Robot joint servo motor tail end position detection device and servo motor

Abstract

The utility model relates to a robot joint servo motor tail end position detection device and a servo motor, the servo motor comprises a motor stator, a motor rotor and a motor housing, the detection device comprises a first gear, a second gear, a first magnetic encoder and a second magnetic encoder, the first gear is fixedly connected to the tail end of the motor rotor, and the second gear is fixedly connected to the tail end of the motor rotor. The first gear rotates along with the motor rotor; the second gear is arranged on the motor shell, the second gear is meshed with the first gear, and the second gear is driven by the first gear to rotate; the first magnetic encoder is arranged on the first gear and is used for detecting a first angle of the first gear; the second magnetic encoder is arranged on the second gear and is used for detecting a second angle of the second gear; wherein the tooth number of the first gear is not equal to that of the second gear; the first angle, the second angle and the tooth number difference between the first gear and the second gear are used for obtaining the tail end position. According to the utility model, the detection accuracy of the tail end position of the servo motor can be improved.

Description

Technical Field

[0001] The utility model relates to the field of detection, in particular to a device for detecting the end position of a servo motor of a robot joint and a servo motor. Background Art

[0002] With the development of industrial technology, robots have been widely used in various fields such as industrial production, detection, and medical services. For robots used in fields such as industrial production and detection, in order to complete more complex tasks, they need to have movable robotic arms, and having more degrees of freedom for the robotic arms is achieved through robot joints.

[0003] Generally, a servo motor is used to control a robot joint. A servo motor refers to an engine that controls the operation of mechanical components in a servo system and is an auxiliary motor indirect speed change device. In order to better control the micro motion of a robot joint, it is necessary to accurately detect the end position of the servo motor. In the prior art, generally, a hollow magnetic encoder or a hollow inductive encoder is placed at the output end of the harmonic reducer of the servo motor to ensure that the end position of the servo motor can still be remembered after the motor loses power. In this method, if the rotation of the servo motor exceeds one circle, the total rotation angle cannot be recorded, resulting in a large deviation in the detection result.

[0004] It can be seen that in the prior art, the end position of the servo motor cannot be accurately detected. Summary of the Utility Model

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the utility model provides a device for detecting the end position of a servo motor of a robot joint and a servo motor.

[0006] In a first aspect, the utility model provides a device for detecting the end position of a servo motor of a robot joint. The servo motor includes a motor stator, a motor rotor, an internal support structure, and a motor housing. The motor stator is fixedly connected to the internal support structure, the motor housing is wrapped outside the internal support structure, the motor rotor is movably connected to the internal support structure, and the motor rotor can rotate relative to the motor stator.

[0007] The detection device includes: a first gear, a second gear, a first magnetic encoder, and a second magnetic encoder.

[0008] The first gear is fixedly connected to the end of the motor rotor, and the first gear rotates together with the motor rotor.

[0009] The second gear is arranged on the motor housing, the second gear meshes with the first gear, and the second gear rotates driven by the first gear.

[0010] The first magnetic encoder is disposed on the first gear for detecting a first angle of the first gear;

[0011] The second magnetic encoder is disposed on the second gear for detecting a second angle of the second gear;

[0012] Wherein, the number of teeth of the first gear is not equal to the number of teeth of the second gear;

[0013] The first angle, the second angle, and the difference in the number of teeth between the first gear and the second gear are used to obtain the end position of the servo motor.

[0014] Optionally, an end face of the first gear is fixedly connected to an end of the motor rotor.

[0015] Optionally, the first gear includes a first gear disk and a first gear shaft. The first gear shaft is disposed at the center of the first gear disk. The first gear shaft is fixedly connected to the first gear disk, and the first gear shaft is fixedly connected to an end of the motor rotor.

[0016] Optionally, the first gear includes a third gear disk and a third sleeve. The third sleeve is concentric with the third gear disk. The third sleeve is fixedly connected to the third gear disk, and an inner wall of the third sleeve is fixedly connected to an outer wall of an end of the motor rotor.

[0017] Optionally, the first magnetic encoder includes:

[0018] A first magnetic unit fixedly connected to the first gear. The first magnetic unit rotates with the rotation of the first gear, and a changing first magnetic field is generated when the first magnetic unit rotates;

[0019] A first inductor for sensing a change in the first magnetic field and outputting a changing first electrical signal according to the change in the first magnetic field;

[0020] A first output unit for outputting the first angle corresponding to the rotation angle of the first gear according to the first electrical signal.

[0021] Optionally, the first magnetic unit is adhered to an end face of the first gear away from the motor housing, or

[0022] The first magnetic unit is embedded in an end face of the first gear away from the motor housing.

[0023] Optionally, the second gear includes a second gear disk and a second gear shaft. The second gear shaft is disposed at the center of the second gear disk. The second gear disk rotates around the second gear shaft, and the second gear shaft is fixedly connected to the motor housing.

[0024] Optionally, the second magnetic encoder includes:

[0025] A second magnetic unit fixedly connected to the second gear. The second magnetic unit rotates with the rotation of the second gear, and a changing second magnetic field is generated when the second magnetic unit rotates;

[0026] A second inductor for sensing the change of the second magnetic field and outputting a changing second electrical signal according to the change of the second magnetic field;

[0027] A second output unit for outputting the second angle corresponding to the rotation angle of the second gear according to the second electrical signal.

[0028] Optionally, the second magnetic unit is adhered to the end face of the second gear away from the motor housing, or

[0029] the second magnetic unit is embedded in the end face of the second gear away from the motor housing.

[0030] In a second aspect, a robot joint servo motor is provided, which includes a motor stator, a motor rotor, an internal support structure, and a motor housing. The motor stator is fixedly connected to the internal support structure. The motor housing is wrapped outside the internal support structure. The motor rotor is movably connected to the internal support structure, and the motor rotor can rotate relative to the motor stator. The robot joint servo motor further includes the detection device as described above.

[0031] The utility model relates to a robot joint servo motor end position detection device and a servo motor. The servo motor comprises a motor stator, a motor rotor, an internal support structure and a motor housing. The motor stator is fixedly connected to the internal support structure. The motor housing wraps outside the internal support structure. The motor rotor is movably connected to the internal support structure and can rotate relative to the motor stator. The detection device comprises: a first gear, a second gear, a first magnetic encoder and a second magnetic encoder. The first gear is fixedly connected to the end of the motor rotor and rotates together with the motor rotor. The second gear is arranged on the motor housing and meshes with the first gear, and rotates under the drive of the first gear. The first magnetic encoder is arranged on the first gear and used for detecting a first angle of the first gear. The second magnetic encoder is arranged on the second gear and used for detecting a second angle of the second gear. Wherein, the number of teeth of the first gear and the number of teeth of the second gear are not equal. The first angle, the second angle and the tooth number difference between the first gear and the second gear are used to obtain the end position of the servo motor. In the utility model, by detecting the first angle of the first gear and the second angle of the second gear, and through the first angle, the second angle and the tooth number difference between the first gear and the second gear, the number of complete rotations of the motor rotor can be obtained, so that the actual rotation angle of the motor rotor can be obtained, solving the problem of inaccurate detection of the end position of the servo motor caused by inaccurate counting after the motor rotor rotates more than one complete circle in the prior art, improving the accuracy of detecting the end position of the servo motor, and thus being able to more precisely control the robot joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with the present utility model and, together with the specification, are used to explain the principles of the present utility model.

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 The sectional view of the servo motor according to the embodiment of the present utility model is shown;

[0035] Figure 2 The structural diagram of the servo motor according to the embodiment of the present utility model is shown;

[0036] Among them, 1. Motor rotor; 2. First gear; 3. First magnetic encoder; 4. Second gear; 5. Second magnetic encoder; 6. Harmonic reducer. Specific embodiments

[0037] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0038] Reference Figure 1 and Figure 2 As shown in the figures, in the embodiment of the present utility model, the servo motor includes a motor stator, a motor rotor 1, an internal support structure and a motor housing. The motor stator is fixedly connected to the internal support structure, the motor housing is wrapped outside the internal support structure, the motor rotor 1 is movably connected to the internal support structure, and the motor rotor 1 can rotate relative to the motor stator.

[0039] The detection device includes: a first gear 2, a second gear 4, a first magnetic encoder 3 and a second magnetic encoder 5.

[0040] The first gear 2 is fixedly connected to the end of the motor rotor 1, and the first gear 2 rotates together with the motor rotor 1.

[0041] The second gear 4 is arranged on the motor housing, the second gear 4 meshes with the first gear 2, and the second gear 4 rotates driven by the first gear 2.

[0042] The first magnetic encoder 3 is arranged on the first gear 2 and is used to detect the first angle of the first gear 2.

[0043] The second magnetic encoder 5 is arranged on the second gear 4 and is used to detect the second angle of the second gear 4.

[0044] Among them, the number of teeth of the first gear 2 and the number of teeth of the second gear 4 are not equal.

[0045] The first angle, the second angle and the tooth number difference between the first gear 2 and the second gear 4 are used to obtain the end position of the servo motor.

[0046] In the embodiment of the present utility model, the motor rotor 1 can rotate relative to the motor stator. It can be that the motor rotor 1 rotates inside the motor stator, or it can be that the motor stator is inside and the motor rotor 1 is outside the motor stator.

[0047] In the present utility model, the position at the end of the joint servo motor detected usually refers to the position at the end of the harmonic reducer 6. The harmonic reducer 6 is connected to the motor rotor 1. The angle of rotation of the motor rotor 1 corresponds to the angle turned by the harmonic reducer 6. Therefore, in the present utility model, detecting the position at the end of the joint servo motor is actually detecting the angle of the motor rotor 1.

[0048] In the embodiment of the present utility model, the motor rotor 1 is connected to the flexible wheel of the harmonic reducer. When the motor rotor 1 rotates one full circle, the flexible wheel of the harmonic reducer 6 swings one tooth. The number of teeth of the harmonic reducer 6 is related to the reduction ratio of the harmonic reducer 6. The reduction ratio of the harmonic reducer 6 is set at the factory and is a characteristic of the harmonic reducer 6.

[0049] In the prior art, the magnetic encoder can detect the angular difference of the motor rotor 1 relative to the starting position when it stops. However, if the motor rotor 1 rotates more than one full circle, accurate counting cannot be achieved, resulting in inaccurate detection results. For example, when the magnetic encoder detects that the motor rotor 1 has rotated 90 degrees relative to the starting position when it stops, it cannot be confirmed whether the motor rotor 1 has rotated 90 degrees or one full circle plus 90 degrees, that is, it cannot be confirmed whether it has rotated 90 degrees or 450 degrees. As the complexity of the robot joint increases, in order to control the movement of the robot joint, the servo motor may need to rotate more degrees to achieve the purpose. In the prior art, simply using a magnetic encoder to detect the angle of the motor rotor 1 is difficult to achieve high accuracy, thus also making it difficult to precisely control the robot joint.

[0050] In the embodiment of the present utility model, when the motor rotor 1 rotates one full circle, the first gear 2 provided on the motor rotor 1 also rotates one full circle. For example, both rotate 360 degrees. However, since the number of teeth of the first gear 2 and the second gear 4 are not equal and the first gear 2 and the second gear 4 mesh and rotate, the second gear 4 also rotates, but the rotation angle is not equal to 360 degrees.

[0051] If the number of teeth of the first gear 2 and the number of teeth of the second gear 4 are known, the rotation angle of the second gear 4 can be calculated. Let the number of teeth of the first gear 2 be A and the number of teeth of the second gear 4 be B. Then, when the first gear 2 rotates M degrees, the second gear 4 rotates M*A / B degrees.

[0052] Since the number of teeth of the first gear 2 and the number of teeth of the second gear 4 are known, and the difference in the rotation angles of the first gear 2 and the second gear 4 can be obtained when the motor rotor 1 rotates one full circle. Then, if the rotation angle of the first gear 2 and the rotation angle of the second gear 4 can be detected, the difference in the rotation angles of the first gear 2 and the second gear 4 can be known, and thus it can be known how many full circles the motor rotor 1 has rotated.

[0053] In the embodiment of the present utility model, the first angle, the second angle, and the difference in the number of teeth between the first gear 2 and the second gear 4 are used to obtain the end position.

[0054] In the embodiment of the present utility model, the first gear 2 is arranged at the end of the motor rotor 1, and the second gear 4 is arranged on the motor housing. The first gear 2 is arranged at the end of the motor rotor 1, and the second gear 4 is arranged on the motor housing. The first gear 2 and the second gear 4 are meshed with each other and have different numbers of teeth. By detecting the first angle of the first gear 2 and the second angle of the second gear 4, and through the first angle and the second angle, as well as the difference in the number of teeth between the first gear 2 and the second gear 4, the number of full rotations of the motor rotor 1 can be obtained, and thus the actual rotation angle of the motor rotor 1 can be obtained, solving the problem in the prior art that the end position of the servo motor cannot be accurately detected due to inaccurate counting after the motor rotor 1 rotates more than one full circle, improving the accuracy of detecting the end position of the servo motor, and thus enabling more precise control of the robot joint.

[0055] In the embodiment of the present utility model, the first angle, the second angle, and the difference in the number of teeth between the first gear 2 and the second gear 4 are used to obtain the end position.

[0056] In the embodiment of the present utility model, let the number of teeth of the first gear 2 be A, and the initial first angle output by the first magnetic encoder 3 at the initial moment be E1 Zero , and the first angle output by the first magnetic encoder 3 at the stop moment be E1, then the first rotation angle is E1 - E1 Zero .

[0057] Similarly, let the difference in the number of teeth between the first gear 2 and the second gear 4 be X, that is, the number of teeth of the second gear 4 is A + X. The initial second angle output by the second magnetic encoder 5 at the initial moment is E2 Zero , and the second angle output by the second magnetic encoder 5 at the stop moment is E2, then the first rotation angle is E2 - E2 Zero .

[0058] Ea is the parameter of the first magnetic encoder.

[0059] Then the first reference value

[0060] Q1 = ((E1 - E1 Zero ) – (E2 - E2Zero )) / (EA / A / X).

[0061] After rounding Q1 downwards, it becomes Q, which is the aforementioned number of complete rotations.

[0062] The total rotor angle E of the electronic rotor = Q * Ea + E1.

[0063] If the reduction ratio of the harmonic reducer 6 is P, then the end angle W of the harmonic reducer 6 is W = E / P.

[0064] The end angle W is used to indicate the end position of the robot joint servo motor.

[0065] The number of complete rotations of the motor rotor 1 is obtained by the tooth number difference between the first angle, the second angle, the first gear 2 and the second gear 4, and can be obtained through simple arithmetic operations such as addition, subtraction, multiplication and division in the above formula. What can complete the subsequent arithmetic operations can be a subsequent calculation circuit, which can be composed of basic circuit devices such as AND gates, NOT gates, amplifiers, counters, flip - flops, etc., or the calculation circuit can be composed of other devices that can complete addition, subtraction, multiplication and division, or the calculation circuit can be an integrated circuit chip in the prior art, or the calculation circuit can be composed of multiple integrated circuit chips in the prior art, or the calculation circuit can be a partial calculation module in the robot main control chip in the prior art, which will not be elaborated here.

[0066] In the embodiment of the present invention, the subsequent calculation process is not implemented by computer software or computer programs.

[0067] In other embodiments of the present invention, even if the subsequent calculation process can be implemented by computer software in the prior art, it is only to calculate the end position of the servo motor through the data detected in the embodiment of the present invention. What the present invention protects is the structure and improvement of the above - mentioned hardware part, and the subsequent calculation that may be implemented by computer software can be the prior art, and the present invention does not improve the possible computer software used.

[0068] In the embodiment of the present invention, the difference between the tooth number of the first gear 2 and the tooth number of the second gear 4 is 1.

[0069] The embodiment of the present invention provides several structures of the first gear 2, and the end face of the first gear 2 is fixedly connected to the end of the motor rotor 1.

[0070] In the embodiment of the present invention, the first gear 2 includes a first gear disk and a first gear shaft. The first gear shaft is arranged at the center of the first gear disk, the first gear shaft and the first gear disk are fixedly connected, and the first gear shaft is fixedly connected to the end of the motor rotor 1.

[0071] In an embodiment of the present utility model, the first gear 2 includes a third gear disc and a third sleeve. The third sleeve is concentrically arranged with the third gear disc, the third sleeve is fixedly connected to the third gear disc, and the inner wall of the third sleeve is fixedly connected to the outer wall of the end of the motor rotor 1.

[0072] In an embodiment of the present utility model, there are other forms of the structure of the first gear 2, and there are also various forms of the fixed connection between the first gear 2 and the motor rotor 1, which will not be elaborated herein.

[0073] In an embodiment of the present utility model, the first magnetic encoder 3 includes:

[0074] A first magnetic unit, which is fixedly connected to the first gear 2, rotates with the rotation of the first gear 2, and generates a changing first magnetic field when rotating;

[0075] A first inductor, which is used to sense the first magnetic field and output a first electrical signal according to the first magnetic field;

[0076] A first output unit, which is used to output the first angle corresponding to the rotation angle of the first gear 2 according to the first electrical signal.

[0077] The first magnetic encoder 3 can adopt a magnetic encoder in the prior art, or can also adopt other devices with the same or similar functions, which will not be elaborated herein.

[0078] What the first inductor senses can be the change of the first magnetic field, so as to output a changing first electrical signal. The first output unit can output the first angle corresponding to the rotation angle of the first gear 2 according to the changing first electrical signal.

[0079] In an embodiment of the present utility model, as Figure 2 shown, the first magnetic unit is adhered to the end face of the first gear 2 away from the motor housing, or

[0080] the first magnetic unit is embedded in the end face of the first gear 2 away from the motor housing.

[0081] In an embodiment of the present utility model, the second gear 4 includes a second gear disc and a second gear shaft. The second gear shaft is arranged at the center of the second gear disc, the second gear disc rotates around the second gear shaft, and the second gear shaft is fixedly connected to the motor housing.

[0082] In an embodiment of the present utility model, there are other forms of the structure of the second gear 4, and there are also various forms of the connection between the second gear 4 and the motor housing, which will not be elaborated herein.

[0083] In the embodiment of the present utility model, the second magnetic encoder 5 includes:

[0084] A second magnetic unit, which is fixedly connected to the second gear 4, rotates with the rotation of the second gear 4, and generates a changing second magnetic field when rotating;

[0085] A second inductor, which is used to sense the second magnetic field and output a second electrical signal according to the second magnetic field;

[0086] A second output unit, which is used to output the second angle corresponding to the rotation angle of the second gear 4 according to the second electrical signal.

[0087] The second magnetic encoder 5 can adopt a magnetic encoder in the prior art, or can also adopt other devices with the same or similar functions, which will not be elaborated here.

[0088] In the embodiment of the present utility model, as Figure 2 shown, the second magnetic unit is adhered to the end face of the second gear 4 away from the motor housing, or

[0089] the second magnetic unit is embedded in the end face of the second gear 4 away from the motor housing.

[0090] In the embodiment of the present utility model, through a pair of gears with a tooth number difference and meshing with each other, the integer number of rotations of the motor rotor 1 can be accurately detected, so as to accurately detect the end position of the joint servo motor, with high accuracy, simple structure and low cost. In addition, in the embodiment of the present utility model, a pair of gears with a tooth number difference and meshing with each other and a magnetic encoder are used for detection, without the need to additionally add other inductors, which can reduce the interference in the system.

[0091] The present utility model also provides a robot joint servo motor, which includes a motor stator, a motor rotor 1, an internal support structure and a motor housing. The motor stator is fixedly connected to the internal support structure, the motor housing is wrapped outside the internal support structure, the motor rotor is movably connected to the internal support structure, the motor rotor 1 can rotate relative to the motor stator, and the robot joint servo motor further includes the detection device as described above.

[0092] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0093] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will conform to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A device for detecting the end position of a servo motor of a robot joint, characterized in that, The servo motor includes a motor stator, a motor rotor, an internal support structure, and a motor housing. The motor stator is fixedly connected to the internal support structure. The motor housing wraps around the outside of the internal support structure. The motor rotor is movably connected to the internal support structure, and the motor rotor can rotate relative to the motor stator. The detection device includes: a first gear, a second gear, a first magnetic encoder, and a second magnetic encoder. The first gear is fixedly connected to the end of the motor rotor, and the first gear rotates together with the motor rotor. The second gear is arranged on the motor housing, the second gear meshes with the first gear, and the second gear rotates driven by the first gear. The first magnetic encoder is arranged on the first gear and is used to detect a first angle of the first gear. The second magnetic encoder is arranged on the second gear and is used to detect a second angle of the second gear. Wherein, the number of teeth of the first gear and the number of teeth of the second gear are not equal. The first angle, the second angle, and the difference between the number of teeth of the first gear and the number of teeth of the second gear are used to obtain the end position.

2. The detection device according to claim 1, wherein The end face of the first gear is fixedly connected to the end of the motor rotor.

3. The detection device according to claim 1, characterized in that The first gear includes a first gear disk and a first gear shaft. The first gear shaft is arranged at the center of the first gear disk. The first gear shaft and the first gear disk are fixedly connected, and the first gear shaft is fixedly connected to the end of the motor rotor.

4. The detection device according to claim 1, wherein The first gear includes a third gear disk and a third sleeve. The third sleeve is concentric with the third gear disk. The third sleeve and the third gear disk are fixedly connected, and the inner wall of the third sleeve is fixedly connected to the outer wall of the end of the motor rotor.

5. The detection device according to claim 1, characterized in that, The first magnetic encoder includes: A first magnetic unit, which is fixedly connected to the first gear. The first magnetic unit rotates with the rotation of the first gear, and a changing first magnetic field is generated when the first magnetic unit rotates. A first inductor, which is used to sense the first magnetic field and output a first electrical signal according to the first magnetic field. A first output unit, which is used to output the first angle corresponding to the rotation angle of the first gear according to the first electrical signal.

6. The detection device according to claim 5, characterized in that, The first magnetic unit is adhered to the end face of the first gear away from the motor housing, or The first magnetic unit is embedded in the end face of the first gear away from the motor housing.

7. The detection device according to claim 1, characterized in that, The second gear includes a second gear disk and a second gear shaft. The second gear shaft is arranged at the center of the second gear disk. The second gear disk rotates around the second gear shaft, and the second gear shaft is fixedly connected to the motor housing.

8. The detection device according to claim 1, characterized in that The second magnetic encoder includes: A second magnetic unit, which is fixedly connected to the second gear. The second magnetic unit rotates with the rotation of the second gear, and a changing second magnetic field is generated when the second magnetic unit rotates. A second inductor, which is used to sense the second magnetic field and output a second electrical signal according to the second magnetic field. A second output unit, configured to output the second angle corresponding to the rotation angle of the second gear according to the second electrical signal.

9. The detection device according to claim 8, characterized in that, The second magnetic unit is adhered to an end surface of the second gear away from the motor housing, or The second magnetic unit is embedded in an end surface of the second gear away from the motor housing.

10. A robot joint servo motor, characterized in that, It includes a motor stator, a motor rotor, an internal support structure and a motor housing. The motor stator is fixedly connected to the internal support structure, the motor housing is wrapped outside the internal support structure, the motor rotor is movably connected to the internal support structure, the motor rotor can rotate relative to the motor stator, and the robot joint servo motor further includes the detection device according to any one of claims 1-9.

Images