Electromagnetic shielding structure, joint motor module and robot

Abstract

The present disclosure relates to an electromagnetic shielding structure, a joint motor module and a robot. The structure is adapted to the stepped magnetic ring of the encoder and is stepped, and the larger end of the electromagnetic shielding structure is adapted to the larger end of the stepped magnetic ring and has a first axial hole, and the smaller end of the electromagnetic shielding structure is adapted to the smaller end of the stepped magnetic ring and has a second axial hole, so that the electromagnetic shielding structure can be sleeved on the stepped magnetic ring from the smaller end of the stepped magnetic ring to cover and electromagnetically shield the stepped magnetic ring from the circumferential direction and one end toward the joint motor, so that the magnetic field generated by the joint motor cannot generate electromagnetic interference to the stepped magnetic ring, and will not affect the accuracy of the encoder feedback of the motor state, thereby improving the accuracy and progress of the joint state feedback and the accuracy of the robot movement.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular to an electromagnetic shielding structure, a joint motor module and a robot. Background Art

[0002] In recent years, robot technology has been developing continuously, becoming more and more intelligent and automated, and the richness, stability and flexibility of actions have been improved to varying degrees. Robots can replace users in their production and life to perform specific tasks, thus bringing convenience to users. Robots mainly rely on joint movements in different parts to achieve various complex actions, such as leg movements through leg joints, upper limb movements through upper limb joints, etc. A joint motor module is set at each joint of the robot. The joint electronic module is used to achieve joint movement and joint state feedback. There is electromagnetic interference between the joint motor used to achieve joint movement and the encoder used to achieve joint state feedback, which affects the accuracy and precision of joint state feedback, and thus affects the accuracy of robot movement. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the embodiments of the present disclosure provide an electromagnetic shielding structure, a joint motor module and a robot to solve the defects in the related art.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided an electromagnetic shielding structure, the structure being used to shield a magnetic field between a joint motor and an encoder of a joint motor module;

[0005] The structure is stepped, and the larger end of the structure is provided with a first axial hole that matches the larger end of the stepped magnetic ring of the encoder, and the smaller end of the structure is provided with a second axial hole that matches the smaller end of the stepped magnetic ring of the encoder, and the smaller end of the structure is used to face the joint motor in the joint motor module.

[0006] In a possible embodiment of the present disclosure, the structure includes a first annular plate and a cylindrical shell, the first annular plate having the first axial hole, the cylindrical shell including a second annular plate and a side wall connected to the edge of the second annular plate, the second annular plate having the second axial hole, the open end of the side wall cooperates with the second axial hole and is detachably connected, wherein the open end is an end of the side wall away from the second annular plate.

[0007] In a possible embodiment of the present disclosure, the open end of the side wall has a stop, and the size of the stop on the radial outside matches the size of the first axial hole, so that the open end and the second axial hole are matched and detachably connected.

[0008] In a possible embodiment of the present disclosure, the cylindrical shell is provided with at least one fixing claw, which extends radially outward and then axially away from the second annular plate, and is used to connect to the shell of the joint motor module.

[0009] In a possible embodiment of the present disclosure, at least one through-axis hole is provided on an edge of the first annular plate, and when the open end of the side wall is assembled with the first annular plate, the at least one fixing claw passes through the at least one through-axis hole in a one-to-one correspondence.

[0010] In a possible embodiment of the present disclosure, the first annular plate has at least one fixing column extending in the axial direction, and the fixing column is used to be connected to the housing of the joint motor module.

[0011] According to a second aspect of an embodiment of the present disclosure, a joint motor module is provided, the module comprising:

[0012] case;

[0013] The joint motor comprises a motor body and a main shaft which are sequentially arranged inwardly in the radial direction, wherein the main shaft protrudes out of the motor body in the axial direction;

[0014] An encoder, comprising a stepped magnetic ring sleeved on the main shaft and a code disc connected to the housing, wherein the code disc and the motor body are respectively arranged on both sides of the stepped magnetic ring;

[0015] The electromagnetic shielding structure provided by any embodiment of the first aspect is sleeved on the stepped magnetic ring from a side close to the motor body;

[0016] Wherein, the joint motor, the encoder and the electromagnetic shielding structure are all arranged in the shell.

[0017] In a possible embodiment of the present disclosure, magnetic powder is provided on a side of the stepped magnetic ring away from the motor body.

[0018] In a possible embodiment of the present disclosure, the motor body includes a stator and a rotor, the stator is fixedly connected to the housing, and the rotor is fixedly connected to the main shaft.

[0019] In a possible embodiment of the present disclosure, the module further includes a driver for driving the joint motor to rotate and obtaining a motor state feedback value collected by the encoder.

[0020] According to a third aspect of the embodiments of the present disclosure, a robot is provided, comprising the joint motor module provided in any embodiment of the second aspect.

[0021] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0022] The electromagnetic shielding structure provided in the embodiment of the present disclosure is adapted to the stepped magnetic ring of the encoder and is stepped, and the larger end of the electromagnetic shielding structure is adapted to the larger end of the stepped magnetic ring and has a first axial hole, and the smaller end of the electromagnetic shielding structure is adapted to the smaller end of the stepped magnetic ring and has a second axial hole, so that the electromagnetic shielding structure can be sleeved on the stepped magnetic ring from the smaller end of the stepped magnetic ring to cover and electromagnetically shield the stepped magnetic ring from the circumferential direction and toward one end of the joint motor, so that the magnetic field generated by the joint motor cannot generate electromagnetic interference to the stepped magnetic ring, and will not affect the accuracy of the encoder feedback of the motor state, thereby improving the accuracy and progress of the joint state feedback and the accuracy of the robot movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0024] Figure 1 is a schematic structural diagram of a joint motor module exemplarily shown in the present disclosure;

[0025] Figure 2 is an exploded view of a joint motor module exemplarily shown in the present disclosure;

[0026] Figure 3 is a half-section schematic diagram of an exemplary joint motor module of the present disclosure;

[0027] Figure 4 is a schematic structural diagram of an electromagnetic shielding structure exemplarily shown in the present disclosure;

[0028] Figure 5 Schematic diagram of a half-section of an exemplary electromagnetic shielding structure of the present disclosure. DETAILED DESCRIPTION

[0029] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0030] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0031] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0032] In recent years, robot technology has been developing continuously, becoming more and more intelligent and automated, and the richness, stability and flexibility of actions have been improved to varying degrees. Robots can replace users in their production and life to perform specific tasks, thus bringing convenience to users. Robots mainly rely on joint movements in different parts to achieve various complex actions, such as leg movements through leg joints, upper limb movements through upper limb joints, etc. A joint motor module is set at each joint of the robot. The joint electronic module is used to achieve joint movement and joint state feedback. There is electromagnetic interference between the joint motor used to achieve joint movement and the encoder used to achieve joint state feedback, which affects the accuracy and precision of joint state feedback, and thus affects the accuracy of robot movement.

[0033] For example, in the joint motor module, the encoder includes a code disk and a stepped magnetic ring. The stepped magnetic ring is mounted on the main shaft of the joint motor and rotates synchronously with it. The smaller end of the stepped magnetic ring (commonly known as the thin end, and the other end commonly known as the thick end) faces the joint motor; and the code disk is located on the side of the stepped magnetic ring away from the shutdown motor. The code disk can determine the rotation speed and position of the stepped magnetic ring, that is, the rotation speed and position of the main shaft, according to the change of the magnetic field of the stepped magnetic ring when the stepped magnetic ring rotates synchronously with the main shaft, and then provide feedback as the state of the joint motor. The stator and rotor of the joint motor will both generate a magnetic field, which will affect the magnetic field of the stepped magnetic ring, and then affect the state of the joint motor fed back by the code disk.

[0034] Based on this, on the first aspect, at least one embodiment of the present disclosure provides an electromagnetic shielding structure, which can be applied to the joint motor module of a robot, for example, to shield the magnetic field between the joint motor and the encoder of the joint motor module to avoid the magnetic field of the joint motor interfering with the encoder and causing inaccurate joint state feedback from the encoder, thereby improving the movement accuracy of the joint motor.

[0035] Next, combine with Figure 1 To Attachment Figure 5 , the joint motor module and the electromagnetic shielding structure are introduced in detail, including Figure 1 The structural diagram of the joint motor module is shown as an example. Figure 2 The exploded view of the joint motor module is shown as an example. Figure 3 A half-section schematic diagram of a joint motor module is shown as an example. Figure 4 The schematic diagram of the electromagnetic shielding structure is shown as an example. Figure 5 A half-section schematic diagram of the electromagnetic shielding structure is shown exemplarily.

[0036] The joint motor module may include a driver (not shown in the figure), a housing 100, a joint motor, an encoder, an electromagnetic shielding structure, a rear end bearing 501, a front end bearing 502, a bearing shoulder 600, etc. The housing 100 may include a housing body 101 and a housing cover 102 that are detachably connected, and the housing cover 102 is located at the rear end of the housing 100; the joint motor, encoder, electromagnetic shielding structure and bearing shoulder 600 are all arranged in the housing 100, and the front and rear ends of the housing 100 are respectively provided with bearing holes, the front end bearing 502 is installed in the bearing hole at the front end of the housing 100, and the rear end bearing 501 is installed in the bearing hole at the rear end of the housing 100. The encoder includes a code disc 301 and a stepped magnetic ring 302, and the code disc 301 is fixedly connected to the housing cover 102. The joint motor can be a frameless torque motor, which includes a motor body and a spindle 203. The motor body includes a stator 201, a rotor 202, and a spindle 203 which are arranged radially inward in sequence. The stator 201 is fixedly connected to the inner wall of the shell 100, and the rotor 202 is fixedly connected to the spindle 203. The stator 201 generates an alternating magnetic field under the drive of the driver. The alternating magnetic field can drive the permanent magnet rotor 202 to rotate, and the rotor 202 drives the spindle 203 to rotate synchronously; the spindle 203 protrudes axially from the motor main body. The step-shaped magnetic ring 302 extends from the motor body to the rear end of the housing 100, and passes through the electromagnetic shielding structure, the step-shaped magnetic ring 302, the bearing shoulder 600, the code disk 301 and the rear end bearing 501 in sequence, and the step-shaped magnetic ring 302 is fixedly connected to the main shaft 203 (that is, it rotates synchronously with the main shaft 203, and the electromagnetic shielding structure, the bearing shoulder 600, and the code disk 301 do not rotate with the main shaft 203). The main shaft 203 also protrudes from the motor body in the axial direction and extends to the front end of the housing 100 to pass through the front end bearing 502. The smaller end of the step-shaped magnetic ring 302 (commonly known as the thin end, and the other end commonly known as the thick end) faces the joint motor, and the end face of the larger end of the step-shaped magnetic ring 302 is provided with magnetic powder (that is, the step-shaped magnetic ring 302 is provided with magnetic powder on one side of the motor body in principle), so that it has magnetism. The stepped magnetic ring 302 mounted on the main shaft 203 and the code disk 301 fixedly connected to the cover body 102 of the shell 100 meet the gap requirement after assembly, that is, the gap between the two is in the theoretical required position. Therefore, the code disk 301 can determine the rotation speed and position of the stepped magnetic ring 302, that is, the rotation speed and position of the main shaft 203 according to the change of the magnetic field of the stepped magnetic ring 302 when the stepped magnetic ring 302 rotates synchronously with the main shaft 203, and then feed back to the driver as the state of the joint motor.

[0037] The electromagnetic shielding structure is adapted to the stepped magnetic ring 302 and is stepped. The larger end of the electromagnetic shielding structure is provided with a first axial hole 4011 that matches the larger end of the stepped magnetic ring 302 of the encoder, that is, the size of the first axial hole 4011 of the electromagnetic shielding structure is greater than or equal to the size of the larger end of the stepped magnetic ring 302, and can be sleeved on the larger end of the stepped magnetic ring 302. The smaller end of the structure is provided with a second axial hole 4024 that matches the smaller end of the stepped magnetic ring 302 of the encoder, that is, the size of the second axial hole 4024 of the electromagnetic shielding structure is greater than or equal to the size of the smaller end of the stepped magnetic ring 302, and can be sleeved on the smaller end of the stepped magnetic ring 302. The smaller end of the electromagnetic shielding structure is used to face the joint motor in the joint motor module, that is, when the electromagnetic shielding structure is installed on the joint motor module, the smaller end of the step magnetic ring 302 is sleeved on the step magnetic ring 302, so that the first axial hole 4011 is sleeved on the larger end of the step magnetic ring 302, and the second axial hole 4024 is sleeved on the smaller end of the step magnetic ring 302, so that the step magnetic ring 302 can be covered and electromagnetically shielded from the circumferential direction and one end facing the joint motor.

[0038] For example, please refer to the attached Figure 1 To Attachment Figure 5 The radial cross-section of the stepped magnetic ring 302 may be circular, and correspondingly, the radial cross-section of the electromagnetic shielding structure may also be circular.

[0039] As another example, the material of the electromagnetic shielding structure may be an iron-containing alloy material with high magnetic permeability, such as an iron-nickel alloy and a cobalt-iron alloy.

[0040] The electromagnetic shielding structure provided in the embodiment of the present disclosure is adapted to the stepped magnetic ring 302 of the encoder and is stepped, and the larger end of the electromagnetic shielding structure is adapted to the larger end of the stepped magnetic ring 302 and has a first axial hole 4011, and the smaller end of the electromagnetic shielding structure is adapted to the smaller end of the stepped magnetic ring 302 and has a second axial hole 4024, so that the electromagnetic shielding structure can be sleeved on the stepped magnetic ring 302 from the smaller end of the stepped magnetic ring 302 to cover and electromagnetically shield the stepped magnetic ring 302 from the circumferential direction and toward one end of the joint motor, so that the magnetic field generated by the joint motor cannot generate electromagnetic interference to the stepped magnetic ring 302, and will not affect the accuracy of the encoder feedback of the motor state, thereby improving the accuracy and progress of the joint state feedback and the accuracy of the robot movement.

[0041] Since the electromagnetic shielding structure has a good shielding effect, the length of the main shaft 203 of the joint motor can be reduced, that is, the distance between the encoder and the joint motor can be shortened, thereby improving the miniaturization and compactness of the joint motor module and improving space utilization. Furthermore, compared with the annular shielding plate in the related art, the electromagnetic shielding structure can shield the magnetic field from multiple directions, and its shielding effect is significantly improved.

[0042] It should be understood that the electromagnetic shielding structure may be an integrated structure or a split structure. Figure 1 To Attachment Figure 5 Let's introduce a split structure of the electromagnetic shielding structure.

[0043] The structure includes a first annular plate 401 and a cylindrical shell 402 shell 100, wherein the first annular plate 401 has the first axial hole 4011, and the cylindrical shell 402 shell 100 includes a second annular plate 4021 and a side wall 4022 connected to the edge of the second annular plate 4021, and the second annular plate 4021 has the second axial hole 4024, and the open end of the side wall 4022 cooperates with the second axial hole 4024 and is detachably connected, wherein the open end is an end of the side wall 4022 away from the second annular plate 4021. That is, the first annular plate 401 forms the larger end of the electromagnetic shielding structure, and the second annular plate 4021 forms the smaller end of the electromagnetic shielding structure.

[0044] Exemplarily, the open end of the side wall 4022 has a stopper, and the size of the stopper on the radial outer side matches the size of the first shaft hole 4011, so that the open end is matched with the second shaft hole 4024 and is detachably connected. The stopper can tightly assemble the first annular plate 401 and the cylindrical shell 402 shell 100, thereby improving the shielding effect of the electromagnetic shielding structure.

[0045] As another example, the cylindrical shell 402 shell 100 is provided with at least one fixing claw 4023, and the fixing claw 4023 extends radially outward and then extends axially in a direction away from the second annular plate 4021, and the fixing claw 4023 is used to connect with the shell 100 of the joint motor module. The edge of the first annular plate 401 is provided with at least one through-axis hole 4012, and when the open end of the side wall 4022 is assembled with the first annular plate 401, the at least one fixing claw 4023 passes through the at least one through-axis hole 4012 in a one-to-one correspondence. In other words, when the electromagnetic shielding structure is installed in the joint motor module, the fixing claw 4023 is connected to the shell 100 cover 102 of the motor module, for example, the fixing claw 4023 is connected to the shell 100 cover 102 by screws.

[0046] In another exemplary embodiment, the first annular plate 401 has at least one fixing column 4013 extending in the axial direction, and the fixing column 4013 is used to connect with the housing 100 of the joint motor module. In other words, when the electromagnetic shielding structure is installed in the joint motor module, the first annular plate 401 is connected with the housing 100 cover 102 of the motor module, for example, the first annular plate 401 is connected with the housing 100 cover 102 by screws.

[0047] The electromagnetic shielding structure in this embodiment is a split structure, which can reduce the assembly difficulty when assembling the joint motor module and improve the assembly efficiency. It can also increase the assembly accuracy between the electromagnetic shielding structure and the stepped magnetic ring 302, thereby further improving the shielding effect of magnetic field interference.

[0048] In a second aspect, at least one embodiment of the present disclosure provides a joint motor module, please refer to the attached Figure 1 To Attachment Figure 3 , the module comprises:

[0049] Housing 100;

[0050] The joint motor comprises a motor body and a main shaft 203 which are sequentially arranged inwardly in the radial direction, and the main shaft 203 protrudes out of the motor body in the axial direction;

[0051] An encoder, comprising a stepped magnetic ring 302 sleeved on the spindle 203 and a code disc 301 connected to the housing 100, wherein the code disc 301 and the motor body are respectively arranged on both sides of the stepped magnetic ring 302;

[0052] The electromagnetic shielding structure provided by any embodiment of the first aspect is sleeved on the stepped magnetic ring 302 from a side close to the motor body;

[0053] Wherein, the joint motor, the encoder and the electromagnetic shielding structure are all arranged in the housing 100 .

[0054] In some embodiments of the present disclosure, magnetic powder is provided on a side of the stepped magnetic ring 302 away from the motor body.

[0055] In some embodiments of the present disclosure, the motor body includes a stator 201 and a rotor 202 , the stator 201 is fixedly connected to the housing 100 , and the rotor 202 is fixedly connected to the main shaft 203 .

[0056] In some embodiments of the present disclosure, the module further includes a driver for driving the joint motor to rotate and obtaining a motor state feedback value collected by the encoder.

[0057] The structural details of the joint motor module have been introduced in detail in the first aspect and will not be repeated here.

[0058] According to a third aspect of the embodiments of the present disclosure, a robot is provided, comprising the joint motor module provided in any embodiment of the second aspect.

[0059] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0060] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An electromagnetic shielding structure, characterized in that: The structure is used to shield the magnetic field between the joint motor and the encoder of the joint motor module. The structure is stepped, and the larger end of the structure is provided with a first axial hole that matches the larger end of the stepped magnetic ring of the encoder, and the smaller end of the structure is provided with a second axial hole that matches the smaller end of the stepped magnetic ring of the encoder, and the smaller end of the structure is used to face the joint motor in the joint motor module.

2. The electromagnetic shielding structure according to claim 1, characterized in that: The structure includes a first annular plate and a cylindrical shell, the first annular plate has the first axial hole, the cylindrical shell includes a second annular plate and a side wall connected to the edge of the second annular plate, the second annular plate has the second axial hole, the open end of the side wall cooperates with the second axial hole and is detachably connected, wherein the open end is the end of the side wall away from the second annular plate.

3. The electromagnetic shielding structure according to claim 2, characterized in that: The open end of the side wall has a stopper, and the size of the stopper on the radial outer side matches the size of the first axial hole, so that the open end and the second axial hole are matched and detachably connected.

4. The electromagnetic shielding structure according to claim 2, characterized in that: The cylindrical shell is provided with at least one fixing claw, which extends radially outward and then axially in a direction away from the second annular plate, and is used to be connected to the shell of the joint motor module.

5. The electromagnetic shielding structure according to claim 4, characterized in that: At least one through-axis hole is provided on the edge of the first annular plate. When the opening end of the side wall is assembled with the first annular plate, the at least one fixing claw passes through the at least one through-axis hole in a one-to-one correspondence.

6. The electromagnetic shielding structure according to claim 2, characterized in that: The first annular plate has at least one fixing column extending in the axial direction, and the fixing column is used to be connected to the housing of the joint motor module.

7. A joint motor module, characterized in that: The module comprises: case; The joint motor comprises a motor body and a main shaft which are sequentially arranged inwardly in the radial direction, wherein the main shaft protrudes out of the motor body in the axial direction; An encoder, comprising a stepped magnetic ring sleeved on the main shaft and a code disc connected to the housing, wherein the code disc and the motor body are respectively arranged on both sides of the stepped magnetic ring; The electromagnetic shielding structure according to any one of claims 1 to 6, wherein the side close to the motor body is sleeved on the stepped magnetic ring; Wherein, the joint motor, the encoder and the electromagnetic shielding structure are all arranged in the shell.

8. The joint motor module according to claim 7, characterized in that: Magnetic powder is provided on a side of the stepped magnetic ring away from the motor body.

9. The joint motor module according to claim 7, characterized in that: The motor body includes a stator and a rotor, wherein the stator is fixedly connected to the housing, and the rotor is fixedly connected to the main shaft.

10. The joint motor module according to claim 7, characterized in that: The module also includes a driver for driving the joint motor to rotate and obtaining the motor state feedback value collected by the encoder.

11. A robot, characterized in that: The robot comprises the joint motor module according to any one of claims 7 to 10.

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