Combined double-disk coding assembly of hollow integrated servo joint module

Abstract

The utility model belongs to the field of hollow integrated servo joint modules, and particularly relates to a combined type double-disk coding assembly of a hollow integrated servo joint module, which comprises an integrated motor, one end of the integrated motor is rotatably connected with an output flange, and one end of the integrated motor far away from the output flange is fixedly connected with a cover body. A bolt type brake is inserted into the outer wall of the cover body, and a driver circuit board is fixedly connected to the inner wall of the cover body. According to the combined type double-disk coding assembly of the hollow integrated servo joint module, through the nested type double-coded-disk structural design, the coding precision and stability are improved, the space utilization rate and flexibility are enhanced, the coding precision and transmission stability are improved, the high precision is kept, meanwhile, the anti-interference performance to the environment is higher, and the service life of the hollow integrated servo joint module is prolonged. Compared with the prior art, the encoder has the advantages that higher motor rotating speed is supported, a single-path or double-path encoder working mode can be flexibly selected according to actual requirements, higher use freedom and adaptability are provided, and accurate control requirements in different application scenes are met.

Description

Technical Field

[0001] The utility model relates to the technical field of hollow integrated servo joint modules, and particularly to a combined double-disk coding component of a hollow integrated servo joint module. Background Technique

[0002] The flexibility and diversity of robots largely depend on the design and configuration of their joints. These joints, as the core components of the robot architecture, can be combined skillfully to create various robot forms.

[0003] At present, the hollow integrated servo joint module is a precision transmission device that integrates various functional components such as servo motors, reducers, and encoders. In the prior art, some use optoelectronic encoders, resulting in a high overall height of the whole machine, occupying a large space, weak anti-interference ability to the environment, and the hollow integrated servo joint module does not come with a heat dissipation shell, making it prone to failures and poor stability when operating in a high-temperature environment. In view of this, we propose a combined double-disk coding component of a hollow integrated servo joint module. Content of the Utility Model

[0004] The main purpose of the utility model is to provide a combined double-disk coding component of a hollow integrated servo joint module, which can solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the utility model proposes the following technical solutions:

[0006] A combined double-disk coding component of a hollow integrated servo joint module includes an integrated motor. One end of the integrated motor is rotatably connected to an output flange, and the end of the integrated motor away from the output flange is fixedly connected to a cover. A pin-type brake is inserted into the outer wall of the cover, a driver circuit board is fixedly connected to the inner wall of the cover, an encoder circuit board is fixedly connected to the inner wall of the cover, and a large magnetic code disk is arranged on the cover, and a small magnetic code disk is nested inside the large magnetic code disk.

[0007] Preferably, an installation groove is opened on the outer wall of the cover, and a pin-type brake is inserted into the inner wall of the installation groove. The pin-type brake can be quickly inserted onto the cover through the installation groove.

[0008] Preferably, MOS tubes, LDO chips, servo control chips, bus communication chips, MCU chips, and gate drivers are fixedly installed on the driver circuit board. The cover is a metal heat dissipation shell for conducting the heat generated by the MOS tubes, LDO chips, servo control chips, bus communication chips, and main control chips. Through the cover, the heat generated by the MOS tubes, LDO chips, servo control chips, bus communication chips, MCU chips, and gate drivers can be quickly transferred out, enabling these components to still operate at the rated temperature even in a high-temperature environment.

[0009] Preferably, a plurality of temperature detection devices are fixedly installed on the driver circuit board. The plurality of temperature detection devices are used to monitor in real time the real-time temperatures of heat-sensitive components such as the MCU and MOS transistors, as well as the rotor assembly in the integrated motor. In order to ensure that these key devices do not operate beyond their rated temperature range, once the device temperature climbs to or breaches the preset safety threshold, the main control chip will intelligently take a series of protective measures according to the preset program. These measures include but are not limited to triggering the alarm system to alert the operator, automatically switching to the low-power mode to reduce heat generation, and even directly pausing all work activities to ensure that the devices are protected from overheating damage, thereby maintaining the overall safety and stable operation of the device.

[0010] Preferably, an encoder interface, a microcontroller, an indicator light, a debugging interface, passive components, and transient suppression diodes are fixedly connected to the encoder circuit board. The encoder circuit board is used to receive and process signals from the encoder for precise measurement and control of position, speed, or direction. The encoder interface is used to connect to the encoder and receive the pulse signal or digital signal output by the encoder. This interface may be a specific connector, such as M12, M23, etc., aviation plugs, or a socket with a pin arrangement conforming to the encoder output signal. The microcontroller is used to further analyze and process the processed signals, such as calculating parameters such as position, speed, and acceleration, and may communicate with other control systems through a bus communication chip.

[0011] Preferably, a central shaft is rotatably connected to the inner wall of the integrated motor. A large magnetic code disk is fixedly connected to the outer wall of the central shaft. The large magnetic code disk is adapted to the central shaft of the integrated motor, and the small magnetic code disk is adapted to the output end of the module. The diameter difference between the inner hole of the large magnetic code disk and the outer hole of the small magnetic code disk is 6 mm, so as to avoid magnetic field interference between the code disks and the risk of mutual collision. The two code disks can be nested with each other so that they are on the same horizontal plane, further compressing the space. Two magnetic encoder read heads are built into the inner wall of the device, which are adapted to the large magnetic code disk and the small magnetic code disk and support multi-turn counting.

[0012] The present utility model provides a combined dual-disk coding component of a hollow integrated servo joint module, having the following beneficial effects:

[0013] (1) Through the nested dual-code disk structure design, not only the coding accuracy and stability are improved, but also the space utilization rate and flexibility are enhanced, the coding accuracy and transmission stability are improved. While maintaining high precision, it has stronger anti-interference ability to the environment, supports higher motor speeds, and can flexibly select single-channel or dual-channel encoder working modes according to actual needs, providing greater freedom and adaptability in use, and meeting the precise control requirements in different application scenarios.

[0014] (2) Through optimizing the heat dissipation design and intelligent temperature control mechanism, the stable operation of components in high-temperature environments is achieved. The cover body, as a metal heat dissipation shell, effectively conducts and dissipates the heat generated by key components such as MOS transistors and servo control chips in the driver circuit board, ensuring their operation at the rated temperature. Meanwhile, the coordinated action of the multiple temperature detection devices and the main control chip can monitor and respond to temperature anomalies in real time. By triggering alarms, switching to low-power modes or pausing operations and other measures, overheating damage is effectively prevented, guaranteeing the overall safety and stable operation of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0016] Figure 1 is a schematic diagram of the overall three-dimensional structure of the present invention;

[0017] Figure 2 is a schematic diagram of the exploded structure of some parts of the present invention Figure 1 ;

[0018] Figure 3 is a schematic diagram of the exploded structure of some parts of the present invention Figure 2 .

[0019] In the figure: 1, integrated motor; 2, output flange; 3, cover body; 4, plug-in brake; 5, driver circuit board; 6, encoder circuit board; 7, large magnetic code disk; 8, small magnetic code disk.

[0020] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0022] Please refer to Figures 1 - 3, the present utility model provides a combined dual-disk coding component for a hollow integrated servo joint module, which includes an integrated motor 1. One end of the integrated motor 1 is rotatably connected to an output flange 2, and one end of the integrated motor 1 away from the output flange 2 is fixedly connected to a cover 3. A pin-type brake 4 is inserted into the outer wall of the cover 3. A driver circuit board 5 is fixedly connected to the inner wall of the cover 3, and an encoder circuit board 6 is fixedly connected to the inner wall of the cover 3. A large magnetic code disk 7 is provided on the cover 3, and a small magnetic code disk 8 is nested inside the large magnetic code disk 7.

[0023] In the present utility model, an installation groove is provided on the outer wall of the cover 3, and the pin-type brake 4 is inserted into the inner wall of the installation groove. The pin-type brake 4 can be quickly inserted onto the cover 3 through the installation groove. MOS transistors, LDO chips, servo control chips, bus communication chips, MCU chips, and gate drivers are fixedly installed on the driver circuit board 5. The cover 3 is a metal heat dissipation shell for conducting the heat generated by the MOS transistors, LDO chips, servo control chips, bus communication chips, and main control chips. Through the cover 3, the heat generated by the MOS transistors, LDO chips, servo control chips, bus communication chips, MCU chips, and gate drivers can be quickly transferred, enabling these components to still operate at the rated temperature even in a high-temperature environment.

[0024] Furthermore, multiple temperature detection devices are fixedly installed on the driver circuit board 5. The multiple temperature detection devices are used to monitor the real-time temperatures of heat-sensitive components such as the MCU and MOS transistors and the rotor assembly in the integrated motor 1 in real time. To ensure that these key devices do not operate beyond their rated temperature ranges, once the device temperature rises to or exceeds the preset safety threshold, the main control chip will intelligently take a series of protective measures according to the preset program. These measures include but are not limited to triggering an alarm system to alert the operator, automatically switching to a low-power mode to reduce heat generation, and even directly pausing all work activities to ensure that the components are protected from overheating damage, thereby maintaining the overall safety and stable operation of the device.

[0025] Furthermore, an encoder interface, a microcontroller, an indicator light, a debugging interface, passive components, and transient suppression diodes are fixedly connected to the encoder circuit board 6. The encoder circuit board 6 is used to receive and process signals from the encoder for precise measurement and control of position, speed, or direction. The encoder interface is used to connect to the encoder and receive the pulse signal or digital signal output by the encoder. This interface may be a specific connector, such as M12, M23, etc., aviation plugs, or a socket with a pin arrangement conforming to the encoder output signal. The microcontroller is used to further analyze and process the processed signals, such as calculating parameters such as position, speed, and acceleration, and may communicate with other control systems through a bus communication chip. The indicator light and debugging interface facilitate debugging and maintenance. Indicator lights will be installed on the encoder circuit board to display the working status, such as power indicator lights, communication indicator lights, etc. At the same time, debugging interfaces such as JTAG and SWD may also be provided for online debugging and program downloading. The passive components include resistors, capacitors, inductors, etc., which are used for circuit protection. The transient suppression diodes protect the precision components in the electronic circuit from being damaged by surge pulses.

[0026] Furthermore, a central shaft is rotatably connected to the inner wall of the integrated motor 1. A large magnetic code disk 7 is fixedly connected to the outer wall of the central shaft. The large magnetic code disk 7 is adapted to the central shaft of the integrated motor 1, and the small magnetic code disk 8 is adapted to the output end of the module. The diameter difference between the inner hole of the large magnetic code disk 7 and the outer hole of the small magnetic code disk 8 is 6 mm, so as to avoid magnetic field interference between the code disks and the risk of mutual collision. The two code disks can be nested with each other so that they are on the same horizontal plane, further compressing the space. Two magnetic encoder read heads are built into the inner wall of the device, which are adapted to the large magnetic code disk 7 and the small magnetic code disk 8 and support multi-turn counting. There is a certain distance in space between the read head and the heat-sensitive components to avoid data drift caused by excessive temperature, ensuring the accuracy of data acquisition and the operating stability in a high-temperature environment. Compared with an optical encoder, this structure is flatter and easier to deploy. The overall height of the whole machine is shorter than that of the optical encoder, saving more space and having stronger anti-interference ability to the environment. Compared with an inductive encoder, it has higher accuracy and can support higher motor speeds. The nested dual-code disk design makes the two code disks almost on the same horizontal plane, further effectively saving space. Compared with a single-channel encoder, the dual-channel has higher accuracy and effectively reduces the transmission error. The structural design of this part allows customers to freely choose a single-channel or dual-channel encoder when using the product, providing a certain degree of freedom of choice.

[0027] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied to other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A combined dual-disk encoding component of a hollow integrated servo joint module, including an integrated motor (1), characterized in that: One end of the integrated motor (1) is rotatably connected to an output flange (2). One end of the integrated motor (1) away from the output flange (2) is fixedly connected to a cover body (3). A plug-in type brake (4) is inserted into the outer wall of the cover body (3). A driver circuit board (5) is fixedly connected to the inner wall of the cover body (3). An encoder circuit board (6) is fixedly connected to the inner wall of the cover body (3). A large magnetic code disk (7) is arranged on the cover body (3). A small magnetic code disk (8) is nested inside the large magnetic code disk (7).

2. The combined dual-disk coding component of the hollow integrated servo joint module according to claim 1, wherein: An installation groove is formed in the outer wall of the cover body (3), and the plug-in type brake (4) is inserted into the inner wall of the installation groove.

3. The combined dual-disk coding component of the hollow integrated servo joint module according to claim 1, wherein: A MOS tube, an LDO chip, a servo control chip, a bus communication chip, an MCU chip and a gate driver are fixedly installed on the driver circuit board (5). The cover body (3) is a metal heat dissipation shell for conducting the heat generated by the MOS tube, the LDO chip, the servo control chip, the bus communication chip and the main control chip.

4. The combined dual-disk coding component of the hollow integrated servo joint module according to claim 1, wherein: A plurality of temperature detection devices are fixedly installed on the driver circuit board (5), and the plurality of temperature detection devices are used to monitor the real-time temperatures of heat-sensitive components such as the MCU and the MOS tube and the rotor assembly in the integrated motor (1) in real time.

5. The combined dual-disk coding component of the hollow integrated servo joint module according to claim 1, characterized in that: An encoder interface, a microcontroller, an indicator light, a debugging interface, passive components and transient suppression diodes are fixedly connected to the encoder circuit board (6). The encoder circuit board (6) is used to receive and process signals from the encoder for precise measurement and control of position, speed or direction.

6. The combined dual-disk encoding component of the hollow integrated servo joint module according to claim 1, characterized in that: A central shaft is rotatably connected to the inner wall of the integrated motor (1), and the large magnetic code disk (7) is fixedly connected to the outer wall of the central shaft.

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