Joint module and arrangement structure of double encoders and circuit board detection chip

Abstract

The utility model relates to an arrangement structure of a joint module, a double encoder and a circuit board detection chip, the structure comprises a motor and a harmonic reducer, the output end of the harmonic reducer is also provided with a T-shaped wiring harness shaft, the T-shaped wiring harness shaft comprises a connecting disc and a middle pipe, the connecting disc is fixed with the output end, one end of the middle pipe is fixed in the middle of the connecting disc, and the other end of the middle pipe is fixed with the motor. A controller buckle cover is fixed to the other end of the motor, an installation cavity is formed between the motor and the controller buckle cover, a control circuit board is arranged in the installation cavity, the rotating shaft of the motor and the middle pipe extend into the installation cavity, and a magnetic ring A and a magnetic ring B are fixed to the end face of the rotating shaft and the end face of the middle pipe respectively. And a sensing chip A and a sensing chip B which are matched with the magnetic ring A and the magnetic ring B are respectively arranged on the control circuit board. According to the utility model, by optimizing the collaborative design of the motor, the harmonic reducer, the T-shaped wire harness shaft and the control circuit board, dual-channel high-precision detection and compact layout are realized.

Description

Technical Field

[0001] This utility model belongs to the field of robot joint module technology, and particularly relates to the joint module and the arrangement structure of dual encoders and circuit board detection chips. Background Technology

[0002] In recent years, with the rapid development of robotics technology, the requirements for the precision, compactness, and reliability of joint modules, as the core driving units of robots, have been increasing. In existing technologies, joint modules typically consist of a motor, a reducer, and an encoder, with harmonic reducers being widely used due to their high transmission ratio and small size. However, traditional designs still have significant shortcomings in detection and control.

[0003] Currently, most joint modules use a single encoder configuration, typically mounted only on the motor shaft or reducer output. This prevents the simultaneous acquisition of both the original motor speed and the real-time position information of the output after deceleration. This single detection method limits the accuracy of closed-loop control, especially in applications requiring high dynamic response and precise position feedback (such as collaborative robots and precision assembly equipment), making it difficult to meet the needs of multi-dimensional data acquisition. Furthermore, the traditional encoder mounting methods (such as using additional brackets or separate sensors) increase module size, affecting compactness. Utility Model Content

[0004] To solve the above-mentioned technical problems, the first objective of this utility model is to provide an arrangement structure of dual encoders and circuit board detection chips, which is easy to install and occupies a small volume. The second objective of this utility model is to provide a joint module.

[0005] To achieve the first objective of the above-mentioned utility model, the present utility model adopts the following technical solution:

[0006] The arrangement structure of the dual encoder and circuit board detection chip includes a motor and a harmonic reducer fixed to one end of the motor. The motor drives the harmonic reducer to rotate. The output end of the harmonic reducer is also provided with a T-shaped wire harness shaft. The T-shaped wire harness shaft includes a connecting plate and an intermediate tube. The connecting plate is fixed to the output end. One end of the intermediate tube is fixed to the middle of the connecting plate and communicates with the connecting plate. The intermediate tube extends into the rotating shaft of the motor. The other end of the motor is fixed with a controller cover. A mounting cavity is formed between the motor and the controller cover. A control circuit board is provided in the mounting cavity. The rotating shaft of the motor and the intermediate tube both extend into the mounting cavity. Magnetic ring A and magnetic ring B are fixed to the end faces of the rotating shaft and the intermediate tube, respectively. Sensing chip A and sensing chip B, which cooperate with magnetic ring A and magnetic ring B, are respectively provided on the control circuit board.

[0007] As a preferred embodiment, magnetic ring A and magnetic ring B are located in the same axial plane and are concentrically arranged.

[0008] As a preferred embodiment: the control circuit board is fixed to the controller cover or the motor end face by bolts; the magnetic ring A and magnetic ring B are respectively glued to the ends of the motor shaft and the intermediate tube.

[0009] To achieve the second objective of the above-mentioned utility model, the present utility model adopts the following technical solution:

[0010] The joint module includes the arrangement structure of dual encoders and circuit board detection chips as described in any of the above.

[0011] As a preferred embodiment: the motor includes a housing, a stator assembly and a rotor assembly. One end of the housing is integrally formed with a base plate, and the other end of the housing is fixed with an end cover. The stator assembly is fixed to the inner wall of the housing. The rotor assembly is disposed inside the stator assembly, and one end of the rotor assembly is rotatably connected to the base plate through a bearing, while the other end extends into the harmonic reducer.

[0012] As a preferred embodiment: the rotor assembly includes a rotating shaft, a rotor hub, and an annular magnet. The rotor hub is sleeved and fixed on the rotating shaft, and the annular magnet is sleeved and fixed on the outside of the rotor hub. The rotor hub is provided with multiple weight-reducing holes.

[0013] As a preferred embodiment: the harmonic reducer includes a wave generator, a flexible wheel, an outer ring of a support bearing, and an inner ring of a support bearing. The wave generator is fixed on the rotating shaft. One end of the flexible wheel is sleeved on the outside of the wave generator, and the other end is fixed to the end cover. A toothed ring is integrated on the inner wall of the inner ring of the support bearing. The inner ring of the support bearing is sleeved on the outside of the flexible wheel and has a toothed transmission with the flexible wheel. The outer ring of the support bearing is fixed to the end cover.

[0014] As a preferred embodiment: a bearing is provided between one end of the intermediate tube and the rotating shaft, and a bearing is provided between the other end of the intermediate tube and the wave generator.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] This invention achieves dual detection of the motor's initial speed (input end) and the position of the output end after deceleration by setting magnetic rings A and B respectively at the motor shaft and the end of the intermediate tube, and cooperating with sensing chips A and B on the control circuit board. This dual-channel feedback significantly improves the accuracy of closed-loop control, especially in scenarios requiring high dynamic response (such as robot joint movement), and can compensate for reducer transmission errors in real time.

[0017] This invention integrates the dual encoder detection component into the internal space of the motor and reducer through the mounting cavity formed by the controller cover and the T-shaped wire harness shaft (the middle tube passes through the motor shaft structure), reducing the volume redundancy of traditional external sensors and optimizing the overall module structure; at the same time, the middle tube serves as a cable channel, simplifying the wire harness arrangement and avoiding cable tangling or wear. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This is a cross-sectional structural diagram of a joint module using the structure of this utility model.

[0021] The attached figures are labeled as follows: 100, housing; 300, stator assembly; 400, end cover; 200, controller cover; 101, base plate; 1, shaft; 11, magnetic ring A; 2, intermediate tube; 21, magnetic ring B; 22, bearing bush; 3, control circuit board; 31, sensor chip A; 32, sensor chip B; 4, rotor hub; 5, annular magnet; 6, outer ring of support bearing; 7, inner ring of support bearing; 8, connecting plate; 9, wave generator; 10, flexible wheel. Detailed Implementation

[0022] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] Furthermore, in the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not 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 utility model.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0026] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 utility model according to the specific circumstances.

[0027] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0029] like Figure 1 and Figure 2As shown, a joint module includes a motor and a harmonic reducer fixed to one end of the motor. The motor drives the harmonic reducer to rotate. The motor includes a housing 100, a stator assembly 300, and a rotor assembly. A base plate 101 is integrally formed at one end of the housing 100, and an end cover 400 is fixed at the other end of the housing 100. The stator assembly 300 is fixed to the inner wall of the housing 100. The rotor assembly is disposed within the stator assembly 300, with one end rotatably connected to the base plate 101 via a bearing, and the other end extending into the harmonic reducer. The integrally formed design of the housing and base plate enhances the rigidity of the motor structure, reduces coaxiality problems caused by assembly errors in a split housing, and improves heat dissipation efficiency. In addition, the rotor assembly directly extends into the harmonic reducer, shortening the mechanical connection path between the motor and the reducer, and reducing torque loss and error accumulation in the transmission chain.

[0030] The rotor assembly includes a shaft 1, a rotor hub 4, and an annular magnet 5. The rotor hub 4 is sleeved and fixed on the shaft 1, and the annular magnet 5 is sleeved and fixed on the outside of the rotor hub 4. The rotor hub 4 has multiple weight-reducing holes. The weight-reducing hole design on the rotor hub reduces the rotational inertia of the rotor assembly, resulting in faster motor start-stop and speed change response, making it suitable for high-precision servo applications. The tight sleeve and fixation of the annular magnet to the rotor hub ensures uniform magnetic field distribution, reduces torque pulsation during motor operation, and improves motion smoothness.

[0031] The output end of the harmonic reducer is also provided with a T-shaped wire harness shaft, which includes a connecting disc 8 and an intermediate tube 2. The connecting disc 8 is fixed to the output end, and one end of the intermediate tube 2 is fixed to the middle of the connecting disc 8 and passes through the connecting disc 8. The intermediate tube 2 extends into the rotating shaft 1 of the motor, and the other end of the motor is fixed with a controller cover 200. An installation cavity is formed between the motor and the controller cover. A control circuit board 3 is provided in the installation cavity. The rotating shaft 1 of the motor and the intermediate tube 2 both extend into the installation cavity, and magnetic rings A11 and B21 are fixed on the end faces of the rotating shaft 1 and the intermediate tube 2, respectively. The control circuit board 3 is provided with sensing chips A31 and B32 that cooperate with magnetic rings A11 and B21, respectively.

[0032] This invention embeds a dual encoder arrangement structure into the joint module, directly serving the drive and feedback needs of the robot joint. Through dual encoder data fusion (such as motor speed + reducer output position), it achieves precise control of joint movement and dynamic load compensation. The closed mounting cavity design of the motor and controller cover isolates the control circuit board from the external environment, reducing the impact of electromagnetic interference on signal acquisition, while simplifying the wiring harness arrangement (such as using a central tube as a cable channel), avoiding cable tangling or wear.

[0033] The magnetic rings A11 and B21 are located in the same axial plane and are concentrically arranged. This concentric arrangement of magnetic rings A and B ensures that the detection references of the two encoders are consistent, avoiding signal phase differences caused by spatial misalignment, thereby improving the synchronization and matching accuracy of the dual-channel data. The concentric design reduces the complexity of aligning the magnetic rings during installation, reduces assembly errors, and improves production efficiency and consistency.

[0034] The control circuit board 3 is fixed to the controller cover 200 or the motor end face by bolts, enabling quick assembly and disassembly of the circuit board for easy maintenance or upgrades. The magnetic rings A11 and B21 are respectively glued to the ends of the motor shaft 1 and intermediate tube 2, avoiding the use of complex fixtures or welding processes and reducing manufacturing costs. In addition, the bolt fixing method enhances the stability of the circuit board under high-speed movement or vibration environments; the glued magnetic rings can absorb some mechanical vibration, reduce the micro-displacement between the magnetic rings and the shaft / intermediate tube, and extend service life.

[0035] The harmonic reducer includes a wave generator 9, a flexible wheel 10, an outer ring 6 of a support bearing, and an inner ring 7 of a support bearing. The wave generator 9 is fixed on the rotating shaft 1. One end of the flexible wheel 10 is sleeved on the outside of the wave generator, and the other end is fixed to the end cover 400. A gear ring is integrated on the inner wall of the inner ring 7 of the support bearing. The inner ring 7 of the support bearing is sleeved on the outside of the flexible wheel 10 and has a toothed transmission with the flexible wheel 10. The outer ring 6 of the support bearing is fixed to the end cover 400.

[0036] The inner ring of the support bearing integrates a gear ring and drives the flexible gear with staggered teeth. The outer ring of the support bearing is fixed to the end cover, forming a rigid support structure, which reduces the impact of flexible gear deformation on transmission accuracy. One end of the flexible gear is directly fixed to the end cover, eliminating the need for a separate mounting bracket in traditional harmonic reducers, shortening the transmission chain length, and improving space utilization.

[0037] One end of the intermediate tube 2 is provided with a bearing 22 between it and the rotating shaft 1, and the other end of the intermediate tube 2 is provided with a bearing between it and the wave generator 9. By combining sliding bearings and rolling bearings, the friction loss during multi-axis linkage is reduced and the transmission efficiency is improved. Furthermore, through the multi-stage bearing support design, the radial and axial loads of the intermediate tube during high-speed rotation are distributed, avoiding wear or deformation caused by local stress concentration.

[0038] This invention systematically solves the problems of insufficient detection accuracy, volume redundancy, complex assembly, and weak anti-interference ability in traditional joint modules through technologies such as dual encoder integrated detection, compact structural design, high-precision signal synchronization, modular assembly, and transmission chain optimization. It is especially suitable for collaborative robots, medical equipment, and other scenarios with stringent requirements for high precision and miniaturization.

[0039] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "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 present 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.

[0040] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A dual encoder and circuit board detection chip arrangement structure, including a motor and a harmonic reducer fixed at one end of the motor, wherein the motor drives the harmonic reducer to rotate, characterized in that: The output end of the harmonic reducer is also provided with a T-shaped wire harness shaft. The T-shaped wire harness shaft includes a connecting plate (8) and an intermediate tube (2). The connecting plate (8) is fixed to the output end. One end of the intermediate tube (2) is fixed in the middle of the connecting plate (8) and is connected to the connecting plate (8). The intermediate tube (2) extends into the rotating shaft (1) of the motor. The other end of the motor is fixed with a controller cover (200). An installation cavity is formed between the motor and the controller cover. A control circuit board (3) is provided in the installation cavity. The rotating shaft (1) of the motor and the intermediate tube (2) both extend into the installation cavity. Magnetic ring A (11) and magnetic ring B (21) are fixed on the end faces of the rotating shaft (1) and the intermediate tube (2), respectively. Sensing chip A (31) and sensing chip B (32) are respectively provided on the control circuit board (3) to cooperate with magnetic ring A (11) and magnetic ring B (21).

2. The arrangement structure of the dual encoder and circuit board detection chip according to claim 1, characterized in that: The magnetic ring A (11) and magnetic ring B (21) are located in the same axial plane, and magnetic ring A (11) and magnetic ring B (21) are concentrically arranged.

3. The arrangement structure of the dual encoder and the circuit board detection chip according to claim 1, characterized in that: The control circuit board (3) is fixed to the controller cover (200) or the motor end face by bolts; the magnetic ring A (11) and magnetic ring B (21) are respectively glued to the ends of the motor shaft (1) and the intermediate tube (2).

4. A joint module, characterized in that: The arrangement structure includes the dual encoder and circuit board detection chip as described in any one of claims 1 to 3.

5. A joint module according to claim 4, characterized in that: The motor includes a housing (100), a stator assembly (300), and a rotor assembly. One end of the housing (100) is integrally formed with a base plate (101), and the other end of the housing (100) is fixed with an end cap (400). The stator assembly (300) is fixed on the inner wall of the housing (100). The rotor assembly is disposed inside the stator assembly (300), and one end is rotatably connected to the base plate (101) through a bearing, while the other end extends into the harmonic reducer.

6. A joint module according to claim 5, characterized in that: The rotor assembly includes a rotating shaft (1), a rotor hub (4), and an annular magnet (5). The rotor hub (4) is sleeved and fixed on the rotating shaft (1), and the annular magnet (5) is sleeved and fixed on the outside of the rotor hub (4). The rotor hub (4) is provided with multiple weight reduction holes.

7. A joint module according to claim 5, characterized in that: The harmonic reducer includes a wave generator (9), a flexible wheel (10), an outer ring (6) of a support bearing, and an inner ring (7) of a support bearing. The wave generator (9) is fixed on the rotating shaft (1). One end of the flexible wheel (10) is sleeved on the outside of the wave generator, and the other end is fixed to the end cover (400). A toothed ring is integrated on the inner wall of the inner ring (7) of the support bearing. The inner ring (7) of the support bearing is sleeved on the outside of the flexible wheel (10) and has a toothed transmission with the flexible wheel (10). The outer ring (6) of the support bearing is fixed to the end cover (400).

8. A joint module according to claim 7, characterized in that: One end of the intermediate tube (2) is provided with a bearing (22) between the rotating shaft (1) and the other end of the intermediate tube (2) is provided with a bearing between the wave generator (9).

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