Joint module and robot

Abstract

This utility model relates to a joint module and a robot. The joint module includes: a stator assembly, which includes a stator base and a stator body, the stator body being disposed on the stator base, the stator base including a mounting portion located on one axial side of the stator body, and a first through hole being provided at the center of the stator base; a rotor assembly, which includes a rotor body, the stator assembly being adapted to drive the rotor assembly to rotate; and a first sensing component, the first sensing component being rotatably connected to the mounting portion, a portion of the rotor body passing through the first through hole and engaging in transmission with the first sensing component.

Description

Technical Field

[0001] This utility model relates to the field of robot manufacturing technology, and more specifically, to a joint module and a robot. Background Technology

[0002] In related technologies, robots, especially humanoid robots, are typically equipped with joint modules. A joint module includes a housing, drive plate, motor, reducer, output shaft, etc. An angle sensing mechanism is installed within the joint module to detect the angle of the output shaft. Typically, an additional support component is needed to carry the angle sensing mechanism, and a transmission component is required to engage with the motor rotor and / or the output shaft. This results in a complex structure, numerous components, and a large size for the joint module. Utility Model Content

[0003] One objective of this invention is to provide a new technical solution for a joint module and a robot.

[0004] According to one aspect of the present invention, a joint module is provided. The joint module includes:

[0005] A stator assembly, comprising a stator base and a stator body, the stator body being disposed on the stator base, the stator base including a mounting portion located on one axial side of the stator body, and a first through hole being provided at the center of the stator base;

[0006] Rotor assembly, the rotor assembly including a rotor body, the stator assembly adapted to drive the rotor assembly to rotate; and

[0007] A first sensing component is rotatably connected to the mounting portion, and a portion of the rotor body passes through the first through hole and engages with the first sensing component in a transmission manner.

[0008] Optionally, a central gear is provided on the rotor body, the central gear is disposed opposite to the first through hole, the first sensing component includes an encoder gear and a magnet, the encoder gear is rotatably connected to the mounting part, the central gear meshes with the encoder gear, and the encoder gear is connected to the magnet.

[0009] Optionally, the rotor body includes a sensing end and a transmission end disposed opposite to each other, the transmission end being adapted to output power, and the central gear being disposed on the sensing end.

[0010] Optionally, the rotor assembly further includes a peripheral portion and a permanent magnet. The peripheral portion is connected to the rotor body, and the permanent magnet is disposed in the peripheral portion. The permanent magnet is located outside the stator body and spaced apart from the stator body.

[0011] Optionally, the stator base further includes a fixing part, the mounting part is located at one end of the fixing part, the stator body is sleeved on the fixing part, and the fixing part has the first through hole in the middle.

[0012] Optionally, it also includes a reducer assembly and a connecting assembly, wherein the rotor body is connected to the input end of the reducer assembly, the connecting assembly is connected to the output end of the reducer assembly, and the connecting assembly is adapted to output low-speed power.

[0013] Optionally, the connecting assembly includes a connecting part and a shaft component connected to the connecting part. A second through hole is provided in the middle of the rotor body. The shaft component is located in the second through hole and is spaced apart from the rotor body. A second sensing component is provided at the end of the shaft component opposite to the connecting part.

[0014] Optionally, the second sensing component includes a magnetic ring, a third through hole is formed in the middle of the shaft component, the magnetic ring is disposed on the shaft component, and the magnetic ring is disposed around the third through hole.

[0015] Optionally, it also includes a driver board, on which an encoder chip is disposed. The driver board is disposed opposite to the end of the mounting portion away from the stator body, and the encoder chip is disposed opposite to the first sensing component and the second sensing component.

[0016] Optionally, it also includes a housing, in which the stator assembly, the rotor assembly and the first sensing assembly are located, and a fourth through hole is provided on the housing, which communicates with the drive plate.

[0017] Optionally, the rotor body is provided with a central gear, which is disposed opposite to the first through hole, and the mounting part is provided with a cavity for accommodating the central gear and the first sensing component; it also includes a cover plate, which covers the cavity.

[0018] Optionally, the first sensing component further includes a rotating base, the mounting portion is provided with a mounting hole, the rotating base is rotatably connected to the mounting hole, the first sensing component includes an encoder gear and a magnet, the magnet is disposed at the end of the rotating base mounting, and the encoder gear is sleeved on the outside of the rotating base mounting.

[0019] Optionally, the stator base is formed as an integral structure.

[0020] According to a second aspect of the present invention, a robot is provided. The robot includes the joint module described in the present invention.

[0021] One technical advantage of this invention is that the joint module includes a first sensing component. The first sensing component is used to sense the rotation angle of the rotor assembly. The first sensing component is mounted on the stator base of the stator assembly. This eliminates the need for additional support components for the first sensing component in the joint assembly. This simplifies the structure of the joint module, reduces internal components, saves internal space, and results in a smaller overall size.

[0022] In addition, a first through hole is provided at the center of the stator base. A part of the rotor body, namely the part used to drive the first sensing component, passes through the first through hole and engages with the first sensing component in a driving manner. This arrangement allows the part of the rotor body used to drive the first sensing component to effectively avoid other components of the stator assembly or joint module, and saves internal space in the joint module, making the joint module more compact.

[0023] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. Attached Figure Description

[0024] The accompanying drawings, which form part of this specification, illustrate embodiments of the present invention and, together with the specification, serve to explain the principles of the present invention.

[0025] Figure 1 This is a perspective view of the joint module according to an embodiment of the present utility model.

[0026] Figure 2 This is a perspective view of the joint module according to an embodiment of the present utility model from another angle.

[0027] Figure 3 This is a left view of the joint module according to an embodiment of the present utility model.

[0028] Figure 4 yes Figure 3 A sectional view along line BB.

[0029] Figure 5 This is an exploded view of the joint module according to an embodiment of the present utility model.

[0030] Explanation of reference numerals in the attached figures:

[0031] 101. Stator base; 1011. Mounting part; 1012. Fixing part; 1013. First through hole; 1014. Cavity; 1015. Cover plate; 1016. Mounting hole; 1018. Annular sidewall; 1019. Fifth through hole; 102. Stator body; 103. Rotor body; 1031. Sensing end; 1032. Transmission end; 1033. Second through hole; 104. Central gear; 105. Encoder gear; 106. Magnet; 107. Peripheral part; 108. Permanent magnet; 109. Harmonic reducer; 110. Connecting assembly; 1101. Connecting part; 1102. Shaft component; 1103. Third through hole; 1104. Annular groove; 111. Magnetic ring; 112. Drive plate; 1121. Encoder chip; 113. Housing; 1131. Fourth through hole; 114. Rotating seat. Detailed Implementation

[0032] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0033] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0034] Technologies and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies and equipment should be considered part of the specification.

[0035] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0036] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0037] The joint module of this utility model embodiment is described below with reference to the accompanying drawings.

[0038] According to one embodiment of the present invention, a joint module is provided. For example... Figures 3 to 5 As shown, the joint module includes:

[0039] A stator assembly, the stator assembly including a stator base 101 and a stator body 102, the stator body 102 being disposed on the stator base 101, the stator base 101 including a mounting portion 1011 located on one axial side of the stator body 102, and a first through hole 1013 being provided at the center of the stator base 101;

[0040] Rotor assembly, the rotor assembly including rotor body 103, stator assembly adapted to drive rotor assembly to rotate; and

[0041] A first sensing component is rotatably connected to the mounting portion 1011, and a portion of the rotor body 103 passes through the first through hole 1013 and engages with the first sensing component in a transmission manner.

[0042] Specifically, the joint module is used in robots. The joint module outputs rotation, thereby enabling the swinging of components such as arms and legs. The joint module includes a motor. The motor includes a stator assembly and a rotor assembly. The stator assembly includes coils. The rotor assembly includes a permanent magnet 108. An Ampere force is generated between the energized coils and the permanent magnet 108, thereby driving the rotor assembly to rotate. The permanent magnet 108 can be made of, but is not limited to, ferrite, neodymium iron boron, samarium cobalt, and AlNiCo materials.

[0043] The stator assembly includes a stator base 101 and a stator body 102. The stator body 102 is disposed on the stator base 101. The stator body 102 includes a coil. The stator base 101 is used to mount the coil. The coil is disposed around the stator base 101. The stator base 101 includes a mounting portion 1011. The mounting portion 1011 is located on one side of the stator body 102 along its axial direction. The stator base 101 is made of metal, such as stainless steel, low carbon steel, or copper alloy. A first through hole 1013 is provided at the center of the stator base 101. The first through hole 1013 extends along the axial direction of the stator base 101. It should be noted that the first through hole 1013 is parallel to the rotation axis of the rotor assembly. The mounting portion 1011 serves to limit the movement of the stator assembly and provides mounting space for the first sensing component.

[0044] The first sensing component is rotatably connected to the mounting portion 1011. A portion of the rotor body 103 passes through the first through hole 1013 and engages with the first sensing component. During assembly, the rotor body 103 is mounted on the side of the stator body 102 facing away from the mounting portion 1011. A portion of the rotor body 103 (i.e., the portion of the rotor body 103 used to drive the first sensing component) passes through the first through hole 1013 and reaches the mounting portion 1011. The mounting portion 1011 is rotatably connected to the first sensing component. That is, the portion of the rotor body 103 used to drive the first sensing component is disposed within the first through hole 1013 and is rotatably connected to the stator base 101. For example, a bearing is provided between a portion of the rotor body 103 and the inner wall of the first through hole 1013. The bearing rotatably connects a portion of the rotor body 103 to the stator base 101.

[0045] A portion of the rotor body 103 is driven to engage with the first sensing component, thereby causing the first sensing component to rotate synchronously with the rotor body 103. Optionally, the first sensing component may be located at the end of the rotor body 103 or on one side of the rotor body 103. The rotation angle of the rotor body 103 can be effectively detected by sensing through the first sensing component.

[0046] In this embodiment of the invention, the joint module includes a first sensing component. The first sensing component is used to sense the rotation angle of the rotor assembly. The first sensing component is disposed on the stator base 101 of the stator assembly. Thus, the joint assembly does not require an additional supporting component to support the first sensing component. This simplifies the structure of the joint module, reduces internal components, saves internal space, and makes the joint module smaller in size.

[0047] Furthermore, a first through hole 1013 is provided at the center of the stator base 101. A portion of the rotor body 103, namely the portion used to drive the first sensing component, passes through the first through hole 1013 and engages with the first sensing component in a driving manner. This arrangement allows the portion of the rotor body 103 used to drive the first sensing component to effectively avoid other components of the stator assembly or joint module, and saves internal space in the joint module, making the joint module more compact.

[0048] In one embodiment of the present invention, a central gear 104 is provided on the rotor body 103, the central gear 104 is disposed opposite to the first through hole 1013, the first sensing component includes an encoder gear 105 and a magnet 106, the encoder gear 105 is rotatably connected to the mounting part 1011, the central gear 104 meshes with the encoder gear 105, and the encoder gear 105 is connected to the magnet 106.

[0049] like Figures 4 to 5As shown, in this embodiment, the rotor body 103 is driven by a gear transmission with the first sensing component. A central gear 104 is provided on the portion of the rotor body 103 used to drive the first sensing component. Since the portion of the rotor body 103 used to drive the first sensing component passes through a first through hole 1013 at the center of the stator base 101, the central gear 104 is positioned opposite to the first through hole 1013. An encoder gear 105 is offset from the central gear 104. The encoder gear 105 is rotatably connected to the mounting portion 1011. The encoder gear 105 is directly or indirectly connected to a magnet 106. The magnet 106 rotates synchronously with the encoder gear 105. The gear transmission has high efficiency, resulting in more accurate sensing of the rotor assembly's rotation angle.

[0050] Optionally, the center gear 104 and the encoder gear 105 may be made of metal, plastic, ceramic, glass, etc.

[0051] Of course, the transmission cooperation between the rotor body 103 and the first sensing component is not limited to the above embodiments, and those skilled in the art can make settings according to actual needs.

[0052] In one embodiment of the present invention, the rotor body 103 includes a sensing end 1031 and a transmission end 1032 disposed opposite to each other, the transmission end 1032 being adapted to output power, and the central gear 104 being disposed on the sensing end 1031.

[0053] like Figure 4 As shown, in this embodiment, the sensing end 1031 and the transmission end 1032 are disposed opposite to each other at both ends of the rotor body 103. The sensing end 1031 is used to drive the first sensing component to rotate. The sensing end 1031 is provided with a central gear 104. For example, the central gear 104 is sleeved on the sensing end 1031, or fixed to the sensing end 1031 by welding, riveting, or other means. The transmission end 1032 is used to output power. For example, the transmission end 1032 can be directly connected to an external device, or it can be decelerated by a reducer assembly before being connected to an external device.

[0054] In this embodiment, the central gear 104 is located at the sensing end 1031, and the transmission end 1032 is disposed opposite to the sensing end 1031. That is, the end of the rotor body 103 used to drive the first sensing component and the end used to output power are far apart from each other and do not interfere with each other. Compared to integrating the function of outputting power and the function of driving the first sensing component to rotate into the same end of the rotor body 103, this arrangement provides installation space for the components connected to the rotor body 103 and avoids mutual interference between the components.

[0055] In one embodiment of the present invention, the rotor assembly further includes a peripheral portion 107 and a permanent magnet 108. The peripheral portion 107 is connected to the rotor body 103, and the permanent magnet 108 is disposed on the peripheral portion 107. The permanent magnet 108 is located outside the stator body 102 and spaced apart from the stator body 102.

[0056] like Figure 4 As shown, in this embodiment, the outer periphery 107 of the rotor assembly has a cylindrical structure. The material of the outer periphery 107 is stainless steel, silicon steel, permalloy, soft magnetic composite material, etc. Permanent magnets 108 are disposed inside the outer periphery 107. The permanent magnets 108 can be, but are not limited to, ferrite materials, neodymium iron boron materials, samarium cobalt materials, AlNiCo materials, etc. For example, multiple permanent magnets 108 are included. The multiple permanent magnets 108 are uniformly disposed on the inner wall of the outer periphery 107.

[0057] The permanent magnet 108 can be connected to the peripheral part 107 by bonding, snap-fitting, riveting, etc. The peripheral part 107 is fixedly connected to the side of the rotor body 103 away from the mounting part 1011, which can be fixedly connected by welding, bonding, interference fit, etc.

[0058] In this embodiment, the portion of the rotor assembly for rotational engagement with the stator body 102 is located outside the stator body 102. The portion of the rotor body 103 for driving the first sensing component is located within the first through hole 1013 at the center of the stator body 102. The portion of the rotor body 103 for driving the first sensing component forms a positioning engagement with the stator body 102, which improves the rotational stability of the rotor assembly.

[0059] In one embodiment of the present invention, the stator base 101 further includes a fixing part 1012, the mounting part 1011 is located at one end of the fixing part 1012, the stator body 102 is sleeved on the fixing part 1012, and the fixing part 1012 is provided with the first through hole 1013 in the middle.

[0060] like Figure 4 As shown, the fixing part 1012 has a cylindrical structure. The mounting part 1011 is located at one end of the fixing part 1012. The fixing part 1012 is perpendicular to the mounting part 1011. For example, the mounting part 1011 and the fixing part 1012 are integrally formed. This makes the connection between the two more secure. The stator body 102, for example, the coil, is sleeved on the outside of the fixing part 1012. A first through hole 1013 is formed in the middle of the fixing part 1012. The fixing part 1012 is sleeved on the outside of the part of the rotor body 103 used to drive the first sensing component, for example, a bearing is provided between the two, which makes the rotation of the rotor body 103 relative to the stator assembly smoother.

[0061] In one embodiment of the present invention, the joint module further includes a reducer assembly and a connecting assembly 110. The rotor body 103 is connected to the input end of the reducer assembly, and the connecting assembly 110 is connected to the output end of the reducer assembly. The connecting assembly 110 is adapted to output low-speed power.

[0062] like Figures 1 to 4 As shown, the reducer assembly is used to reduce the rotational speed of the joint module and increase the torque of the joint module. Optionally, the reducer assembly includes a harmonic reducer 109, a planetary reducer, etc. The connection assembly 110 is used to connect to an external device to output low-speed power to the external device.

[0063] The harmonic reducer 109 is used as an example for explanation. The harmonic reducer 109 includes a wave generator, a flexible gear, and a rigid gear. The structure of the harmonic reducer 109 is common knowledge in the art and will not be described in detail here. The transmission end 1032 of the rotor body 103 is connected to the wave generator of the harmonic reducer 109. The connecting assembly 110 is connected to the flexible gear of the harmonic reducer 109. The high-speed rotation of the rotor body 103 achieves low-speed, high-torque power output through the cooperation of the wave generator, flexible gear, and rigid gear.

[0064] Of course, the transmission ratio of the reducer assembly is not limited here, and those skilled in the art can set it according to actual needs.

[0065] In one embodiment of the present invention, the connecting assembly 110 includes a connecting portion 1101 and a shaft component 1102 connected to the connecting portion 1101. A second through hole 1033 is provided in the middle of the rotor body 103. The shaft component 1102 is located in the second through hole 1033. The shaft component 1102 is spaced apart from the rotor body 103. A second sensing component is provided at the end of the shaft component 1102 opposite to the connecting portion 1101.

[0066] like Figure 4 As shown, the connecting part 1101 is located at one end of the shaft component 1102. The shaft component 1102 is fixedly connected to the center of the connecting part 1101. The shaft component 1102 is perpendicular to the connecting part 1101. Optionally, the shaft component 1102 and the connecting part 1101 are made of metal, ceramic, plastic, glass, etc. The shaft component 1102 is connected to the connecting part 1101 by means of threaded connection, interference fit, riveting, welding, bonding, etc. The rotor body 103 has a hollow structure. A second through hole 1033 is provided in the middle of the rotor body 103. The second sensing component is fixed to the end of the shaft component 1102 opposite to the connecting part 1101 by means of snap-fit, welding, bonding, threaded connection, etc. The second sensing component is used to sense the rotation angle of the connecting component 110.

[0067] In this embodiment, the shaft component 1102 passes through the second hole in the middle of the rotor body 103 to reach the sensing end 1031 side of the rotor body 103. The shaft component 1102 is spaced apart from the inner wall of the second through hole 1033, and the two do not contact each other, thereby effectively avoiding mutual interference between the shaft component 1102 and the rotor body 103. This arrangement makes the internal structure of the joint module more compact.

[0068] Furthermore, the rotation angle sensing of the rotor assembly and the rotation angle sensing of the connection assembly 110 are both located on the same side of the rotor body 103, for example, on the side of the mounting portion 1011 away from the stator body 102. This makes the setting position of the angle sensing mechanism (e.g., encoder chip 1121) more concentrated and the functional area division of the joint module more reasonable.

[0069] In one embodiment of the present invention, the second sensing component includes a magnetic ring 111, a third through hole 1103 is formed in the middle of the shaft component 1102, the magnetic ring 111 is disposed on the shaft component 1102, and the magnetic ring 111 is disposed around the third through hole 1103.

[0070] like Figure 4 , Figure 5 As shown, the second sensing component includes a magnetic ring 111. Optionally, the magnetic ring 111 is a ferrite permanent magnet 108, a neodymium iron boron permanent magnet 108, a samarium cobalt permanent magnet 108, an alnico permanent magnet 108, etc. The magnetic ring 111 is circular.

[0071] The shaft component 1102 has a hollow structure. An annular groove 1104 is provided at one end of the shaft component 1102 away from the connecting portion 1101. A magnetic ring 111 is fixed within the annular groove 1104. Optionally, the magnetic ring 111 can be attached to the annular groove 1104 by bonding, interference fit, etc. A third through hole 1103 is provided in the middle of the shaft component 1102. The third through hole 1103 extends axially through the shaft component 1102. The magnetic ring 111 is arranged around the third through hole 1103. In this way, the third through hole 1103 and the magnetic ring 111 can be used for wiring or to accommodate or avoid other components. Furthermore, the third through hole 1103 also allows for smoother airflow inside the joint module, improving the heat dissipation effect of the joint module.

[0072] Of course, those skilled in the art can set the shape of the magnetic ring 111 and the size of the third through hole 1103 according to actual needs.

[0073] In other examples, where there is no need for wiring or to accommodate or avoid other components, the shaft component 1102 may not be a hollow structure, but a solid structure. The magnetic ring 111 may also be replaced by a block magnet 106.

[0074] In one embodiment of the present invention, the joint module further includes a drive board 112, on which an encoder chip 1121 is disposed. The drive board 112 is disposed opposite to the end of the mounting portion 1011 that is away from the stator body 102, and the encoder chip 1121 is disposed opposite to the first sensing component and the second sensing component.

[0075] like Figure 2 , Figure 4 , Figure 5 As shown, the drive board 112 is used for controlling the motor within the joint module. The drive board 112 includes a PCB board and electrical components mounted on the PCB board. The drive board 112 is located on the side of the mounting portion 1011 opposite to the stator body 102. The drive board 112 is disposed opposite to the mounting portion 1011 and the two are spaced apart.

[0076] The electrical components include an encoder chip 1121. The encoder chip 1121 is used to sense the rotation angle of the first sensing component and the second sensing component. The encoder chip 1121 is, for example, an absolute encoder chip 1121 or an incremental encoder chip 1121. For example, two encoder chips 1121 are included. The two encoder chips 1121 are respectively disposed opposite to the first sensing component and the second sensing component, and are spaced apart from each other.

[0077] In this embodiment, the drive board 112 is provided with an encoder chip 1121 that cooperates with the first sensing component and the second sensing component. This arrangement makes the drive board 112 highly integrated and the rotation angle of the rotor component and the connecting component 110 more accurately sensed.

[0078] In one embodiment of the present invention, the joint module further includes a housing 113, the stator assembly, the rotor assembly and the first sensing assembly are located inside the housing 113, and a fourth through hole 1131 is provided on the housing 113, the fourth through hole 1131 being connected to the drive plate 112.

[0079] like Figure 1 , Figure 4 , Figure 5 As shown, the housing 113 has an overall cylindrical structure. Components such as the stator assembly, rotor assembly, first sensing assembly, and drive plate 112 are housed within the housing 113. The housing 113 effectively protects these components. A fourth through hole 1131 is formed on the housing 113. The fourth through hole 1131 can be a round hole, a strip hole, a square hole, etc. The fourth through hole 1131 connects to the drive plate 112. The wiring connected to the drive plate 112 can be routed through the fourth through hole 1131, thus making the wiring of the joint module easier.

[0080] Optionally, the housing 113 may be made of metal, plastic, ceramic, glass, or the like.

[0081] Of course, in other examples, the wiring connected to the drive board 112 can also be routed through the third through hole 1103 of the shaft component 1102.

[0082] In one embodiment of the present invention, a central gear 104 is provided on the rotor body 103, the central gear 104 is disposed opposite to the first through hole 1013, the mounting part 1011 is provided with a cavity 1014 for accommodating the central gear 104 and the first sensing component; and a cover plate 1015 is also provided on the cavity 1014.

[0083] like Figure 4 , Figure 5 As shown, an annular sidewall 1018 is provided on the side of the mounting part 1011 facing away from the stator body 102, and the annular sidewall 1018 surrounds a cavity 1014. The center gear 104 and encoder gear 105 are located inside the cavity 1014. The cover plate 1015 is installed on the cavity 1014 by means of threaded connection, bonding, snap-fit, welding, etc. This arrangement can effectively protect the center gear 104 and the first sensing component. Optionally, a fifth through hole 1019 is provided on the cover plate 1015. The fifth through hole 1019 is used to avoid the magnet 106 and the magnetic ring 111, which makes the sensing of the rotation angle of the rotor assembly and the connecting assembly 110 more accurate.

[0084] Optionally, the annular sidewall 1018 and the mounting portion 1011 form an integral structure, for example, they are integrally formed during processing, which makes the connection between them high.

[0085] In one embodiment of the present invention, the first sensing component further includes a rotating base 114, the mounting portion 1011 is provided with a mounting hole 1016, the rotating base 114 is rotatably connected to the mounting hole 1016, the magnet 106 is disposed at the end of the mounting base of the rotating base 114, and the encoder gear 105 is sleeved on the outside of the mounting base of the rotating base 114.

[0086] like Figure 4 , Figure 5 As shown, the rotating seat 114 is mounted in the mounting hole 1016 via a bearing. A magnet 106 is provided on the end face of the rotating seat 114 facing away from the mounting portion 1011. For example, a groove is provided on this end face, and the magnet 106 is embedded in the groove. An encoder gear 105 is sleeved on the side wall of the rotating seat 114. The rotating seat 114 protrudes through the fifth through hole 1019 of the cover plate 1015. A bearing is provided between the rotating seat 114 and the inner wall of the fifth through hole 1019. The bearing arrangement makes the rotation of the rotating seat 114 smoother.

[0087] In this embodiment, the rotating base 114 can support both the magnet 106 and the encoder gear 105, which makes the structure of the first sensing component more compact.

[0088] Optionally, the rotating seat 114 can be made of metal, plastic, ceramic, glass, etc.

[0089] In one embodiment of the present invention, the stator base 101 is formed as an integral structure.

[0090] In this embodiment, the mounting part 1011 and the fixing part 1012 are integrally formed, for example, by casting, powder metallurgy, machining or other methods to integrally form the stator seat 101. This makes the stator seat 101 easy to process and has high structural strength.

[0091] According to another embodiment of the present invention, a robot is provided. The robot includes the joint module provided by the present invention.

[0092] For example, robots include humanoid robots, bionic robots, industrial robotic arms, and mobile robots. These robots are characterized by their simple structure and few internal components.

[0093] The above embodiments mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be elaborated here.

[0094] While specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A joint module, characterized in that, include: A stator assembly, the stator assembly including a stator base (101) and a stator body (102), the stator body (102) being disposed on the stator base (101), the stator base (101) including a mounting portion (1011) located on one axial side of the stator body (102), and a first through hole (1013) being provided at the center of the stator base (101). Rotor assembly, the rotor assembly including rotor body (103), stator assembly adapted to drive the rotor assembly to rotate; and A first sensing component is rotatably connected to the mounting portion (1011), and a portion of the rotor body (103) passes through the first through hole (1013) and engages with the first sensing component in a driving manner.

2. The joint module according to claim 1, characterized in that, A central gear (104) is provided on the rotor body (103). The central gear (104) is disposed opposite to the first through hole (1013). The first sensing component includes an encoder gear (105) and a magnet (106). The encoder gear (105) is rotatably connected to the mounting part (1011). The central gear (104) meshes with the encoder gear (105). The encoder gear (105) is connected to the magnet (106).

3. The joint module according to claim 2, characterized in that, The rotor body (103) includes a sensing end (1031) and a transmission end (1032) arranged opposite to each other. The transmission end (1032) is adapted to output power, and the central gear (104) is arranged on the sensing end (1031).

4. The joint module according to claim 1, characterized in that, The rotor assembly further includes a peripheral portion (107) and a permanent magnet (108). The peripheral portion (107) is connected to the rotor body (103). The permanent magnet (108) is disposed on the peripheral portion (107). The permanent magnet (108) is located outside the stator body (102) and spaced apart from the stator body (102).

5. The joint module according to claim 1, characterized in that, The stator base (101) further includes a fixing part (1012), the mounting part (1011) is located at one end of the fixing part (1012), the stator body (102) is sleeved on the fixing part (1012), and the fixing part (1012) has a first through hole (1013) in the middle.

6. The joint module according to claim 1, characterized in that, It also includes a reducer assembly and a connecting assembly (110), wherein the rotor body (103) is connected to the input end of the reducer assembly, and the connecting assembly (110) is connected to the output end of the reducer assembly, and the connecting assembly (110) is adapted to output low-speed power.

7. The joint module according to claim 6, characterized in that, The connecting assembly (110) includes a connecting part (1101) and a shaft component (1102) connected to the connecting part (1101). A second through hole (1033) is provided in the middle of the rotor body (103). The shaft component (1102) is located in the second through hole (1033). The shaft component (1102) is spaced apart from the rotor body (103). A second sensing component is provided at the end of the shaft component (1102) opposite to the connecting part (1101).

8. The joint module according to claim 7, characterized in that, The second sensing component includes a magnetic ring (111), and a third through hole (1103) is formed in the middle of the shaft component (1102). The magnetic ring (111) is disposed on the shaft component (1102) and is disposed around the third through hole (1103).

9. The joint module according to claim 7, characterized in that, It also includes a drive board (112), on which an encoder chip (1121) is disposed. The drive board (112) is disposed opposite to the end of the mounting part (1011) that is away from the stator body (102). The encoder chip (1121) is disposed opposite to the first sensing component and the second sensing component.

10. The joint module according to claim 9, characterized in that, It also includes a housing (113), in which the stator assembly, the rotor assembly and the first sensing assembly are located. A fourth through hole (1131) is provided on the housing (113), and the fourth through hole (1131) communicates with the drive plate (112).

11. The joint module according to any one of claims 1 to 10, characterized in that, The rotor body (103) is provided with a central gear (104), which is disposed opposite to the first through hole (1013). The mounting part (1011) is provided with a cavity (1014) for accommodating the central gear (104) and the first sensing component. It also includes a cover plate (1015) which covers the cavity (1014).

12. The joint module according to claim 1, characterized in that, The first sensing component further includes a rotating base (114), and the mounting part (1011) is provided with a mounting hole (1016). The rotating base (114) is rotatably connected to the mounting hole (1016). The first sensing component includes an encoder gear (105) and a magnet (106). The magnet (106) is disposed at the end of the rotating base (114), and the encoder gear (105) is sleeved on the rotating base (114).

13. The joint module according to any one of claims 1 to 10, characterized in that, The stator base (101) is formed as an integral structure.

14. A robot, characterized in that, Includes the joint module as described in any one of claims 1 to 13.

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