Joint module and robot

Abstract

The embodiment of the utility model provides a joint module and a robot. The joint module comprises a motor, a speed reducer, a first encoder assembly and a second encoder assembly. The motor comprises a motor shaft; the speed reducer comprises an output shaft; the first encoder assembly comprises a first supporting piece and a first encoder arranged on the first supporting piece, and the second encoder assembly comprises a second supporting piece and a second encoder arranged on the second supporting piece; wherein the first supporting piece and the second supporting piece are arranged in a spaced mode in the first direction, the first supporting piece is connected with the motor shaft, and the second supporting piece is connected with the output shaft. By arranging the first supporting piece and the second supporting piece, the encoder does not need to be directly arranged on the motor and / or the speed reducer, that is, a structural part for installing the encoder does not need to be machined on the motor and / or the speed reducer, so that the structure of the motor and / or the speed reducer can be simplified, and the overall machining difficulty of the joint module can be reduced.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a joint module and a robot. Background Technology

[0002] Joint modules are the core components of humanoid robot motion systems. As humanoid robots continue to develop, the performance requirements for joint modules are also constantly increasing. Motors and reducers are key components of joint modules. Motors are responsible for providing driving torque, while reducers are responsible for increasing the output torque, so that the joint module can move along a preset trajectory and / or speed.

[0003] In related technologies, to improve the motion accuracy of joint modules, encoders are typically installed at appropriate locations on the motor and / or reducer. However, this complicates the structure of the motor and / or reducer, increasing the overall manufacturing difficulty of the joint module. Summary of the Invention

[0004] This application aims to provide a joint module and a robot to solve the problem in the related technology that the installation of encoders on motors and / or reducers leads to structural complexity and increases the overall processing difficulty of the joint module.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows:

[0006] In a first aspect, this application discloses a joint module, including: a motor, a reducer, a first encoder assembly, and a second encoder assembly;

[0007] The motor and the reducer are arranged sequentially along a first direction and connected to each other. The motor includes a motor shaft, and the reducer includes an output shaft.

[0008] The first encoder assembly and the second encoder assembly are disposed on the side of the motor away from the reducer. The first encoder assembly includes a first support member and a first encoder disposed on the first support member. The second encoder assembly includes a second support member and a second encoder disposed on the second support member.

[0009] The first support member and the second support member are spaced apart in the first direction, and the first support member is connected to the motor shaft, while the second support member is connected to the output shaft.

[0010] Optionally, the first support member is disposed close to the motor, and at least a portion of the first support member extends in a direction away from the motor to be flush with the second support member;

[0011] The first encoder is disposed on the portion of the first support member and the second support member that are flush with each other.

[0012] Optionally, the first support member is ring-shaped, and the first support member includes a first connecting part and a first supporting part that are arranged sequentially from the inside to the outside and connected to each other;

[0013] The first connecting part is connected to the motor shaft;

[0014] The first support portion includes a first straight section, a bent section and a second straight section arranged sequentially from the inside to the outside. The first straight section is parallel to the second support member and the second straight section is flush with the second support member.

[0015] The first encoder is located on the second straight section.

[0016] Optionally, the connection between the bent segment and the first straight segment, and / or the connection between the bent segment and the second straight segment, is a rounded transition.

[0017] Optionally, the first straight section is provided with weight-reducing holes and / or weight-reducing grooves.

[0018] Optionally, the second support member is ring-shaped, and the second support member includes a second connecting part and a second supporting part that are arranged sequentially from the inside to the outside and connected to each other;

[0019] The second connecting part is connected to the output shaft;

[0020] The second encoder is disposed on the second support portion.

[0021] Optionally, the reducer further includes an input shaft, which is coaxially arranged with the motor shaft;

[0022] The end of the motor shaft near the reducer is connected to the input shaft, and the end of the motor shaft away from the reducer is connected to the first connecting part;

[0023] The joint module also includes a return shaft, which passes through the input shaft and the motor shaft. The end of the return shaft near the reducer is connected to the output shaft, and the end of the return shaft away from the reducer is connected to the second connecting part.

[0024] Optionally, the first connecting part is bonded to the motor shaft, and / or the second connecting part is bonded to the return shaft.

[0025] Optionally, the return shaft is a hollow shaft.

[0026] Optionally, the first encoder includes a first magnetic ring, which is disposed on the side of the first straight section opposite to the motor;

[0027] The first support member further includes a first limiting part, which is disposed inside the first magnetic ring and abuts against at least a portion of the first magnetic ring to limit the first magnetic ring.

[0028] And / or, the second encoder includes a second magnetic ring disposed on the side of the second support portion opposite to the motor;

[0029] The second support member further includes a second limiting part, which is disposed inside the second magnetic ring and abuts against at least a portion of the second magnetic ring to limit the second magnetic ring.

[0030] Optionally, the first limiting portion is a first limiting protrusion, which extends circumferentially along the first support member;

[0031] And / or, the second limiting portion is a second limiting protrusion, which extends circumferentially along the second support member.

[0032] Optionally, the first limiting portion includes a plurality of first limiting protrusions, which are spaced apart along the circumferential direction of the first support member.

[0033] And / or, the second limiting portion includes a plurality of second limiting protrusions, which are spaced apart circumferentially along the second support member.

[0034] Optionally, the joint module further includes a control circuit board, which is disposed on the side of the first support and the second support opposite to the motor;

[0035] The first encoder further includes a first chip, which is disposed on the control circuit board and corresponds to the position of the first magnetic ring, so as to realize the measurement of the rotation angle and position of the motor shaft;

[0036] The second encoder also includes a second chip, which is disposed on the control circuit board and corresponds to the position of the second magnetic ring, so as to realize the measurement of the rotation angle and position of the output shaft.

[0037] Optionally, the first encoder and / or the second encoder are absolute encoders.

[0038] Optionally, the reducer is a cycloidal reducer.

[0039] Secondly, this application also discloses a robot, including the aforementioned joint module.

[0040] In this embodiment, a first encoder assembly and a second encoder assembly are provided. The first encoder assembly includes a first support member and a first encoder disposed on the first support member, and the second encoder assembly includes a second support member and a second encoder disposed on the second support member. Thus, by connecting the first support member to the motor shaft and the second support member to the output shaft, the rotation angle and position of the motor shaft and the output shaft can be measured in real time, respectively, thereby obtaining real-time motion data of the motor and reducer, which is beneficial to improving the motion accuracy of the joint module. Furthermore, by spaced the first and second support members apart in the first direction, mutual interference between the first and second support members can be effectively avoided, which is beneficial to improving measurement accuracy. More importantly, by providing a first support member for mounting the first encoder and a second support member for mounting the second encoder, the encoder does not need to be directly mounted on the motor and / or reducer, i.e., there is no need to machine structural components for mounting the encoder on the motor and / or reducer, thereby simplifying the structure of the motor and / or reducer and reducing the overall machining difficulty of the joint module.

[0041] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0042] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0043] Figure 1 This is a schematic diagram of the structure of a joint module provided in an embodiment of this application;

[0044] Figure 2 This is an exploded view of a joint module provided in an embodiment of this application;

[0045] Figure 3 This is a cross-sectional view of a joint module provided in an embodiment of this application;

[0046] Figure 4 This is a schematic diagram of the structure of the first support member and the second support member provided in the embodiments of this application.

[0047] Reference numerals: 1. Motor, 11. Housing, 12. Motor shaft, 13. Stator mounting base, 14. Stator, 15. Rotor mounting base, 16. Rotor, 17. Bearing, 2. Reducer, 21. Input shaft, 3. Return shaft, 4. First encoder assembly, 41. First support member, 411. First connecting part, 412. First support part, 4121. First straight section, 4122. Bending section, 4123. Second straight section, 413. First limiting part, 42. First magnetic ring, 5. Second encoder assembly, 51. Second support member, 511. Second connecting part, 512. Second support part, 513. Second limiting part, 52. Second magnetic ring, 6. Control circuit board, 7. End cover, X. First direction. Detailed Implementation

[0048] Embodiments of the present invention will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0049] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0050] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] This application provides a joint module, which will be described in detail below with reference to the accompanying drawings.

[0053] Reference Figure 1 The diagram shows a structural schematic of the joint module provided in an embodiment of this application. (Refer to...) Figure 2 An exploded view of the joint module provided in an embodiment of this application is shown, with reference to... Figure 3 A cross-sectional view of the joint module provided in an embodiment of this application is shown; refer to Figure 4 The diagram shows a schematic representation of the structure of the first support member and the second support member provided in the embodiments of this application.

[0054] like Figures 1 to 3 As shown, this application provides a joint module, including: a motor 1, a reducer 2, a first encoder assembly 4, and a second encoder assembly 5; the motor 1 and the reducer 2 are sequentially arranged and interconnected along a first direction X, the motor 1 includes a motor shaft 12, and the reducer 2 includes an output shaft; the first encoder assembly 4 and the second encoder assembly 5 are disposed on the side of the motor 1 away from the reducer 2, the first encoder assembly 4 includes a first support member 41 and a first encoder disposed on the first support member 41, and the second encoder assembly 5 includes a second support member 51 and a second encoder disposed on the second support member 51; wherein, the first support member 41 and the second support member 51 are spaced apart in the first direction X, and the first support member 41 is connected to the motor shaft 12, and the second support member 51 is connected to the output shaft. The first encoder is used to measure the rotation angle and position of the motor shaft 12, and the second encoder is used to measure the rotation angle and position of the output shaft.

[0055] In this embodiment, a first encoder assembly 4 and a second encoder assembly 5 are provided. The first encoder assembly 4 includes a first support member 41 and a first encoder disposed on the first support member 41, and the second encoder assembly 5 includes a second support member 51 and a second encoder disposed on the second support member 51. Thus, by connecting the first support member 41 to the motor shaft 12 and the second support member 51 to the output shaft, the rotation angle and position of the motor shaft 12 and the output shaft can be measured in real time, thereby obtaining real-time motion data of the motor 1 and the reducer 2, which is beneficial to improving the motion accuracy of the joint module. Furthermore, by spaced the first support member 41 and the second support member 51 in the first direction X, mutual interference between the first support member 41 and the second support member 51 can be effectively avoided, which is beneficial to improving the accuracy of the measurement. More importantly, by setting a first support member 41 for mounting the first encoder and a second support member 51 for mounting the second encoder, the encoder does not need to be directly mounted on the motor 1 and / or the reducer 2. That is, it is not necessary to process structural parts for mounting the encoder on the motor 1 and / or the reducer 2, thereby simplifying the structure of the motor 1 and / or the reducer 2 and reducing the overall processing difficulty of the joint module.

[0056] It should be noted that the embodiments of this application do not limit the types of motor 1 and reducer 2, and those skilled in the art can select them according to actual needs. In one embodiment, motor 1 is a permanent magnet motor, and reducer 2 is a cycloidal reducer. Both permanent magnet motors and cycloidal reducers can be existing products. Among them, cycloidal reducers are smaller in size, easier to make into hollow structures, and have higher output load and transmission accuracy, which can increase impact resistance and is beneficial to improving the motion performance of the joint module and the miniaturization design of the joint module.

[0057] When a permanent magnet motor is used, the motor 1 also includes a housing 11, and a stator mounting base 13, a stator 14, a rotor mounting base 15, a rotor 16, and a bearing 17 disposed within the housing 11. The stator mounting base 13 is fixedly connected to the housing 11, the stator 14 is fixedly connected to the stator mounting base 13, the motor shaft 12 passes through the stator mounting base 13, and the bearing 17 is disposed between the motor shaft 12 and the stator mounting base 13 so that the motor shaft 12 can rotate relative to the stator mounting base 13. The rotor mounting base 15 is fixedly connected to the motor shaft 12, and the rotor 16 is fixedly connected to the rotor mounting base 15 and is positioned opposite to the stator 14. During the operation of the motor 1, a control current is supplied to the stator 14, thereby generating a rotating magnetic field. Under the interaction of the rotating magnetic field of the stator 14 and the magnetic field of the permanent magnet of the rotor 16, the rotor 16 rotates relative to the stator 14, thereby driving the motor shaft 12 to rotate and generate torque.

[0058] Optionally, the first support member 41 is positioned close to the motor 1, and at least a portion of the first support member 41 extends away from the motor 1 to be flush with the second support member 51; the first encoder is positioned on the portion of the first support member 41 that is flush with the second support member 51. This allows the first and second encoders to be located on the same horizontal plane, facilitating calibration and reducing measurement errors that may be introduced due to different reference planes, thus improving measurement accuracy. Furthermore, the first and second encoders, located on the same horizontal plane, can share a single control circuit board 6, eliminating the need for additional wiring and a separate control circuit board 6, thereby improving the overall simplicity of the joint module.

[0059] Optionally, such as Figure 4 As shown, the first support member 41 is annular and includes a first connecting portion 411 and a first support portion 412 arranged sequentially from the inside out and connected to each other. The first connecting portion 411 is connected to the motor shaft 12. The first support portion 412 includes a first straight section 4121, a bent section 4122, and a second straight section 4123 arranged sequentially from the inside out. The first straight section 4121 is parallel to the second support member 51, and the second straight section 4123 is flush with the second support member 51. A first encoder is disposed on the second straight section 4123. The second support member 51 is annular and includes a second connecting portion 511 and a second support portion 512 arranged sequentially from the inside out and connected to each other. The second connecting portion 511 is connected to the output shaft. A second encoder is disposed on the second support portion 512.

[0060] In this embodiment, the first support member 41 includes a first connecting portion 411 and a first support portion 412. Through the connection of the first connecting portion 411 to the motor shaft 12, the first support member 41 can rotate synchronously with the motor shaft 12. By placing the first encoder on the first support portion 412, the first encoder can measure the rotation angle and position of the motor shaft 12 in real time. Similarly, the second support member 51 includes a second connecting portion 511 and a second support portion 512. Through the connection of the second connecting portion 511 to the output shaft, the second support member 51 can rotate synchronously with the output shaft. By placing the second encoder on the second support portion 512, the second encoder can measure the rotation angle and position of the output shaft in real time.

[0061] Furthermore, since the first support portion 412 includes a first straight section 4121, a bent section 4122, and a second straight section 4123, that is, the first support portion 412 is generally Z-shaped, the size of the first support member 41 in the first direction X can be reduced, thereby reducing the axial size of the joint module, which is beneficial to the miniaturization of the joint module.

[0062] It should be noted that, taking the example where the encoders are both located on the side of the support member away from the motor 1, the fact that the second straight section 4123 is flush with the second support member 51 means that the surface of the second straight section 4123 on the side away from the motor 1 is flush with the surface of the second support member 51 on the side away from the motor 1, so that the first encoder and the second encoder are installed on the same horizontal plane. Furthermore, the first connecting part 411 can extend appropriately along the first direction X to connect with the motor shaft 12, and the second connecting part 511 can extend appropriately along the first direction X to connect with the output shaft.

[0063] Optionally, the connection between the bent segment 4122 and the first straight segment 4121, and / or the connection between the bent segment 4122 and the second straight segment 4123, is rounded. This effectively avoids stress concentration at the connection between the bent segment 4122 and the first straight segment 4121, and at the connection between the bent segment 4122 and the second straight segment 4123, which could lead to breakage of the first support member 41. This improves the structural strength of the first support member 41 and extends its service life.

[0064] Optionally, the first straight section 4121 is provided with weight-reducing holes and / or weight-reducing grooves (not shown in the attached drawings). In this way, without affecting the structural strength of the first support member 41, the weight of the first support member 41 can be reduced, thereby reducing the overall weight of the joint module and facilitating the lightweight design of the joint module.

[0065] It should be noted that a weight-reducing hole refers to a through hole extending through the first straight section 4121 along the first direction X, and a weight-reducing groove refers to a groove located on the side of the first straight section 4121 near and / or away from the second support member 51. This application does not limit the number of weight-reducing holes and / or weight-reducing grooves; those skilled in the art can adjust them according to actual needs. In one embodiment, taking the first straight section 4121 as an example, multiple weight-reducing holes can be provided, and these holes are evenly spaced along the circumference of the first straight section 4121.

[0066] Optionally, the reducer 2 further includes an input shaft 21, which is coaxially arranged with the motor shaft 12; the end of the motor shaft 12 near the reducer 2 is connected to the input shaft 21, and the end of the motor shaft 12 away from the reducer 2 is connected to the first connecting part 411; the joint module also includes a return shaft 3, which passes through the input shaft 21 and the motor shaft 12, the end of the return shaft 3 near the reducer 2 is connected to the output shaft, and the end of the return shaft 3 away from the reducer 2 is connected to the second connecting part 511. It is understood that there are gaps between the return shaft 3 and both the input shaft 21 and the motor shaft 12.

[0067] In this embodiment, by setting the return shaft 3, the first encoder assembly 4 and the second encoder assembly 5 can be located on the same side, thereby reducing the axial dimension of the joint module and facilitating its miniaturization. Furthermore, the return shaft 3 ensures the stable operation of the second encoder and prevents interference from the rotation of the motor 1 during its rotation, thus improving the accuracy of the angle and position measurement at the output of the reducer 2.

[0068] It should be noted that the embodiments of this application do not limit the fixed connection method between the first connecting part 411 and the motor shaft 12, and between the second connecting part 511 and the return shaft 3. Those skilled in the art can choose according to actual needs. In one embodiment, the first connecting part 411 is bonded to the motor shaft 12, and / or the second connecting part 511 is bonded to the return shaft 3. This bonding method is simple and reliable, and can further simplify the assembly process of the joint module. Specifically, taking the first connecting part 411 and the motor shaft 12 as an example, the first connecting part 411 is located on the side opposite to the first support part 412, that is, the inner side of the first connecting part 411 is provided with a first annular groove. The end of the motor shaft 12 is embedded in the first annular groove so that at least a part of the groove wall of the first annular groove is bonded to the motor shaft 12, or the outer side of the end of the motor shaft 12 is provided with a second annular groove that cooperates with the first annular groove so that at least a part of the groove wall of the first annular groove is bonded to at least a part of the groove wall of the second annular groove. This increases the bonding area between the first connecting part 411 and the motor shaft 12, thereby improving the connection reliability between the first support member 41 and the motor shaft 12. Furthermore, the bonding method between the second connecting part 511 and the return shaft 3 can be set with reference to the bonding method between the first connecting part 411 and the motor shaft 12, and will not be elaborated here.

[0069] Optionally, such as Figure 3 As shown, the return shaft 3 is a hollow shaft. This reduces the overall weight of the joint module and serves as a channel for wiring (including power and communication lines), concealing the wiring harness and improving the aesthetics of wiring between multiple interconnected joint modules. It also increases the rotatable angle between adjacent joint modules. Furthermore, the joint module includes an end cap 7, located on the side of the control circuit board 6 opposite to the first encoder assembly 4 and the second encoder assembly 5, and fixedly connected to the stator mounting base 13. The end cap 7 has a through hole at a corresponding position on the return shaft 3, allowing the joint module to form a through channel along the first direction X. The return shaft 3 can utilize existing products; its specific structure will not be described in detail here.

[0070] Optionally, the first encoder includes a first magnetic ring 42, which is disposed on the side of the first straight section 4121 facing away from the motor 1; the first support member 41 further includes a first limiting portion 413, which is disposed inside the first magnetic ring 42 and abuts against at least a portion of the first magnetic ring 42 to limit the first magnetic ring 42; and / or, the second encoder includes a second magnetic ring 52, which is disposed on the side of the second support member 512 facing away from the motor 1; the second support member 51 further includes a second limiting portion 513, which is disposed inside the second magnetic ring 52 and abuts against at least a portion of the second magnetic ring 52 to limit the second magnetic ring 52. It is understood that the first magnetic ring 42 and the second magnetic ring 52 are coaxially arranged and nested in the same horizontal plane. Specifically, the inner diameter of the first magnetic ring 42 is larger than the outer diameter of the second magnetic ring 52, that is, the first magnetic ring 42 is located on the outer periphery of the second magnetic ring 52.

[0071] In this embodiment, taking the first limiting part 413 as an example, by setting the first limiting part 413, on the one hand, the first magnetic ring 42 can be assembled and positioned during the assembly process of the first encoder assembly 4, which is beneficial to improving the assembly accuracy of the first encoder assembly 4; on the other hand, the first magnetic ring 42 can be limited during the operation of the joint module, effectively avoiding the problem of possible displacement of the first magnetic ring 42, which is beneficial to improving the measurement accuracy of the first encoder assembly 4. The second limiting part 513 is similar and will not be described in detail here.

[0072] It should be noted that the first limiting part 413 and the first supporting part 412 can be integrally formed or separately formed; this is not limited here, and those skilled in the art can adjust them according to actual needs. In one embodiment, the first limiting part 413 and the first supporting part 412 are integrally formed. Specifically, the first limiting part 413 is formed by the surface of the first supporting part 412 facing away from the motor 1 protruding in a direction away from the motor 1. The second limiting part 513 and the second supporting part 512 can be set with reference to the first limiting part 413 and the first supporting part 412, and will not be described in detail here.

[0073] Optionally, the first limiting portion 413 is a first limiting protrusion, which extends circumferentially along the first support member 41; and / or, the second limiting portion 513 is a second limiting protrusion, which extends circumferentially along the second support member 51. Thus, taking the first limiting protrusion as an example, since it extends circumferentially along the first support member 41, i.e., it is annular, it can uniformly limit the entire circumference of the first magnetic ring 42. The second limiting protrusion works similarly and will not be described in detail here.

[0074] Optionally, the first limiting portion 413 includes a plurality of first limiting protrusions, which are spaced apart circumferentially along the first support member 41; and / or, the second limiting portion 513 includes a plurality of second limiting protrusions, which are spaced apart circumferentially along the second support member 51. Thus, taking the first limiting protrusion as an example, compared to the annular first limiting protrusion, the spaced-apart first limiting protrusions can further reduce the weight of the first support member 41, thereby further reducing the overall weight of the joint module and facilitating lightweight design of the joint module. The second limiting protrusions can be configured similarly to the first limiting protrusions, and will not be described in detail here.

[0075] It should be noted that the specific number of the first limiting protrusion and the second limiting protrusion is not limited in the embodiments of this application, and those skilled in the art can adjust it according to actual needs. In addition, taking the first limiting protrusion as an example, multiple first limiting protrusions can be arranged at uniform intervals or at non-uniform intervals, which is not limited here. It can be understood that when multiple first limiting protrusions are arranged at uniform intervals, the entire circumference of the first magnetic ring 42 can be uniformly limited.

[0076] Optionally, the joint module further includes a control circuit board 6, which is disposed on the side of the first support member 41 and the second support member 51 away from the motor 1; the first encoder further includes a first chip, which is disposed on the control circuit board 6 and corresponds to the position of the first magnetic ring 42, so as to realize the measurement of the rotation angle and position of the motor shaft 12; the second encoder further includes a second chip, which is disposed on the control circuit board 6 and corresponds to the position of the second magnetic ring 52, so as to realize the measurement of the rotation angle and position of the output shaft.

[0077] Specifically, during the operation of motor 1 and reducer 2, motor shaft 12 drives first support member 41 to rotate, causing first magnetic ring 42 located on first support member 41 to rotate relative to first chip. First chip can detect the rotation of first magnetic ring 42 to measure the angle and position of motor shaft 12. Output shaft drives return shaft 3 to rotate, and return shaft 3 drives second support member 51 to rotate, causing second magnetic ring 52 located on second support member 51 to rotate relative to second chip. Second chip can detect the rotation of second magnetic ring 52 to measure the angle and position of output shaft.

[0078] In this embodiment, by simultaneously placing the first chip and the second chip on the control circuit board 6, the integration of the joint module can be improved. Furthermore, the distance between the first magnetic ring 42 and the first chip, and / or the distance between the second magnetic ring 52 and the second chip, should be greater than 0 mm and less than or equal to 0.5 mm, thereby improving the recognition reliability of the first chip and the second chip.

[0079] It should be noted that the control circuit board 6 can also be electrically connected to the motor 1 to control the speed of the motor 1. Furthermore, this application does not limit the type of encoder, and those skilled in the art can select one according to actual needs. In one embodiment, the encoder is an absolute encoder. That is, both the first encoder and the second encoder are absolute encoders. Absolute encoders can use existing products; they measure absolute position, and after a power outage or system restart, they can directly obtain the current position information without recalibration, improving the reliability and stability of the joint module's operation.

[0080] In summary, the joint module provided in this application has at least the following advantages:

[0081] In this embodiment, a first encoder assembly and a second encoder assembly are provided. The first encoder assembly includes a first support member and a first encoder disposed on the first support member, and the second encoder assembly includes a second support member and a second encoder disposed on the second support member. Thus, by connecting the first support member to the motor shaft and the second support member to the output shaft, the rotation angle and position of the motor shaft and the output shaft can be measured in real time, respectively, thereby obtaining real-time motion data of the motor and reducer, which is beneficial to improving the motion accuracy of the joint module. Furthermore, by spaced the first and second support members apart in the first direction, mutual interference between the first and second support members can be effectively avoided, which is beneficial to improving measurement accuracy. More importantly, by providing a first support member for mounting the first encoder and a second support member for mounting the second encoder, the encoder does not need to be directly mounted on the motor and / or reducer, i.e., there is no need to machine structural components for mounting the encoder on the motor and / or reducer, thereby simplifying the structure of the motor and / or reducer and reducing the overall machining difficulty of the joint module.

[0082] This application also provides a robot including the joint module described above. By providing a first support member 41 for mounting a first encoder and a second support member 51 for mounting a second encoder, it is possible to avoid machining the structural components for mounting the encoders on the motor 1 and / or reducer 2, thereby simplifying the structure of the motor 1 and / or reducer 2 and reducing the overall machining difficulty of the joint module.

[0083] It should be noted that in this embodiment, the structure of the joint module is the same as that of the joint module described in any of the above embodiments, and its beneficial effects are similar, so it will not be described in detail here.

[0084] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0085] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A joint module, characterized in that, include: Motor, reducer, first encoder assembly and second encoder assembly; The motor and the reducer are arranged sequentially along a first direction and connected to each other. The motor includes a motor shaft, and the reducer includes an output shaft. The first encoder assembly and the second encoder assembly are disposed on the side of the motor away from the reducer. The first encoder assembly includes a first support member and a first encoder disposed on the first support member. The second encoder assembly includes a second support member and a second encoder disposed on the second support member. The first support member and the second support member are spaced apart in the first direction, and the first support member is connected to the motor shaft, while the second support member is connected to the output shaft.

2. The joint module according to claim 1, characterized in that, The first support member is disposed close to the motor, and at least a portion of the first support member extends in a direction away from the motor to be flush with the second support member; The first encoder is disposed on the portion of the first support member and the second support member that are flush with each other.

3. The joint module according to claim 2, characterized in that, The first support member is ring-shaped and includes a first connecting part and a first supporting part that are arranged sequentially from the inside to the outside and connected to each other. The first connecting part is connected to the motor shaft; The first support portion includes a first straight section, a bent section and a second straight section arranged sequentially from the inside to the outside. The first straight section is parallel to the second support member and the second straight section is flush with the second support member. The first encoder is located on the second straight section.

4. The joint module according to claim 3, characterized in that, The connection between the bent section and the first straight section, and / or the connection between the bent section and the second straight section, is a rounded transition.

5. The joint module according to claim 3, characterized in that, The first straight section is provided with weight-reducing holes and / or weight-reducing grooves.

6. The joint module according to claim 3, characterized in that, The second support member is ring-shaped and includes a second connecting part and a second support part that are arranged sequentially from the inside to the outside and connected to each other. The second connecting part is connected to the output shaft; The second encoder is disposed on the second support portion.

7. The joint module according to claim 6, characterized in that, The reducer also includes an input shaft, which is coaxially arranged with the motor shaft; The end of the motor shaft near the reducer is connected to the input shaft, and the end of the motor shaft away from the reducer is connected to the first connecting part; The joint module also includes a return shaft, which passes through the input shaft and the motor shaft. The end of the return shaft near the reducer is connected to the output shaft, and the end of the return shaft away from the reducer is connected to the second connecting part.

8. The joint module according to claim 7, characterized in that, The first connecting part is bonded to the motor shaft, and / or the second connecting part is bonded to the return shaft.

9. The joint module according to claim 7, characterized in that, The return shaft is a hollow shaft.

10. The joint module according to claim 6, characterized in that, The first encoder includes a first magnetic ring, which is disposed on the side of the first straight section opposite to the motor; The first support member further includes a first limiting part, which is disposed inside the first magnetic ring and abuts against at least a portion of the first magnetic ring to limit the first magnetic ring. And / or, the second encoder includes a second magnetic ring disposed on the side of the second support portion opposite to the motor; The second support member further includes a second limiting part, which is disposed inside the second magnetic ring and abuts against at least a portion of the second magnetic ring to limit the second magnetic ring.

11. The joint module according to claim 10, characterized in that, The first limiting part is a first limiting protrusion, which extends circumferentially along the first support member; And / or, the second limiting portion is a second limiting protrusion, which extends circumferentially along the second support member.

12. The joint module according to claim 10, characterized in that, The first limiting part includes a plurality of first limiting protrusions, which are spaced apart along the circumference of the first support member; And / or, the second limiting portion includes a plurality of second limiting protrusions, which are spaced apart circumferentially along the second support member.

13. The joint module according to any one of claims 10-12, characterized in that, The joint module also includes a control circuit board, which is disposed on the side of the first support and the second support that is away from the motor; The first encoder further includes a first chip, which is disposed on the control circuit board and corresponds to the position of the first magnetic ring, so as to realize the measurement of the rotation angle and position of the motor shaft; The second encoder also includes a second chip, which is disposed on the control circuit board and corresponds to the position of the second magnetic ring, so as to realize the measurement of the rotation angle and position of the output shaft.

14. The joint module according to claim 1, characterized in that, The first encoder and / or the second encoder are absolute encoders.

15. The joint module according to claim 1, characterized in that, The reducer is a cycloidal reducer.

16. A robot, characterized in that, Includes the joint module as described in any one of claims 1-15.

Images