Axial magnetic flux electric joint module system for assembly modular robot

Abstract

The invention provides an axial magnetic flux electric joint module system for an assembly modular robot, which comprises a plurality of functional assemblies, and the plurality of functional assemblies comprise a driver assembly, an encoder assembly, a brake assembly, an axial magnetic flux motor assembly, a speed reducer assembly and a torque sensor assembly, each functional assembly comprises a shell, a functional device, an electrical connector and a mechanical connection structure, the functional device and the electrical connector are both installed on the shell, the mechanical connection structure is arranged on the functional device, the functional device is used for achieving the function corresponding to the target functional assembly, and the mechanical connection structure is used for achieving the function corresponding to the target functional assembly. The electrical connector is used for realizing current bridging and signal transmission among the functional components, the mechanical connection structure is used for physical structure connection among the functional components, and the plurality of functional components are stacked in sequence to form the joint module system.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to an axial flux-electric joint module system for modular robots. Background Technology

[0002] Against the backdrop of the rapid development of robotics technology, especially in the fields of humanoid robots and legged robots (such as bipedal walking robots and quadruped robots), increasingly higher demands are being placed on the performance of their core components—joint modules. These robots typically operate in complex, dynamic, and unstructured environments, and their movements encompass a variety of motion forms, including jumping, running, and stable walking. Therefore, extremely high requirements are placed on the response speed, output torque density, compact size, structural weight, control precision, and energy efficiency of the drive system.

[0003] Currently, most mainstream joint modules in the industry use radial flux motors as the power source, combined with external reducers, brakes, and various sensors to construct the drive system. While this technical approach is widely used, it has also exposed a series of insurmountable bottlenecks:

[0004] First, because radial motors require a large radial dimension in their structure, the entire joint module appears bulky in space, making it difficult to adapt to positions such as the hip, knee, and ankle of humanoid robots that have extremely high requirements for structural compactness, thus limiting the overall humanoid bionic configuration design of the robot.

[0005] Secondly, current joint modules are mostly integrated from discrete components, including multiple components such as motors, reducers, sensors, and braking devices. This distributed design results in a long system transmission chain and complex structure, which not only reduces system rigidity and overall reliability, but also leads to reduced energy efficiency and sluggish control response, thus affecting the robot's performance when performing high-precision force control and rapid dynamic response tasks.

[0006] Furthermore, since current module designs are mostly customized products for specific tasks or load conditions, they lack good versatility and reconfigurability. This means that completely different module development is required for different robot applications (such as from upper limb to lower limb joints), which greatly increases the R&D cycle and cost investment, and limits the large-scale promotion and application.

[0007] In the prior art, Chinese patent CN201910835763.0 proposes a highly integrated modular joint module solution suitable for exoskeleton robots. It employs a three-layer safety protection structure, improved deceleration components, and optimized encoder installation, combined with motor, force control, position sensing, and limit protection functions, offering a degree of modularity and ease of maintenance. However, this solution still uses a traditional reducer integration method and does not fundamentally solve key problems such as excessive axial dimensions, limited structural integration, and weak module reconfiguration capabilities. Therefore, it is difficult to meet the extreme structural and dynamic control performance requirements of high-performance humanoid and legged robots.

[0008] In summary, there is still a lack of integrated joint module technology that simultaneously possesses ultra-high torque density, extremely small axial dimensions, highly integrated structure, and good modularity. This has become a key technological bottleneck restricting the efficiency and performance breakthroughs in the development of next-generation high-performance humanoid and legged robots. Summary of the Invention

[0009] To address the shortcomings of existing technologies, the purpose of this invention is to provide an axial flux electric joint module system for modular robots.

[0010] According to one aspect of the present invention, an axial flux electric joint module system for a modular robot includes multiple functional components, including a driver assembly, an encoder assembly, a brake assembly, an axial flux motor assembly, a reducer assembly, and a torque sensor assembly. Each functional component includes a housing, a functional device, an electrical connector, and a mechanical connection structure. The functional device and the electrical connector are mounted on the housing, and the mechanical connection structure is disposed on the functional device. The functional device is used to realize the function corresponding to the target functional component. The electrical connector is used to realize current bridging and signal transmission between the functional components. The mechanical connection structure is used for motion transmission between the functional components. The multiple functional components are stacked sequentially to form a joint module system.

[0011] Preferably, the electrical connectors for each functional component are uniform standardized devices, and the electrical connectors include connected PCB circuit boards, female connectors and male connectors, and the PCB circuit boards are used to connect the functional devices.

[0012] Preferably, the mechanical connection structure is a mortise and tenon structure, and the mechanical connection structure includes pin holes and pin shafts distributed along a circumferential trajectory. The pin holes are disposed on the first connector, and the pin shafts are disposed on the second connector.

[0013] Preferably, the housing includes an outer shell and an end cap, the outer shell having a mounting position for mounting functional devices, the end cap for sealing the opening of the mounting position, and the outer shell and end cap having clearance notches for accommodating mechanical connection structures.

[0014] Preferably, the functional components of the driver assembly include driver hardware circuitry and an interface, wherein the driver hardware circuitry is connected to a PCB circuit board.

[0015] Preferably, the functional components of the encoder assembly include a rotary encoder, which is connected to a PCB circuit board, and the upper and lower sides of the rotary encoder are respectively connected to a first connector or a second connector.

[0016] Preferably, the functional components of the brake assembly include a brake stator coil and a brake rotor. The brake coil is connected to a PCB circuit board, and the upper and lower sides of the brake rotor are respectively connected to a first connector or a second connector.

[0017] Preferably, the functional components of the axial flux motor assembly include a stator coil and a rotor, the stator coil being connected to a PCB circuit board, and the rotor being connected to a first connector and a second connector.

[0018] Preferably, the functional components of the reducer assembly include a reduction mechanism, which is connected to a PCB circuit board and to a first connector and a second connector.

[0019] Preferably, the functional components of the torque sensor assembly include a torque sensor and a slip ring structure, the slip ring structure being connected to a PCB circuit board, and the torque sensor being connected to a first connector and a second connector.

[0020] Compared with the prior art, the present invention has the following beneficial effects: This invention achieves decoupled system functionality by dividing the drive system into multiple functionally independent modules, including a driver assembly, a motor assembly, an encoder assembly, a brake assembly, a reduction gear assembly, and a torque sensor assembly. These components are connected and work collaboratively through a unified mechanical interface and electrical bus. This modular structure allows for flexible selection and combination of components according to different application requirements, enhancing the system's versatility and scalability.

[0021] In terms of structural design, except for the driver assembly, all other components adopt a unified motion transmission interface, achieving precise connection through the cooperation of pin holes and pin shafts. Combined with a unified hollow structure design, the module system forms a through hollow channel, facilitating internal wiring and improving overall integration and assembly efficiency. Regarding electrical connections, all components achieve power supply and data communication through a unified electrical bus, supporting the cascading access of multiple sensor modules. A component category identification mechanism enhances the system's plug-and-play capability and anti-interference ability.

[0022] Through modular design, the system is highly configurable in terms of motor type, reduction gear type, and sensor specifications, enabling it to adapt to different speed, torque, and accuracy requirements. Meanwhile, the integration of multiple sensor modules enables real-time status monitoring, improving the system's reliability, safety, and ease of maintenance.

[0023] This invention provides a modularly configurable drive execution module solution, enabling "on-demand selection, free combination, and rapid adaptation" to meet different operating conditions and load requirements. Specifically, users can select drive modules with different drive capabilities based on target torque, speed, accuracy, and safety requirements, and can improve the output torque and power coverage by driving two motor components in parallel. Simultaneously, the output end can be equipped with encoders, brakes, torque sensors, and other functional components as needed to meet application scenarios such as closed-loop control, brake safety, torque detection, and force control. For applications requiring only basic drive, a simplified configuration of "drive + motor" can be used; for high torque output applications, reduction gear components can be further added to achieve higher torque density and wider applicability.

[0024] Furthermore, this solution supports arbitrary combinations of multi-stage reduction, such as single-stage and two-stage reduction, and allows flexible selection between different reduction types, such as harmonic reduction components and planetary reduction components, based on indicators such as volume, efficiency, backlash, and stiffness, thereby achieving coverage of diverse end-applications. Compared to the conventional approach of "developing separately for single needs and highly customized" in existing technologies, this invention achieves rapid combination and reuse through standardized interfaces and modular units, significantly reducing customized development costs and delivery cycles, and improving product versatility, scalability, and engineering implementation efficiency. Attached Figure Description

[0025] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the modular robot integrated axial flux motor joint module system, which is the main component of this invention. Figure 2 This is a schematic diagram illustrating the internal structure of the driver assembly, which is the main feature of this invention. Figure 3 This is a schematic diagram illustrating the internal structure of the encoder assembly, which is the main feature of this invention. Figure 4 This is a schematic diagram illustrating the internal structure of the brake assembly, which is the main feature of this invention. Figure 5 This is a schematic diagram illustrating the internal structure of the motor assembly, which is the main feature of this invention. Figure 6 This is a schematic diagram illustrating the structure of each component of a conventional axial magnetic flux device, which is the main feature of this invention. Figure 7 This is a schematic diagram illustrating the internal structure of the speed reducer assembly, which is the main feature of this invention. Figure 8 This is a schematic diagram illustrating the internal structure of the torque sensor assembly, which is the main feature of this invention. Figure 9 This is a schematic diagram of the male and female electrical bus structure of the main components of this invention; Figure 10 This is a schematic diagram illustrating the mechanical structure for motion transmission input and output, which is the main feature of this invention. In the diagram, 1. Driver assembly, 2. Encoder assembly, 3. Brake assembly, 4. Axial flux motor assembly, 5. Reducer assembly, 6. Torque sensor assembly, 7. End cap, 8. Driver hardware circuit and interface, 9. Housing, 10. Electrical connector, 11. First connector, 12. Second connector, 13. Rotary encoder, 14. Brake stator coil, 15. Brake rotor, 16. Motor stator and rotor, 17. Motor stator coil, 18. Motor rotor, 20. Reduction mechanism, 21. Torque sensor and slip ring structure, 22. Female connector, 23. Male connector. Detailed Implementation

[0026] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0027] Example 1: A modular robot axial flux electric joint module system includes multiple functional components, including a driver assembly 1, an encoder assembly 2, a brake assembly 3, an axial flux motor assembly 4, a reducer assembly, and a torque sensor assembly 6. Each functional component includes a housing, a functional device, an electrical connector 10, and a mechanical connection structure. The functional device and the electrical connector 10 are mounted on the housing, and the mechanical connection structure is disposed on the functional device. The functional device is used to realize the function corresponding to the target functional component. The electrical connector 10 is used to realize current bridging and signal transmission between the functional components. The mechanical connection structure is used for motion transmission between the functional components. The multiple functional components are stacked sequentially to form a joint module system.

[0028] Based on the above scheme, each component is not limited to single installation or a specific installation order, but the reduction gear assembly must be located at the rear end of the motor assembly. Multiple motor assemblies can be installed as needed to achieve greater output power and torque. Multiple reduction gear assemblies can also be cascaded as required to achieve greater reduction output. Encoder assemblies 2 can be cascaded at the output ends of both the motor assembly and the reduction gear assembly to achieve precise output speed and position control. Torque sensor assemblies 6 can be cascaded at the input and output ends of the reduction gear assembly to monitor the working status of the module's motion components and the working efficiency of the reduction gear assembly in real time.

[0029] It is understood that the electrical connectors 10 of each functional component are uniform standardized devices. The electrical connectors 10 include connected PCB circuit boards, female connectors 22 and male connectors 23. The PCB circuit boards are used to connect the functional devices.

[0030] Understandably, the mechanical connection structure is a mortise and tenon structure, and the mechanical connection structure includes pin holes and pin shafts distributed along a circumferential trajectory. The pin holes are provided on the first connector 11, and the pin shafts are provided on the second connector 12.

[0031] Understandably, the housing includes an outer shell 9 and an end cap 7. The outer shell 9 is provided with a mounting position for installing functional devices, and the end cap 7 is used to seal the opening of the mounting position. The outer shell 9 and the end cap 7 are provided with clearance notches for mechanical connection structures.

[0032] Understandably, the functional components of the driver assembly 1 include driver hardware circuitry and interface 8, and the driver hardware circuitry is connected to the PCB circuit board.

[0033] Based on the above scheme, the included driver circuit realizes the basic control of the motor through FOC. The driver also realizes the torque control, speed control and position control of the motor. At the same time, the driver component 1 is connected to the electrical bus through the connector to realize the motor FOC control, the encoder component 2 data communication, the torque sensor component 6 data communication and the brake component 3 engagement and release control.

[0034] Understandably, the functional components of the encoder assembly 2 include a rotary encoder 13, which is connected to a PCB circuit board. The upper and lower sides of the rotary encoder 13 are respectively connected to a first connector 11 or a second connector 12.

[0035] Based on the above scheme, depending on different accuracy and working environment requirements, the included rotary encoder 13 can be a code disk-based photoelectric encoder or an off-axis magnetic encoder, and encoder components 2 of different specifications are provided according to different encoders and accuracy.

[0036] Understandably, the functional components of the brake assembly 3 include a brake stator coil 14 and a brake rotor 15. The brake coil is connected to a PCB circuit board, and the upper and lower sides of the brake rotor 15 are respectively connected to a first connector 11 or a second connector 12.

[0037] Based on the above scheme, the brake assembly 3 adopts a power-off engagement and locking design to ensure the braking function in the event of power failure. The brake stator coil 14 contains a ring permanent magnet and an electromagnetic coil. In the event of power failure, it engages the brake rotor 15 to form a closed magnetic circuit and achieve the braking effect. When energized, the electromagnetic coil generates a magnetic field opposite to that of the permanent magnet. At this time, the magnetic field combined on the brake rotor 15 is zero, the rotor is released, and it can then rotate relative to the permanent magnet.

[0038] Understandably, the functional components of the axial flux motor assembly 4 include a stator coil and a rotor. The stator coil is connected to a PCB circuit board, and the rotor is connected to a first connector 11 and a second connector 12.

[0039] Based on the above scheme, the axial flux rotor is connected to the rotation input and output components of the motor assembly by fasteners, realizing the output from both the positive and negative sides of the motor rotation, thereby enabling the encoder assembly 2 to be installed on both sides.

[0040] Understandably, the functional components of the reducer assembly 5 include a reduction mechanism 20, which is connected to the PCB circuit board and to the first connector 11 and the second connector 12.

[0041] Based on the above scheme, the reduction assembly achieves rotational speed reduction. Depending on different operating conditions, the reduction mechanism 20 in the assembly can be a harmonic reduction mechanism 20, a planetary reduction mechanism 20, or a cycloidal reduction mechanism 20. The assembly contains a motor bus component, and a temperature sensor is connected inside the component to monitor the temperature of the reduction mechanism 20. The input and output of the reduction mechanism 20 are connected to a standard rotary input / output component via fasteners to achieve motion transmission between components. The speed reducer assembly can achieve multiple cascaded outputs, realizing the superposition and amplification of the reduction ratio.

[0042] Understandably, the functional components of the torque sensor assembly 6 include a torque sensor and a slip ring structure. The slip ring structure is connected to the PCB circuit board, and the torque sensor is connected to the first connector 11 and the second connector 12.

[0043] Based on the above scheme, the torque sensor assembly 6 acquires deformation by attaching strain gauges to the transmission disk. It also integrates a micro-strain gauge acquisition and amplification circuit and an analog-to-digital signal converter, connected to the electrical bus of the torque sensor assembly 6 via a slip ring structure. Torque sensor assemblies 6 with different acquisition ranges can be manufactured according to application requirements.

[0044] It should be noted that the structural components of the system are not universal; each component is designed specifically for the characteristics of its respective component and the corresponding functional elements. All circuit boards have screw holes for connection to the structural components. Static components are mounted using screws and structural positioning, while dynamic components such as rotors, torque sensors, and encoders are connected to the structural components via bearings at both ends (the bearings are not actually shown in the diagram).

[0045] Each component has a standardized docking structure for rotating input and output, allowing for direct connection. The outer ring of the static structure of each component has standardized connection holes, which can be used for overall connection by plugging bolts. The ends of the bolts are connected to nuts or fixing screw holes in the actual scenario.

[0046] All electrical connectors are specially designed and located in designated positions within the components, enabling cascading connections. These connectors consist of plugs (designed according to the structure of each component) and PCB circuitry. The PCB circuitry is fixed to the component structure with screws. Cables are directly soldered between the internal components of each component and the electrical connectors, and the PCB of the electrical connectors has designated soldering points.

[0047] Each component in the modular motor module provided by this invention can be implemented under existing technical conditions.

[0048] Example 2: The integrated axial flux motor joint module system includes a driver assembly 1, an encoder assembly 2, a brake assembly 3, an axial flux motor assembly 4, a reducer assembly, and a torque sensor assembly 6. Each component is connected to an electrical connector 10 and a mechanical connection structure in a stacked manner to form the joint module system.

[0049] In this embodiment, the driver assembly 1 includes driver hardware circuitry and interface, driver assembly 1 housing 9, driver assembly 1 end cover 7, and driver assembly 1 electrical bus, etc.

[0050] In this embodiment, the driver hardware circuit and interface are responsible for the motion control of the motor within the module, encoder data acquisition, torque sensor data acquisition, and external communication. It receives external communication control to realize position loop control, speed loop control, current loop control, and FOC control. It connects to the motor coils via an electrical bus to achieve motor control, brake control, and the acquisition of encoder and torque signals. The driver assembly 1 housing 9 and driver assembly 1 end cover 7 secure and protect the driver hardware circuit and electrical bus module. The driver assembly 1 electrical bus includes a PCB circuit board connecting the driver, an electrical bus female connector 22, and an electrical bus male connector 23. These connectors enable the transmission of high current and signals between components within the module.

[0051] In this embodiment, the encoder assembly 2 includes an encoder assembly 2 housing 9, a rotary encoder 13, an encoder assembly 2 end cover 7, an encoder assembly 2 electrical bus, etc.

[0052] In this embodiment, the rotary encoder 13 is the rotating motion component of the encoder assembly 2; the encoder assembly 2 housing 9 and the encoder assembly 2 end cover 7 are used to fix and protect the rotary encoder 13 and the encoder assembly 2 electrical bus module; the encoder assembly 2 electrical bus includes a PCB circuit board for recording and calculating rotation angle and angular velocity, an electrical bus female connector 22 and an electrical bus male connector 23, and the connectors enable the transmission of large current and signals between components within the module.

[0053] In this embodiment, the brake assembly 3 includes a brake assembly 3 housing 9, a brake stator coil 14, a brake rotor 15, a brake assembly 3 end cover 7, and a brake assembly 3 electrical bus.

[0054] In this embodiment, the brake assembly 3 housing 9 and brake assembly 3 end cap 7 are used for the fixed installation and protection of the brake stator coil 14, brake rotor 15, brake assembly 3 electrical bus, and other necessary bearings and other components; the brake stator coil 14 and brake rotor 15 are combined to form the core of the brake assembly 3 to realize the braking function; the brake assembly 3 electrical bus includes a PCB circuit for brake coil lead wire connection, electrical bus female connector 22 and electrical bus male connector 23, and the connectors realize the transmission of large current and signals between components within the module.

[0055] In this embodiment, the axial flux motor assembly 4 includes a motor assembly rotation input, a motor assembly housing 9, an axial flux motor stator and rotor 16, a motor assembly end cover 7, a motor assembly rotation output, a motor assembly electrical bus, a coil temperature sensor, etc.

[0056] In this embodiment, the motor assembly housing 9 and the motor assembly end cover 7 are used for the fixed installation and protection of the motor assembly rotary input, axial flux motor rotor 18, motor assembly rotary output, motor assembly electrical bus, and other necessary bearings and other components. The motor assembly rotary input, axial flux motor stator and rotor 16, and motor assembly rotary output components are combined to form the motor moving part, realizing the generation and output of rotary motion. The axial flux motor stator coil 17 is connected to the electrical bus and receives control from the driver assembly 1 to realize the rotating magnetic field to drive the motor rotor 18 to rotate. The motor assembly electrical bus module includes a PCB circuit for connecting the stator coil and the coil temperature sensor, an electrical bus female connector 22, and an electrical bus male connector 23. The connectors realize the transmission of large current and signals between components within the module.

[0057] In this embodiment, the speed reducer assembly includes a speed reducer assembly rotary input, a speed reducer assembly housing 9, a speed reduction mechanism 20, a speed reducer assembly end cover 7, a speed reducer assembly rotary output, and a speed reducer assembly electrical bus, etc.

[0058] In this embodiment, the reducer assembly housing 9 and the reducer assembly end cover 7 are used for the fixed installation and protection of the reducer mechanism, the reducer assembly rotary input and output mechanism, the reducer assembly electrical module, and other necessary bearings and other components; the reducer assembly rotary input is connected to the reduction mechanism 20 as the reducer input, and the reducer assembly rotary output is connected to the reducer as the reduction output; the reduction mechanism 20 realizes proportional reduction of rotary motion; the reducer assembly electrical bus includes a PCB circuit, an electrical bus female connector 22, and an electrical bus male connector 23, and the connectors realize the bridging and transmission of large currents and signals between other components in the module.

[0059] In this embodiment, the torque sensor assembly 6 includes a torque sensor assembly 6 housing 9, a torque sensor and slip ring structure 21, a torque sensor assembly 6 end cap 7, and a torque sensor assembly 6 electrical bus, etc.

[0060] In this embodiment, the housing 9 and end cap 7 of the torque sensor assembly 6 are used for the fixed installation and protection of the torque sensor and slip ring structure 21, the electrical bus of the torque sensor assembly 6, and other necessary components such as bearings. The torque sensor and slip ring structure 21 realizes the acquisition of torque signals transmitted from the rotating shaft and transmits them to the PCB circuit on the electrical bus of the torque sensor assembly 6 through the slip ring structure. The electrical bus of the torque sensor assembly 6 includes a PCB circuit with a slip ring docking structure, an electrical bus female connector 22, and an electrical bus male connector 23. The connectors realize the bridging and transmission of large currents and signals between other components in the module.

[0061] In this embodiment, the modular robot integrated axial flux motor joint module system is characterized in that the components can be stacked in a cascaded manner and locked together by through bolts to form an integrated joint module system. The system motor driver component 1 is installed at one end of the module system, and other components can be added or removed as needed and cascaded together.

[0062] In this embodiment, each component in the system is not limited to a single installation or a specific installation order, but the reduction gear assembly must be located at the rear end of the motor assembly. Multiple motor assemblies can be installed as needed to achieve greater output power and torque. Multiple reduction gear assemblies can also be cascaded as required to achieve greater reduction output. Encoder assemblies 2 can be cascaded at the output ends of the motor assembly and the reduction gear assembly respectively to achieve precise output speed and position control. Torque sensor assemblies 6 can be cascaded at the input and output ends of the reduction gear assembly respectively to monitor the working status of the module's motion components and the working efficiency of the reduction gear assembly in real time.

[0063] In this embodiment, the driver assembly 1 includes a driver circuit that implements basic motor control through FOC. The driver also implements torque control, speed control, and position control of the motor. At the same time, the driver assembly 1 is connected to the electrical bus through a connector to realize motor FOC control, data communication of encoder assembly 2, data communication of torque sensor assembly 6, and engagement and release control of brake assembly 3.

[0064] In this embodiment, the encoder assembly 2, depending on different accuracy and working environment requirements, includes a rotary encoder 13 that can be a code disk-based photoelectric encoder or an off-axis magnetic encoder. Different specifications of encoder assembly 2 are provided according to different encoders and accuracy requirements.

[0065] In this embodiment, the brake assembly 3 adopts a power-off engagement and locking design to ensure braking function in the event of power failure. The brake stator coil 14 contains a ring-shaped permanent magnet and an electromagnetic coil. In the event of power failure, it engages the brake rotor 15 to form a closed magnetic circuit, thereby achieving the braking effect. When energized, the electromagnetic coil generates a magnetic field opposite to that of the permanent magnet. At this time, the magnetic field combined on the brake rotor 15 is zero, the rotor is released, and it can then rotate relative to the rotor.

[0066] In this embodiment, the motor assembly is an axial flux motor. The axial flux rotor is connected to the rotation input and output components of the motor assembly by fasteners, so that the motor can be rotated in both directions and output, thereby enabling the encoder assembly 2 to be installed on both sides.

[0067] In this embodiment, the axial flux motor can provide components such as a single stator single rotor motor, a single stator dual rotor motor, and a dual stator single rotor motor based on axial flux, according to different requirements for speed, power, and torque. The stator coils 17 of the above-mentioned axial flux motors are uniformly arranged relative to the housing 9 and connected to the electrical bus to realize the cascading and superposition of multiple motor components.

[0068] In this embodiment, the reduction assembly achieves rotational speed reduction. Depending on different operating conditions, the reduction mechanism 20 in the assembly can be a harmonic reduction mechanism 20, a planetary reduction mechanism 20, or a cycloidal reduction mechanism 20. The assembly contains a motor bus component, and a temperature sensor is connected inside the component to monitor the temperature of the reduction mechanism 20. The input and output of the reduction mechanism 20 are connected to a standard rotary input / output component via fasteners to achieve motion transmission between components. The speed reducer assembly can achieve multiple cascaded outputs, realizing the superposition and amplification of the reduction ratio.

[0069] In this embodiment, the torque sensor assembly 6 acquires deformation by attaching strain gauges to the transmission disk. It also integrates a micro-strain gauge acquisition and amplification circuit and an analog-to-digital signal converter, connected to the electrical bus of the torque sensor assembly 6 via a slip ring structure. Torque sensor assemblies 6 with different acquisition ranges can be manufactured according to application requirements.

[0070] In this embodiment, the electrical buses of each component enable electrical connections between components. These electrical connections include high-current connections and signal connections. The high-current connections include the three-phase connection of the brushless motor coil and the positive and negative connections of the brake coil. The signal connections include the encoder power supply and communication bus, and the torque sensor power supply and communication bus. The buses implement a master-slave communication mode, with physical connections in differential pair form to achieve stronger anti-interference capabilities. The signal connections also include signal connections for analog data such as that from coil temperature sensors.

[0071] In this embodiment, the encoder power supply and communication bus, and the torque sensor power supply and communication bus can be used interactively according to actual needs. The same communication bus can simultaneously connect the encoder component 2 and the torque sensor component 6. During communication, the components transmit component category codes for the driver component 1 to distinguish and identify them.

[0072] In this embodiment, except for the driver assembly 1, all other components are connected to a unified motion transmission interface. The input end has six uniformly distributed circular pin holes of a fixed size, and the output end has six uniformly distributed circular pins of a fixed size. Precise motion transmission between the components is achieved through the connection and cooperation of the pin holes and pins.

[0073] In this embodiment, all described components adopt a hollow structure with uniform hollow dimensions to achieve a hollow structure in the module system, thereby simplifying the wiring of the robot system. In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0074] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An axial flux-electric joint module system for modular robots, characterized in that, The system includes multiple functional components, including a driver assembly (1), an encoder assembly (2), a brake assembly (3), an axial flux motor assembly (4), a reducer assembly (5), and a torque sensor assembly (6). Each functional component includes a housing, a functional device, an electrical connector (10), and a mechanical connection structure. The functional device and the electrical connector (10) are mounted on the housing, and the mechanical connection structure is disposed on the functional device. The functional device is used to realize the function corresponding to the target functional component. The electrical connector (10) is used to realize current bridging and signal transmission between each functional component. The mechanical connection structure is used for motion transmission between each functional component. The multiple functional components are stacked in sequence to form a joint module system.

2. The module system according to claim 1, characterized in that, The electrical connectors (10) of each functional component are uniform standardized devices. The electrical connectors include connected PCB circuit boards (8), female connectors (22) and male connectors (23). The PCB circuit boards (8) are used to connect the functional devices.

3. The module system according to claim 2, characterized in that, The mechanical connection structure is a mortise and tenon structure. The mechanical connection structure includes pin holes and pin shafts distributed along a circumferential trajectory. The pin holes are located on the first connector (11), and the pin shafts are located on the second connector (12).

4. The module system according to claim 1, characterized in that, The housing includes an outer shell (9) and an end cap (7). The outer shell (9) has a mounting position for mounting functional devices, and the end cap (7) is used to seal the opening of the mounting position. The outer shell (9) and the end cap (7) have clearance notches for mechanical connection structures.

5. The module system according to claim 3, characterized in that, The functional components of the driver assembly (1) include driver hardware circuitry and interface (8), wherein the driver hardware circuitry is connected to the PCB circuit board (8).

6. The module system according to claim 3, characterized in that, The encoder assembly (2) includes a rotary encoder (13) which is connected to a PCB circuit board (8). The upper and lower sides of the rotary encoder (13) are connected to a first connector (11) or a second connector (12), respectively.

7. The module system according to claim 3, characterized in that, The functional components of the brake assembly (3) include a brake stator coil (14) and a brake rotor (15). The brake stator coil (14) is connected to the PCB circuit board (8). The upper and lower sides of the brake rotor (15) are respectively connected to the first connector (11) or the second connector (12).

8. The module system according to claim 3, characterized in that, The functional components of the axial flux motor assembly (4) include a motor stator coil (17) and a motor rotor (18). The motor stator coil (17) is connected to the PCB circuit board (8), and the motor rotor (18) is connected to the first connector (11) and the second connector (12).

9. The module system according to claim 3, characterized in that, The functional components of the reducer assembly (5) include a reduction mechanism (20), which is connected to the PCB circuit board (8) and is connected to the first connector (11) and the second connector (12).

10. The module system according to claim 3, characterized in that, The functional components of the torque sensor assembly (6) include a torque sensor and a slip ring structure (21). The slip ring structure (21) is connected to the PCB circuit board (8), and the torque sensor is connected to the first connector (11) and the second connector (12).

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