Joint device and robot

Abstract

A joint device and a robot. The joint device comprises: an electric motor, a reducer, a first pulley (11), a second pulley (22), a transmission assembly, and an encoder, wherein the center of the electric motor is of a hollow structure; the reducer is driven by means of an electric motor rotor of the electric motor to rotate; the first pulley (11) is fixedly connected to the electric motor rotor; a hollow bore is provided in the middle of the first pulley (11); the second pulley (22) and the first pulley (11) are provided on the same plane; the second pulley (22) is driven by the first pulley (11) by means of the transmission assembly to rotate; and the encoder is provided at the central position of the second pulley (22). The joint device has the advantages of low cost and high precision.

Description

A joint device and robot

[0001] This application claims priority to Chinese Patent Application No. 202510222974.2, filed on February 27, 2025, entitled "A Joint Device and Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of robotics, and more particularly to an articulated device and a robot. Background Technology

[0003] In current robot articulation designs, a hollow design is typically used to record joint positions and detect the current joint position even after power failure. To achieve high accuracy, hollow encoders generally use off-axis magnetic track encoders, while multi-turn recording requires a battery solution to maintain the recorded data after power failure. The following are some typical solutions:

[0004] Option 1, due to the need to reserve space for wiring in the joint, forces the original shaft center position for the magnetic encoder to be relocated, thus necessitating an off-axis encoder design. This option uses a single-pole pair magnetic ring encoder, but as the magnetic ring diameter increases, the pole width also increases, leading to a decrease in the encoder's effective resolution. To improve accuracy, a hollow joint design using multi-pole pairs of magnetic tracks can achieve higher positioning precision. The absolute position is determined by detecting the difference between the inner and outer pole pairs, while the rotational angular velocity is calculated by detecting the rate of change of the magnetic poles; however, this approach is costly.

[0005] Option 2, in some large six-legged robots, employs a dual-magnetic-ring design. The inner and outer magnetic rings are used to measure rotor speed and joint position, respectively. The outer magnetic ring connects to the electronic rotor, and the inner magnetic ring connects to the reducer. To accurately record the position after power failure, two multi-turn magnetic encoders are needed for data recording. Furthermore, a battery is required to retain the number of turns after power failure.

[0006] Option 3 uses a single-pole radial magnet and a single-pole outer ring magnetic encoder. The main advantage of this option is its low cost. However, the magnetic lines of the single-pole magnetic ring and the magnet will interfere with each other, which may cause errors in the data read. In addition, due to the influence of noise, the system cannot accurately determine the sector position of the magnetic ring when restarting after a power failure, resulting in position determination problems.

[0007] Therefore, there is a need to provide a low-cost joint device that guarantees accuracy. Summary of the Invention

[0008] This disclosure provides a joint device and a robot to at least solve the above-mentioned technical problems existing in the prior art.

[0009] According to a first aspect of this disclosure, a joint device is provided, the device comprising: a motor, a reducer, a first rotating wheel, a second rotating wheel, a transmission assembly, and an encoder;

[0010] The center of the motor is a hollow structure;

[0011] The reducer is driven to rotate by the motor rotor of the motor;

[0012] The first rotating wheel is fixedly connected to the motor rotor, and the first rotating wheel has a hollow hole in the middle; the second rotating wheel is arranged on the same plane as the first rotating wheel, and the second rotating wheel is driven to rotate by the first rotating wheel through the transmission component, and the encoder is provided at the center of the second rotating wheel.

[0013] According to a second aspect of this disclosure, a robot is provided, the robot including a first component and a second component, a joint device being provided between the first component and the second component, the joint device including: a motor, a reducer, a first wheel, a second wheel, a transmission component, and an encoder, the motor being fixed in position relative to the first component, and the reducer being used to drive the second component to move;

[0014] The center of the motor is a hollow structure;

[0015] The reducer is driven to rotate by the motor rotor of the motor;

[0016] The first rotating wheel is fixedly connected to the motor rotor, and the first rotating wheel has a hollow hole in the middle; the second rotating wheel is arranged on the same plane as the first rotating wheel, and the second rotating wheel is driven to rotate by the first rotating wheel through the transmission component, and the encoder is provided at the center of the second rotating wheel. Attached Figure Description

[0017] The above and other objects, features, and advantages of this disclosure will become readily apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings. Several embodiments of this disclosure are illustrated in the drawings by way of example and not limitation, in which:

[0018] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0019] Figure 1 is a schematic diagram of a joint device provided in an embodiment of this disclosure;

[0020] Figure 2 is a schematic diagram of a structure that drives rotation according to an embodiment of this disclosure;

[0021] Figure 3 is a schematic diagram of another structure for driving rotation provided in an embodiment of this disclosure;

[0022] Figure 4 is a schematic diagram of the structure of a robot joint device provided in an embodiment of this disclosure;

[0023] Figure 5 is a schematic diagram of the structure of a robot provided in an embodiment of this disclosure. Detailed Implementation

[0024] To make the objectives, features, and advantages of this disclosure more apparent and understandable, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0025] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0026] In the following description, the terms "first" and "second" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first" and "second" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0027] Unless otherwise defined, all technical and scientific terms used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in this disclosure is for the purpose of describing embodiments of this disclosure only and is not intended to be limiting of this disclosure.

[0028] It should be understood that in the various embodiments of this disclosure, the sequence number of each implementation process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure.

[0029] Figure 1 is a schematic diagram of a joint device provided in an embodiment of the present disclosure. As shown in Figure 1, the device includes: a motor, a reducer, a first rotating wheel, a second rotating wheel, a transmission assembly, and an encoder.

[0030] The center of the motor is a hollow structure;

[0031] The reducer is driven to rotate by the motor rotor of the motor;

[0032] The first rotating wheel is fixedly connected to the motor rotor, and the first rotating wheel has a hollow hole in the middle; the second rotating wheel is arranged on the same plane as the first rotating wheel, and the second rotating wheel is driven to rotate by the first rotating wheel through the transmission component, and the encoder is provided at the center of the second rotating wheel.

[0033] Here, the encoder enables the motion of the second rotor to be tracked and monitored in real time, thereby achieving precise position and speed feedback.

[0034] Furthermore, the motor's center is a hollow structure, which reduces space occupation and enables the conversion of the position data of the motor rotor magnetic ring rotation into the magnetic pole changes of the second wheel, providing accurate motion detection.

[0035] In some embodiments, the transmission assembly is a flexible transmission assembly.

[0036] Here, the flexible transmission component is a transmission component in a mechanical transmission system that can provide a certain degree of flexibility and adapt to different working conditions and operating states.

[0037] For example, belts can be used as flexible transmission components. These belts can be transmission components with greater elasticity and cushioning, such as V-belts or synchronous belts.

[0038] Here, the belt drive, with its good flexibility and buffering properties, effectively absorbs vibration and impact between the pulleys, reducing operating noise and wear. Furthermore, belt drives are simple in structure, easy to install, and low in cost, and can achieve a wide range of transmission ratio adjustments, making them suitable for stable transmission between pulleys. Driving the second pulley with a belt also allows for some axial misalignment compensation and avoids overload of the transmission system, improving system reliability and stability.

[0039] In some embodiments, the encoder is a first encoder, and the device further includes a third rotor, which rotates based on the rotation of the first rotor. When the first rotor rotates, the rotation speed of the third rotor is different from that of the second rotor. A second encoder is disposed at the center of the third rotor. The first encoder and the second encoder cooperate to obtain the rotation position corresponding to the motor and the rotation position corresponding to the reducer.

[0040] Here, when the first wheel is rotating, the third wheel rotates at a different speed than the second wheel. This means that although both the third wheel and the second wheel are driven by the rotation of the first wheel, their rotation speeds are different. This difference in rotation speed may be due to the difference in the gear ratio or transmission ratio between the wheels.

[0041] The design of the first, second, and third rotating wheels enables precise control and feedback of the device. Specifically, by combining the design of the first and second encoders, the device can provide more accurate feedback on rotational position. For example, the first encoder can be used to obtain the rotational speed of the motor, while the second encoder can be used to obtain the rotational position of the reducer and the motor. By using these two encoders in combination, the transmission relationship and real-time position changes between the motor and the reducer can be accurately monitored.

[0042] In some embodiments, the first wheel drives the second wheel and the third wheel to rotate simultaneously via the transmission assembly.

[0043] Here, the third wheel, the second wheel, and the first wheel are arranged on the same plane.

[0044] An example of driving rotation is provided, as shown in Figure 2. The hollow driving wheel 11 is an example of a first rotating wheel, the first driven wheel 22 is an example of a second rotating wheel, and the second driven wheel 21 is an example of a third rotating wheel. As shown in Figure 2, the hollow driving wheel can drive the first driven wheel 22 and the second driven wheel 21 to rotate simultaneously via a belt.

[0045] This structure simplifies the transmission path, making the internal structure of the device more compact. Furthermore, since the first rotating wheel directly drives the second and third rotating wheels, it has the advantages of efficient transmission and a simplified structure.

[0046] In some embodiments, the second rotating wheel has a first transmission ratio with the first rotating wheel, and the third rotating wheel has a second transmission ratio with the first rotating wheel, wherein the first transmission ratio and the second transmission ratio are coprime.

[0047] Here, if a structure is adopted in which the first rotating wheel drives the second rotating wheel and the third rotating wheel to rotate simultaneously through the transmission component (as shown in Figure 2), the first transmission ratio corresponding to the second rotating wheel is coprime to the second transmission ratio corresponding to the third rotating wheel.

[0048] This is the first transmission ratio between the second and first rotating gears, which can also be expressed as the speed ratio or gear ratio of the two gears. For example, if the number of rotations of the first gear is different when the second gear rotates once, such as 3:1, it means that the first gear rotates once for the second gear rotates three times.

[0049] The second transmission ratio between the third wheel and the first wheel is similar to the first transmission ratio, and is assumed to be 5:1, meaning that for every 1 revolution of the first wheel, the third wheel will rotate 5 times.

[0050] The first gear ratio and the second gear ratio are coprime, meaning that the values ​​of the two gear ratios have no common divisor and no common factors other than 1. For example, if the first gear ratio is 3:4 and the second gear ratio is 5:6, their values ​​have no common factors.

[0051] Of course, there can also be a transmission ratio between the second and third rotating wheels. For example, the transmission ratio between the first and second rotating wheels is 4:1, and the transmission ratio between the second and third rotating wheels is 9:8.

[0052] Here, the coprime transmission ratios ensure that the rotational speeds of the transmission system are independent, avoiding potential periodic overlaps or synchronization problems. Choosing coprime transmission ratios helps avoid repetition of rotational cycles, ensuring that the rotation of the wheels is uniform and free of irregular backlashes, thereby preventing potential shocks or instabilities in the system.

[0053] In some embodiments, the transmission component is a first transmission component, and the first rotating wheel drives the second rotating wheel to rotate through the first transmission component;

[0054] The second wheel drives the third wheel to rotate via the second transmission assembly.

[0055] Here, the third wheel, the second wheel, and the first wheel are arranged on the same plane.

[0056] An example of driving rotation is provided, as shown in Figure 3. The hollow driving wheel 11 is an example of a first rotating wheel, the first driven wheel 31 is an example of a second rotating wheel, and the second driven wheel 32 is an example of a third rotating wheel. As shown in Figure 3, the hollow driving wheel 11 drives the first driven wheel 31 to rotate via a first belt, and the first driven wheel 31 drives the second driven wheel 32 to rotate via a second belt. The first transmission component and the second transmission component are belts.

[0057] Here, the second wheel can be a tower wheel, with a certain ratio between its outer wheel and inner wheel, such as outer wheel:inner wheel = 8. This tower wheel can drive the third wheel to rotate.

[0058] This structure uses independent transmission components to control the second and third rotating wheels separately, allowing for more precise adjustments to meet different work requirements. It is a complex system requiring higher adjustment accuracy and independent control.

[0059] It should be noted that the two designs in Figure 2 and Figure 3 can be selected according to actual needs. For example, if the number of rotations required by the motor is not large and the reduction ratio requirement is not high, the method of simultaneously driving the second and third rotating wheels can be adopted; if the reduction ratio requirement is high, such as 1:20, a two-stage transmission (the first rotating wheel drives the second rotating wheel, and the second rotating wheel drives the third rotating wheel) can be used to effectively achieve a larger reduction ratio and meet the system accuracy requirements.

[0060] In some embodiments, when the motor rotor is rotating, the speed ratio between the third wheel and the speed reducer is an integer.

[0061] Here, if the speed ratio between the third rotor and the reducer is an integer, it means that the speed of the third rotor is an integer multiple of the speed of the reducer, which can also be understood as the gear ratio between the two being an integer. For example, if the speed of the reducer is 100 revolutions per minute, the speed of the third rotor may be 200 revolutions per minute or 50 revolutions per minute, that is, the speed ratio between the third rotor and the reducer is an integer multiple (2:1 or 1:2).

[0062] This design helps improve system balance, simplify calculations, and enhance system stability. For example, in some applications (such as robots or precision machinery), it is necessary to ensure that each component operates with high precision; integer multiples of rotational speed help ensure accuracy and stability.

[0063] In some embodiments, both the first encoder and the second encoder are single-pole pair magnetic encoders;

[0064] The first encoder is used to detect the rotational position of the second rotor; the indexing difference of the second rotor is greater than the minimum resolution of the first encoder;

[0065] The second encoder is used to detect the rotational position of the third rotor; the indexing difference of the third rotor is greater than the minimum resolution of the second encoder.

[0066] Here, a single-pole magnetic encoder refers to an encoder that detects rotation angle or position by sensing changes in a magnetic field. The encoder generates an electrical signal by sensing changes in the magnetic field, thereby measuring the rotation of an object.

[0067] Unipolar means that the magnetic field used by the encoder has a definite polarity (north or south pole).

[0068] Specifically, encoders may include magnets and magnetic encoders.

[0069] Here, a magnet can be placed at the center of the second rotating wheel, and a magnetic encoder is placed perpendicular to the magnet, that is, on the central axis of the second rotating wheel. In this way, the change in the magnetic field generated by the magnet through the rotation of the second rotating wheel is sensed by the magnetic encoder on the central axis of the second rotating wheel. The magnetic encoder detects the change in the magnetic field in this way, thereby reflecting the rotation angle or position of the second rotating wheel in real time.

[0070] Similarly, a magnet can be placed at the center of the third rotating wheel, and a magnetic encoder can be placed perpendicular to the magnet, that is, on the central axis of the third rotating wheel. In this way, the change in the magnetic field generated by the rotating magnet of the third rotating wheel is sensed by the magnetic encoder on the central axis of the third rotating wheel. The magnetic encoder detects the change in the magnetic field in this way, thereby reflecting the angle or position of the third rotating wheel in real time.

[0071] Referring to Figure 2, a first monopole pair magnet 202 can be provided at the center of the first driven wheel 22; a second monopole pair magnet 201 can be provided at the center of the second driven wheel 21.

[0072] Referring to Figure 3, a third monopole pair magnet 301 can be provided at the center of the first driven wheel 31, and a fourth monopole pair magnet 302 can be provided at the center of the second driven wheel 32.

[0073] Here, the graduation difference of the rotary wheel refers to the angle difference between adjacent graduations on the rotary wheel. Generally, the smaller the graduation difference, the denser the graduations on the rotary wheel.

[0074] An encoder is a device used to measure changes in angle or position. Its minimum resolution indicates the smallest angular change that the encoder can distinguish.

[0075] Here, the indexing difference of the rotor is greater than the minimum resolution of its corresponding encoder. This is to ensure that the encoder can accurately and stably capture every detailed change of the rotor, thereby improving the measurement accuracy and reliability of the entire system and avoiding errors and resolution problems.

[0076] This disclosure provides a robot, which includes a first component and a second component. A joint device is provided between the first component and the second component. The joint device includes: a motor, a reducer, a first wheel, a second wheel, a transmission component, and an encoder. The motor is fixed in position relative to the first component, and the reducer is used to drive the second component to move.

[0077] The center of the motor is a hollow structure;

[0078] The reducer is driven to rotate by the motor rotor of the motor;

[0079] The first rotating wheel is fixedly connected to the motor rotor, and the first rotating wheel has a hollow hole in the middle; the second rotating wheel is arranged on the same plane as the first rotating wheel, and the second rotating wheel is driven to rotate by the first rotating wheel through the transmission component, and the encoder is provided at the center of the second rotating wheel.

[0080] Figure 5 is a schematic diagram of the structure of a robot provided in an embodiment of this disclosure. As shown in Figure 5, the robot may include at least one set of first components and second components, and a joint device is provided between each set of first components and second components. For example, a joint device 52 is provided between the connecting member 51 of the robot body and the lower arm 53 of the robot in Figure 5; another joint device 54 is provided between the lower arm 53 of the robot and the upper arm 55 of the robot; and another joint device 56 may be provided between the upper arm 55 of the robot and the wrist 57 of the robot.

[0081] The connector 51 and the robot lower arm 53 are a first component and a second component, respectively. Here, the connector 51 can be a first component and the robot lower arm 53 can be a second component.

[0082] The lower robot arm 53 and the upper robot arm 55 are another set of first and second components. Here, the lower robot arm 53 can be a first component in this set, and the upper robot arm 55 can be a second component.

[0083] The robot upper arm 55 and the robot wrist 57 form another group of first and second components. Here, the robot upper arm 55 can be a first component and the robot wrist 57 can be a second component in this group.

[0084] It should be noted that the robot may also include the robot body, the robot manipulator 58, and other first and second components of other groups. Of course, the first and second components of each group may be different, which will not be elaborated here.

[0085] In some embodiments, the transmission assembly is a flexible transmission assembly.

[0086] In some embodiments, the encoder is a first encoder, and the device further includes a third rotor, which rotates based on the rotation of the first rotor. When the first rotor rotates, the rotation speed of the third rotor is different from that of the second rotor. A second encoder is disposed at the center of the third rotor. The first encoder and the second encoder cooperate to obtain the rotation position corresponding to the motor and the rotation position corresponding to the reducer.

[0087] In some embodiments, the first wheel drives the second wheel and the third wheel to rotate simultaneously via the transmission assembly.

[0088] In some embodiments, the second rotating wheel has a first transmission ratio with the first rotating wheel, and the third rotating wheel has a second transmission ratio with the first rotating wheel, wherein the first transmission ratio and the second transmission ratio are coprime.

[0089] In some embodiments, the transmission component is a first transmission component, and the first rotating wheel drives the second rotating wheel to rotate through the first transmission component;

[0090] The second wheel drives the third wheel to rotate via the second transmission assembly.

[0091] In some embodiments, when the motor rotor is rotating, the speed ratio between the third wheel and the speed reducer is an integer.

[0092] In some embodiments, both the first encoder and the second encoder are single-pole pair magnetic encoders;

[0093] The first encoder is used to detect the rotational position of the second rotor; the indexing difference of the second rotor is greater than the minimum resolution of the first encoder;

[0094] The second encoder is used to detect the rotational position of the third rotor; the indexing difference of the third rotor is greater than the minimum resolution of the second encoder.

[0095] The encoder and the driving mechanism between the various wheels have been explained in conjunction with Figures 1, 2, and 3, and will not be repeated here.

[0096] In some embodiments, the robot further includes a control unit for controlling the rotation of the motor based on data collected by the encoder.

[0097] Here, the control unit can detect the motor rotation and control the motor rotation.

[0098] In one example, the control unit can detect the rotational speed of the motor based on an encoder located at the center position of the second wheel.

[0099] Specifically, the control unit can determine the rotational speed of the motor rotor based on the gear ratio between the motor rotor and the reducer and the second wheel, combined with the detected rotation of the second wheel.

[0100] Here, gear ratio refers to the ratio of the number of teeth between a pair of gears. The first gear drives the second gear to rotate. The speed of the first gear is the same as the speed of the motor rotor. The gear ratio determines how many times the second gear rotates for every one revolution of the motor rotor. For example, if the gear ratio is 2:1, it means that for every one revolution of the motor rotor, the second gear only rotates half a revolution.

[0101] In this way, the control unit can obtain the rotational speed of the second rotor (e.g., how many revolutions per second) through the encoder, and then deduce the rotational speed of the motor rotor based on the preset gear ratio. Since the gear ratio of the motor rotor and the reducer is also known, the speed of the reducer can be further calculated. Conversely, based on the required speed of the reducer, the rotational speed of the motor can be deduced and controlled.

[0102] In another example, the control unit can detect the position data of the reducer output end based on the first encoder located at the center position of the second rotor and the second encoder located at the center position of the third rotor.

[0103] Specifically, the control unit can detect the position data of the reducer output end based on the gear ratio between the motor rotor and the reducer, the second wheel, and the third wheel, combined with the detected rotation of the first wheel and the second wheel.

[0104] Assume the motor rotor is denoted as Km, the reducer as Kn, the second wheel as Ka, and the third wheel as Kb; the gear ratio of the motor rotor (Km):reducer (Kn):second wheel (Ka):third wheel (Kb) is 1:20:1:40. Initially, each wheel's angle is set to zero, and the following relationship is satisfied during operation:

[0105] If the reducer rotates for the first revolution, then

[0106] The second wheel rotates 20 times, which is 360° * 0 = 0°.

[0107] The third wheel rotates 0.5 revolutions, which is 360° * 0.5 = 180°.

[0108] If the reducer rotates a second revolution, then

[0109] The second wheel rotates 40 times, which is 360° * 0 = 0°.

[0110] The third wheel rotates one revolution, which is 360° * 0 = 0°.

[0111] Reducer output position data Where Pm represents the final output position, i.e., the current angle value of the second component controlled by the reducer; P A Refers to the position of the second wheel, MOD(P) A The reaction to the angular change of the second rotating wheel is expressed in units of one revolution (i.e., the portion of the second rotating wheel that rotates less than 360°); P B The position of the third rotating wheel indicates the number of rotations.

[0112] As can be seen from the above examples, the precise position of the reducer output can be determined based on the rotation of the second and third rotors detected by the first and second encoders. This position can be determined by P. B Take the rotating sector and P A The angle values ​​of a single turn are combined to obtain the result. Conversely, based on the required output position of the reducer, the rotation of the second and third rotors, as well as the rotation of the motor, can also be calculated and controlled.

[0113] In another example, if the robot joint restarts after a power outage, the control unit can detect the first angle of the second wheel and the second angle of the third wheel; based on the initial angles of the second and third wheels, as well as the first and second angles, the current position of the reducer can be determined. Thus, while ensuring accuracy, it is possible to achieve the same cost and accurate multi-turn power-off position detection as an on-axis encoder, without increasing joint thickness, and without relying on an external battery, all while maintaining a hollow structure.

[0114] In some embodiments, the robot may also include devices for fixing or mounting joint devices, such as drive plates, motor rear housing flanges, etc.

[0115] Figure 4 shows a schematic diagram of a robot joint device; in Figure 4, the center of the motor 43 is a hollow structure; the reducer 44 is driven to rotate by the motor rotor of the motor 43.

[0116] The second rotor 41 and the third rotor 42 are on the same plane and can be mounted on the rear flange 46 of the motor housing. The mounting structure of the second rotor 41 and the third rotor 42 is compatible with the rear flange of the motor housing. The second rotor 41 and the third rotor 42 are driven to rotate by the first rotor (the first rotor, the second rotor, and the third rotor are on the same plane, not shown in the figure). The first rotor is fixedly connected to the motor rotor, and the first rotor has a hollow hole in the middle.

[0117] A single-pole pair of magnets 411 may be provided at the center of the second rotating wheel 41; a single-pole pair of magnets 421 may be provided at the center of the third rotating wheel 42.

[0118] The second rotating wheel 41 is also provided with a first magnetic encoder 412 corresponding to the second rotating wheel 41 on its central axis; the third rotating wheel 42 is also provided with a second magnetic encoder 422 corresponding to the third rotating wheel 42 on its central axis.

[0119] The first magnetic encoder 412 and the second magnetic encoder 422 can be mounted on the drive board 45. The control unit can drive a processor contained in the drive board 45.

[0120] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0121] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0122] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A joint device, the device comprising: Motor, reducer, first rotor, second rotor, transmission assembly, and encoder; The center of the motor is a hollow structure; The reducer is driven to rotate by the motor rotor of the motor; The first rotating wheel is fixedly connected to the motor rotor, and the first rotating wheel has a hollow hole in the middle; the second rotating wheel is arranged on the same plane as the first rotating wheel, and the second rotating wheel is driven to rotate by the first rotating wheel through the transmission component, and the encoder is provided at the center of the second rotating wheel.

2. The device according to claim 1, wherein the transmission component is a flexible transmission component.

3. The apparatus according to claim 1, wherein the encoder is a first encoder, and the apparatus further comprises: The third rotating wheel rotates based on the rotation of the first rotating wheel. When the first rotating wheel rotates, the rotation speed of the third rotating wheel is different from that of the second rotating wheel. A second encoder is provided at the center of the third rotating wheel. The first encoder and the second encoder cooperate to obtain the rotation position corresponding to the motor and the rotation position corresponding to the reducer.

4. The device according to claim 3, wherein the first rotating wheel drives the second rotating wheel and the third rotating wheel to rotate simultaneously through the transmission assembly.

5. The apparatus according to claim 4, wherein the second rotating wheel has a first transmission ratio with the first rotating wheel, the third rotating wheel has a second transmission ratio with the first rotating wheel, and the first transmission ratio and the second transmission ratio are coprime.

6. The apparatus according to claim 3, wherein the transmission component is a first transmission component, and the first rotating wheel drives the second rotating wheel to rotate through the first transmission component; The second wheel drives the third wheel to rotate via the second transmission assembly.

7. The apparatus according to claim 4 or 6, wherein when the motor rotor is rotating, the rotational speed ratio between the third wheel and the reducer is an integer.

8. The apparatus according to claim 3, wherein both the first encoder and the second encoder are single-pole magnetic encoders; The first encoder is used to detect the rotational position of the second rotor; the indexing difference of the second rotor is greater than the minimum resolution of the first encoder; The second encoder is used to detect the rotational position of the third rotor; the indexing difference of the third rotor is greater than the minimum resolution of the second encoder.

9. A robot, the robot comprising a first component and a second component, wherein a joint device is disposed between the first component and the second component, the joint device comprising: The system includes a motor, a reducer, a first rotating wheel, a second rotating wheel, a transmission assembly, and an encoder. The motor is fixed in position relative to the first assembly, and the reducer is used to drive the second assembly to move. The center of the motor is a hollow structure; The reducer is driven to rotate by the motor rotor of the motor; The first rotating wheel is fixedly connected to the motor rotor, and the first rotating wheel has a hollow hole in the middle; the second rotating wheel is arranged on the same plane as the first rotating wheel, and the second rotating wheel is driven to rotate by the first rotating wheel through the transmission component, and the encoder is provided at the center of the second rotating wheel.

10. The robot according to claim 9, further comprising: A control unit is used to control the rotation of the motor based on the data collected by the encoder.

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