Joint power module and robot

Abstract

The utility model discloses a joint power module and robot relates to robot technical field, and joint power module includes drive mechanism and respectively fixedly installed in the speed reducer of drive mechanism both ends and control mechanism, rotor subassembly is coaxial with the power of speed reducer and links, adopts the frameless design of outer rotor, spares the drive mechanism of traditional motor, at the same time, stator subassembly is directly with the drive board of control mechanism and is solidly connected, realizes direct drive integrated design, through the simplification redundancy component, directly embeds drive mechanism in the compact space of speed reducer and control mechanism, makes the whole structure more compact, effectively shortens the axial dimension of joint power module, greatly reduces the installation space demand, can adapt to narrow installation environment, and the adaptability is promoted.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a joint power module and a robot. Background Technology

[0002] In the field of robotics, the joint power module, as the core execution unit for power transmission and motion control, directly reflects the overall performance of the robot system. Integrating precision transmission mechanisms, high-performance motor drives, intelligent control algorithms, and advanced sensing technologies, the joint power module has become an indispensable key component for industrial robots, service robots, and special-purpose robots due to its outstanding advantages such as high precision, long lifespan, good stability, and high reliability.

[0003] The core parameters of the joint motion module, such as torque density, power-to-weight ratio, and control bandwidth, not only determine the robot's basic performance, including dynamic response speed and repeatability, but also directly affect the smoothness of motion, energy efficiency, and operational reliability of the entire system. Especially in the field of special robots requiring highly biomimetic motion capabilities, such as humanoid robots, exoskeletons, quadrupedal biomimetic robots, and portable operational robots, the demands on the joint motion module are more stringent due to multiple limitations imposed by endurance, space constraints, and complex working conditions. This requirement is driving the continuous development of joint motion modules towards greater compactness, efficiency, and intelligence.

[0004] However, existing joint power modules often need to integrate multiple precision transmission components such as harmonic reducers, electromagnetic brakes, and dual encoders. At the same time, they also need to be protected by a heavy metal shell. This design results in an excessively long overall length of the joint power module, making it difficult to adapt to robots with narrow installation spaces, thus limiting its application range and reducing its adaptability. Utility Model Content

[0005] The purpose of this utility model is to provide a joint power module and robot. The drive mechanism adopts an external rotor frameless design and is directly integrated into the control mechanism, which shortens the overall length, adapts to narrow installation environments, and improves adaptability. This effectively solves the technical problem that the adaptability of existing joint power modules is reduced due to their inability to adapt to narrow spaces.

[0006] To achieve the above objectives, this utility model provides a joint power module, including a drive mechanism and a reduction mechanism and a control mechanism respectively fixed at both ends of the drive mechanism;

[0007] The drive mechanism includes a protective cover, a stator assembly, and a rotor assembly rotatably disposed between the protective cover and the stator assembly; both ends of the protective cover abut against the reduction mechanism and the control mechanism; the rotor assembly is coaxially connected to the power component of the reduction mechanism, and the stator assembly is fixedly connected to the drive plate of the control mechanism.

[0008] In some embodiments, the control mechanism further includes dual encoders embedded in the drive plate, the dual encoders including a first encoder group and a second encoder group that are independent of each other; the first encoder group is fixedly connected to the rotor assembly and is used to detect the current mechanical angle value of the motor shaft of the rotor assembly; the second encoder group is fixedly connected to the output end of the reduction mechanism and is used to detect the current mechanical angle value of the output shaft of the reduction mechanism.

[0009] In some embodiments, the first encoder group includes a first magnetic ring shaft, a first magnetic ring, and a first encoder plate; the second encoder group includes a second magnetic ring shaft, a second magnetic ring, and a second encoder plate.

[0010] The first magnetic ring shaft is fixedly connected to the rotor assembly, and the second magnetic ring shaft is fixedly connected to the wire guard of the reduction mechanism.

[0011] The dual encoder also includes a spacer ring disposed on the first magnetic ring and the second magnetic ring, the spacer ring being used to separate the magnetic fields of the first magnetic ring and the second magnetic ring; a first boss is formed at the end of the first magnetic ring shaft facing the spacer ring, and the first magnetic ring is fixedly fitted on the first boss; a second boss is formed at the end of the second magnetic ring shaft facing the spacer ring, and the second magnetic ring is fixedly fitted on the second boss.

[0012] The spacer ring has a first fixed groove and a second fixed groove formed at both ends. The first encoder plate is fixed in the first fixed groove and the second encoder plate is fixed in the second fixed groove. The first encoder plate is equipped with a first encoder, which is used to detect the rotation parameters of the rotor assembly. The second encoder plate is equipped with a second encoder, which is used to detect the rotation parameters of the output end of the reduction mechanism.

[0013] In some embodiments, the dual encoder further includes an encoder housing fixed outside the spacer ring, the encoder housing being fixed between the stator support of the stator assembly and the end cover of the control mechanism; the first magnetic ring shaft, the spacer ring, the second magnetic ring shaft and the encoder housing are all magnetic conductive elements to form a closed magnetic field; the first encoder plate and the second encoder plate are both located within the closed magnetic field.

[0014] In some embodiments, the deceleration mechanism is a harmonic reducer, which includes a reducer body, an end flange of the cable sleeve fixedly connected to the reducer body, a protective cover and the reducer body having end faces abutting each other, and a positioning protrusion ring protruding from one end of the protective cover facing the reducer body, the positioning protrusion ring being fitted into the positioning groove of the reducer body.

[0015] In some embodiments, the end cover is fixedly connected to the end of the protective housing away from the reducer body; the end cover is provided with a limiting flange extending into the protective housing, the end face of the limiting flange abutting against the drive plate; the end cover is provided with a through hole for the second magnetic ring shaft to pass through, the hole of the through hole is formed with a supporting flange along the protrusion, the end face of the supporting flange abutting against the end face of the encoder housing, and the supporting flange and the second magnetic ring shaft are rotatably connected by a shaft end bearing.

[0016] In some embodiments, one end of the rotor assembly is provided with a connecting flange, and the power component is coaxially connected to the connecting flange via a coupling; the other end of the rotor assembly is fixedly connected to the first magnetic ring shaft; the outer surface of the first magnetic ring shaft is provided with a first flange ring, and the rotor assembly and the first magnetic ring respectively abut against the two ends of the first flange ring;

[0017] The cable sleeve passes axially through the power unit, coupling, rotor assembly, and dual encoders in sequence.

[0018] In some embodiments, the drive board is provided with a plurality of Hall sensors. In the circumferential direction of the drive board, each Hall sensor is deployed in the middle of adjacent stator slots with opposite winding currents. In the radial direction of the drive board, each Hall sensor is separated from all the stator magnets of the rotor assembly by a set distance. The control mechanism is used to calculate the current rotor electrical angle value of the rotor assembly based on the voltage value of each Hall sensor.

[0019] In some embodiments, all Hall sensors, the first encoder, and the second encoder are electrically connected to the control mechanism; the control mechanism is used to calculate the number of electrical angle turns based on the current mechanical angle value of the motor shaft and the current mechanical angle value of the output shaft, and to calculate the absolute power-on position of the joint power module based on the number of electrical angle turns and the current rotor electrical angle value.

[0020] This utility model also provides a robot, including the above-mentioned joint power module.

[0021] Compared to the prior art, in this invention, the reduction mechanism and the control mechanism are respectively fixed at both ends of the drive mechanism. The drive mechanism includes a protective cover, a stator assembly, and a rotor assembly, with both ends of the protective cover abutting between the reduction mechanism and the control mechanism. Crucially, the rotor assembly is coaxially connected to the power component of the reduction mechanism, employing an external rotor frameless design, eliminating the need for the transmission mechanism of a traditional motor. Simultaneously, the stator assembly is directly fixed to the drive plate of the control mechanism, achieving a direct-drive integrated design. By simplifying redundant components, the drive mechanism is directly embedded into the compact space of the reduction mechanism and the control mechanism, making the overall structure more compact, effectively shortening the axial dimension of the joint power module, significantly reducing installation space requirements, adapting to narrow installation environments, and improving adaptability. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 This is an isometric view of the joint power module provided in an embodiment of the present invention;

[0024] Figure 2 for Figure 1 A sectional view;

[0025] Figure 3 for Figure 1 Cross-sectional view of the dual encoder;

[0026] Figure 4 for Figure 1 Assembly diagram of the drive board and stator assembly;

[0027] Figure 5 for Figure 1 A schematic diagram showing the distribution of the Hall sensors on the driver board;

[0028] Figure 6 for Figure 4 A schematic diagram showing the distribution of the Hall sensors.

[0029] The attached figures are labeled as follows:

[0030] Drive mechanism 1, reduction mechanism 2, control mechanism 3, and coupling 4;

[0031] Protective housing 11, stator assembly 12, rotor assembly 13, external bearing 14 and internal bearing 15;

[0032] Positioning protrusion 111;

[0033] Stator bracket 121 and stator 122;

[0034] Connecting flange 131;

[0035] Power component 21, cable sleeve 22 and reducer body 23;

[0036] End flange 221;

[0037] Drive board 31, dual encoders 32, end cover 33, shaft end bearing 34, and Hall sensor 35;

[0038] The encoder comprises a first magnetic ring shaft 321, a first magnetic ring 322, a first encoder plate 323, a second magnetic ring shaft 324, a second magnetic ring 325, a second encoder plate 326, a spacer 327, and an encoder housing 328.

[0039] Limiting flange 331, through hole 332 and supporting flange 333;

[0040] First flange ring 3211;

[0041] Second flange ring 3241. Detailed Implementation

[0042] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0043] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] This utility model discloses a joint power module, as shown in the attached figure. Figure 1 and 2 As shown, the device includes a drive mechanism 1, a reduction mechanism 2, and a control mechanism 3. The reduction mechanism 2 and the control mechanism 3 are respectively fixed at both ends of the drive mechanism 1. The drive mechanism 1 can be a servo motor, and the reduction mechanism 2 can be a harmonic reducer. The control mechanism 3 controls the drive mechanism 1 to rotate at a set speed and torque. The generated power is transmitted to the reduction mechanism 2, where it is reduced in speed and increased in torque before being transmitted to the actuator.

[0045] The drive mechanism 1 includes a protective housing 11, a stator assembly 12, and a rotor assembly 13 rotatably disposed between the protective housing 11 and the stator assembly 12. The rotor assembly 13 is coaxially connected to the power component 21 of the reduction mechanism 2, and adopts an external rotor frameless design, eliminating the transmission mechanism of a traditional motor. Meanwhile, the stator assembly 12 is directly fixed to the drive plate 31 of the control mechanism 3, realizing a direct drive integrated design.

[0046] This invention optimizes the structure of the joint power module by simplifying redundant components and directly embedding the drive mechanism 1 into the compact space of the reduction mechanism 2 and the control mechanism 3, making the overall structure more compact, effectively shortening the axial dimension of the joint power module, significantly reducing the installation space requirements, adapting to narrow installation environments, and improving adaptability.

[0047] As a preferred embodiment, as shown in the appendix Figure 2 As shown, the control mechanism 3 also includes a dual encoder 32 embedded in the drive plate 31, which is used to accurately distinguish the absolute positions of the drive mechanism 1 and the reduction mechanism 2 of the joint power module.

[0048] As attached Figure 2 and 3 As shown, the dual encoder 32 includes a first encoder group and a second encoder group that are independent of each other; the first encoder group is fixedly connected to the rotor assembly 13 and is used to detect the rotation parameters of the rotor assembly 13; the second encoder group is fixedly connected to the output end of the reduction mechanism 2 and is used to detect the rotation parameters of the output end of the reduction mechanism 2.

[0049] As attached Figure 2 and 3 As shown, the first encoder group includes a first magnetic ring shaft 321, a first magnetic ring 322, and a first encoder plate 323; the second encoder group includes a second magnetic ring shaft 324, a second magnetic ring 325, and a second encoder plate 326. The first magnetic ring shaft 321 is fixedly connected to the rotor assembly 13, and the second magnetic ring shaft 324 is fixedly connected to the cable sheath 22 of the reduction mechanism 2. Specifically, the first magnetic ring shaft 321 and the rotor assembly 13, as well as the second magnetic ring shaft 324 and the cable sheath 22, are both hole-shaft mating structures, and the two connected together are fixedly connected by an interference fit. Of course, adhesive bonding can also be used instead of an interference fit.

[0050] A first boss is formed on the end of the first magnetic ring shaft 321 facing the spacer 327. The first boss is fixedly fitted with a first magnetic ring 322. The rotor assembly 13 drives the first magnetic ring 322 to rotate synchronously via the first magnetic ring shaft 321. A second boss is formed on the end of the second magnetic ring shaft 324 facing the spacer 327. The second boss is fixedly fitted with a second magnetic ring 325. The wire sheath 22 drives the second magnetic ring 325 to rotate synchronously via the second magnetic ring shaft 324. Both the first boss and the first magnetic ring 322, and the second boss and the second magnetic ring 325, are connected by interference fit. Of course, adhesive bonding can also be used instead of interference fit.

[0051] The dual encoder 32 also includes a spacer 327 disposed on the first magnetic ring 322 and the second magnetic ring 325, which is used to separate the magnetic fields of the first magnetic ring 322 and the second magnetic ring 325, so as to avoid the first encoder and the second encoder being affected by the two magnetic rings during the detection process, and the detection accuracy of the two encoders is higher.

[0052] The spacer 327 has a first fixing groove and a second fixing groove formed at its two ends, respectively. A first encoder plate 323 is fixedly mounted in the first fixing groove, and the first encoder plate 323 is equipped with a first encoder. A second encoder plate 326 is fixedly mounted in the second fixing groove, and the second encoder plate 326 is equipped with a second encoder. When the first magnetic ring 322 rotates, the first encoder detects the current mechanical angle value of the motor shaft of the rotor assembly 13 by detecting the rotation parameters of the first magnetic ring 322. When the second magnetic ring 325 rotates, the second encoder detects the current mechanical angle value of the output shaft of the reduction mechanism 2 by detecting the second magnetic ring 325. The motor shaft mechanical angle value refers to the mechanical angular position of the rotor assembly 13 relative to the protective cover 11, reflecting the actual physical position of the rotor assembly 13; the output shaft mechanical angle value refers to the mechanical angular position of the output shaft of the reduction mechanism 2 relative to the input shaft, reflecting the actual output angle after reduction by the reduction mechanism 2. Both the first encoder and the second encoder are preferably Hall sensors.

[0053] As a preferred embodiment, as shown in the appendix Figure 2 and 4 As shown, the stator assembly 12 includes a stator support 121 and a plurality of stators 122 fixed to the stator support 121. (See attached diagram) Figure 3 As shown, the dual encoder 32 also includes an encoder housing 328 fixedly sleeved outside the spacer 327. The encoder housing 328 is fixed between the stator support 121 of the stator assembly 12 and the end cover 33 of the control mechanism 3. Specifically, the outer side of the stator support 121 is provided with a limiting step, and the end cover 33 is provided with a supporting flange 333. The two ends of the encoder housing 328 abut against the limiting step and the supporting flange respectively, thereby axially limiting the position of the dual encoder 32. The inner sidewall of the encoder housing 328 is provided with an annular groove, which is interference-fitted with the spacer 327. Of course, adhesive bonding can also be used instead of interference fit.

[0054] The first magnetic ring shaft 321, spacer 327, second magnetic ring shaft 324, and encoder housing 328 are all magnetically conductive components, i.e., made of magnetically conductive material. This allows the first magnetic ring shaft 321, spacer 327, second magnetic ring shaft 324, and encoder housing 328 to form a closed magnetic field. The first encoder plate 323 and the second encoder plate 326 are both located within this closed magnetic field, reducing the influence of the magnetic field of the drive mechanism 1 on the first and second encoders on the dual encoder 32 and effectively improving the detection accuracy of the dual encoder 32.

[0055] As a preferred embodiment, as shown in the appendix Figure 2As shown, the reduction mechanism 2 is a harmonic reducer. The reduction mechanism 2 includes a reducer body 23. The end of the protective sleeve 22 has an end flange 221. The end flange 221 is opposite to the end of the reducer body 23 and is fixedly connected to the reducer body 23. The end flange 221 plays the role of protecting the harmonic reducer. By separating the actuator and the harmonic reducer, it effectively prevents the actuator from damaging the harmonic reducer and improves the working reliability of the harmonic reducer.

[0056] The end faces of the protective cover 11 and the reducer body 23 abut against each other; the end of the protective cover 11 facing the reducer body 23 is provided with a positioning protrusion ring 111, which is engaged with the positioning groove of the reducer body 23. During assembly, the protective cover 11 and the reducer body 23 can be quickly positioned in the axial and radial directions, thereby improving assembly accuracy and assembly efficiency.

[0057] As a preferred embodiment, as shown in the appendix Figure 2 As shown, the control mechanism 3 includes an end cover 33, which is fixedly connected to the end of the protective cover 11 away from the reducer body 23. Specifically, the end cover 33 can be fixed to the protective cover 11 by fastening screws. The outer diameters of the reducer body 23, the protective cover 11, and the end cover 33 are equal, ensuring that the outer surfaces of the reduction mechanism 2, the drive mechanism 1, and the control mechanism 3 are flush. This prevents excessive gaps at the joints due to height differences, thus improving the sealing of the joint power module.

[0058] As attached Figure 2 As shown, the end cover 33 has a limiting flange 331 extending into the protective cover 11. The end face of the limiting flange 331 abuts against the drive plate 31, thereby axially limiting the position of the drive plate 31 and, consequently, axially limiting the position of the stator assembly 12. The end cover 33 has a through hole 332 for the second magnetic ring shaft 324 to pass through. A supporting flange 333 is formed along the protrusion of the through hole 332. The end face of the supporting flange 333 abuts against the end face of the encoder housing 328, thereby axially limiting the position of the dual encoders 32. The supporting flange 333 and the second magnetic ring shaft 324 are rotatably connected by a shaft end bearing 34, allowing the second magnetic ring shaft 324 to rotate relative to the end cover 33. The shaft end bearing 34 can be a roller bearing, but is not limited to this.

[0059] Specifically, the second magnetic ring shaft 324 is provided with a second flange ring 3241. One end of the second flange ring 3241 abuts against the second magnetic ring 325, and the other end forms a stop shoulder. An annular retaining ring is formed on the inner wall of the through hole 332. The stop shoulder and the annular retaining ring abut against the two ends of the outer ring of the shaft end bearing 34, respectively.

[0060] In a preferred embodiment, the power component 21 is specifically a wave generator. (See attached diagram.) Figure 2As shown, one end of the rotor assembly 13 is provided with a connecting flange 131. The power component 21 is coaxially connected to the connecting flange 131 through a coupling 4, so that the wave generator rotates synchronously with the rotor assembly 13, and the rotor assembly 13 transmits power to the wave generator. After the harmonic reducer reduces the speed and increases the torque, the power is output through the reducer body 23. The other end of the rotor assembly 13 is fixedly connected to the first magnetic ring shaft 321. The outer surface of the first magnetic ring shaft 321 is provided with a first flange ring 3211. The rotor assembly 13 and the first magnetic ring 322 abut against the two ends of the first flange ring 3211, respectively, to axially limit the position of the first magnetic ring 322. The end face of the first flange ring 3211 away from the first magnetic ring 322 is flush with the first end face of the encoder housing 328, and the end face of the second flange ring 3241 away from the second magnetic ring 325 is flush with the second end face of the encoder housing 328.

[0061] In a preferred embodiment, the connecting flange 131 is rotatably connected to the protective housing 11 via an external bearing 14, causing the rotor assembly 13 to rotate relative to the protective housing 11. The stator support 121 is rotatably connected to the rotor assembly 13 via an internal bearing 15, causing the rotor assembly 13 to rotate relative to the stator assembly 12.

[0062] Specifically, the protective cover 11 has a limiting shoulder at one end facing the connecting flange 131, and a limiting ring is formed inside the through hole of the protective cover 11. The limiting shoulder and the limiting ring abut against the two ends of the outer ring of the external bearing 14, thereby axially limiting the external bearing 14. Two sets of internal bearings 15 are provided between the stator support 121 and the rotor assembly 13. A stop step is formed inside the rotor assembly 13, and an annular boss on the outer arm of the stator support 121. The two ends of one of the internal bearings 15 abut against the first end face of the annular boss, and the two ends of the other internal bearing 15 abut against the second end face of the annular boss and the first flange ring 3211, respectively.

[0063] As a preferred embodiment, as shown in the appendix Figure 2 As shown, the cable sleeve 22 passes through the power component 21, coupling 4, rotor assembly 13 and dual encoder 32 in sequence along the axial direction. In addition to preventing damage to the harmonic reducer, the cable sleeve 22 has a wire hole in the center for the cable to pass through, preventing the cable from being worn by the high-speed rotating rotor assembly 13, eliminating the risk of poor connection due to cable breakage, and improving the working reliability of the joint power module.

[0064] As a preferred embodiment, as shown in the appendix Figure 4 and 5As shown, the drive plate 31 is provided with a plurality of Hall sensors 35. Preferably, the number of Hall sensors 35 can be set to 6. In order to save axial space and reduce the axial movement of the rotor shaft of the rotor assembly 13 caused by installation, the 6 Hall sensors 35 can be symmetrically arranged on the drive plate 31. In order to avoid interference between adjacent Hall sensors 35, the 6 Hall sensors 35 can be evenly distributed on the drive plate 31.

[0065] To counteract the effect of the armature magnetic field generated by the current on the Hall sensor 35, each Hall sensor 35 is deployed in the middle of adjacent stator slots with opposite winding currents on the drive board 31, as shown in the attached figure. Figure 6 As shown. The drive mechanism 1 contains a large number of stator slots. The specific location of the Hall sensor 35 in which it is placed is affected by the number of slots, the number of pole pairs, and the winding method. Preferably, the number of slots, the number of pole pairs, and the winding method of the drive mechanism 1 can be obtained; based on the number of slots, the number of pole pairs, the winding method, and the total number of Hall sensors 35, the circumferential deployment position of each Hall sensor 35 can be determined.

[0066] To ensure the magnetic field strength remains within the reasonable range of the Hall sensor 35, each Hall sensor 35 is separated from all the stator magnets of the rotor assembly 13 by a predetermined distance in the radial direction of the drive plate 31. The predetermined distance can be determined based on the magnetic field strength between each Hall sensor 35 and all the stator magnets of the rotor assembly 13. In practical applications, the distance between the Hall sensor 35 and all the stator magnets of the rotor assembly 13 can be determined through magnetic field simulation, ensuring the magnetic field strength remains within the reasonable range of the Hall sensor 35. Taking any single Hall sensor, i.e., the target Hall sensor, as an example, magnetic field simulation can be used to determine the magnetic field strength between the target Hall sensor 35 and all the stator magnets of the rotor assembly 13 at different distances; the distance corresponding to the magnetic field strength falling within the predetermined range is then taken as the predetermined distance.

[0067] The control mechanism 3 is used to calculate the current rotor electrical angle value of the rotor assembly 13 based on the voltage values ​​of each Hall sensor. This design can effectively improve the anti-interference capability of each Hall sensor 35 and improve the accuracy of the rotor electrical angle value of the rotor assembly 13. Moreover, the determination of the rotor electrical angle value of the rotor assembly 13 can be achieved by relying on only a few Hall sensors 35, thus saving hardware costs.

[0068] Specifically, the electrical angle value of the rotor assembly 13 is first detected based on the Hall sensor 35, thereby determining the current position of the rotor assembly 13; then the voltage values ​​of each Hall sensor 35 are converted into Gaussian values ​​of magnetic field strength; next, the peak value of each Gaussian value of magnetic field strength is adjusted according to the peak normalization method; finally, the current rotor electrical angle value of the rotor assembly 13 is determined based on the peak value of the adjusted Gaussian value of magnetic field strength and the phase difference value of each Hall sensor 35.

[0069] All Hall sensors 35, the first encoder, and the second encoder are electrically connected to the control mechanism 3. The control mechanism 3 calculates the number of electrical angle turns based on the current mechanical angle values ​​of the motor shaft and the current mechanical angle value of the output shaft, enabling the joint module to quickly determine its absolute position upon power-up without additional initialization steps, thus improving the system's positioning accuracy and response speed. Simultaneously, the control mechanism 3 also calculates the absolute position of the joint power module upon power-up based on the number of electrical angle turns and the current rotor electrical angle value, achieving high-precision absolute position positioning without additional initialization steps or complex motion processes. This significantly shortens the system's startup time, improves the system's response speed, and eliminates the need for additional absolute position encoders or other complex position detection equipment, simplifying system design and reducing costs.

[0070] The electrical angle revolutions are obtained through a calibration mapping relationship, reflecting the total number of motor shaft revolutions and the specific position of the electrical angle within the motor revolutions. The calibration mapping relationship is established based on high-precision experimental data and an accurate mathematical model, effectively compensating for tolerances and nonlinear errors in the system. The current rotor electrical angle value is measured using a Hall sensor array. Hall sensors possess high sensitivity and fast response characteristics, enabling precise measurement of the motor rotor's electrical angle position at power-on. Combining the electrical angle revolutions and the current rotor electrical angle value yields a high-precision absolute power-on position of the joint module. The absolute power-on position refers to the precise mechanical position of the joint module in the global coordinate system at the instant of power-on.

[0071] This utility model also provides a robot, including the above-mentioned joint power module, which has the same beneficial effects.

[0072] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0073] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A joint power module, characterized in that, It includes a drive mechanism (1) and a deceleration mechanism (2) and a control mechanism (3) respectively fixed at both ends of the drive mechanism (1); The drive mechanism (1) includes a protective cover (11), a stator assembly (12), and a rotor assembly (13) rotatably disposed between the protective cover (11) and the stator assembly (12); the two ends of the protective cover (11) abut against the deceleration mechanism (2) and the control mechanism (3); the rotor assembly (13) is coaxially connected to the power component (21) of the deceleration mechanism (2), and the stator assembly (12) is fixedly connected to the drive plate (31) of the control mechanism (3).

2. The joint power module according to claim 1, characterized in that, The control mechanism (3) further includes a dual encoder (32) embedded in the drive plate (31). The dual encoder (32) includes a first encoder group and a second encoder group that are independent of each other. The first encoder group is fixedly connected to the rotor assembly (13) and is used to detect the rotation parameters of the rotor assembly (13). The second encoder group is fixedly connected to the output end of the deceleration mechanism (2) and is used to detect the rotation parameters of the output end of the deceleration mechanism (2).

3. The articulation power module of claim 2, wherein, The first encoder group includes a first magnetic ring shaft (321), a first magnetic ring (322), and a first encoder plate (323); the second encoder group includes a second magnetic ring shaft (324), a second magnetic ring (325), and a second encoder plate (326). The first magnetic ring shaft (321) is fixedly connected to the rotor assembly (13), and the second magnetic ring shaft (324) is fixedly connected to the wire sheath (22) of the deceleration mechanism (2); The dual encoder (32) further includes a spacer (327) disposed on the first magnetic ring (322) and the second magnetic ring (325), the spacer (327) being used to separate the magnetic fields of the first magnetic ring (322) and the second magnetic ring (325); a first boss is formed at one end of the first magnetic ring shaft (321) facing the spacer (327), the first boss being fixedly fitted with the first magnetic ring (322); a second boss is formed at one end of the second magnetic ring shaft (324) facing the spacer (327), the second boss being fixedly fitted with the second magnetic ring (325). The spacer (327) has a first fixing groove and a second fixing groove formed at both ends, the first encoder plate (323) is fixed in the first fixing groove, and the second encoder plate (326) is fixed in the second fixing groove; the first encoder plate (323) is provided with a first encoder, which is used to detect the current mechanical angle value of the motor shaft of the rotor assembly (13); the second encoder plate (326) is provided with a second encoder, which is used to detect the current mechanical angle value of the output shaft of the output end of the reduction mechanism (2).

4. The joint power module according to claim 3, characterized in that, The dual encoder (32) also includes an encoder housing (328) fixedly sleeved outside the spacer (327). The encoder housing (328) is fixed between the stator support (121) of the stator assembly (12) and the end cover (33) of the control mechanism (3). The first magnetic ring shaft (321), the spacer (327), the second magnetic ring shaft (324) and the encoder housing (328) are all magnetic conductive parts to form a closed magnetic field. The first encoder plate (323) and the second encoder plate (326) are both located within the closed magnetic field.

5. The joint power module according to claim 4, characterized in that, The deceleration mechanism (2) is a harmonic reducer. The deceleration mechanism (2) includes a reducer body (23). The end flange (221) of the cable sleeve (22) is fixedly connected to the reducer body (23). The end faces of the protective cover (11) and the reducer body (23) abut against each other. The protective cover (11) has a positioning protrusion (111) at one end facing the reducer body (23). The positioning protrusion (111) is engaged with the positioning groove of the reducer body (23).

6. The articulation power module of claim 5, wherein, The end cap (33) is fixedly connected to the end of the protective cover (11) away from the reducer body (23); the end cap (33) is provided with a limiting flange (331) extending into the protective cover (11), and the end face of the limiting flange (331) abuts against the drive plate (31); the end cap (33) is provided with a through hole (332) for the second magnetic ring shaft (324) to pass through, and a supporting flange (333) is formed along the hole of the through hole (332), and the end face of the supporting flange (333) abuts against the end face of the encoder housing (328), and the supporting flange (333) and the second magnetic ring shaft (324) are rotatably connected by a shaft end bearing (34).

7. The joint power module according to claim 6, characterized in that, One end of the rotor assembly (13) is provided with a connecting flange (131), and the power component (21) is coaxially connected to the connecting flange (131) through a coupling (4); the other end of the rotor assembly (13) is fixedly connected to the first magnetic ring shaft (321); the outer side of the first magnetic ring shaft (321) is provided with a first flange ring (3211), and the rotor assembly (13) and the first magnetic ring (322) respectively abut against the two ends of the first flange ring (3211); The cable sleeve (22) passes through the power component (21), the coupling (4), the rotor assembly (13) and the dual encoder (32) in sequence along the axial direction.

8. The joint power module according to any one of claims 3 to 7, characterized in that, The drive plate (31) is provided with a plurality of Hall sensors (35). Each Hall sensor (35) is deployed in the middle of an adjacent stator slot with opposite winding current in the circumferential direction of the drive plate (31). In the radial direction of the drive plate (31), each Hall sensor (35) is separated from all the stator magnets of the rotor assembly (13) by a set distance. The control mechanism (3) is used to calculate the current rotor electrical angle value of the rotor assembly (13) based on the voltage value of each Hall sensor (35).

9. The joint power module according to claim 8, characterized in that, All of the Hall sensors (35), the first encoder and the second encoder are electrically connected to the control mechanism (3); the control mechanism (3) is used to calculate the number of electrical angle turns based on the current mechanical angle value of the motor shaft and the current mechanical angle value of the output shaft, and to calculate the power-on absolute position of the joint power module based on the number of electrical angle turns and the current rotor electrical angle value.

10. A robot, characterized in that, Includes the joint power module as described in any one of claims 1 to 9.

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