Driving device, joint module and robot

Abstract

The utility model discloses a kind of driving device, joint module and robot, driving device includes drive assembly and position detection component, the reduction ratio of the reducer included in drive assembly is 1: m;The transmission part of position detection component is transmissionally connected between rotating shaft and second magnetic piece, first single-turn absolute value magnetic encoder is used to transmit the first angle detected to controller, and second single-turn absolute value magnetic encoder is used to transmit the second angle detected to controller;Transmission part is configured to make the angle of the rotation of second magnetic piece greater than or less than the angle of the rotation of rotating shaft, the absolute value C of the angle difference between first angle and second angle meets the relationship formula: C=x× (360 °÷m), and controller is configured to calculate x based on the value of C and m.The utility model solves the problem that single-turn absolute value magnetic encoder cannot identify the running number of motor after robot joint module power failure and re-powering.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a drive device, a joint module, and a robot. Background Technology

[0002] Currently, the motors in the joint modules of bionic robots typically use single-turn absolute magnetic encoders to detect their position. Because the joint module contains a reducer, after a power outage and subsequent power-on, while the single-turn absolute magnetic encoder can detect the position of a single motor turn, it cannot identify the number of turns the motor has completed. Consequently, it cannot accurately determine the position of the reducer's output. Manually restoring the bionic robot's joint module to its default (manufacturer-specified) posture is required to recalibrate the position of the single-turn absolute magnetic encoder within the joint module. Utility Model Content

[0003] The main purpose of this application is to provide a drive device, a joint module, and a robot to solve the problem in the prior art where the single-turn absolute magnetic encoder cannot identify the number of motor revolutions after the robot joint module is powered off and then powered on again.

[0004] According to one aspect of this application, a drive device is provided, the drive device being disposed at least in a joint module of a robot, the drive device comprising:

[0005] A drive assembly, comprising a motor and a reducer, wherein the motor includes a rotating shaft, and the reducer includes an input end and an output end, the input end being connected to a first end of the rotating shaft, and the reduction ratio of the reducer being 1:m, where m is an integer.

[0006] A position detection component includes a first magnetic element, a second magnetic element, a transmission component, a first single-turn absolute magnetic encoder, a second single-turn absolute magnetic encoder, and a controller. The first magnetic element is mounted on and coaxially arranged with the rotating shaft. The first single-turn absolute magnetic encoder is arranged opposite to the first magnetic element. The transmission component is driven between the rotating shaft and the second magnetic element to drive the second magnetic element to rotate. The second single-turn absolute magnetic encoder is arranged opposite to the second magnetic element. The controller is connected to both the first and second single-turn absolute magnetic encoders. The first single-turn absolute magnetic encoder transmits a first angle of rotation of the rotating shaft detected by the first single-turn absolute magnetic encoder to the controller. The second single-turn absolute magnetic encoder transmits a second angle of rotation of the second magnetic element detected by the second single-turn absolute magnetic encoder to the controller.

[0007] The transmission component is configured such that the angle of rotation of the second magnetic component is greater than or less than the angle of rotation of the shaft. The absolute value of the angle difference between the first angle and the second angle is C. When the number of rotations of the output end is not greater than one rotation, the number of rotations of the shaft is x. C and x satisfy the relationship: C = x × (360° ÷ m). The controller is configured to calculate x based on the values ​​of C and m.

[0008] Furthermore, the transmission component includes:

[0009] A gear transmission system comprising at least two meshing gears, wherein, based on the power transmission sequence of the gear transmission system, the gear serving as the first stage of the gear transmission system is mounted on the rotating shaft, and the second magnetic element is coaxially mounted on the gear serving as the last stage of the gear transmission system, and the transmission ratio of the gear transmission system is greater than or less than 1.

[0010] Furthermore, the transmission component includes a gear transmission system, the gear transmission system comprising:

[0011] A first gear is sleeved on the rotating shaft. The first gear and the first magnetic element are both located at the second end of the rotating shaft away from the input end and are coaxially arranged.

[0012] The second gear is mounted on one side of the first gear along its own radial direction. The second gear meshes with the first gear and can rotate around its own axis. The second magnetic element is mounted in the middle of the second gear and is coaxially arranged with the second gear. The number of teeth of the second gear is more or less than the number of teeth of the first gear.

[0013] Furthermore, the number of teeth on the first gear is N1, and the number of teeth on the second gear is N2. The ratio between N1 and N2 satisfies the following relationship:

[0014] N1:N2 = [(m-1)×n]:[m×n], where n is an integer; or,

[0015] N1:N2 = [m×n]: [(m+1)×n], where n is an integer.

[0016] Furthermore, it also includes:

[0017] The mounting housing has a mounting cavity inside, the motor is mounted in the mounting cavity and the second end extends out of the mounting cavity to engage with the first gear, and a rotatable connection structure is provided between the mounting housing and the second gear to rotatably connect the second gear to the mounting housing.

[0018] Furthermore, the mounting housing includes:

[0019] The shell body has mounting holes provided inside along the axial direction of the rotating shaft;

[0020] An end cap is disposed at one end of the housing body and covers the mounting hole along the axial direction of the rotating shaft. The end cap and the inner wall of the mounting hole form the mounting cavity. The second end extends through the end cap to the outside of the mounting cavity. The rotating connection structure is disposed between the end cap and the second gear.

[0021] Furthermore, the rotating connection structure includes:

[0022] A connection hole is provided on the end cap;

[0023] A bearing, wherein the outer peripheral surface of the bearing is fixedly connected to the inner wall surface of the connecting hole;

[0024] A connecting shaft, one end of which is connected to the second gear and the other end of which is sleeved with the bearing, and the connecting shaft and the second gear are coaxially arranged.

[0025] Furthermore, the position detection component also includes:

[0026] A circuit board, along the axial direction of the rotating shaft, is connected to the mounting housing and is disposed opposite to the gear transmission system;

[0027] Wherein, along the axial direction of the rotating shaft, the first single-turn absolute magnetic encoder and the second single-turn absolute magnetic encoder are spaced apart on the side of the circuit board near the gear transmission system, and the first single-turn absolute magnetic encoder and the second single-turn absolute magnetic encoder have mounting gaps with the first gear and the second gear, respectively; and / or,

[0028] Along the axial direction of the rotating shaft, the controller is located on the side of the circuit board away from the gear transmission system.

[0029] Furthermore, along the axial direction of the rotating shaft, a groove is provided on the side of the mounting housing near the circuit board, the gear transmission system is located at the bottom of the groove, and the circuit board is mounted within the groove; and / or,

[0030] Along the axial direction of the first gear, the first magnetic element and the second magnetic element have the same thickness, and along the axial direction of the first gear, the first magnetic element and the second magnetic element are located on the same horizontal plane.

[0031] On the other hand, this application also provides a joint module, the joint module comprising:

[0032] Moving parts;

[0033] The moving part of the drive device is connected to the output end of the reducer of the drive device.

[0034] On the other hand, this application also provides a robot that includes the aforementioned joint module.

[0035] In this application, the driving device includes a driving assembly and a position detection assembly. A first magnetic element of the position detection assembly is mounted on and coaxially arranged with a rotating shaft. A first single-turn absolute magnetic encoder is positioned opposite the first magnetic element. Thus, the change in the magnetic field generated by the first magnetic element as it rotates with the shaft allows the first single-turn absolute magnetic encoder to detect a first angle of rotation of the shaft. A transmission component of the position detection assembly can transfer the rotational kinetic energy of the shaft to a second magnetic element, enabling the second magnetic element to rotate. A second single-turn absolute magnetic encoder is positioned opposite the second magnetic element. Thus, the change in the magnetic field generated during the rotation of the second magnetic element allows the second single-turn absolute magnetic encoder to detect a second angle of rotation of the second magnetic element. A controller is connected to both the first and second single-turn absolute magnetic encoders to receive the first and second angles detected by each encoder.

[0036] The transmission component is configured such that the rotation angle of the second magnetic component is greater than or less than the rotation angle of the shaft. Since the absolute value of the angle difference C between the first angle and the second angle satisfies the relationship C = x × (360° ÷ m) when the number of rotations at the output end of the reducer is no more than one rotation, the controller is configured to calculate x based on the values ​​of C and m.

[0037] Therefore, in this embodiment, the kinetic energy of the rotating shaft is transferred to the second magnetic component through a transmission component. During the rotation of both the first and second magnetic components driven by the shaft, the first and second single-turn absolute magnetic encoders detect the rotation angles of the shaft and the magnetic component, respectively. After the controller receives the rotation angles of the shaft and the magnetic component (i.e., the first angle and the second angle), it calculates the angle difference C. Based on the angle difference C, the controller can calculate the number of rotations x of the shaft based on the value of m in the reduction ratio of the reducer. Simultaneously, the angular position p of the shaft within a single rotation (i.e., within a 360° range) can be read from the first angle detected by the first single-turn absolute magnetic encoder. Subsequently, the robot can use the controller to calculate the angle y of the shaft's current position relative to its initial position based on the number of rotations x and the angular position p. Then, based on the angle y, the robot can control the shaft to rotate back to the initial position. After the shaft returns to the initial position, the moving parts of the joint module automatically return to their factory posture, eliminating the need for manual resetting of the robot and enabling the recalibration of each single-turn absolute encoder. Attached Figure Description

[0038] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0039] Figure 1 This is a schematic diagram of the structure of a driving device provided in an embodiment of the present invention;

[0040] Figure 2 for Figure 1 A schematic diagram of the decomposition process;

[0041] Figure 3 for Figure 2 A schematic diagram of the structure of the circuit board near the gear transmission system;

[0042] Figure 4 for Figure 2 Assembly diagram of the intermediate gear transmission system and mounting housing;

[0043] Figure 5 An exploded view showing the relationship between the second gear and the end cap of the mounting housing;

[0044] Figure 6 A diagram showing the positional relationship between the single-turn absolute magnetic encoder and the magnetic components in the position detection assembly;

[0045] Figure 7 This is a flowchart illustrating a robot reset method according to an embodiment of the present invention.

[0046] The above figures include the following reference numerals:

[0047] 10. Drive assembly; 11. Motor; 110. Shaft; 101. First mounting slot; 12. Reducer; 20. Position detection assembly; 21. First magnetic component; 22. Second magnetic component; 23. Transmission component; 231. Gear transmission system; 311. First gear; 312. Second gear; 121. Second mounting slot; 211. First clearance hole; 24. First single-turn absolute magnetic encoder; 25. Second single-turn absolute magnetic encoder; 26. Controller; 27. Circuit board; 30. Mounting housing; 301. Mounting cavity; 31. Housing body; 310. Mounting hole; 32. End cap; 321. Second clearance hole; 33. Groove; 331. Boss; 34. Locking assembly; 40. Rotary connection structure; 41. Connecting hole; 42. Bearing; 43. Connecting shaft. Detailed Implementation

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0049] 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.

[0050] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all 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. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0051] Because current biomimetic robots (such as humanoid robots and biomimetic robots) typically use single-turn absolute encoders to detect the position of motor 11 (i.e., the angular position of motor 11 after its shaft 110 rotates a certain angle) in their joint modules. In this case, magnets corresponding to the single-turn absolute encoder can be placed on the rotor of the rotating motor 11. During the rotation of the motor 11 rotor, the single-turn absolute encoder analyzes and outputs the position by collecting changes in the magnetic field, thereby achieving the detection and positioning of the motor 11. However, because a reducer 12 exists between the power component of the biomimetic robot's joint module and the motor 11 rotor, while the precise position of the motor 11 rotor within a single rotation (360°) can be detected within one rotation of the reducer 12, the actual number of rotations of the motor 11 rotor cannot be detected. If the joint module loses power, after power is restored, only the position of a single rotation of motor 11 can be detected, but the number of rotations cannot be identified, thus making it impossible to accurately determine the precise position of the power component located at the output end of the reducer 12 in the joint module. In this structure, the joint module needs to be manually returned to the specified posture in order to recalibrate the position of the single-turn absolute magnetic encoder.

[0052] In the field of collaborative robots, a method using two off-axis absolute magnetic encoders is employed to detect the actual number of revolutions of motor 11 within a single revolution range at the reducer output. This method utilizes multi-pole magnetic rings as sensors, fixed to the rotor shaft of motor 11 and the output shaft of reducer 12, respectively, to detect the absolute position of a single revolution at the motor 11 end and the output position of reducer 12. The latter directly reflects the number of revolutions of motor 11, enabling position detection and memorization after power failure. However, this position detection method is suitable for hollow joint module products. Furthermore, the lack of domestically produced products and the prevalence of imported chips, coupled with the high cost of multi-pole magnetic rings, makes the use of two off-axis absolute magnetic encoders for position detection difficult to widely adopt.

[0053] To address the aforementioned problems, the first embodiment of this utility model provides a driving device, please refer to [link to relevant documentation]. Figures 1 to 5 The drive device is at least located in the joint module of the robot. The drive device includes a drive assembly 10 and a position detection assembly 20.

[0054] The drive assembly 10 includes a motor 11 and a reducer 12. The motor 11 includes a rotating shaft 110, and the reducer 12 includes an input end and an output end. The input end is connected to a first end of the rotating shaft 110 along its own axial direction. The reduction ratio of the reducer 12 is 1:m, where m is an integer. For example, a reducer 12 with a reduction ratio of 1:12 can be selected. The output end of the reducer 12 can be connected to the power component of the robot joint module to drive the movement of the power component.

[0055] like Figures 2 to 3 As shown, the position detection component 20 includes a first magnetic element 21, a second magnetic element 22, a transmission component 23, a first single-turn absolute magnetic encoder 24, a second single-turn absolute magnetic encoder 25, and a controller 26. The first magnetic element 21 is mounted on and coaxially arranged with the rotating shaft 110, and the first single-turn absolute magnetic encoder 24 is arranged opposite to the first magnetic element 21. During the operation of the motor 11 to rotate the rotating shaft 110, the first single-turn absolute magnetic encoder 24 can detect the position of the rotating shaft 110 within a single turn by collecting the magnetic field change generated by the first magnetic element 21 as the rotating shaft 110 rotates. For example, it can detect that the rotating shaft 110 of the motor 11 has rotated 270° within a single turn.

[0056] The transmission component 23 is connected between the rotating shaft 110 and the second magnetic element 22 to drive the second magnetic element 22 to rotate. The second single-turn absolute magnetic encoder 25 is disposed opposite to the second magnetic element 22. The transmission component 23 can transmit the rotational kinetic energy of the rotating shaft 110 to the second magnetic element 22 to drive the second magnetic element 22 to rotate. During the rotation of the second magnetic element 22, the second single-turn absolute magnetic encoder 25 detects the single-turn rotation position of the second magnetic element 22 by collecting the changes in the magnetic field brought by the second magnetic element 22.

[0057] The controller 26 is connected to the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 respectively. The first single-turn absolute magnetic encoder 24 is used to transmit the first angle of the detected rotation of the shaft 110 to the controller 26, and the second single-turn absolute magnetic encoder 25 is used to transmit the second angle of the detected rotation of the second magnetic component 22 to the controller 26.

[0058] The transmission component 23 is configured to make the rotation angle of the second magnetic component 22 greater than or less than the rotation angle of the shaft 110. The absolute value of the angle difference between the first angle and the second angle is C. When the number of rotations at the output end is not greater than one rotation, the number of rotations of the shaft 110 is x. C and x satisfy the relationship: C = x × (360° ÷ m). The controller 26 is configured to calculate x based on the values ​​of C and m.

[0059] In other words, this embodiment sets a transmission component 23 between the rotating shaft 110 and the second magnetic component 22 so that the angle of rotation of the first magnetic component 21 with the rotating shaft 110 and the angle of rotation of the second magnetic component 22 have a difference C. This realizes the transmission of the position information of the output end of the reducer 12 to the angle difference C between the first magnetic component 21 and the second magnetic component 22. This angle difference can record the actual number of revolutions of the motor 11. At the same time, the rotation position of the rotating shaft 110 of the motor 11 can be detected and recorded by the first single-turn absolute magnetic encoder 24.

[0060] The controller 26 can set the position of the motor 11 shaft 110 when the drive device is first powered on as the starting position. If the starting position of the motor 11 shaft 110 is 0°, for example, when the motor 11 shaft 110 rotates one revolution, the first angle detected by the first single-turn absolute magnetic encoder 24 is 360°, and the second angle detected by the second single-turn absolute magnetic encoder 25 is 300°, then the controller 26 calculates the angle difference C as 60° based on the received first and second angles. The value of the angle difference C can also be obtained through a configured operational amplifier or logic gate and then transmitted to the controller 26. In this case, the operational amplifier or logic gate can be directly configured with the controller 26, or it can be electrically connected to the controller 26 to realize the angle difference calculation.

[0061] If the motor 11 shaft 110 rotates two revolutions and the motor 11 returns to the 360° position, then after the second magnetic component 22 rotates another 300°, the second single-turn absolute magnetic encoder 25 detects that the position of the second magnetic component 22 within one revolution is at 240°. The controller 26 then obtains an angle difference C of 120°. Similarly, for every x revolutions the motor 11 rotates, C is 60° multiplied by x. After the number of revolutions x of the motor 11 equals m, the angle difference C between the first angle detected by the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 returns to zero. This allows the controller to detect the number of revolutions of the motor 11 within the angle range of the next revolution of the reducer 12 output terminal.

[0062] Since the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 can detect the specific values ​​of the first angle and the second angle respectively, the value of C can be calculated by the controller 26 based on the obtained first angle value and second angle value. Therefore, after obtaining the value of C, the controller 26 can calculate the value of x based on the pre-configured value of m, thus obtaining the actual number of revolutions of the motor 11. At the same time, the controller 26 can also determine the specific position p of the motor 11 shaft 110 in a single revolution based on the received first angle value.

[0063] As can be seen, in this embodiment, the driving device includes a driving assembly 10 and a position detection assembly 20. The first magnetic element 21 of the position detection assembly 20 is mounted on and coaxially arranged with the rotating shaft 110. A first single-turn absolute magnetic encoder 24 is disposed opposite to the first magnetic element 21. Thus, the change in the magnetic field generated by the first magnetic element 21 during the rotation of the rotating shaft 110 allows the first single-turn absolute magnetic encoder 24 to detect a first angle of rotation of the rotating shaft 110. The transmission component 23 of the position detection assembly 20 can transmit the rotational kinetic energy of the rotating shaft 110 to the second magnetic element 22, enabling the second magnetic element 22 to rotate. A second single-turn absolute magnetic encoder 25 is disposed opposite to the second magnetic element 22. Thus, the change in the magnetic field generated during the rotation of the second magnetic element 22 allows the second single-turn absolute magnetic encoder 25 to detect a second angle of rotation of the second magnetic element 22. The controller 26 is connected to both the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 to receive the first and second angles detected by each encoder.

[0064] In this embodiment, the transmission component 23 is configured to make the rotation angle of the second magnetic element 22 greater than or less than the rotation angle of the shaft 110. Since the absolute value C of the angle difference between the first angle and the second angle satisfies the relationship C = x × (360° ÷ m) when the number of rotations at the output end of the reducer 12 is no more than one rotation, the controller 26 is configured to calculate x based on the values ​​of C and m. Thus, in this embodiment, the kinetic energy of the rotation of the shaft 110 is transmitted to the second magnetic element 22 through the transmission component 23, so that during the rotation of both the first magnetic element 21 and the second magnetic element 22 under the drive of the shaft 110, the rotation angles of the shaft 110 and the second magnetic element 22 are detected by the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25, respectively. After the controller 26 receives the rotation angles (i.e., the first angle and the second angle) of the rotating shaft 110 and the second magnetic component 22, it calculates the angle difference C by subtracting the angle values ​​of the two. Based on the angle difference C, the controller 26 can calculate the number of rotations x of the rotating shaft 110. At the same time, the angular position p of the rotating shaft 110 within a single rotation (i.e., within a 360° range) can be read by the first angle detected by the first single-turn absolute magnetic encoder 24. Subsequently, the robot can use the controller 26 to calculate the angle y of the rotation of the rotating shaft 110 relative to the starting position based on the number of rotations x and the angle position p. Then, based on the angle y, the robot can control the rotating shaft 110 to rotate back to the starting position. After the rotating shaft 110 returns to the starting position, the moving parts of the joint module can automatically return to the factory posture without manual restoration of the robot to the factory posture, thus realizing the recalibration of each single-turn absolute encoder.

[0065] Secondly, the position detection component 20 provided in this embodiment is not limited to hollow joint module products. By connecting the position detection component 20 to the side of the motor 11 shaft 110 of the hollow joint module, the position and number of rotations of the motor 11 can be detected, thus broadening its applicability. Furthermore, the first magnetic component 21 and the second magnetic component 22 in this application are preferably magnets with S and N poles, which are less expensive than multi-polar magnetic rings and more conducive to widespread application.

[0066] The transmission component 23 in this application includes a gear transmission system 231, which comprises at least two meshing gears. Based on the power transmission sequence of the gear transmission system 231, the first gear of the gear transmission system 231 is mounted on the rotating shaft 110, and the second magnetic element 22 is coaxially mounted on the last gear of the gear transmission system 231. The gear transmission system 231 sequentially transmits the rotational kinetic energy of the rotating shaft 110 from the first gear to the last gear, thereby driving the second magnetic element 22 to rotate.

[0067] In this gear transmission system 231, the transmission ratio is greater than or less than 1. That is, in the gear transmission system 231, the number of teeth on at least one gear is different from the number of teeth on at least another gear, thereby making the transmission ratio of the gear transmission system 231 greater than or less than 1. The gear transmission system 231 is easy to assemble. By simply setting the number of teeth on at least two gears to be different based on the difference between the first angle and the second angle, it can be ensured that the angle at which the first magnetic element 21 rotates with the shaft 110 is different from the angle at which the second magnetic element 22 rotates under the drive of the gear transmission system 231.

[0068] It is understood that the number of gears in the gear transmission system 231 may include two, three, four, or any other number not less than two, depending on the size of the drive device and the installation space. This embodiment does not impose a unique limitation.

[0069] The rotating shaft 110 includes a first end and a second end along its own axial direction, and the input end of the reducer is connected to the first end.

[0070] like Figure 2 as well as Figure 4 As shown, in this embodiment, when the transmission component 23 includes a gear transmission system 231, the gear transmission system 231 includes a first gear 311 and a second gear 312. The first gear 311 is sleeved on the rotating shaft 110 so that the rotating shaft 110 can drive the first gear 311 to rotate. The first gear 311 and the first magnetic element 21 are both located at the second end of the rotating shaft 110 away from the input end (i.e. away from the reducer 12) and are coaxially arranged, so that the first magnetic element 21 can accurately reflect the number of rotations and the angle of a single rotation (i.e., the specific angular position within the range of a single rotation) of the rotating shaft 110, while the first gear 311 can accurately transmit the rotational kinetic energy of the rotating shaft 110 to the second gear 312 behind it.

[0071] The second gear 312 is mounted on one side of the first gear 311 along its own radial direction. The second gear 312 meshes with the first gear 311 and can rotate around its own axis, so that the first gear 311 can transmit the rotational kinetic energy of the shaft 110 to the second gear 312. Moreover, since the second gear 312 is located on one side of the first gear 311 along its own radial direction, this also reduces the installation space occupied by the gear transmission system 231 in the drive device and reduces the number of transmission components in the gear transmission system 231, reducing the assembly difficulty of the gear transmission system 231 and making the cost of the drive device lower. The second magnetic element 22 is mounted in the middle of the second gear 312 and is coaxially arranged with the second gear 312. The number of teeth of the second gear 312 is more or less than the number of teeth of the first gear 311, so that when the second gear 312 drives the second magnetic element 22 to rotate, the rotation angle is less than the rotation angle of the first magnetic element 21, obtaining the required angle difference C.

[0072] As can be seen, this embodiment achieves an angular difference C between the rotation angles of the first magnetic element 21 and the second magnetic element 22 by setting a gear transmission system 231 consisting of a first gear 311 and a second gear 312 meshing between the rotating shaft 110 and the second magnetic element 22. This gear transmission system 231 is easy to assemble, low in cost, and can be easily integrated into the drive device of a joint module with limited installation space, reducing the overall structural complexity of the drive device and facilitating its promotion and utilization.

[0073] like Figure 4 As shown, to facilitate the installation of the first magnetic component 21, a first mounting groove 101 is provided at the second end of the rotating shaft 110 away from the input end of the reducer 12. The first mounting groove 101 is positioned opposite to the first single-turn absolute magnetic encoder 24. The first magnetic component 21 can be embedded in the first mounting groove 101 to correspond with the first single-turn absolute magnetic encoder 24 and realize the detection of the first angle. The assembly is efficient and convenient.

[0074] Secondly, the second gear 312 is provided with a second mounting groove 121. The axis of the second mounting groove 121 is aligned with the axis of the second gear 312 and is positioned opposite to the second single-turn absolute magnetic encoder 25. The second magnetic component 22 is embedded in the second mounting groove 121 to correspond with the second single-turn absolute magnetic encoder 25 and realize the detection of the second angle. The second mounting groove 121 is easy to process and easy to assemble the second magnetic component 22.

[0075] When the projected outer contours of the first magnetic component 21 and the second magnetic component 22 are both circular along the axial direction of the rotating shaft 110, the projected outer contours of the first mounting groove 101 and the second mounting groove 121 along the axial direction of the rotating shaft 110 are also circular. Therefore, the shape of the first magnetic component 21 matches the inner wall surface of the first mounting groove 101, improving the stability and reliability of the assembled first magnetic component 21 and rotating shaft 110. The shape of the second magnetic component 22 matches the inner wall surface of the second mounting groove 121, improving the stability and reliability of the assembled second magnetic component 22 and second gear 312.

[0076] In some embodiments, to facilitate the disassembly and maintenance of the first magnetic component 21 and the second magnetic component 22, such as... Figure 4 As shown, both the bottom of the first mounting groove 101 and the second mounting groove 121 are provided with a first clearance hole 211. Along the axial direction of the rotating shaft 110, the first clearance hole 211 in the first mounting groove 101 passes through the rotating shaft 110, and the first clearance hole 211 in the second mounting groove 121 passes through the second gear 312. When it is necessary to replace the magnetic component, the magnetic component can be pushed out of the first mounting groove 101 and the second mounting groove 121 along the first clearance hole 211 using appropriate tools.

[0077] In this embodiment, the number of teeth of the first gear 311 is N1, and the number of teeth of the second gear 312 is N2. The ratio between N1 and N2 satisfies the following relationship:

[0078] N1:N2 = [(m-1)×n]:[m×n], where n is an integer; or,

[0079] N1:N2 = [m×n]: [(m+1)×n], where n is an integer.

[0080] For example, when the reduction ratio of reducer 12 is 1:12, N1:N2 = 24:26 (or 12:13).

[0081] Therefore, by ensuring that the gear ratio between the first gear 311 and the second gear 312 satisfies one of the two aforementioned relationships, after the rotational kinetic energy of the shaft 110 is transferred to the second magnetic component 22 through the first gear 311 and the second gear 312, the angle difference C between the first angle detected by the first single-turn absolute magnetic encoder 24 and the second angle detected by the second single-turn absolute magnetic encoder 25 satisfies the relationship C=x×(360°÷m), thereby improving the accuracy of the actual number of rotations x of the shaft 110 calculated by the controller 26 based on the relationship C=x×(360°÷m).

[0082] In other words, in this embodiment, the number of teeth of the first gear 311 and the number of teeth of the second gear 312 are set according to one of the two relationships mentioned above. By setting the difference between the number of teeth of the first gear 311 and the second gear 312, the rotational position information of the output end of the reducer 12 is transmitted to the angle difference C detected by the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25. This allows the controller 26 to accurately obtain the actual number of revolutions x of the motor 11 based on the angle difference C. At the same time, it can also accurately record the single-turn rotational position of the motor 11 through the first angle detected by the first single-turn absolute encoder.

[0083] like Figure 2 As shown, the drive device in this embodiment also includes a mounting housing 30, within which a mounting cavity 301 is provided. The motor 11 is mounted within the mounting cavity 301, with its second end extending outside the cavity to engage with the first gear 311. The mounting housing 30 enhances the protection of the motor 11, making the overall structure of the drive device more reliable and stable. The reducer 12 is at least partially located within the mounting cavity 301 to connect with the rotating shaft 110, making the overall structure of the drive device more compact.

[0084] A rotatable connection structure 40 is provided between the mounting housing 30 and the second gear 312. The rotatable connection structure 40 rotatably connects the second gear 312 to the mounting housing 30, thereby improving the stability of the second gear 312 in the process of driving the second magnetic component 22 to rotate under the drive of the first gear 311. It also facilitates assembly and makes the structure of the drive device more compact and stable.

[0085] When the housing 30, including the housing body 31 and the end cap 32, is installed, a mounting hole 310 is provided in the housing body 31 along the axial direction of the rotating shaft 110. Along the axial direction of the rotating shaft 110, the end cap 32 is disposed at one end of the housing body 31 and covers the mounting hole 310. The end cap 32 and the inner wall of the mounting hole 310 enclose a mounting cavity 301. The second end of the rotating shaft 110 extends through the end cap 32 to the outside of the mounting cavity 301, and a rotatable connection structure 40 is disposed between the end cap 32 and the second gear 312.

[0086] Based on the above structure, in this embodiment, the first end of the reducer 12 and the motor 11 shaft 110 can be connected and then fitted into the mounting hole 310 as a whole. A second clearance hole 321 is then reserved on the end cover 32 for the second end of the shaft 110 to pass through the mounting cavity 301 (e.g., ...). Figure 2 as well as Figure 5 (As shown). Next, align the second clearance hole 321 with the rotating shaft 110 and move the end cover 32 to a position where it fits against the housing body 31. Then connect the end cover 32 and the housing body 31 together to assemble the drive assembly 10 and the mounting housing 30. The assembly is simple, efficient and convenient.

[0087] Meanwhile, since the second end of the rotating shaft 110 is located on the outside of the end cover 32 away from the mounting cavity 301, it is convenient to mount the first gear 311 onto the rotating shaft 110. Furthermore, the rotational connection structure 40 located between the end cover 32 and the second gear 312 further improves the ease of assembly of the second gear 312.

[0088] In some embodiments, the end cap 32 and the housing body 31 can be detachably connected by a locking assembly 34, facilitating the replacement and maintenance of the drive assembly 10 and the position detection assembly 20 after the end cap 32 and the housing body 31 are disassembled. The locking assembly 34 may include locking elements (such as screws and / or bolts) and corresponding locking holes. The locking elements may be provided on at least one of the housing body 31 and the end cap 32, and the locking holes may be provided on at least the other of the housing body 31 and the end cap 32, so that the locking elements cooperate with the locking holes to detachably connect the end cap 32 and the housing body 31 together.

[0089] like Figure 5As shown, the rotating connection structure 40 includes a connecting hole 41, a bearing 42, and a connecting shaft 43. The connecting hole 41 is located in the end cover 32. The outer peripheral surface of the bearing 42 is fixedly connected to the inner wall surface of the connecting hole 41. One end of the connecting shaft 43 is connected to the second gear 312, and the other end is sleeved in the bearing 42. The connecting shaft 43 and the second gear 312 are coaxially arranged. Thus, in this embodiment, by installing the bearing 42 in the connecting hole 41 on the end cover 32 and then sleeve the connecting shaft 43 on the second gear 312 in the bearing 42, the second gear 312 can be rotatably mounted on the mounting housing 30, making assembly convenient.

[0090] The connecting shaft 43 can be connected to the second gear 312 by a predetermined connection method (such as welding, screw fastening, etc.). The connecting shaft 43 can also be integrally formed with the second gear 312. When integrally formed, the assembly difficulty between the gear transmission system 231 and the mounting housing 30 can be further reduced, resulting in fewer assembly steps and lower production costs.

[0091] In this embodiment, the position detection component 20 also includes a circuit board 27. Along the axial direction of the rotating shaft 110, the circuit board 27 is connected to the mounting housing 30 and is disposed opposite to the gear transmission system 231.

[0092] Along the axial direction of the rotating shaft 110, the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 are spaced apart on the side of the circuit board 27 near the gear transmission system 231. This integrates the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 onto the same circuit board 27, reducing the number of circuit boards 27 used and further improving the assembly efficiency of the drive device.

[0093] Furthermore, along the axial direction of the rotating shaft 110, the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 have installation gaps with the first gear 311 and the second gear 312 respectively, so that the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 will not interfere with the movement of the first gear 311 and the second gear 312.

[0094] Where, when there are installation gaps between the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 and the first gear 311 and the second gear 312 respectively, along the axial direction of the rotating shaft 110, there is a first gap between the first single-turn absolute magnetic encoder 24 and the first magnetic element, and a second gap between the second single-turn absolute magnetic encoder 25 and the second magnetic element. The first gap and the second gap are as follows: Figure 6As shown in the diagram (L), both the first gap and the second gap are less than 5 mm (unit: millimeters) to ensure that the movement of the gear transmission system 231 is not interfered with, while improving the accuracy of the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 in capturing the magnetic field changes generated by the operation of the first magnetic element 21 and the second magnetic element 22, respectively. The specific sizes of the first gap and the second gap may include one of the following: 4.8 mm, 4.5 mm, 4.3 mm, 4.0 mm, 3.7 mm, 3.5 mm, 3.3 mm, 3.0 mm, or any other value less than 5 mm. This embodiment does not impose a single limitation on this, as long as it ensures that the gear transmission system 231 does not come into contact with the corresponding single-turn absolute magnetic encoder and cause interference.

[0095] The first gap and the second gap can be the same or different. When they are the same, the first magnetic element 21 and the second magnetic element 22 are located on the same horizontal plane. At this time, it is beneficial to integrate the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 on the same circuit board 27 to save the installation space of the drive device.

[0096] Secondly, the first magnetic element 21 and the second magnetic element 22 have a first central axis, and the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 have a second central axis. The distance between the first and second central axes (i.e., the center point deviation DISP) along the radial direction of the rotating shaft 110 is... Figure 6 The value of S (as shown in the figure) is less than 1.0 mm to ensure that the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 can accurately detect the first angle and the second angle respectively.

[0097] The distance between the first central axis and the second central axis is one of 0.9mm, 0.8mm, 0.6mm, 0.5mm, 0.4mm, 0.3mm, 0.1mm, 0mm, or any other value less than 1.0mm. This embodiment does not impose a unique limitation on this.

[0098] When the position detection assembly 20 also includes a circuit board 27, the controller 26 is positioned on the side of the circuit board 27 away from the gear transmission system 231 along the axial direction of the rotating shaft 110. This improves the compactness of the position detection assembly 20 while reducing the installation space occupied by components located on the side of the circuit board 27 closest to the gear transmission system 231, making the overall structural layout of the circuit board 27 more compact and reasonable.

[0099] Along the axial direction of the rotating shaft 110, a groove 33 is provided on the side of the mounting housing 30 near the circuit board 27 (or the end cover 32 is provided on the side away from the housing body 31). The gear transmission system 231 is located at the bottom of the groove 33, and the circuit board 27 is installed in the groove 33.

[0100] Therefore, by installing the gear transmission system 231 and the circuit board 27 in the groove 33 of the mounting housing 30, this embodiment makes the overall structure of the drive device more compact while improving the protection performance of the components on the gear transmission system 231 and the circuit board 27.

[0101] The groove 33 has at least two bosses 331 at its bottom, spaced apart on the outer periphery of the groove bottom. The circuit board 27 rests on and is connected to the bosses 331. The height of the bosses 331 along the axis of the pivot 110 can be determined according to the size of the mounting gap mentioned above, so as to facilitate the assembly between the circuit board 27 and the mounting housing 30. The number of bosses 331 may include two, three, four, or any other number not less than two, so as to stably and reliably mount the circuit board 27 in the groove 33.

[0102] Along the axial direction of the rotating shaft 110 or the first gear 311, the first magnetic element 21 and the second magnetic element 22 can be arranged on the same horizontal plane. However, in this case, to ensure the mounting clearance between the corresponding magnetic element and the corresponding single-turn absolute magnetic encoder, it may be necessary to mount the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 on different circuit boards 27. Therefore, along the axial direction of the first gear 311, the first magnetic element 21 and the second magnetic element 22 have the same thickness, and along the axial direction of the first gear 311, the first magnetic element 21 and the second magnetic element 22 are located on the same horizontal plane. This allows the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 to be integrated on a single circuit board 27, thus saving installation space for the drive unit.

[0103] The second embodiment of this utility model also provides a joint module, which includes a moving component and a driving device. The moving component is connected to the output end of the reducer 12 of the driving device. For details on the structure of the driving device, please refer to the content provided in the first embodiment of this utility model, which will not be repeated here.

[0104] The third embodiment of this utility model also provides a robot, which includes a joint module. For details on the structure of the joint module, please refer to the description provided in the second embodiment of this utility model; it will not be repeated here.

[0105] The fourth embodiment of this utility model also provides a method for resetting a robot, which is performed by the robot. For example... Figure 7 As shown, the method includes the following steps:

[0106] Step S1: After the drive device is powered off and then powered on again, the controller 26 receives the first angle and the second angle so that the controller 26 can calculate the angle difference C based on the first angle and the second angle. The first angle is the angle of rotation of the shaft 110 of the motor 11 detected by the first single-turn absolute magnetic encoder 24 before the drive device is powered off, and the second angle is the angle of rotation of the second magnetic component 22 detected by the second single-turn absolute magnetic encoder 25 before the drive device is powered off.

[0107] Step S2: The controller 26 calculates the number of revolutions x of the shaft 110 of the motor 11 based on the value of m in the reduction ratio of the reducer 12 and the angle difference C, and determines the angular position p of the shaft 110 within the single revolution range based on the first angle.

[0108] Step S3: The controller 26 calculates the angle y of the rotation of the shaft 110 relative to the starting position based on the number of revolutions x and the angle position p, and controls the shaft 110 to rotate back to the starting position based on the angle y. The angle y satisfies the relationship: y = x × 360° + p.

[0109] Therefore, based on steps S1 to S3 described above, after the drive device is powered off and then powered on again, the controller 26 calculates the number of revolutions of the motor 11. Simultaneously, the controller 26 can also read the angular position p of the rotating shaft 110 within a single revolution (i.e., within a 360° range) through the first angle detected by the first single-turn absolute magnetic encoder 24. Subsequently, the robot can use the controller 26 to calculate the angle y of the rotating shaft 110's current position relative to its starting position based on the number of revolutions x and the angle position p. Then, based on the angle y, the robot controls the rotating shaft 110 to rotate back to its starting position. After the rotating shaft 110 returns to its starting position, the moving parts of the joint module automatically return to their factory posture, eliminating the need for manual restoration of the robot to its factory posture and enabling the recalibration of each single-turn absolute encoder. This reset method eliminates the need for a complex revolution detection device; the controller 26 only needs to use the added gear transmission system 231, the second magnetic component 22, and the second single-turn absolute magnetic encoder 25 to reset the robot's posture and zero each single-turn absolute encoder, improving the user experience.

[0110] The robot reset method provided in this embodiment also includes the following steps: when the drive device is powered on for the first time, the controller 26 sets the position of the rotating shaft 110 to the starting position so that the angle detected by each single-turn absolute magnetic encoder can be calculated based on the starting position.

[0111] In summary, in this embodiment, when the number of teeth of the first gear 311 is N1 and the number of teeth of the second gear 312 is N2, the principle of the robot's reset method is as follows when the ratio between N1 and N2 satisfies either N1:N2 = [(m-1)×n]:[m×n] or N1:N2 = [m×n]:[(m+1)×n]:

[0112] When the robot's joint module is powered on for the first time after leaving the factory, the controller 26 will set the position of the motor 11 at the moment of power-on as the starting position. After the motor 11 drives the shaft 110 to rotate one revolution, the position difference (i.e., the angle difference C) detected by the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 is 360° / m. After the motor 11 rotates x revolutions, the position difference detected by the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 is x×(360° / m). Even if the drive unit loses power, the angle difference C detected by the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25 will not change after the drive unit is powered on again. At this time, the controller 26 calculates the angle difference C, and can deduce the number of revolutions (i.e., x revolutions) of the motor 11 within the range of one revolution at the output end of the reducer 12. At the same time, the controller 26 can also read the accurate scale position p of the motor 11 within a single 360° revolution through the first single-turn absolute magnetic encoder 24 (e.g., if the motor 11 has rotated three revolutions and 30°, then x = 3, p = 30°). The controller 26 can calculate the relative position of the motor 11 with respect to the factory starting position as y = x × 360° + p, and then, based on the obtained y value, control the robot's joint module to return to its original position, and realize the zeroing operation of the first single-turn absolute magnetic encoder 24 and the second single-turn absolute magnetic encoder 25.

[0113] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0114] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0115] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A driving device, characterized in that, The drive device is at least disposed in the joint module of the robot, and the drive device includes: The drive assembly (10) includes a motor (11) and a reducer (12). The motor (11) includes a rotating shaft (110). The reducer (12) includes an input end and an output end. The input end is connected to the first end of the rotating shaft (110). The reduction ratio of the reducer (12) is 1:m, where m is an integer. A position detection component (20) includes a first magnetic element (21), a second magnetic element (22), a transmission component (23), a first single-turn absolute magnetic encoder (24), a second single-turn absolute magnetic encoder (25), and a controller (26). The first magnetic element (21) is mounted on the rotating shaft (110) and coaxially arranged with the rotating shaft (110). The first single-turn absolute magnetic encoder (24) is arranged opposite to the first magnetic element (21). The transmission component (23) is drively connected between the rotating shaft (110) and the second magnetic element (22). The second magnetic component (22) is rotated. The second single-turn absolute magnetic encoder (25) is arranged opposite to the second magnetic component (22). The controller (26) is connected to the first single-turn absolute magnetic encoder (24) and the second single-turn absolute magnetic encoder (25) respectively. The first single-turn absolute magnetic encoder (24) is used to transmit the first angle of the detected rotation of the shaft (110) to the controller (26). The second single-turn absolute magnetic encoder (25) is used to transmit the second angle of the detected rotation of the second magnetic component (22) to the controller (26). The transmission component (23) is configured such that the angle of rotation of the second magnetic component (22) is greater than or less than the angle of rotation of the shaft (110), the absolute value of the angle difference between the first angle and the second angle is C, the number of rotations of the shaft (110) when the number of rotations of the output end is not greater than one rotation is x, and C and x satisfy the relationship: C=x×(360°÷m), and the controller (26) is configured to calculate x based on the values ​​of C and m.

2. The driving device according to claim 1, characterized in that, The transmission component (23) includes: A gear transmission system (231) includes at least two meshing gears. Based on the power transmission sequence of the gear transmission system (231), the gear that is the first stage of the gear transmission system (231) is sleeved on the rotating shaft (110), and the second magnetic element (22) is coaxially disposed on the gear that is the last stage of the gear transmission system (231). The transmission ratio of the gear transmission system (231) is greater than or less than 1.

3. The driving device according to claim 1, characterized in that, The transmission component (23) includes a gear transmission system (231), which includes: The first gear (311) is sleeved on the rotating shaft (110). The first gear (311) and the first magnetic element (21) are both located at the second end of the rotating shaft (110) away from the input end and are coaxially arranged. The second gear (312) is mounted on one side of the first gear (311) along its own radial direction. The second gear (312) meshes with the first gear (311) and can rotate around its own axis. The second magnetic element (22) is mounted in the middle of the second gear (312) and is coaxially arranged with the second gear (312). The number of teeth of the second gear (312) is more or less than the number of teeth of the first gear (311).

4. The driving device according to claim 3, characterized in that, The first gear (311) has N1 teeth, and the second gear (312) has N2 teeth. The ratio between N1 and N2 satisfies the following relationship: N1:N2 = [(m-1)×n]:[m×n], where n is an integer; or, N1:N2 = [m×n]:[(m+1)×n], where n is an integer; And / or, The drive device further includes: The mounting housing (30) has a mounting cavity (301) inside. The motor (11) is mounted in the mounting cavity (301) and its second end extends outside the mounting cavity (301) to engage with the first gear (311). A rotating connection structure (40) is provided between the mounting housing (30) and the second gear (312), and the rotating connection structure (40) rotatably connects the second gear (312) to the mounting housing (30).

5. The driving device according to claim 4, characterized in that, The mounting housing (30) includes: The shell body (31) has a mounting hole (310) inside along the axial direction of the rotating shaft (110); An end cap (32) is disposed at one end of the housing body (31) and covers the mounting hole (310) along the axial direction of the rotating shaft (110). The end cap (32) and the inner wall of the mounting hole (310) form the mounting cavity (301). The second end extends through the end cap (32) to the outside of the mounting cavity (301). The rotating connection structure (40) is disposed between the end cap (32) and the second gear (312).

6. The driving device according to claim 5, characterized in that, The rotating connection structure (40) includes: A connecting hole (41) is provided on the end cap (32); The bearing (42) is fixedly connected to the inner wall of the connecting hole (41) on its outer peripheral surface. A connecting shaft (43) is provided, one end of which is connected to the second gear (312) and the other end is sleeved with the bearing (42), and the connecting shaft (43) and the second gear (312) are coaxially arranged.

7. The driving device according to claim 4, characterized in that, The position detection component (20) further includes: Circuit board (27), along the axial direction of the rotating shaft (110), the circuit board (27) is connected to the mounting housing (30) and is disposed opposite to the gear transmission system (231); Along the axial direction of the rotating shaft (110), the first single-turn absolute magnetic encoder (24) and the second single-turn absolute magnetic encoder (25) are spaced apart on the side of the circuit board (27) near the gear transmission system (231), and the first single-turn absolute magnetic encoder (24) and the second single-turn absolute magnetic encoder (25) have mounting gaps with the first gear (311) and the second gear (312), respectively; and / or, Along the axial direction of the rotating shaft (110), the controller (26) is located on the side of the circuit board (27) away from the gear transmission system (231).

8. The driving device according to claim 7, characterized in that, Along the axial direction of the rotating shaft (110), the mounting housing (30) has a groove (33) on the side near the circuit board (27), the gear transmission system (231) is located at the bottom of the groove (33), and the circuit board (27) is mounted in the groove (33); and / or, Along the axial direction of the first gear (311), the first magnetic element (21) and the second magnetic element (22) have the same thickness, and along the axial direction of the first gear (311), the first magnetic element (21) and the second magnetic element (22) are located on the same horizontal plane.

9. A joint module, characterized in that, The joint module includes: Moving parts; The driving device according to any one of claims 1 to 8, wherein the moving part is connected to the output end of the reducer (12) of the driving device.

10. A robot, characterized in that, The robot includes the joint module as described in claim 9.

Images