Motor module and mechanical arm

Abstract

The utility model provides a motor module and mechanical arm, including mounting part, transmission subassembly, drive board and encoder subassembly, transmission subassembly includes input shaft and output shaft, input shaft is connected with drive subassembly, input shaft sleeve is provided on the output shaft, encoder subassembly includes first magnetic disk, second magnetic disk and sensor, first magnetic disk is connected with input shaft, second magnetic disk is connected with second magnetic disk and sensor. The second magnetic disc is connected with the output shaft, one of the first magnetic disc and the second magnetic disc forms a containing cavity, and the other one is at least partially arranged in the containing cavity. The two magnetic discs are adopted to monitor the rotating speed and position of the input shaft and the output shaft respectively, so that the driving plate can control the movement of the motor module more accurately, and the control precision is improved; the input shaft and the output shaft are coaxially arranged, so that the first magnetic disc and the second magnetic disc can be coaxially arranged, the first magnetic disc forms a containing cavity, at least part of the second magnetic disc can be arranged in the containing cavity, and the occupied space of the motor module is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a motor module and a mechanical arm. Background Art

[0002] With the development of science and technology, robots have been widely used in household, medical, catering, construction and other industries, bringing many conveniences to people's lives and production. With the development and popularization of robot technology, whether it is a mechanical arm, leg joints or a humanoid robot head movable joint, a reduction motor is needed. As the core component, the joint module is becoming more and more important, especially the joint module reduction motor needs to have high-precision control capabilities. Traditional reduction motors are mostly single encoder structures, which cannot form closed-loop control. Some reduction motors are gear-type dual encoder structures, and the control accuracy cannot meet the requirements. In addition, the dual encoder structure occupies a large space. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model proposes a motor module, which aims to improve the control accuracy of the motor module and reduce the occupied space of the motor module.

[0004] An embodiment of a second aspect of the utility model provides a robotic arm.

[0005] The motor module according to the first embodiment of the utility model includes:

[0006] A mounting component provided with a drive assembly;

[0007] A transmission assembly, comprising an input shaft and an output shaft, wherein the input shaft is connected to the driving assembly and the input shaft is sleeved on the output shaft;

[0008] A drive plate, mounted on the mounting component;

[0009] The encoder assembly includes a first magnetic disk, a second magnetic disk and a sensor, wherein the first magnetic disk is connected to the input shaft, and the second magnetic disk is connected to the output shaft; one of the first magnetic disk and the second magnetic disk forms a receiving cavity, and the other is at least partially disposed in the receiving cavity; the sensor is connected to the drive plate, and the sensor is used to detect the rotation state of the first magnetic disk and the second magnetic disk.

[0010] The motor module of the embodiment of the utility model includes a mounting component, a transmission component, a drive plate and an encoder component, the mounting component is provided with a drive component, the transmission component includes an input shaft and an output shaft, the input shaft is connected to the drive component, and the input shaft is sleeved on the output shaft, the encoder component includes a first magnetic disk, a second magnetic disk and a sensor, the first magnetic disk is connected to the input shaft, the second magnetic disk is connected to the output shaft, one of the first magnetic disk and the second magnetic disk forms a receiving cavity, the other is at least partially arranged in the receiving cavity, and the sensor is connected to the drive plate. On the one hand, two magnetic disks are used to monitor the rotation speed and position of the input shaft and the output shaft respectively, so as to realize closed-loop control, so as to facilitate the drive plate to more accurately control the movement of the motor module and improve the control accuracy; on the other hand, the input shaft and the output shaft are coaxially arranged, the first magnetic disk forms a receiving cavity, and the second magnetic disk can be at least partially arranged in the receiving cavity, so as to reduce the occupied space of the motor module.

[0011] According to the motor module of the embodiment of the utility model, at least one end surface of the second magnetic disk is flush with the end surface of the first magnetic disk.

[0012] According to the motor module of the embodiment of the utility model, the first magnetic disk includes a first mounting frame and a first magnetic ring mounted on the first mounting frame, the first mounting frame, the first magnetic ring and the input shaft are coaxially arranged, and the middle part of the first mounting frame forms the accommodating cavity;

[0013] and / or,

[0014] The second magnetic disk includes a second mounting frame and a second magnetic ring mounted on the second mounting frame. The second mounting frame, the second magnetic ring and the output shaft are coaxially arranged, and the second mounting frame is at least partially arranged in the accommodating cavity.

[0015] According to the motor module of the embodiment of the utility model, at least one of the first magnetic ring and the second magnetic ring is provided with a plurality of first magnetic poles and second magnetic poles, and the first magnetic poles and the second magnetic poles are alternately arranged along the circumference of the first magnetic ring or the second magnetic ring.

[0016] According to the motor module of the embodiment of the utility model, the first mounting bracket is threadedly connected to the input shaft;

[0017] and / or,

[0018] The second mounting bracket is threadedly connected to the output shaft.

[0019] According to the motor module of the embodiment of the utility model, the input shaft is provided with a first positioning step, the first magnetic disk is sleeved on the input shaft, and one end of the first magnetic disk abuts against the first positioning step; or,

[0020] One of the input shaft and the first magnetic disk is provided with a positioning protrusion, and the other is provided with a positioning groove matched with the positioning protrusion. The positioning protrusion is inserted into the positioning groove, and the end surface of the first magnetic disk abuts against the end surface of the high-speed shaft.

[0021] According to the motor module of the embodiment of the utility model, the output shaft is provided with a second positioning step, the second magnetic disk is sleeved on the input shaft, and one end of the second magnetic disk abuts against the second positioning step.

[0022] According to the motor module of the embodiment of the utility model, at least one of the first mounting bracket and the second mounting bracket is provided with a groove or a protrusion for cooperating with the installation tool to screw the first mounting bracket or the second mounting bracket.

[0023] According to the motor module of the embodiment of the utility model, the sensor includes a first magnetic encoding chip and a second magnetic encoding chip, the first magnetic encoding chip is arranged corresponding to the first magnetic disk, and the second magnetic encoding chip is arranged corresponding to the second magnetic disk.

[0024] An embodiment of the second aspect of the utility model provides a robotic arm, comprising a frame and a motor module as described in any one of the above embodiments, wherein the motor module is installed on the frame.

[0025] An embodiment of the third aspect of the utility model provides a robot, comprising the motor module described in any one of the above embodiments or the robotic arm described in the above embodiments.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is a cross-sectional schematic diagram of a motor module provided by an embodiment of the utility model;

[0029] Figure 2 yes Figure 1 A local enlarged schematic diagram of the middle A;

[0030] Figure 3 It is an exploded schematic diagram of a motor module provided by an embodiment of the utility model;

[0031] Figure 4 is an exploded schematic diagram of a first magnetic disk provided in an embodiment of the utility model;

[0032] Figure 5 is an exploded schematic diagram of a second magnetic disk provided in an embodiment of the utility model;

[0033] Figure 6 It is a schematic diagram of the structure of the input shaft and the first magnetic disk provided by an embodiment of the utility model;

[0034] Figure 7 It is a schematic diagram of the installation of the first magnetic disk provided in the embodiment of the utility model;

[0035] Figure 8 It is a schematic diagram of the installation of the second magnetic disk provided in the embodiment of the utility model.

[0036] Reference numerals:

[0037] 100, mounting components; 110, reduction assembly; 120, bearing;

[0038] 200, driving assembly; 210, stator; 220, rotor;

[0039] 300, transmission assembly; 310, input shaft; 320, output shaft; 311, first positioning step; 312, positioning groove; 313, threaded hole; 321, second positioning step;

[0040] 400, driver board;

[0041] 500, encoder assembly; 510, first magnetic disk; 520, second magnetic disk; 530, sensor; 511, first mounting bracket; 512, first magnetic ring; 513, accommodating cavity; 514, positioning protrusion; 515, threaded through hole; 521, second mounting bracket; 522, second magnetic ring; 5111, groove; 531, first magnetic encoding chip; 532, second magnetic encoding chip;

[0042] 600, installation tool; 610, protrusion. DETAILED DESCRIPTION

[0043] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0044] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0045] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0046] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0047] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0048] The embodiments of the present utility model refer to Figure 1-Figure 8 As shown, a motor module, a robotic arm and a robot are provided.

[0049] According to an embodiment of the present utility model, please refer to Figure 1 and Figure 2 According to the motor module of the embodiment of the utility model, the mounting component 100, the transmission component 300, the driving plate 400 and the encoder component 500 are provided. The mounting component 100 is provided with the driving component 200. The transmission component 300 includes an input shaft 310 and an output shaft 320. The input shaft 310 is connected to the driving component 200, and the input shaft 310 is sleeved on the output shaft 320. The encoder component 500 includes a first magnetic disk 510, a second magnetic disk 520 and a sensor 530. The first magnetic disk 510 is connected to the input shaft 310, and the second magnetic disk 520 is connected to the output shaft 320. One of the first magnetic disk 510 and the second magnetic disk 520 is formed with a receiving cavity 513, and the other is at least partially arranged in the receiving cavity 513. The sensor 530 is connected to the driving plate 400, and the sensor 530 is used to detect the rotation state of the first magnetic disk 510 and the second magnetic disk 520.

[0050] It is understandable that in this embodiment, the rotation state includes but is not limited to motion state information such as rotation position and rotation speed. On the one hand, the encoder assembly 500 is a dual encoder structure, and the sensor 530 can detect the magnetic field changes of the first magnetic disk 510 and the second magnetic disk 520, so as to determine the rotation speed and position of the first magnetic disk 510 and the second magnetic disk 520. The first magnetic disk 510 can be used to monitor the position and rotation speed of the input shaft 310, and the second magnetic disk 520 can be used to monitor the position and rotation speed of the output shaft 320. Two magnetic disks are used to monitor the rotation speed and position of the input shaft 310 and the output shaft 320 respectively, so as to realize the closed-loop control of the motor movement, so as to facilitate the drive board 400 to more accurately control the movement of the motor module according to the motion information of the input shaft 310 and the output shaft 320 monitored by the encoder assembly 500, thereby improving the control accuracy.

[0051] Compared with gear encoders, magnetic encoders can provide higher resolution and more accurately detect rotational position and speed. They are also a contactless sensor 530 that can detect rotational position and speed through a magnetic field without directly contacting rotating parts. They can better adapt to high-speed rotational motion and have stronger resistance to external vibrations and temperature changes.

[0052] On the other hand, the input shaft 310 and the output shaft 320 are coaxially arranged and the input shaft 310 is sleeved on the output shaft 320, which reduces the occupied space. The first magnetic disk 510 and the second magnetic disk 520 can also be coaxially arranged and arranged more compactly on the same straight line. One of the first magnetic disk 510 and the second magnetic disk 520 is formed with a accommodating cavity 513, and the other can be at least partially arranged in the accommodating cavity 513, thereby reducing the volume of the encoder assembly 500 when a dual encoder is used, thereby achieving the purpose of reducing the occupied space of the motor module.

[0053] In an optional embodiment, a accommodating cavity 513 is formed in the middle of the first magnetic disk 510, and the second magnetic disk 520 is at least partially disposed in the accommodating cavity 513; in another optional embodiment, a accommodating cavity 513 is formed in the middle of the second magnetic disk 520, and the first magnetic disk 510 is at least partially disposed in the accommodating cavity 513, so that the first magnetic disk 510 and the second magnetic disk 520 at least partially overlap in space in the axial direction, thereby achieving the purpose of reducing the occupied space. The specific arrangement method can be designed according to actual needs, and this embodiment does not make any specific limitations on this.

[0054] It should be noted that, in some embodiments, the second magnetic disk 520 can be partially located in the accommodating cavity 513, which can also achieve the purpose of reducing the space occupied by the motor module. In other embodiments, the second magnetic disk 520 can be completely located in the accommodating cavity 513, and the structure is more compact, which can minimize the space occupied by the motor module.

[0055] In this embodiment, the driving assembly 200 may include a stator 210 and a rotor 220 that rotate relative to each other, and the input shaft 310 may be connected to the output shaft 320 of the rotor 220, or may be directly connected to the rotor 220. The input shaft 310 and the output shaft 320 may be connected via a reduction assembly 110 to reduce the speed of the output shaft 320. Usually, the input shaft 310 is a high-speed shaft, and the output shaft 320 is a high-speed shaft, that is, the rotation speed of the input shaft 310 is higher than the rotation speed of the output shaft 320.

[0056] The types of the reduction assembly 110 include, but are not limited to, a gear reducer, a planetary reducer, a bevel gear reducer or a harmonic reducer, etc., which can be selected according to specific application requirements, and this embodiment does not specifically limit this.

[0057] According to one embodiment of the present invention, referring to Figure 1 and Figure 2 As shown, at least one end surface of the second magnetic disk 520 is flush with the end surface of the first magnetic disk 510 .

[0058] It can be understood that, taking the case where the accommodating cavity 513 is formed in the middle of the first magnetic disk 510 as an example, the cross-sectional area of ​​the first magnetic disk 510 is larger than the cross-sectional area of ​​the second magnetic disk 520. When the first magnetic disk 510 and the second magnetic disk 520 are installed in place, the second magnetic disk 520 can be completely located in the accommodating cavity 513, and the end face of the second magnetic disk 520 is flush with the end face of the first magnetic disk 510, so that the first magnetic disk 510 and the second magnetic disk 520 occupy the same length in the axial direction, and the first magnetic disk 510 and the second magnetic disk 520 are arranged inside and outside relative to the circumference of the input shaft 310 or the output shaft 320. The input shaft 310 is sleeved inside the output shaft 320, and the second magnetic disk 520 is located in the middle of the first magnetic disk 510, thereby minimizing the volume of the encoder assembly 500 and reducing the occupied space of the motor module as much as possible.

[0059] According to one embodiment of the present invention, referring to Figure 3 and Figure 4 As shown, the first magnetic disk 510 includes a first mounting frame 511 and a first magnetic ring 512 mounted on the first mounting frame 511 . The first mounting frame 511 , the first magnetic ring 512 and the input shaft 310 are coaxially arranged, and a receiving cavity 513 is formed in the middle of the first mounting frame 511 .

[0060] It can be understood that, in the present embodiment, the first magnetic disk 510 includes a first mounting frame 511 and a first magnetic ring 512. The first mounting frame 511 can be sleeved on the input shaft 310. The first magnetic ring 512 is mounted on the input shaft 310 through the first mounting frame 511 and fixed by the first mounting frame 511. The coaxiality between the first magnetic ring 512 and the input shaft 310 can be ensured. When the input shaft 310 rotates, the first magnetic ring 512 will also rotate accordingly, thereby realizing the synchronous movement of the first magnetic ring 512 and the input shaft 310, and can provide precise position and angle measurement, thereby achieving accurate detection results.

[0061] Exemplarily, a hollow accommodating cavity 513 is formed in the middle of the first mounting frame 511 , and the accommodating cavity 513 is used to accommodate the second magnetic disk 520 , and the first magnetic ring 512 is located outside the accommodating cavity 513 to avoid interference.

[0062] According to one embodiment of the present invention, referring to Figure 3 and Figure 5 As shown, the second magnetic disk 520 includes a second mounting frame 521 and a second magnetic ring 522 mounted on the second mounting frame 521 . The second mounting frame 521 , the second magnetic ring 522 and the output shaft 320 are coaxially arranged, and the second mounting frame 521 is at least partially arranged in the accommodating cavity 513 .

[0063] It can be understood that, in the present embodiment, the second magnetic disk 520 includes a second mounting frame 521 and a second magnetic ring 522. The second mounting frame 521 can be sleeved on the output shaft 320. The second magnetic ring 522 is mounted on the output shaft 320 through the second mounting frame 521 and fixed by the second mounting frame 521. The coaxiality between the second magnetic ring 522 and the output shaft 320 can be ensured. When the output shaft 320 rotates, the second magnetic ring 522 will also rotate accordingly, thereby realizing the synchronous movement of the second magnetic ring 522 and the output shaft 320, and can provide precise position and angle measurement, thereby achieving accurate detection results.

[0064] In some embodiments, the first magnetic ring 512 can be glued to the first mounting frame 511, and the second magnetic ring 522 can be glued to the second mounting frame 521 to ensure a firm connection and avoid loosening during use.

[0065] According to one embodiment of the present invention, referring to Figure 4 and Figure 5 As shown, at least one of the first magnetic ring 512 and the second magnetic ring 522 is provided with a plurality of first magnetic poles and second magnetic poles, and the first magnetic poles and the second magnetic poles are alternately arranged along the circumference of the first magnetic ring 512 or the second magnetic ring 522 .

[0066] Optionally, the first magnetic pole is an N pole, and the second magnetic pole is an S pole.

[0067] In an optional embodiment, the first magnetic ring 512 is provided with a plurality of first magnetic poles and a plurality of second magnetic poles, and the first magnetic poles and the second magnetic poles are alternately arranged, and the polarities of two adjacent magnetic poles are different, that is, the first magnetic disk 510 is a multi-pole encoder, which can provide a higher encoder resolution and improve the detection accuracy of the encoder.

[0068] In another optional embodiment, the second magnetic ring 522 is provided with a plurality of first magnetic poles and a plurality of second magnetic poles, and the first magnetic poles and the second magnetic poles are alternately arranged along the circumference of the first magnetic ring 512 or the second magnetic ring 522, and the polarities of two adjacent magnetic poles are different, that is, the second magnetic disk 520 is a multi-pole encoder, which can provide a higher encoder resolution and improve the detection accuracy of the encoder.

[0069] In another optional embodiment, the first magnetic disk 510 and the second magnetic disk 520 are both multi-pole encoders with higher encoder resolution, which can more accurately measure the position and angle of the input shaft 310 and the output shaft 320, and can also reduce errors caused by changes in the external magnetic field or other interference to a certain extent.

[0070] In some embodiments, the first magnetic ring 512 and the second magnetic ring 522 can also be provided with two rings or multiple rings, each ring can be provided with multiple first magnetic poles and second magnetic poles, and the corresponding arrangement angles of the first magnetic poles and the second magnetic poles between two adjacent rings are different, thereby providing higher resolution for the detection of the encoder assembly 500 and improving detection accuracy.

[0071] According to one embodiment of the present invention, referring to Figure 2 , Figure 4 and Figure 5 As shown, at least one of the first mounting bracket 511 and the second mounting bracket 521 is mounted on the input shaft 310 or the output shaft 320 through a threaded connection.

[0072] In an optional embodiment, the first mounting frame 511 is threadedly connected to the input shaft 310, that is, one of the first mounting frame 511 and the input shaft 310 is provided with an internal thread, and the other is provided with an internal thread that matches each other, and the first mounting frame 511 is threadedly connected to the input shaft 310. The threaded connection can provide a firm connection between the first mounting frame 511 and the input shaft 310, and can ensure the coaxiality between the first mounting frame 511 and the input shaft 310, avoid deviation between the first mounting frame 511 and the input shaft 310, and thus ensure the accuracy and stability of the system. The threaded connection can also allow the position of the first mounting frame 511 relative to the input shaft 310 to be adjusted, thereby achieving more accurate positioning and rotation, and facilitating fine-tuning or calibration of the first magnetic disk 510. The threaded connection can also provide a safer connection to avoid loosening or falling off between the first mounting frame 511 and the input shaft 310.

[0073] In another optional embodiment, the second mounting frame 521 is threadedly connected to the output shaft 320, that is, one of the second mounting frame 521 and the output shaft 320 is provided with an internal thread, and the other is provided with an internal thread that matches each other, and the second mounting frame 521 is threadedly connected to the output shaft 320. The threaded connection can provide a firm connection between the second mounting frame 521 and the output shaft 320, and can ensure the coaxiality between the second mounting frame 521 and the output shaft 320, avoid the deviation between the second mounting frame 521 and the output shaft 320, and thus ensure the accuracy and stability of the system. The threaded connection can also allow the position of the second mounting frame 521 relative to the output shaft 320 to be adjusted, thereby achieving more accurate positioning and rotation, and facilitating fine-tuning or calibration of the second magnetic disk 520. The threaded connection can also provide a safer connection to avoid loosening or falling off between the second mounting frame 521 and the output shaft 320.

[0074] In another optional implementation, the first mounting bracket 511 is threadedly connected to the input shaft 310, and the second mounting bracket 521 is threadedly connected to the output shaft 320. The design can be based on actual use requirements, and this embodiment does not specifically limit this.

[0075] It should be noted that, in this embodiment, the coaxial positioning of the first mounting bracket 511 and the input shaft 310 and the coaxial positioning of the second mounting bracket 521 and the output shaft 320 can be achieved through threaded connection.

[0076] According to one embodiment of the present invention, referring to Figure 2 As shown, the input shaft 310 is provided with a first positioning step 311, the first magnetic disk 510 is sleeved on the input shaft 310, and one end of the first magnetic disk 510 abuts against the first positioning step 311; or refer to Figure 6 As shown, one of the input shaft 310 and the first magnetic disk 510 is provided with a positioning protrusion 514, and the other is provided with a positioning groove 312 cooperating with the positioning protrusion 514, the positioning protrusion 514 is inserted into the positioning groove 312, and the end face of the first magnetic disk 510 is in contact with the end face of the high-speed shaft.

[0077] Understandably, reference Figure 1 , Figure 6 As shown, in an optional embodiment, the input shaft 310 is provided with a first positioning step 311. During the assembly process, the first magnetic disk 510 is sleeved on the input shaft 310 and screwed in until one end of the first magnetic disk 510 abuts against the first positioning step 311, indicating that the first magnetic disk 510 has been installed in place, which can ensure that the first magnetic disk 510 is correctly installed in place, provide a reliable installation guarantee for the first magnetic disk 510, and avoid incorrect or loose installation. The first positioning step 311 can also be used to limit the first magnetic disk 510 axially, which can ensure that the position of the first magnetic disk 510 on the input shaft 310 is accurate and stable, provide a stable connection for the first magnetic disk 510, and improve the accuracy and stability of the encoder assembly 500.

[0078] In an alternative embodiment, reference Figure 1 , Figure 2 and Figure 3 As shown, a bearing 120 is provided on the outside of the input shaft 310, and the bearing 120 is used to ensure the stability and smooth rotation of the input shaft 310, and the first positioning step 311 can be formed by the end of the bearing 120, that is, the end of the bearing 120 can axially limit the first magnetic disk 510. Since the end of the bearing 120 can already serve as the first positioning step 311 and limit the first magnetic disk 510, there is no need to additionally set the first positioning step 311, which simplifies the design of the output shaft 320 and reduces the processing and manufacturing costs.

[0079] In another alternative embodiment, referring to Figure 6 As shown, one of the input shaft 310 and the first magnetic disk 510 is provided with a positioning protrusion 514, and the other is provided with a positioning groove 312 that cooperates with the positioning protrusion 514. The positioning protrusion 514 is inserted into the positioning groove 312, and the end face of the first magnetic disk 510 abuts against the end face of the high-speed shaft. In this embodiment, the positioning protrusion 514 and the positioning groove 312 can both be annular to achieve coaxial positioning of the input shaft 310 and the first magnetic disk 510. During the installation process, the first magnetic disk 510 is sleeved on the input shaft 310 and screwed in until the end face of the first magnetic disk 510 abuts against the end face of the input shaft 310, indicating that the first magnetic disk 510 has been installed in place.

[0080] Further, refer to Figure 6 As shown, the end face of the input shaft 310 is provided with a plurality of threaded holes 313, and the plurality of threaded holes 313 are arranged along the circumference of the input shaft 310. The first magnetic disk 510 is also correspondingly provided with threaded through holes 515 along the circumference. After the first magnetic disk 510 is installed in place, the first magnetic disk 510 and the input shaft 310 can be fixed by fasteners such as screws to achieve the fixation of the first magnetic disk 510, so that the first magnetic disk 510 and the input shaft 310 can rotate synchronously.

[0081] According to one embodiment of the present invention, referring to Figure 1 and Figure 2 As shown, the output shaft 320 is provided with a second positioning step 321 , the second magnetic disk 520 is sleeved on the input shaft 310 , and one end of the second magnetic disk 520 abuts against the second positioning step 321 .

[0082] It is understandable that in this embodiment, the output shaft 320 is provided with a second positioning step 321. During the assembly process, the second magnetic disk 520 is sleeved on the output shaft 320 and screwed in until one end of the second magnetic disk 520 abuts against the second positioning step 321, indicating that the second magnetic disk 520 has been installed in place, which can ensure that the second magnetic disk 520 is correctly installed in place, provide a reliable installation guarantee for the second magnetic disk 520, and avoid incorrect or loose installation. The second positioning step 321 can also be used to axially limit the second magnetic disk 520, which can ensure that the position of the second magnetic disk 520 on the output shaft 320 is accurate and stable, provide a stable connection for the output magnetic disk, and improve the accuracy and stability of the encoder assembly 500.

[0083] In other embodiments, a coaxial positioning structure may be further provided between the first magnetic disk 510 and the input shaft 310, and between the second magnetic disk 520 and the output shaft 320, to ensure the coaxiality between the first magnetic disk 510 and the input shaft 310, and between the second magnetic disk 520 and the output shaft 320. The coaxial positioning structure includes but is not limited to a sleeve, a positioning pin, a boss, a positioning hole, etc., and is not specifically limited in this embodiment.

[0084] According to one embodiment of the present invention, referring to Figure 7 and Figure 8 As shown, at least one of the first mounting frame 511 and the second mounting frame 521 is provided with a groove 5111 or a protrusion 610 for cooperating with the mounting tool 600 to screw the first mounting frame 511 or the second mounting frame 521 .

[0085] In an optional embodiment, a groove 5111 is provided on the first mounting frame 511, and a protrusion 610 is provided on the mounting tool 600. When the first mounting frame 511 needs to be installed on the input shaft 310 using the mounting tool 600, the protrusion 610 can be inserted into the groove 5111 to achieve relative fixation of the first mounting frame 511 and the mounting tool 600. At this time, the first mounting frame 511 can be screwed into the input shaft 310 by only rotating the mounting tool 600, which is convenient for installation and simple to operate.

[0086] In another optional embodiment, a groove 5111 is provided on the second mounting frame 521, and a protrusion 610 is provided on the mounting tool 600. When it is necessary to use the mounting tool 600 to install the first mounting frame 511 on the input shaft 310, the protrusion 610 can be inserted into the groove 5111 to achieve relative fixation of the first mounting frame 511 and the mounting tool 600. At this time, it is only necessary to rotate the mounting tool 600 to screw the first mounting frame 511 into the input shaft 310, which is convenient for installation and simple to operate.

[0087] In other embodiments, the first mounting frame 511 is provided with a protrusion 610 and the mounting tool 600 is provided with a groove 5111, or the second mounting frame 521 is provided with a protrusion 610 and the mounting tool 600 is provided with a groove 5111, so that the installation of the first mounting frame 511 and the second mounting frame 521 can also be achieved, which will not be repeated in this embodiment.

[0088] In an optional embodiment, there are multiple grooves 5111 or protrusions 610, and the multiple protrusions 610 or grooves 5111 can be arranged along the circumference of the first mounting frame 511 or the second mounting frame 521 to ensure that the installation tool 600 is firmly connected to the first mounting frame 511 and the second mounting frame 521, and the installation process is labor-saving.

[0089] According to one embodiment of the present invention, referring to Figure 1 and Figure 3 As shown, the sensor 530 includes a first magnetic encoding chip 531 and a second magnetic encoding chip 532 . The first magnetic encoding chip 531 is arranged corresponding to the first magnetic disk 510 , and the second magnetic encoding chip 532 is arranged corresponding to the second magnetic disk 520 .

[0090] It can be understood that in this embodiment, the sensor 530 includes a first magnetic encoding chip 531 and a second magnetic encoding chip 532. When the encoder assembly 500 is used for measurement, the first magnetic encoding chip 531 and the second magnetic encoding chip 532 respectively detect the magnetic field changes on the first magnetic disk 510 and the second magnetic disk 520 to obtain accurate position measurement values ​​of the input shaft 310 and the output shaft 320. Since they correspond to different magnetic disks, magnetic field interference from other devices or environments can be avoided, thereby improving the accuracy and reliability of the encoder assembly 500 measurement.

[0091] It should be noted that the first magnetic ring 512 and the second magnetic ring 522 should maintain a certain distance to reduce the interference between the first magnetic ring 512 and the second magnetic ring 522 and reduce the measurement error. In addition, by selecting a high-precision, high-stability magnetic disk and magnetic encoding chip, accurately installing the position of the magnetic disk and the magnetic encoding chip, and properly processing and calibrating the signal output from the magnetic encoding chip, such as amplification, filtering, digital conversion, etc., more accurate measurement values ​​can be obtained.

[0092] An embodiment of the second aspect of the utility model provides a robotic arm, comprising a frame and a motor module according to any one of the above embodiments.

[0093] It can be understood that if the motor module has the beneficial effects of the above embodiments, then the robotic arm will correspondingly have the beneficial effects of the above embodiments. The specific implementation methods thereof may refer to the above embodiments, and will not be described in detail in this application.

[0094] An embodiment of the third aspect of the utility model provides a robot, comprising a motor module or a mechanical arm according to any one of the above embodiments.

[0095] It can be understood that if the motor module and the robotic arm have the beneficial effects of the above embodiments, then the robot will correspondingly have the beneficial effects of the above embodiments. The specific implementation methods thereof may refer to the above embodiments, and this application will not elaborate on them.

[0096] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not deviate from the spirit and scope of the technical solutions of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A motor module, characterized in that: include: A mounting component provided with a drive assembly; A transmission assembly, comprising an input shaft and an output shaft, wherein the input shaft is connected to the driving assembly and the input shaft is sleeved on the output shaft; A drive plate, mounted on the mounting component; The encoder assembly includes a first magnetic disk, a second magnetic disk and a sensor, wherein the first magnetic disk is connected to the input shaft, and the second magnetic disk is connected to the output shaft; one of the first magnetic disk and the second magnetic disk forms a receiving cavity, and the other is at least partially disposed in the receiving cavity; the sensor is connected to the drive plate, and the sensor is used to detect the rotation state of the first magnetic disk and the second magnetic disk.

2. The motor module according to claim 1, characterized in that: At least one end surface of the second magnetic disk is flush with an end surface of the first magnetic disk.

3. The motor module according to claim 1, characterized in that: The first magnetic disk includes a first mounting frame and a first magnetic ring mounted on the first mounting frame, the first mounting frame, the first magnetic ring and the input shaft are coaxially arranged, and the middle part of the first mounting frame forms the accommodating cavity; and / or, The second magnetic disk includes a second mounting frame and a second magnetic ring mounted on the second mounting frame. The second mounting frame, the second magnetic ring and the output shaft are coaxially arranged, and the second mounting frame is at least partially arranged in the accommodating cavity.

4. The motor module according to claim 3, characterized in that: At least one of the first magnetic ring and the second magnetic ring is provided with a plurality of first magnetic poles and second magnetic poles, and the first magnetic poles and the second magnetic poles are alternately arranged along the circumference of the first magnetic ring or the second magnetic ring.

5. The motor module according to claim 3, characterized in that: The first mounting bracket is threadedly connected to the input shaft; and / or, The second mounting bracket is threadedly connected to the output shaft.

6. The motor module according to claim 1, characterized in that: The input shaft is provided with a first positioning step, the first magnetic disk is sleeved on the input shaft, and one end of the first magnetic disk abuts against the first positioning step; or, One of the input shaft and the first magnetic disk is provided with a positioning protrusion, and the other is provided with a positioning groove matched with the positioning protrusion. The positioning protrusion is inserted into the positioning groove, and the end surface of the first magnetic disk abuts against the end surface of the input shaft.

7. The motor module according to claim 1, characterized in that: The output shaft is provided with a second positioning step, the second magnetic disk is sleeved on the input shaft, and one end of the second magnetic disk abuts against the second positioning step.

8. The motor module according to claim 3, characterized in that: At least one of the first mounting bracket and the second mounting bracket is provided with a groove or a protrusion for cooperating with the mounting tool to screw the first mounting bracket or the second mounting bracket.

9. The motor module according to any one of claims 1 to 8, characterized in that: The sensor includes a first magnetic encoding chip and a second magnetic encoding chip, wherein the first magnetic encoding chip is arranged corresponding to the first magnetic disk, and the second magnetic encoding chip is arranged corresponding to the second magnetic disk.

10. A robotic arm, characterized in that: It comprises a frame and the motor module according to any one of claims 1 to 9, wherein the motor module is mounted on the frame.

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