A double encoder hollow harmonic reducer joint module with input encoder structure optimization

Abstract

The utility model discloses a kind of double-encoder hollow harmonic speed reducer joint module of input end encoder structure optimization, including shell, shell is provided with frameless torque motor, harmonic reducer and brake are provided on frameless torque motor;Frameless torque motor is provided with input end encoder for detecting the change angle and speed of frameless torque motor in;Output end encoder assembly and controller are provided in the shell, the input end of controller is connected to the output end of output end encoder assembly and input end encoder, the input end of frameless torque motor and brake is respectively connected to the output end of controller.The utility model integrates magnetic encoder chip in motor stator circuit board, cooperates with the multi-stage magnetic steel on rotor, realizes the miniaturization, low cost and high integration of motor end encoder, effectively reduces the axial dimension and overall cost of harmonic speed reducer joint module, also reduces the complexity of assembly.

Description

Technical Field

[0001] This utility model relates to the field of harmonic reducer technology, and more specifically to a dual-encoder hollow harmonic reducer joint module with optimized input encoder structure. Background Technology

[0002] With the rapid development of robotics, high-end equipment, and automation, more stringent requirements have been placed on the performance, size, and cost of harmonic reducer joint modules. Currently, harmonic reducer joint modules generally adopt a hollow structure for ease of wiring and are equipped with independently mounted optical or magnetoelectric encoders. This results in a large structural size, complex installation process, and high cost. Especially in applications where space and cost are extremely sensitive, traditional encoder solutions severely restrict the compactness and cost reduction of harmonic reducer joint modules. Therefore, there is an urgent need for a highly integrated, compact, and cost-effective encoder placement solution to comprehensively enhance the overall competitiveness of harmonic reducer joint modules. Summary of the Invention

[0003] The technical problem to be solved by this utility model is to provide a dual encoder hollow harmonic reducer joint module with optimized input encoder structure, which reduces the axial dimension of the motor, lowers the system support plate, and ensures the accuracy and reliability of motion control.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows.

[0005] A dual-encoder hollow harmonic reducer joint module with optimized input encoder structure includes a housing, within which a frameless torque motor is housed, and a harmonic reducer and a brake are mounted on the frameless torque motor. An input encoder for detecting changes in the angle and speed of the frameless torque motor is housed within the frameless torque motor. An output encoder assembly for detecting changes in the angle and speed at the output end of the harmonic reducer joint module, and a controller for controlling the operation of the frameless torque motor and the brake based on signals detected by the encoders, are also housed within the housing. The output ends of the output encoder assembly and the input encoder are connected to the input ends of the controller, and the output ends of the controller are respectively connected to the input ends of the frameless torque motor and the brake.

[0006] To further optimize the technical solution, the harmonic reducer includes a motor input shaft and a reduction output shaft, with the output encoder assembly mounted on the reduction output shaft.

[0007] Further optimizing the technical solution, the frameless torque motor includes a stator and a rotor connected to the motor input shaft.

[0008] To further optimize the technical solution, the input encoder includes several pairs of multi-stage magnets mounted on the rotor and an annular circuit board mounted on the stator. The inner edge of the annular circuit board is provided with a magnetic encoder detection chip near the multi-stage magnets for detecting changes in the magnetic field of the multi-stage magnets and calculating the rotation angle of the motor. The output end of the magnetic encoder detection chip is connected to the input end of the controller.

[0009] To further optimize the technical solution, the brake includes a brake coil body and brake pads mounted on the motor input shaft or reduction output shaft of the harmonic reducer.

[0010] To further optimize the technical solution, the output encoder assembly includes an encoder circuit board mounted on the housing and an annular magnet mounted on the output shaft of the harmonic reducer. The encoder circuit board is equipped with an encoder detection chip facing the annular magnet for acquiring the rotation angle of the harmonic reducer. The output end of the encoder detection chip is connected to the input end of the controller.

[0011] To further optimize the technical solution, the annular magnet is mounted on the deceleration output shaft via a magnet mounting surface.

[0012] The technological advancements achieved by this utility model are as follows, due to the adoption of the above technical solutions.

[0013] This invention provides a dual-encoder hollow harmonic reducer joint module with optimized input encoder structure. By integrating the magnetic encoder chip onto the motor stator circuit board and cooperating with the multi-stage magnets on the rotor, it eliminates the installation space and structural components of traditional independent encoders. This achieves miniaturization, cost reduction, and high integration of the motor-end encoder, effectively reducing the axial dimension and overall cost of the harmonic reducer joint module, and also lowering assembly complexity. Simultaneously, combined with a high-performance output encoder, it ensures system accuracy while providing a more competitive solution for the application of harmonic reducer joint modules in collaborative robots, precision automation, and other fields. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the exploded structure of this utility model; Figure 3 This is a top view showing the structure of the input encoder of this utility model inside a frameless torque motor; Figure 4 This is a schematic diagram of the structure of the brake pads of this utility model mounted on the reduction output shaft.

[0015] The components are: 1. Harmonic reducer, 11. Motor input shaft, 12. Reducer output shaft, 2. Frameless torque motor, 21. Rotor, 211. Multi-stage magnet, 22. Stator, 221. Ring circuit board, 23. Magnetic encoder detection chip, 3. Brake, 31. Brake coil body, 32. Brake pad, 4. Housing, 41. End cover, 5. Output encoder assembly, 51. Encoder circuit board, 511. Encoder detection chip, 52. Magnet mounting surface, 53. Ring magnet, 6. Controller. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0017] A dual-encoder hollow harmonic reducer joint module with optimized input encoder structure, combined with Figures 1 to 3 As shown, the device includes a housing 4, with an end cover 41 on the housing 4. Inside the housing 4 are a harmonic reducer 1, a frameless torque motor 2, a brake 3, an output encoder assembly 5, and a controller 6. The frameless torque motor 2 has an input encoder, which is used to detect the changes in angle and speed of the frameless torque motor. The output encoder assembly 5 is used to detect the changes in angle and speed of the output end of the harmonic reducer joint module. The output ends of the input encoder and the output encoder assembly 5 are respectively connected to the input end of the controller 6. The output end of the controller is respectively connected to the input ends of the frameless torque motor 2 and the brake 3.

[0018] The harmonic reducer 1 includes a motor input shaft 11 and a reduction output shaft 12. The motor input shaft 11 is connected to the frameless torque motor 2. High reduction ratio motion transmission is achieved through the motor input shaft and the reduction output shaft. The output encoder assembly 5 is mounted on the reduction output shaft 12.

[0019] The frameless torque motor 2 includes a rotor 21 and a stator 22. The rotor 21 is connected to the motor input shaft 11. An input encoder is mounted on the frameless torque motor 2, including a multi-stage magnet 211 mounted on the rotor 21 and a ring circuit board 221 mounted on the stator 22. The multi-stage magnets are arranged in several pairs, and their number can be selected according to the resolution requirements. The equivalent resolution of the system is improved through the frequency doubling effect. The multi-stage magnets are evenly arranged on the outer periphery of the rotor 21. A magnetic encoder detection chip 23 is provided on the inner edge of the ring circuit board 221. The magnetic encoder detection chip 23 can directly output SPI, ABZ or other digital output protocols. The magnetic encoder detection chip 23 is close to the magnets. When the rotor 21 rotates, the magnetic encoder detection chip can detect the change in the magnetic field of the magnets and calculate the rotation angle of the motor. The output end of the magnetic encoder detection chip is connected to the input end of the controller 6.

[0020] By placing the magnetic encoder chip 23 on the stator, the use of additional encoders can be reduced. At the same time, by using the multi-stage magnets that are built into the rotor itself for motor input detection, not only is the cost of the encoder reduced, but the cost of the magnets is further reduced.

[0021] The brake 3 includes a brake coil body 31 and a brake pad 32. The brake pad 32 is mounted on the motor input shaft 11 or the reduction output shaft 12 of the harmonic reducer 1. The input end of the brake coil body 31 is connected to the output end of the controller 6. Because conventional harmonic reducer joint modules with dual encoders require two encoders to be installed internally, the brake pad can only be mounted on the reduction output shaft. However, the stator in this application integrates an input encoder, so the length of the reduction output shaft can be adjusted according to actual needs. This allows the brake pad to be fixed on either the motor input shaft or the reduction output shaft as needed. In some applications with high safety requirements, such as humanoid robots or medical robots performing delicate operations, to prevent sudden power outages from causing the motor to lose power and the brake to activate, the brake pad is mounted on the reduction output shaft. Figure 4 As shown, compared to conventional harmonic reducer joint modules that can only be installed on the motor input shaft, this method can ensure the harmonic reducer joint module stops moving at a faster speed, thus ensuring operational safety.

[0022] When the brake is in operation, when the brake coil body is powered on, the brake coil generates a magnetic field, which attracts the brake pads. The brake pads separate from the motor input shaft or the reduction output shaft, allowing the motor input shaft or the reduction output shaft to rotate freely. When the brake coil body is de-energized, the magnetic field of the brake coil disappears, releasing the brake pads. The brake pads then press against the motor input shaft or the reduction output shaft, achieving rapid braking through frictional torque.

[0023] The output encoder assembly 5 includes an encoder circuit board 51, a magnet mounting surface 52, and a ring magnet 53. An encoder circuit board 51 is mounted on the housing 4. An annular magnet 53 is mounted on the reduction output shaft 12 of the harmonic reducer 1 via a magnet mounting surface 52. An encoder detection chip 511 is mounted on the encoder circuit board 51, facing the annular magnet 53, and is used to acquire the rotation angle of the harmonic reducer. The output terminal of the encoder detection chip is connected to the input terminal of the controller. When the reduction output shaft 12 rotates, it drives the magnet mounting surface 52 and the annular magnet 53 on the magnet mounting surface to rotate. The encoder detection chip can then obtain the rotation angle of the reduction output shaft 12, which is the rotation angle of the output terminal of the harmonic reducer joint module.

[0024] The controller 6 receives control commands through its integrated internal communication module. Based on the real-time acquired signals from the magnetic encoder detection chip 23 and the output encoder assembly 5, it calculates and determines the actual angle, the required angle, and the motor rotation speed to perform closed-loop control of the frameless torque motor 2 and control the opening and closing of the brake 3. At the same time, it transmits the operating status of the harmonic reducer joint module through the communication module.

Claims

1. A dual-encoder hollow harmonic reducer joint module with optimized input encoder structure, characterized in that: The device includes a housing (4), inside which is a frameless torque motor (2), and on which are a harmonic reducer (1) and a brake (3); inside the frameless torque motor (2) is an input encoder for detecting changes in angle and speed of the frameless torque motor (2); inside the housing (4) is an output encoder assembly (5) for detecting changes in angle and speed of the output end of the harmonic reducer joint module and a controller (6) for controlling the action of the frameless torque motor (2) and the brake (3) according to the signal detected by the encoder; the output ends of the output encoder assembly (5) and the input end encoder are connected to the input end of the controller, and the output ends of the controller are respectively connected to the input ends of the frameless torque motor (2) and the brake (3).

2. The dual-encoder hollow harmonic reducer joint module with optimized input encoder structure according to claim 1, characterized in that: The harmonic reducer (1) includes a motor input shaft (11) and a reduction output shaft (12), and the output encoder assembly (5) is mounted on the reduction output shaft (12).

3. The dual-encoder hollow harmonic reducer joint module with optimized input encoder structure according to claim 2, characterized in that: The frameless torque motor (2) includes a stator (22) and a rotor (21) connected to the motor input shaft (11).

4. The dual-encoder hollow harmonic reducer joint module with optimized input encoder structure according to claim 3, characterized in that: The input encoder includes several pairs of multi-stage magnets (211) on the rotor (21) and an annular circuit board (221) on the stator (22). The inner edge of the annular circuit board (221) is provided with a magnetic encoder detection chip (23) near the multi-stage magnets (211) for detecting changes in the magnetic field of the multi-stage magnets and calculating the rotation angle of the motor. The output end of the magnetic encoder detection chip is connected to the input end of the controller (6).

5. A dual-encoder hollow harmonic reducer joint module with optimized input encoder structure according to claim 2, characterized in that: The brake (3) includes a brake coil body (31) and a brake pad (32) mounted on the motor input shaft (11) or the reduction output shaft (12) of the harmonic reducer (1).

6. The dual-encoder hollow harmonic reducer joint module with optimized input encoder structure according to claim 2, characterized in that: The output encoder assembly (5) includes an encoder circuit board (51) mounted on the housing (4) and an annular magnet (53) mounted on the reduction output shaft (12) of the harmonic reducer (1). The encoder circuit board (51) is provided with an encoder detection chip (511) facing the annular magnet (53) for collecting the rotation angle of the harmonic reducer. The output end of the encoder detection chip is connected to the input end of the controller (6).

7. A dual-encoder hollow harmonic reducer joint module with optimized input encoder structure according to claim 6, characterized in that: The annular magnet (53) is mounted on the deceleration output shaft (12) via the magnet mounting surface (52).

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