A robot joint motor integrating drive, control, and coding

Abstract

This invention provides a robot joint motor integrating drive, control, and encoding, comprising: a drive motor extending along a first direction and including an output shaft and a motor frame; a harmonic reducer coaxially connected to the output shaft at its input end; a support bearing sleeved on the outside of the output shaft and bearing the load; a front cover fixed to the output end of the harmonic reducer; a rear cover covering the side of the motor frame away from the harmonic reducer; and drive, control, and encoding detection components. The integrated drive, control, and encoding motherboard is fixed to the side of the motor frame facing the rear cover and integrates a dual-channel encoding acquisition unit. A motor-side gear encoding mechanism is installed at the tail end of the output shaft, and an output-side gear encoding mechanism is assembled at the tail end of the harmonic reducer's output end. Both are respectively connected to the two encoding acquisition units to detect rotational position. This invention eliminates the high-precision assembly requirements of direct encoder mounting on the shaft, reducing assembly difficulty and cost; high integration reduces the overall size of the machine; and dual-channel acquisition provides a physical basis for high-precision error compensation.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot joint motor that integrates drive, control, and coding. Background Technology

[0002] As the core power component for robot motion execution, articulated motors are widely used in collaborative robotic arms, intelligent inspection robots, and mobile service robots. Their performance directly determines the motion accuracy and operational reliability of the equipment. To meet the demands of complex spatial motion and dynamic interaction, modern articulated motors not only need to provide stable power output but also must achieve precise sensing and closed-loop control of motion position. Therefore, the systematic structural integration of drive execution units, reduction units, and encoding and detection units for position feedback has become an inevitable trend in the evolution of servo drive technology.

[0003] However, current articulated motors on the market still have significant limitations in terms of structural layout and signal acquisition mechanisms. Existing robot articulated motors often rely on external wiring to connect independent components, resulting in a large overall size and messy internal wiring. This not only makes assembly difficult within the confined space of the joint but also increases the risk of loosening and failure due to numerous nodes, and weakens their resistance to electromagnetic interference. While some solutions integrate drive control and encoders, the common approach is to directly mount the encoder coaxially onto the motor shaft or reduction output shaft. This direct mounting method rigidly binds precision sensing elements to the power output shaft, imposing extremely stringent requirements on the machining accuracy, coaxiality, and radial runout of the mechanical shaft. This necessitates the use of expensive, high-precision encoders, leading to high costs for core components and extremely high barriers to entry in processing and assembly. Furthermore, existing internal structures struggle to balance highly integrated layout with the extraction of multi-dimensional stable position signals within a confined space.

[0004] In summary, how to achieve high integration, high precision position closed-loop feedback, and flexible axial modular assembly are the technical problems that urgently need to be solved in the field of robot servo drive. Summary of the Invention

[0005] In order to overcome the above-mentioned technical defects, the purpose of this invention is to provide a robot joint motor that integrates drive control and coding.

[0006] This invention discloses a robot joint motor integrating drive, control, and coding, comprising: A drive motor extends along a first direction and includes an output shaft and a motor frame; Harmonic reducer, the input end of the harmonic reducer is coaxially connected to the output shaft of the drive motor; The support bearing is sleeved on the outside of the output shaft of the drive motor and located between the harmonic reducer and the drive motor. It is used to support the output shaft of the drive motor and bear radial and axial loads. The front cover is fixedly connected to the output end of the harmonic reducer; The rear cover is located on the side of the motor frame away from the harmonic reducer. The drive control and coding detection component includes an integrated drive control and coding motherboard, a motor-side gear coding mechanism, and an output-side gear coding mechanism. The integrated drive control and coding motherboard is located on the side of the motor frame facing the rear cover and is fixedly connected to the motor frame. It also integrates a dual-channel coding acquisition unit. Among them, the motor-side gear encoding mechanism is installed at the tail end of the output shaft of the drive motor and is connected to one of the channels of the dual-channel encoding acquisition unit to detect the rotational position of the output shaft of the drive motor. The output-side gear encoder mechanism is mounted at the tail of the output end of the harmonic reducer and is connected to the other channel of the dual-channel encoder acquisition unit to detect the rotational position of the output end of the harmonic reducer.

[0007] Preferably, the motor-side gear encoding mechanism includes a first driving gear and a first driven gear that mesh with each other. The first driving gear is fixed to the tail end of the output shaft of the drive motor, and the first driven gear is coaxially fixed to one of the encoding acquisition units on the integrated drive and control encoding motherboard. The output-side gear encoding mechanism includes a second driving gear and a second driven gear that mesh with each other. The second driving gear rotates synchronously with the output end of the harmonic reducer, and the second driven gear is coaxially fixed with another encoding acquisition unit on the integrated drive and control encoding motherboard.

[0008] Preferably, the central axis of the dual-channel encoding acquisition unit is coaxially arranged with the rotation axes of the corresponding first driven gear and the second driven gear.

[0009] Preferably, the harmonic reducer includes a wave generator, which is tightly fitted and fixed to the end of the output shaft of the drive motor and directly connected to the output shaft of the drive motor.

[0010] Preferably, the front cover, harmonic reducer, support bearing, drive motor, drive control and coding detection components, and rear cover are arranged sequentially along the first direction to form an axially integrated modular structure.

[0011] Preferably, the first driving gear, the first driven gear, the second driving gear, and the second driven gear all have a module of 0.2 to 0.5, and are made of engineering plastic or copper alloy.

[0012] Preferably, the integrated drive and encoder motherboard integrates a microcontroller chip, an FOC drive module, and a current sampling module; the dual-channel encoding acquisition unit includes two magnetic encoders.

[0013] Preferably, the microcontroller chip is configured to construct a three-closed-loop control system, including a current loop, a speed loop, and a position loop, based on the rotational position signals of the drive motor output shaft and the harmonic reducer output terminals acquired by the two magnetic encoders and the current sampling data obtained by the current sampling module.

[0014] Preferably, the support bearing is a crossed roller bearing or a deep groove ball bearing.

[0015] Preferably, the integrated drive and control encoder motherboard also integrates overcurrent protection circuit, overvoltage protection circuit and overheat protection circuit; The integrated driver control and coding motherboard is equipped with a CAN bus communication interface or an RS485 communication interface.

[0016] Compared with existing technologies, the above technical solution has the following advantages: 1. The robot joint motor with integrated drive, control, and encoding provided in this application offers a novel structural layout and signal acquisition solution. Existing joint motors typically mount the encoder directly on the motor shaft or reduction output shaft, which imposes stringent requirements on machining precision and limits assembly yield. This solution, by setting up drive, control, and encoding detection components, mounts the motor-side gear encoding mechanism and the output-side gear encoding mechanism at the tail end of the drive motor's output shaft and the output end of the harmonic reducer, respectively. The rotational position is indirectly acquired using the gear mechanism, and the signal is transmitted to the dual-channel encoding acquisition unit on the main board. This design completely eliminates the high-precision assembly requirements of directly mounting the encoder on the shaft, relaxes mechanical coaxiality restrictions, and significantly reduces component costs and mass production assembly difficulty. Simultaneously, the high integration of the main board eliminates the need for external drive modules and complex wiring harnesses. Dual-channel acquisition not only acquires both the original motor shaft position and the reduction output load position but also reduces the overall size of the machine, improves anti-interference capabilities, and provides a physical basis for high-precision error compensation. 2. Regarding the details of indirect signal acquisition and power transmission, this application employs a meshing drive gear and driven gear structure to smoothly transmit the rotational amount of the shaft end with a certain radial runout to the stationary mainboard detection end. This spatially decouples the encoding detection components from the drive power transmission shaft, avoiding the direct impact of motor vibration on the encoder. The central axis of the dual-channel encoding acquisition unit and the corresponding driven gear rotation axis are configured to be coaxially arranged, locking in the accuracy of signal reception and avoiding periodic measurement errors caused by eccentric installation. The use of gears made of wear-resistant and self-lubricating materials further improves transmission smoothness and reduces the impact of meshing clearance. Furthermore, the wave generator inside the harmonic reducer is tightly fixed to the output shaft end of the drive motor, forming a direct-drive reduction structure for the motor without intermediate transmission components. This significantly shortens the transmission chain length and improves the rigidity of power transmission and the response speed of joint movements. 3. Regarding the overall spatial layout and mechanical support, the core components of the motor provided in this application are arranged sequentially along the axial direction, forming a clearly defined and space-efficient axially integrated modular structure. This linear series design allows operators to simply stack or disassemble the components sequentially along the axial direction, simplifying the assembly process, increasing fault tolerance, and giving the joint motor strong versatility, enabling it to flexibly adapt to the specific working conditions of various robot devices. Simultaneously, the support bearing sleeved on the outside of the drive motor's output shaft can withstand complex radial and axial loads, providing high-rigidity physical support for rotational motion. This ensures that the motor spindle and reducer maintain excellent rotational stability under external loads, effectively preventing accelerated wear of internal components due to deformation under stress. 4. Finally, the integrated drive-control encoder motherboard provided in this application highly integrates a microcontroller chip, a drive module, a current sampling module, and a dual-channel magnetic encoder with strong shock and pollution resistance, effectively reducing the hardware size of the control system and enhancing electromagnetic interference resistance. Based on this hardware architecture, the control system can construct a three-loop control system including a current loop, a speed loop, and a position loop by combining the original motor shaft and reducer output load position signals collected by the dual-channel magnetic encoders with the current sampling data. This hardware-software combined dual-channel feedback mechanism can quickly adjust the motor speed and compensate for the reducer's own backlash error in real time, ensuring the stability of the output positioning accuracy under different load conditions. Combined with the motherboard's built-in multiple protection circuits and industrial bus communication interface, a comprehensive equipment protection mechanism and convenient network signal interaction capabilities are constructed, significantly improving the equipment's service life and system integration. Attached Figure Description

[0017] Figure 1 An exploded view of the joint motor of the robot with integrated drive and control coding provided in this application; Figure 2 A cross-sectional structural diagram of the robot joint motor with integrated drive and control coding provided in this application.

[0018] Attached reference numerals: 1. Front end cap; 2. Harmonic reducer; 3. Support bearing; 4. Drive motor; 5. Motor frame; 6. Motor-side gear coding mechanism; 7. Output-side gear encoder mechanism; 8. Integrated driver and encoder motherboard; 9. Back cover; X, the first direction. Detailed Implementation

[0019] The advantages of the present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments.

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0021] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0022] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0023] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0024] In the description of this invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0025] In the following description, suffixes such as "module," "part," or "unit" used to denote elements are used only for the convenience of the description of the invention and have no specific meaning in themselves. Therefore, "module" and "part" can be used interchangeably.

[0026] Please see Figures 1-2 , Figure 1 An exploded view of the joint motor of the robot with integrated drive and control coding provided in this application; Figure 2 A cross-sectional structural diagram of the robot joint motor with integrated drive and control coding provided in this application.

[0027] like Figures 1-2 As shown, this invention discloses a robot joint motor with integrated drive, control, and coding, comprising: The drive motor 4 extends along a first direction X (exemplarily, the first direction X can be the thickness direction of the robot joint motor) and includes an output shaft and a motor frame 5; Harmonic reducer 2, the input end of which is coaxially connected to the output shaft of drive motor 4; Support bearing 3 is sleeved on the outside of the output shaft of drive motor 4 and is located between harmonic reducer 2 and drive motor 4. It is used to support the output shaft of drive motor 4 and bear radial and axial loads. Front cover 1, front cover 1 is fixedly connected to the output end of harmonic reducer 2; The rear cover 9 is located on the side of the motor frame 5 away from the harmonic reducer 2. The drive control and coding detection component includes an integrated drive control and coding motherboard 8, a motor-side gear coding mechanism 6, and an output-side gear coding mechanism 7. The integrated drive control and coding motherboard 8 is located on the side of the motor frame 5 facing the rear cover 9 and is fixedly connected to the motor frame 5. It also integrates a dual-channel coding acquisition unit. Among them, the motor-side gear encoding mechanism 6 is installed at the tail end of the output shaft of the drive motor 4 and is connected to one of the channels of the dual-channel encoding acquisition unit to detect the rotation position of the output shaft of the drive motor 4. The output-side gear encoder 7 is mounted on the tail of the output end of the harmonic reducer 2 and is connected to the other channel of the dual-channel encoder acquisition unit to detect the rotational position of the output end of the harmonic reducer 2.

[0028] First, it's necessary to explain the existing solutions: Current robot joint motors often rely on external wiring to connect independent components, resulting in a large overall size and messy internal wiring. This not only makes assembly difficult within the confined joint space but also increases the risk of loosening at numerous nodes and weakens electromagnetic interference resistance. While some solutions integrate drive control with the encoder, the common approach is to directly coaxially mount the encoder to the motor shaft or reduction output shaft. This direct mounting method rigidly binds the precision sensing element to the power output shaft, imposing extremely stringent requirements on the machining accuracy, coaxiality, and radial runout of the mechanical shaft. This necessitates the use of expensive, high-precision encoders, leading to high core component costs and extremely high barriers to entry in processing and assembly.

[0029] The robot joint motor provided in this application breaks away from the traditional design of directly mounting the encoder onto the high-speed rotating motor spindle. Instead, it introduces gears as an intermediate transmission medium. For example, taking a permanent magnet synchronous brushless motor as an example, the drive motor 4 is integrally fixed within the internal cavity of the motor frame 5. When the motor output shaft rotates, the shaft, which originally had some radial runout and machining deviation, does not directly contact the precision encoder. Instead, the rotational force is indirectly led out from the tail end of the motor spindle and the output end of the harmonic reducer 2 through two independent gear mechanisms and transmitted to the integrated drive-control encoder motherboard 8 fixed at the rear. This decouples mechanical transmission and signal detection in physical space, significantly reducing the stringent requirements for shaft coaxiality.

[0030] Therefore, the robot joint motor provided in this application completely eliminates the high-precision assembly requirements of encoder-mounted shafts, relaxes mechanical coaxiality restrictions, and significantly reduces component costs and mass production assembly difficulties. Meanwhile, the highly integrated motherboard eliminates external drive modules and complex wiring harnesses. Dual-channel acquisition not only takes into account the acquisition of the motor's original shaft position and the deceleration output load position, but also reduces the overall size of the machine, improves anti-interference capabilities, and provides a physical basis for high-precision error compensation.

[0031] The above is an explanation of the basic concept of this application. The specific implementation of each component of this application will be explained below with reference to the accompanying drawings.

[0032] First, there are no restrictions on the specific implementation method of the drive and coding detection components.

[0033] In one possible implementation, the motor-side gear encoding mechanism 6 includes a first driving gear and a first driven gear that mesh with each other. The first driving gear is fixed to the tail end of the output shaft of the drive motor 4, and the first driven gear is coaxially fixed to one of the encoding acquisition units on the integrated drive and control encoding motherboard 8. The output-side gear encoding mechanism 7 includes a second driving gear and a second driven gear that mesh with each other. The second driving gear rotates synchronously with the output end of the harmonic reducer 2, and the second driven gear is coaxially fixed with another encoding acquisition unit on the integrated drive and control encoding motherboard 8.

[0034] For the specific transmission path of indirect measurement, this application employs two pairs of master-slave gear sets. The first and second driving gears serve as power input ends, rotating synchronously with the motor spindle and the reducer output end, respectively; while the first and second driven gears serve as signal output ends, mounted on the drive-control-encoder integrated main board 8, and interface with the encoder on the main board. Through this gear transmission mechanism, the rotational amount of the shaft end, which was originally rotating at high speed and had a certain radial runout, is smoothly transmitted to the stationary main board detection end. This not only achieves stable transmission of angle data but also spatially decouples the encoding detection components from the drive shaft, avoiding damage to the encoder caused by direct vibration and impact during motor operation, and ensuring the operational reliability of the joint drive control.

[0035] Furthermore, in one possible implementation, the central axis of the dual-channel encoding acquisition unit is coaxially arranged with the rotation axes of the corresponding first driven gear and the second driven gear, respectively.

[0036] To ensure absolute accuracy in indirect measurements, detection errors caused by installation eccentricity must be eliminated. Therefore, the detection center of the encoder (i.e., the dual-channel encoder acquisition unit) integrated on the motherboard must be strictly aligned with the rotation center of the corresponding driven gear. This ensures that regardless of spindle runout, as long as the driven gear rotates smoothly in its original position, the motherboard can accurately capture the most accurate angular displacement data, avoiding periodic measurement errors caused by eccentric installation. By relaxing the machining precision of the motor spindle, the accuracy of signal reception is locked from the motherboard, providing reliable underlying data support for the high-precision servo control of the entire motor.

[0037] Those skilled in the art will understand that the specific selection of each gear is also not limited.

[0038] In one possible implementation, the first driving gear, the first driven gear, the second driving gear, and the second driven gear all have a module of 0.2 to 0.5, and are made of engineering plastics or copper alloys.

[0039] The module of a gear is a core parameter determining the size of the gear teeth. A smaller module means more teeth for the same diameter, resulting in smoother transmission. For example, both sets of gears can be made of copper alloy with a module of 0.5. Using gears with a small module not only saves internal space in the motor but also reduces backlash during gear meshing. This allows for an increase in the number of teeth within a limited installation space, improving the overlap of gear meshing and thus making the transmission smoother and reducing the negative impact of meshing backlash on position detection accuracy. Furthermore, the self-lubricating properties of copper alloy or engineering plastic materials ensure smooth transmission and minimal wear, guaranteeing stable operation of the gear transmission mechanism over a long period.

[0040] Secondly, the specific implementation method of the drive and coding detection components is also not limited.

[0041] In one possible implementation, the integrated drive and encoder motherboard 8 integrates a microcontroller chip, an FOC drive module, and a current sampling module; the dual-channel encoding acquisition unit includes two magnetic encoders.

[0042] This can be understood as follows: This application condenses all the previously scattered external drivers, controllers, and encoder hardware onto a single circular circuit board. For example, the motherboard can use a 32-bit main control chip. FOC (Field Oriented Control) is an advanced algorithm that drives an AC motor by precisely controlling the stator magnetic field, enabling smooth and efficient motor operation. Furthermore, using a magnetic encoder instead of an optical encoder further reduces costs and provides excellent resistance to complex industrial environments such as vibration and oil contamination.

[0043] By using the integrated drive-control encoder motherboard 8 as the control center of the entire articulated motor, microcontroller chips, FOC drive modules, and current sampling modules are integrated on it, and the dual-channel encoder acquisition unit adopts two magnetic encoders. Highly integrating these core electronic components onto a single motherboard effectively reduces the hardware size of the control system and enhances electromagnetic interference resistance at the physical level. Replacing traditional photoelectric encoders with magnetic encoders not only further reduces material costs, but also provides better resistance to dust, oil, and vibration environments. Combined with the gear-based indirect detection structure, this significantly improves the overall lifespan of the articulated motor in complex application scenarios.

[0044] Furthermore, in one possible implementation, the microcontroller is configured to construct a three-loop control system comprising a current loop, a speed loop, and a position loop based on the rotational position signals of the output shaft of the drive motor 4 and the output of the harmonic reducer 2, which are respectively acquired by two magnetic encoders, combined with the current sampling data obtained by the current sampling module.

[0045] Regarding the specific control of the motor, this application achieves a high-precision servo system through a three-loop control. The current loop controls torque, the speed loop ensures stable rotational speed, and the position loop controls the accuracy of the final stopping point. Furthermore, combined with dual-path feedback, the microcontroller chip receives real-time raw rotational data from the motor and the actual position data from the reducer's final output. By comparing these two data points, the algorithm can proactively detect and calculate the backlash error in the mechanical structure of the harmonic reducer 2, and then perform dynamic software-level compensation in the speed and position loops to ensure accurate joint movement every time. This allows the final control system to both rapidly adjust the motor speed using the motor shaft signal and compensate for the backlash error inherent in the harmonic reducer 2 itself in real time based on feedback signals from the actual load. This hardware-software combined dual-path position feedback mechanism ensures the stability of the joint's output positioning accuracy under different load conditions.

[0046] It is understandable that the drive control and coding detection component may also include components other than those mentioned above to achieve more functions.

[0047] For example, in one possible implementation, the integrated drive and control encoding motherboard 8 also integrates overcurrent protection circuit, overvoltage protection circuit and overheat protection circuit; The integrated driver control and coding motherboard 8 is equipped with a CAN bus communication interface or an RS485 communication interface.

[0048] To endow the articulated motor with independent industrial survivability, the motherboard's underlying hardware incorporates three electrical protection circuits that automatically cut off the output to protect the motor in case of abnormal current or high temperature. Meanwhile, the CAN or RS485 communication interface, a widely adopted communication protocol in industry, allows the articulated motor to directly connect as a slave node to the robot's master control network, receiving motion commands and reporting its own status data in real time.

[0049] Finally, the implementation methods and specific cooperation relationships of other components are also unrestricted.

[0050] In one possible implementation, the harmonic reducer 2 includes a wave generator that is tightly fitted and fixed to the end of the output shaft of the drive motor 4 and is directly connected to the output shaft of the drive motor 4.

[0051] In the power transmission path, the wave generator inside the harmonic reducer 2 is tightly fitted and fixed to the end of the output shaft of the drive motor 4, and is directly connected to the output shaft of the drive motor 4. This design eliminates the intermediate transmission components such as transition flanges and couplings commonly used when connecting a servo motor and a reducer, forming a direct-drive reduction structure. The power of the motor output shaft acts directly on the wave generator and is converted into the output torque of the harmonic reducer 2. This not only significantly shortens the axial transmission chain length of the entire machine, making the structure more compact, but also reduces mechanical backlash and energy loss caused by intermediate links, improving the rigidity of power transmission and the response speed of joint movements.

[0052] In one possible implementation, the front cover 1, harmonic reducer 2, support bearing 3, drive motor 4, drive control and coding detection components, and rear cover 9 are arranged sequentially along the first direction X to form an axially integrated modular structure.

[0053] The entire machine is spatially arranged with the front cover 1, harmonic reducer 2, support bearing 3, drive motor 4, drive control and encoding detection components, and rear cover 9 arranged sequentially along the first direction X, forming an axially integrated modular structure. This linear series design makes the boundaries of each functional module inside the motor clear and maximizes space utilization. In actual production and maintenance, operators only need to stack or disassemble the components sequentially along the axis, making the assembly process simple, quick, and with a high fault tolerance. At the same time, the standardized axial modular design gives this articulated motor strong versatility, enabling it to flexibly adapt to various specific working conditions such as collaborative robotic arms, inspection robots, and mobile robots.

[0054] In one possible implementation, the support bearing 3 is a crossed roller bearing or a deep groove ball bearing.

[0055] Regarding the selection of mechanical pressure-bearing components, the support bearing 3 is specifically limited to a crossed roller bearing or a deep groove ball bearing. In actual operation, robot joint motors often face complex stress conditions. The special structure of the crossed roller bearing allows it to simultaneously withstand radial and axial loads. By mounting it outside the output shaft of the drive motor 4 and placing it between the harmonic reducer 2 and the drive motor 4, it provides high-rigidity support for rotational motion, ensuring that the motor shaft and reducer maintain rotational stability under complex external loads, and preventing transmission jamming or accelerated wear of internal components due to stress deformation.

[0056] It should be noted that the embodiments of the present invention have better implementability and are not intended to limit the present invention in any way. Any person skilled in the art may use the above-disclosed technical content to change or modify it into equivalent effective embodiments. However, any modifications or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A robot joint motor integrating drive, control, and coding, characterized in that, include: A drive motor, which extends along a first direction and includes an output shaft and a motor frame; A harmonic reducer, wherein the input end of the harmonic reducer is coaxially connected to the output shaft of the drive motor; A support bearing is sleeved on the outside of the output shaft of the drive motor and located between the harmonic reducer and the drive motor, for supporting the output shaft of the drive motor and bearing radial and axial loads; A front end cover, which is fixedly connected to the output end of the harmonic reducer; The rear cover is disposed on the side of the motor frame away from the harmonic reducer; The drive control and coding detection component includes an integrated drive control and coding motherboard, a motor-side gear coding mechanism, and an output-side gear coding mechanism; the integrated drive control and coding motherboard is located on the side of the motor frame facing the rear cover and is fixedly connected to the motor frame, and integrates a dual-channel coding acquisition unit; The motor-side gear encoding mechanism is installed at the tail end of the output shaft of the drive motor and is connected to one of the channels of the dual-channel encoding acquisition unit to detect the rotational position of the output shaft of the drive motor. The output-side gear encoder mechanism is mounted at the tail of the output end of the harmonic reducer and is connected to the other channel of the dual-channel encoder acquisition unit to detect the rotational position of the output end of the harmonic reducer.

2. The robot joint motor with integrated drive and control coding as described in claim 1, characterized in that, The motor-side gear encoding mechanism includes a first driving gear and a first driven gear that mesh with each other. The first driving gear is fixed to the tail end of the output shaft of the drive motor, and the first driven gear is coaxially fixed to one of the encoding acquisition units on the integrated drive and control encoding motherboard. The output-side gear encoding mechanism includes a second driving gear and a second driven gear that mesh with each other. The second driving gear rotates synchronously with the output end of the harmonic reducer, and the second driven gear is coaxially fixed with another encoding acquisition unit on the integrated drive and control encoding motherboard.

3. The robot joint motor with integrated drive and coding as described in claim 2, characterized in that, The central axis of the dual-channel encoding acquisition unit is coaxially arranged with the rotation axes of the corresponding first driven gear and the second driven gear.

4. The robot joint motor with integrated drive and control coding as described in claim 1, characterized in that, The harmonic reducer includes a wave generator, which is tightly fitted and fixed to the end of the output shaft of the drive motor and directly connected to the output shaft of the drive motor.

5. The robot joint motor with integrated drive and control coding as described in claim 1, characterized in that, The front cover, the harmonic reducer, the support bearing, the drive motor, the drive control and coding detection component, and the rear cover are arranged sequentially along the first direction to form an axially integrated modular structure.

6. The robot joint motor with integrated drive and coding as described in claim 2, characterized in that, The first driving gear, the first driven gear, the second driving gear, and the second driven gear all have a module of 0.2 to 0.5 and are made of engineering plastic or copper alloy.

7. The robot joint motor with integrated drive and control coding as described in claim 1, characterized in that, The integrated drive and encoder motherboard integrates a microcontroller chip, an FOC drive module, and a current sampling module; the dual-channel encoding and acquisition unit includes two magnetic encoders.

8. The robot joint motor with integrated drive and control coding as described in claim 7, characterized in that, The microcontroller chip is configured to construct a three-closed-loop control system comprising a current loop, a speed loop, and a position loop based on the rotational position signals of the output shaft of the drive motor and the output of the harmonic reducer respectively acquired by the two magnetic encoders, combined with the current sampling data obtained by the current sampling module.

9. The robot joint motor with integrated drive and control coding as described in claim 1, characterized in that, The support bearing is a crossed roller bearing or a deep groove ball bearing.

10. The robot joint motor with integrated drive and coding as described in claim 7, characterized in that, The integrated drive and control encoding motherboard also integrates overcurrent protection circuit, overvoltage protection circuit and overheat protection circuit; The integrated driver and encoder motherboard is equipped with a CAN bus communication interface or an RS485 communication interface.

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