reducer, a second-stage planetary reducer, a first inductance encoder, a second inductance encoder and a driving control board which are sequentially arranged from the input end to the output end. A first-stage sun gear of the first-stage planetary reducer is connected with a rotor shaft of the driving motor, a first-stage planet carrier of the first-stage planetary reducer serves as first-stage output to be connected with a second-stage sun gear of the second-stage planetary reducer, and a second-stage planet carrier of the second-stage planetary reducer serves as a joint output flange. The first inductance encoder and the second inductance encoder are connected with the driving control board, the driving control board is used for receiving signals of the double encoders and superior control instructions and driving the motor to operate, and the motor control system has high integration and balanced performance, can directly sense the state of the output end and achieves full-closed-loop control based on double feedback.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a high-performance, high-precision, high-integration joint module for humanoid robots, and especially to a humanoid robot joint module based on double-stage planetary reduction and double-encoder feedback. BACKGROUND

[0002] With the development of humanoid robot technology, the joint module needs to have high torque density, high precision, high dynamic response, high reliability and state sensing capability. In the prior art, the current mainstream humanoid robot joint module commonly adopts a single-stage planetary reducer and a single-encoder scheme, a harmonic reducer and a single-encoder scheme, or a single-stage planetary reducer and a double-encoder scheme.

[0003] Among them, the single-stage planetary reducer and single-encoder scheme has a relatively simple structure, but the torque density and reduction ratio are limited, and the actual position of the output end and the back gap cannot be directly measured, and the control accuracy is greatly affected by the back gap and elastic deformation of the reducer. The harmonic reducer and single-encoder scheme has obvious zero back gap advantage and high precision, but the torque density is relatively low, the cost is high, and it is sensitive to impact load. The double-encoder scheme of the single-stage planetary reducer and double-encoder scheme can compensate for the back gap and deformation to improve control accuracy, but the torque density and maximum reduction ratio of the single-stage planetary reducer are still limited, making it difficult to meet the demand of large load joints.

[0004] Therefore, there is an urgent need for a joint module with high integration, balanced performance, direct sensing of the output end state, and high-precision control. SUMMARY

[0005] Therefore, in order to solve the problems that the single reducer scheme in the current mainstream humanoid robot joint module cannot simultaneously consider high torque density, large reduction ratio, high precision, low back gap and compactness; the single-encoder scheme cannot sense and compensate for the back gap, elastic deformation and wear of the reduction mechanism, resulting in errors between the actual output position and the command position; and the use of harmonic reducer has high cost and weak impact resistance, the purpose of the present application is to propose a humanoid robot joint module based on double-stage planetary reduction and double-encoder feedback, which has high integration, balanced performance, can directly sense the output end state and realize full closed-loop control, through the series structure of the double-stage planetary reducer and the cooperative configuration of the double-position encoder, and adopts an integrated welding structure, and uses permalloy to electromagnetically shield the motor stator, reducing the interference to the encoder signal.

[0006] To achieve the above purpose, the present application provides the following technical scheme: In view of the above objectives, in a first aspect, the present invention provides a humanoid robot joint module based on dual-stage planetary reducer and dual encoder feedback, comprising a drive motor, a first-stage planetary reducer, a second-stage planetary reducer, a first inductive encoder, a second inductive encoder and a drive control board arranged sequentially from input end to output end; The first stage sun gear of the first stage planetary reducer is connected to the rotor shaft of the drive motor. The first stage planet carrier of the first stage planetary reducer is connected to the second stage sun gear of the second stage planetary reducer as the first stage output. The second stage planet carrier of the second stage planetary reducer is used as a joint output flange. The first inductive encoder is mounted on the rotor shaft of the drive motor and is used to measure the output rotation parameters; the drive control board is connected to the first inductive encoder and the second inductive encoder and is used to receive dual encoder signals and upper-level control commands, drive the motor to run, and realize full closed-loop control based on dual feedback. The fully closed-loop control includes real-time comparison of the rotation parameters of the input shaft and the output end to calculate the transmission error, and dynamic compensation for backlash, elastic deformation and wear error; the joint module also includes a module shell, which uses an integrated laser welding structure to encapsulate each component, and the drive control board is equipped with a permalloy shielding cover for electromagnetic shielding of the motor stator and encoder PCB.

[0007] As a further embodiment of the present invention, the drive motor is a permanent magnet synchronous motor that provides a power source, and the rotor shaft of the drive motor serves as the input shaft of the entire transmission chain.

[0008] As a further embodiment of the present invention, the first-stage sun gear is indirectly fixedly connected to the rotor shaft, and the second-stage sun gear is directly or indirectly fixedly connected to the first-stage planetary carrier, forming a series reduction structure; wherein, the first-stage sun gear of the first-stage planetary reducer is indirectly fixedly connected to the rotor shaft of the drive motor; the second-stage sun gear of the second-stage planetary reducer is directly or indirectly fixedly connected to the first-stage planetary carrier, and the output of the first-stage planetary carrier of the first-stage planetary reducer directly drives the input of the second-stage sun gear of the second-stage planetary reducer.

[0009] As a further embodiment of the present invention, the first-stage planetary carrier is also connected to the planetary gears of the first-stage planetary reducer via the internal gear ring of the first-stage planetary reducer; the second-stage planetary carrier is connected to the planetary gears of the second-stage planetary reducer via the internal gear ring of the second-stage planetary reducer.

[0010] As a further embodiment of the present invention, the first inductive encoder includes a first inductive encoder disk and a first inductive encoder PCB, the first inductive encoder disk being fixed on the rotor shaft and the first inductive encoder PCB being fixed on the stator or module housing; the second inductive encoder includes a second inductive encoder disk and a second inductive encoder PCB, the second inductive encoder disk being fixed on the joint output flange and the second inductive encoder PCB being fixed on the module housing.

[0011] As a further embodiment of the present invention, the first inductive encoder is directly mounted on the rotor shaft of the drive motor or coaxially mounted with the motor rotor, and is used to measure the rotation angle and speed of the motor input shaft; the second inductive encoder is directly mounted on the joint output flange or mounted on a component that rotates synchronously with the output flange, and is used to measure the rotation angle and speed of the actual output end of the joint.

[0012] As a further aspect of the present invention, the fully closed-loop control further includes: using the output encoder as position loop feedback in position control, and combining motor current and dual encoder information to estimate output torque in torque control.

[0013] As a further embodiment of the present invention, the humanoid robot joint module is further provided with a module shell, which adopts an integrated laser welding structure for encapsulating and supporting the drive motor, the first-stage planetary reducer, the second-stage planetary reducer, the first inductive encoder, and the second inductive encoder.

[0014] As a further embodiment of the present invention, the drive control board is configured to perform compliant control based on dual encoder signals, dynamically adjusting the motor output to adapt to load changes. The drive control board is used to receive signals from the first inductive encoder and the second inductive encoder, and is provided with a permalloy shield to electromagnetically shield the motor stator. The permalloy shield covers the motor stator and the encoder PCB. The first inductive encoder and the second inductive encoder use differential signal processing, and electromagnetic interference is suppressed by the permalloy shield.

[0015] As a further embodiment of the present invention, the first inductive encoder disk of the first inductive encoder is fixed on the motor rotor shaft, and the first inductive encoder PCB of the first inductive encoder is fixed on the stator or housing; the second inductive encoder disk of the second inductive encoder is fixed on the output flange or on a shaft or component that rotates synchronously therewith, and the second inductive encoder PCB of the second inductive encoder is fixed on the module housing.

[0016] Compared with existing technologies, the humanoid robot joint module based on two-stage planetary deceleration and dual encoder feedback proposed in this invention has the following advantages: 1. This invention achieves the product of the reduction ratios of the two stages through a two-stage planetary reducer series connection, significantly improving the overall reduction ratio. This results in several times the output torque of a single stage under the same motor input torque, meeting the high load requirements of humanoid robot joints. The two-stage series connection overcomes the limitations of a single-stage reduction ratio. This invention utilizes dual position encoders for collaborative feedback. The first inductive encoder measures the initial position / velocity of the motor shaft, while the second inductive encoder directly measures the actual output position / velocity of the joint. By comparing the readings of the two inductive encoders, the control system can calculate the transmission error of the reduction mechanism (two-stage planetary reducer) in real time and accurately, including backlash, elastic deformation, and wear accumulation errors. Based on the calculated transmission error, the control system can dynamically compensate for these errors. In position control, the output inductive encoder is directly used as the position loop feedback, achieving true closed-loop position control and eliminating the influence of reduction mechanism errors. In force control, the actual output torque is estimated more accurately by combining motor current and dual encoder information. This achieves high-precision compliant control.

[0017] 2. The reducer housing, motor housing, and controller housing of this invention are integrated using laser welding technology. The output flange directly serves as the mounting interface for the robot link. Internal wiring is optimized to reduce interference. Furthermore, permalloy is used to electromagnetically shield the motor stator, reducing interference to the encoder signal. By integrating the drive controller and communication interface, an intelligent joint module is formed, simplifying system wiring and improving response speed.

[0018] These or other aspects of this application will become more apparent from the following description of embodiments. It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the application. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the accompanying drawings used in the description of the exemplary embodiments or related technologies will be briefly introduced below. The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof. In the drawings: Fig. 1 This is an exploded three-dimensional structural diagram of a humanoid robot joint module based on dual-stage planetary deceleration and dual encoder feedback, according to an embodiment of the present invention.

[0020] Fig. 2 This is an axial cross-sectional view of a humanoid robot joint module based on a two-stage planetary deceleration and dual encoder feedback according to an embodiment of the present invention.

[0021] Fig. 3This is a block diagram illustrating the signal processing and control principle of a dual encoder in a humanoid robot joint module based on dual-stage planetary deceleration and dual encoder feedback, according to an embodiment of the present invention. Detailed Implementation

[0022] The present application will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0023] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to specific examples and the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0024] It should be noted that all uses of "first" and "second" in the embodiments of the present invention are for the purpose of distinguishing two different entities or different parameters with the same name. Therefore, "first" and "second" are merely for convenience of expression and should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, such as other steps or units inherent in a process, method, system, product, or device that includes a series of steps or units.

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0027] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] See Figs. 1 to 3As shown, an embodiment of the present invention provides a humanoid robot joint module based on a two-stage planetary reducer and dual encoder feedback, including a drive motor 1, a first-stage planetary reducer 3, a second-stage planetary reducer 4, a first inductive encoder 5, a second inductive encoder 6, and a drive control board 8 arranged sequentially from the input end to the output end; the first-stage sun gear 301 of the first-stage planetary reducer 3 is connected to the rotor shaft 101 of the drive motor 1. In this embodiment, the drive motor 1 is a permanent magnet synchronous motor that provides a power source, and the rotor shaft 101 of the drive motor 1 serves as the input shaft of the entire transmission chain.

[0029] The first-stage planetary carrier 304 of the first-stage planetary reducer 3 serves as the first-stage output and is connected to the second-stage sun gear 401 of the second-stage planetary reducer 4. The second-stage planetary carrier 404 of the second-stage planetary reducer 4 serves as the joint output flange 7. The first-stage planetary carrier 304 is also connected to the first-stage planetary reducer planet gear 302 via the first-stage planetary reducer internal gear ring 303, and is connected to the second-stage sun gear 401. The second-stage planetary carrier 404 is connected to the second-stage planetary reducer planet gear 402 via the second-stage planetary reducer internal gear ring 403.

[0030] The first inductive encoder 5 is directly mounted on the rotor shaft 101 of the drive motor 1 or coaxially mounted with the motor rotor, and is used to measure the rotational parameters at the output end. The first inductive encoder 5 includes a first inductive encoder disk 501 and a first inductive encoder PCB 502. The first inductive encoder disk 501 is fixed on the rotor shaft, and the first inductive encoder PCB 502 is fixed on the stator or module housing. The second inductive encoder 6 includes a second inductive encoder disk 601 and a second inductive encoder PCB 602. The second inductive encoder disk 601 is fixed on the joint output flange, and the second inductive encoder PCB 602 is fixed on the module housing. The first inductive encoder disk 501 of the first inductive encoder 5 is fixed on the motor rotor shaft 101, and the first inductive encoder PCB 502 of the first inductive encoder 5 is fixed on the stator or housing. The first inductive encoder 5 measures the rotational angle and speed of the motor input shaft. In this embodiment, the first-stage sun gear 301 of the first-stage planetary reducer 3 is indirectly fixedly connected to the rotor shaft 101 of the drive motor 1; the second-stage sun gear 401 of the second-stage planetary reducer 4 is directly or indirectly fixedly connected to the first-stage planetary carrier, forming a series reduction structure, and the output of the first-stage planetary carrier 304 of the first-stage planetary reducer 3 directly drives the input of the second-stage sun gear 401 of the second-stage planetary reducer 4.

[0031] The second inductive encoder 6 is mounted on the joint output flange 7 and synchronously rotating components of the second-stage planetary reducer 4. Specifically, the second inductive encoder disk 601 of the second inductive encoder 6 is fixed to the output flange 7 or a shaft or component that rotates synchronously with it, and the second inductive encoder PCB 602 of the second inductive encoder 6 is fixed to the module housing 2. The first inductive encoder 5 is mounted on the rotor shaft 101 of the drive motor 1. In this embodiment, the second inductive encoder 6 is directly mounted on the joint output flange 7 or on a component that rotates synchronously with the output flange 7, used to measure the rotation angle and speed of the actual output end of the joint.

[0032] The drive control board 8 is connected to the first inductive encoder 5 and the second inductive encoder 6. The drive control board 8 is configured to perform compliant control based on the dual encoder signals, dynamically adjusting the motor output to adapt to load changes. The drive control board 8 is used to receive dual encoder signals and upper-level control commands, drive the motor 1 to run, and achieve full closed-loop control based on dual feedback. The full closed-loop control includes real-time comparison of the rotational parameters of the input shaft and the output end to calculate the transmission error, and dynamically compensating for backlash, elastic deformation, and wear errors. The joint module also includes a module housing 2, which uses an integrated laser welding structure to encapsulate each component. The drive control board 8 is provided with a permalloy shield 603 for electromagnetic shielding of the motor stator and encoder PCB.

[0033] In this embodiment, the full closed-loop control further includes: using the output encoder as position loop feedback in position control, and estimating the output torque by combining motor current and dual encoder information in torque control.

[0034] In this embodiment, the module shell 2 on the humanoid robot joint module adopts an integrated laser welding structure to encapsulate and support the drive motor 1, the first-stage planetary reducer 3, the second-stage planetary reducer 4, the first inductive encoder 5, and the second inductive encoder 6.

[0035] In this embodiment, the drive control board 8 is used to receive signals from the first inductive encoder 5 and the second inductive encoder 6, and is equipped with a permalloy shield 603 to electromagnetically shield the motor stator and the first inductive encoder PCB 502 and the second inductive encoder PCB 602, reducing interference to the encoder signals. The permalloy shield 603 covers the motor stator and the encoder PCB, and the first inductive encoder 5 and the second inductive encoder 6 employ differential signal processing, with electromagnetic interference suppressed by the permalloy shield 603.

[0036] In the humanoid robot joint module of this invention based on dual-stage planetary reducers and dual-encoder feedback, the output of the first-stage planetary carrier 304 of the first-stage planetary reducer 3 directly drives the input of the second-stage sun gear 401 of the second-stage planetary reducer 4. This series connection achieves the product of the reduction ratios of the two stages, significantly improving the overall reduction ratio (e.g., 5:1 for a single stage, up to 25:1 for two stages in series). This allows for several times the output torque of a single stage under the same motor input torque, meeting the high load requirements of humanoid robot joints. The planetary reducer itself possesses advantages such as high rigidity, high load-bearing capacity, compact structure, high efficiency, and good impact resistance. The dual-stage series connection maintains these advantages while overcoming the limitations of the single-stage reduction ratio.

[0037] In this invention, dual-position encoders provide collaborative feedback. The initial position / velocity of the motor shaft is measured by the first inductive encoder 5 (motor end), while the actual output position / velocity of the joint is directly measured by the second inductive encoder (output end). By comparing the readings of the two inductive encoders, the control system can calculate the transmission error of the reduction mechanism (two-stage planetary reducer) in real time and accurately, including backlash, elastic deformation, and wear accumulation errors. Based on the calculated transmission error, the control system can dynamically compensate for these errors. For example: (1) In position control, the output inductive encoder is directly used as position loop feedback to achieve true “full closed loop” position control and eliminate the influence of speed reduction mechanism error.

[0038] (2) In torque control, the actual torque at the output end can be estimated more accurately by combining the motor current and the information of the dual inductor encoder.

[0039] (3) Achieve high-precision compliant control.

[0040] In this invention, all core components are precisely integrated into a compact cylindrical or flat housing. The motor housing, reducer housing, and controller housing are laser-welded together. The output flange directly serves as the mounting interface for the robot links, with optimized internal wiring and permalloy for electromagnetic shielding of the motor stator to reduce interference with encoder signals. Furthermore, the permalloy electromagnetic shielding of the motor stator, combined with the integrated drive controller and communication interface to form an intelligent joint module, simplifies system wiring and improves response speed.

[0041] The above are exemplary embodiments disclosed in this invention. However, it should be noted that various changes and modifications can be made without departing from the scope of the embodiments of this invention as defined by the claims. The functions, steps, and / or actions of the methods according to the disclosed embodiments described herein do not need to be performed in any particular order. Furthermore, although the elements disclosed in the embodiments of this invention may be described or claimed individually, they may be understood as multiple unless explicitly limited to a singular number.

[0042] It should be understood that, as used herein, the singular form "a" is intended to include the plural form as well, unless the context clearly supports an exception. It should also be understood that, as used herein, "and / or" refers to any and all possible combinations of one or more of the associatedly listed items. The embodiment numbers disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0043] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples. Within the framework of the invention, technical features of the above embodiments or different embodiments can be combined, and many other variations of different aspects of the invention exist, which are not provided in the details for the sake of brevity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the protection scope of the invention.

Claims

1. A humanoid robot joint module based on two-stage planetary deceleration and dual encoder feedback, characterized in that, It includes a drive motor, a first-stage planetary reducer, a second-stage planetary reducer, a first inductive encoder, a second inductive encoder, and a drive control board arranged sequentially from the input end to the output end; The first stage sun gear of the first stage planetary reducer is connected to the rotor shaft of the drive motor. The first stage planet carrier of the first stage planetary reducer is connected to the second stage sun gear of the second stage planetary reducer as the first stage output. The second stage planet carrier of the second stage planetary reducer is used as a joint output flange. The first inductive encoder is mounted on the rotor shaft of the drive motor and is used to measure the output rotation parameters; the drive control board is connected to the first inductive encoder and the second inductive encoder and is used to receive dual encoder signals and upper-level control commands, drive the motor to run, and realize full closed-loop control based on dual feedback. The fully closed-loop control includes real-time comparison of the rotation parameters of the input shaft and the output end to calculate the transmission error, and dynamic compensation for backlash, elastic deformation and wear error; the joint module also includes a module shell, which uses an integrated laser welding structure to encapsulate each component, and the drive control board is equipped with a permalloy shielding cover for electromagnetic shielding of the motor stator and encoder PCB.

2. The humanoid robot joint module based on dual-stage planetary deceleration and dual encoder feedback as described in claim 1, characterized in that, The drive motor is a permanent magnet synchronous motor, and the rotor shaft of the drive motor serves as the input shaft of the transmission chain.

3. The humanoid robot joint module based on dual-stage planetary deceleration and dual encoder feedback as described in claim 2, characterized in that, The first-stage sun gear is indirectly fixed to the rotor shaft, and the second-stage sun gear is directly or indirectly fixed to the first-stage planetary carrier, forming a series reduction structure.

4. The humanoid robot joint module based on dual-stage planetary deceleration and dual encoder feedback as described in claim 3, characterized in that, The first-stage sun gear of the first-stage planetary reducer is indirectly fixedly connected to the rotor shaft of the drive motor; the second-stage sun gear of the second-stage planetary reducer is directly or indirectly fixedly connected to the first-stage planetary carrier, and the output of the first-stage planetary carrier of the first-stage planetary reducer directly drives the input of the second-stage sun gear of the second-stage planetary reducer.

5. The humanoid robot joint module based on dual-stage planetary deceleration and dual encoder feedback as described in claim 4, characterized in that, The first-stage planetary carrier is connected to the planetary gears of the first-stage planetary reducer via the internal gear ring of the first-stage planetary reducer, and the second-stage planetary carrier is connected to the planetary gears of the second-stage planetary reducer via the internal gear ring of the second-stage planetary reducer.

6. The humanoid robot joint module based on dual-stage planetary deceleration and dual encoder feedback as described in claim 1, characterized in that, The first inductive encoder includes a first inductive encoder disk and a first inductive encoder PCB. The first inductive encoder disk is fixed on the rotor shaft, and the first inductive encoder PCB is fixed on the stator or module housing. The second inductive encoder includes a second inductive encoder disk and a second inductive encoder PCB. The second inductive encoder disk is fixed on the joint output flange, and the second inductive encoder PCB is fixed on the module housing.

7. The humanoid robot joint module based on dual-stage planetary deceleration and dual encoder feedback as described in claim 6, characterized in that, The first inductive encoder is directly mounted on the rotor shaft of the drive motor or coaxially mounted with the motor rotor, and is used to measure the rotation angle and speed of the motor input shaft; the second inductive encoder is mounted on the joint output flange and synchronously rotating components of the second-stage planetary reducer, and is used to measure the rotation angle and speed of the actual output end of the joint.

8. The humanoid robot joint module based on dual-stage planetary deceleration and dual encoder feedback as described in claim 1, characterized in that, The full closed-loop control also includes: using the output encoder as position loop feedback in position control, and combining motor current and dual encoder information to estimate output torque in torque control.

9. The humanoid robot joint module based on dual-stage planetary deceleration and dual encoder feedback as described in claim 7, characterized in that, The humanoid robot joint module is also provided with a module shell, which adopts an integrated laser welding structure to encapsulate and support the drive motor, the first-stage planetary reducer, the second-stage planetary reducer, the first inductive encoder, and the second inductive encoder.

10. The humanoid robot joint module based on dual-stage planetary deceleration and dual encoder feedback as described in claim 6, characterized in that, The drive control board is configured to perform compliant control based on dual encoder signals, dynamically adjusting the motor output to adapt to load changes. The drive control board is used to receive signals from the first inductive encoder and the second inductive encoder, and is equipped with a permalloy shield to electromagnetically shield the motor stator. The permalloy shield covers the motor stator and the encoder PCB. The first inductive encoder and the second inductive encoder use differential signal processing, and electromagnetic interference is suppressed by the permalloy shield. The first inductive encoder disk of the first inductive encoder is fixed on the motor rotor shaft, and the first inductive encoder PCB of the first inductive encoder is fixed on the stator or housing; the second inductive encoder disk of the second inductive encoder is fixed on the output flange or on the shaft or component that rotates synchronously with it, and the second inductive encoder PCB of the second inductive encoder is fixed on the module housing.

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