CN112910184A

CN112910184A - Power module and robot

Info

Publication number: CN112910184A
Application number: CN202110298283.2A
Authority: CN
Inventors: 赵同阳
Original assignee: Shenzhen Pengxing Intelligent Co ltd
Current assignee: Shenzhen Pengxing Intelligent Co ltd
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2021-06-04

Abstract

The application discloses power module and robot. The power module comprises a stator unit and a rotor unit which is rotatably arranged relative to the stator unit; a speed reducer unit connected to the rotor unit; and the Hall element is connected with the stator unit and is arranged opposite to the first encoder magnet, and the Hall element is matched with the first encoder magnet to detect the number of turns of the rotor unit. The power module in this application embodiment is through addding hall element to can cooperate first encoder magnet to be used for detecting the number of turns of rotor unit's rotation.

Description

Power module and robot

Technical Field

The application relates to the technical field of robots, in particular to a power module and a robot.

Background

In a robot, a power module is generally used to drive the robot. For example, in a robot, a power module may be mounted at a joint of the robot, the power module constituting the joint of the robot to drive the robot to move. In the related art, the power module includes a rotor, and a rotation angle of the rotor can be detected, but the number of turns of the rotor cannot be detected, so that the rotation of the rotor cannot be accurately controlled.

Disclosure of Invention

The embodiment of the application provides a power module and a robot.

The embodiment of the application provides a power module, power module can be used for the motion of drive robot. The power module comprises a stator unit and a rotor unit which is rotatably arranged relative to the stator unit; a speed reducer unit connected to the rotor unit; and the Hall element is connected with the stator unit and is arranged opposite to the first encoder magnet, and the Hall element is matched with the first encoder magnet to detect the number of turns of the rotor unit.

In the power module of this application embodiment, through add hall element in power module to can cooperate first encoder magnet to be used for detecting the number of turns of rotor unit's rotation, be favorable to accurately controlling rotor unit's rotation, thereby make power module drive external part better.

In some embodiments, the number of the hall elements is plural, and the plural hall elements are disposed at equal angles around the rotation axis of the rotor unit.

In some embodiments, the number of hall elements is single, and the power module includes a battery electrically connected to the hall elements.

In some embodiments, the rotor unit includes a rotor magnet and a rotor carrier coupled to the rotor magnet, the power module includes a speed reducer unit coupled to the rotor carrier, the speed reducer unit includes a gear assembly including a sun gear and a planet gear coupled to the sun gear, the sun gear coupled to the rotor carrier.

In some embodiments, the number of planet gears is a plurality, a plurality of the planet gears are spaced around the sun gear, the gear assembly comprises a planet gear carrier, a plurality of the planet gears are mounted on the planet gear carrier, and the first encoder magnet is mounted on the planet gear carrier.

In some embodiments, the gear assembly further comprises a ring gear surrounding the sun gear and the planet gears, both the ring gear and the sun gear being in mesh with the planet gears.

In some embodiments, the power module comprises a flange plate, the flange plate is connected with the planet wheel support through a pin shaft, and the flange plate and the planet wheel support clamp the planet wheels in the gear ring.

In some embodiments, the pin protrudes from a surface of the flange away from the planet carrier.

In some embodiments, the power module includes a housing unit including a housing and an end cap mounted to the housing, the ring gear is mounted to the end cap, the flange is rotatably disposed relative to the end cap, and the stator unit is disposed within the housing and fixedly disposed with the housing.

In some embodiments, the flange is coupled to the end cap by a bearing, and the housing unit includes a threaded cap removably coupled to the end cap, the threaded cap abutting the bearing to limit movement of the bearing away from the rotor unit.

In some embodiments, the rotor support comprises a support surface facing the gear assembly, the support surface being provided with fan structures that create an air flow during rotation of the rotor support.

In some embodiments, the power module includes a second encoder magnet disposed on the rotor bracket and an encoder chip disposed opposite to the second encoder magnet, and the encoder chip and the second encoder magnet cooperate to detect a rotation angle of the rotor unit.

In some embodiments, the power module includes a first circuit board and a second circuit board, the first circuit board and the second circuit board are disposed opposite to each other, the first circuit board is electrically connected to the second circuit board, the hall element is disposed on the first circuit board, and the encoder chip is disposed on the second circuit board.

In some embodiments, the power module includes a driving circuit board stacked on the second circuit board, the driving circuit board is configured to drive the rotor unit to rotate, and an accommodating space is formed between the driving circuit board and the second circuit board.

The robot in the embodiment of the application comprises a main body, a first power module and a second power module. The first power module is connected with the main body, the first power module comprises the power module of any one of the above embodiments, and the second power module is connected with the first power module.

In some embodiments, the first power module includes a flange and a plurality of pins protruding from a surface of the flange away from the stator unit, and the second power module includes an end cover formed with a plurality of positioning holes, and the plurality of pins are inserted into the positioning holes.

In some embodiments, the flange of the first power module is fixedly connected to the end cover of the second power module by fasteners.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a perspective view of a power module according to an embodiment of the present disclosure;

FIG. 2 is an exploded schematic view of a power module according to an embodiment of the present disclosure;

FIG. 3 is a schematic cross-sectional view of a power module according to an embodiment of the present disclosure;

fig. 4 is a schematic view of a connection structure of a first circuit board and a second circuit board according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a single Hall element provided in the embodiments of the present application;

fig. 6 is a perspective view schematically illustrating a speed reducer unit according to an embodiment of the present application;

fig. 7 is a schematic view of a connection structure of a planet carrier and a flange according to an embodiment of the present application;

fig. 8 is a further schematic structural view of the planet carrier and flange of the embodiment of the present application;

FIG. 9 is a schematic perspective view of a second endcap according to an embodiment of the present application;

FIG. 10 is a perspective view of another angle of the power module of the present application;

FIG. 11 is a schematic plan view of another way of arranging Hall elements according to embodiments of the present application;

fig. 12 is a perspective view of a robot according to an embodiment of the present application;

fig. 13 is a perspective view of a second power module according to an embodiment of the present application.

Description of the main element symbols:

robot 1000, power module 100, main body 200, first power module 300, second power module 400, third power module 500, actuator 600, housing unit 10, housing 11, first side 110, second side 111, second end cap 12, connection hole 123, annular wall 124, threaded hole 125, protrusion 126, first end cap 13, threaded cap 14, inner surface 140, stator unit 15, rotor unit 16, rotor iron ring 160, rotor magnet 161, rotor holder 162, positioning post 1621, fan blade structure 1622, reducer unit 17, gear assembly 171, sun gear 172, planet wheel 173, ring gear 174, planet wheel holder 175, upper surface 1750, lower surface 1751, first accommodation groove 1752, second accommodation groove 1753, mounting hole 1754, assembly hole 1755, projection 1756, pin 18, flange 19, groove 190, fixing hole 191, mounting post 192, bearing 20, first encoder magnet 21, hall element 22, and mounting hole 1754, The electronic device comprises a first circuit board 23, a connecting piece 230, a second circuit board 24, a second encoder magnet 25, an encoder chip 26, a driving circuit board 27, an accommodating space 270, a connecting line 28, a battery 29, an end cover 40 and a positioning hole 41.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Referring to fig. 1, 2 and 3, in an embodiment of the present application, a power module 100 is provided, where the power module 100 includes a stator unit 15, a rotor unit 16, a first encoder magnet 21 and a hall element 22. Wherein, the rotor unit 16 can be set up in a rotating way relative to the stator unit 15, the first encoder magnet 21 can be connected with the rotor unit 16, the hall element 22 can be connected with the stator unit 15 and set up opposite to the first encoder magnet 21, the first encoder magnet 21 can cooperate with the hall element 22 to detect the number of turns of the rotor unit 16.

So, stator unit 15 and the cooperation of rotor unit 16 provide power for power module 100, rotor unit 16 rotates and to drive the first encoder magnet 21 of being connected with rotor unit 16 and rotates, and hall element 22 is connected immovably with stator unit 15, thereby hall element 22 can cooperate the change of pivoted first encoder magnet 21 through measuring the magnetic pole position to measure rotor unit 16's the number of turns, be favorable to accurately controlling rotor unit 16's rotation, thereby make power module 100 drive external part better.

In particular, with the advance of modern science and technology, the role of "robot" in modern society becomes more and more important, and the concept of "robot" refers to an electromechanical system composed of a mechanical structure and electronic components, such as an automated mechanical arm commonly used in industry and a wheeled platform capable of being driven, and the electromechanical system is also called "industrial robot"; also, for example, a "humanoid robot" having a human form or a "multi-legged robot" having a quadruped animal form moving like these living things, both of which are collectively called "legged robots", is advantageous in adaptability to various terrains, and thus research on the legged robots is helpful to advance the development of robot technology. The robot 1000 illustrated in this application (see fig. 12) is a four-legged robot.

In the robot driving system, the power module 100 constitutes a joint of the robot to drive the robot to move. For example, for the robot 1000, the power module 100 may drive the mechanical feet of the robot 1000 to move so as to implement a corresponding walking task. In particular, for mass production convenience, the structural design of the power module 100 is usually secondary finishing after die casting, so the blank design of the joint engine structural member should also be designed to facilitate secondary finishing as a design principle.

In the present embodiment, the power module 100 includes a stator unit 15 and a rotor unit 16, wherein the rotor unit 16 is rotatably disposed with respect to the stator unit 15. The rotor unit 16 and the stator unit 15 are matched to generate power of the power module 100, so as to form a basic structure of the outer rotor brushless motor.

The stator unit 15 refers to a stationary portion of the power component of the power module 100. The stator unit 15 comprises a coil, which may be made of copper wire, and the main function of the stator unit 15 is to generate a magnetic field. The rotor unit 16 is a rotating component of the power module 100, the rotor unit 16 includes a rotor iron ring 160 and a rotor magnet 161, the rotor magnet 161 includes a plurality of sheet magnets distributed with gaps to form a circular ring, and the rotor unit 16 mainly functions to be cut by magnetic lines of force in a rotating magnetic field to generate a rotating motion.

The power module 100 further includes a first encoder magnet 21 and a hall element 22, and it can be easily understood that in the power module 100 of the robot 1000, an encoder is usually required to measure the magnetic pole position to measure the relevant rotation information of the motor. In this embodiment, the hall element 22 is arranged to cooperate with the first encoder magnet 21 to form a part of the hall encoder, so as to detect the number of rotations of the rotor unit 16.

The hall element 22 is a magnetic sensor made of a semiconductor material based on the hall effect principle. Since the hall element 22 operates by inducing a magnetic field, the first encoder magnet 21 can provide the hall element 22 with a magnetic field. The shape of the first encoder magnet 21 may be a sheet magnet, a block magnet, or an annular magnet, and the present application does not limit the specific shape of the first encoder magnet 21.

Further, since the first encoder magnet 21 is connected to the rotor unit 16, the rotation of the rotor unit 16 drives the first encoder magnet 21 to rotate. And hall element 22 is connected with stator unit 15, and sets up with first encoder magnet 21 relatively, that is to say hall element 22 is fixed motionless relative to first encoder magnet 21, and hall element 22 can sense the change of the magnetic pole position that first encoder magnet 21 rotated and brought so that can cooperate with first encoder magnet 21 and detect the number of turns of rotor unit 16.

Referring to fig. 4, in some embodiments, the number of the hall elements 22 is multiple, and the hall elements 22 are disposed at equal angles around the rotation axis of the rotor unit 16.

Like this, set up a plurality of hall element 22 to with a plurality of hall element 22 around the equiangular equipartition distribution of the axis of rotation of subunit 16, can satisfy and measure the number of turns of the rotor unit 16 of power module 100 under the different conditions.

Specifically, a speed reducer (such as a speed reducer unit mentioned below) is generally provided in the power module 100, and the speed reducer can be connected to the rotor unit 16, so that if the transmission ratio, i.e., the speed reduction ratio, of the speed reducer is known, if the same number of hall elements 22 as the speed reduction ratio is provided, the number of rotations of the rotor unit 16 that can be measured by the hall elements 22 can be converted according to the speed reduction ratio.

For example, in this embodiment, the power module 100 may adopt a 6-time reduction ratio, and accordingly, the number of the hall elements 22 is 6, the 6-time reduction ratio means that the rotor unit 16 rotates by 6 0-360 degrees, and the final power module 100 outputs 1 rotation by 0-360 degrees, and in this application, the final output position of the power module 100 needs to be determined, in order to measure the specific number of output turns, the first encoder magnet 21 that cooperates with the hall element 22 to detect the number of turns of the rotor unit 16 may be connected to the speed reducer, and at this time, the hall element 22 may cooperate with the first encoder magnet 21 to directly detect the number of turns of the final output of the power module 100.

In the above scenario, when it is detected that the magnetic force lines of the first encoder magnet 21 pass through the two adjacent hall elements 22, which means that the final output of the power module 100 has 1/6 rotations, the rotation number of the rotor unit 16 is 1 rotation ((1/6) × 6 ═ 1) by the reduction ratio conversion. In order to make the accuracy of detecting the number of rotations of the rotor unit 16 higher, 12 hall elements 22 may be selected, and then, when it is detected that the magnetic force lines of the first encoder magnet 21 pass through two adjacent hall elements 22, which means that the number of rotations of the power module 100 is 1/12, the number of rotations of the rotor unit 16 is 1/2 ((1/12) × 6 ═ 1/2) by the reduction ratio conversion, in the case that the reduction ratio is also 6 times.

Thus, the number of rotations of the rotor unit 16 can be determined based on the hall elements 22 and the first encoder magnet 21 based on the reduction ratio and the number of hall elements 22.

In particular, when the plurality of hall elements 22 are disposed, they need to be uniformly distributed around the rotation axis of the rotor unit 16 at equal angles, so that when the magnetic lines of force generated by the first encoder magnet 21 can be sensed by two adjacent hall elements 22, the area where the first encoder magnet 21 is located can be distinguished according to the values of the hall elements 22 uniformly distributed in a ring shape, so as to judge the area where the rotor unit 16 passes, thereby determining the number of rotation turns of the rotor unit 16.

Referring to fig. 5, in some embodiments, the number of the hall elements 22 is single, and the power module 100 includes a battery 29 electrically connected to the hall elements 22.

In this way, when the number of the hall elements 22 is single, the battery 29 electrically connected with the hall elements 22 is arranged, so that the hall elements 22 can keep a state of continuous normal operation, and the counter and the register which are correspondingly arranged can store the number of rotating turns of the rotor unit 16 measured by the hall elements 22, thereby preventing the phenomenon of data loss caused by the power module 100 and an external power supply being powered off, and further accurately controlling the rotating state of the rotor unit 16

In particular, the individual hall elements 22 can only feed back a value of one revolution of the rotor unit 16 at the maximum, i.e. return to the zero setting after more than one revolution. In order to solve this problem, it is necessary to provide a battery 29 electrically connected to the hall element 22, and also to provide a counter, a register, or the like. At this time, the battery 29 may be disposed on the corresponding circuit board, and when the battery 29 supplies power, the electric device disposed on the circuit board may be kept in a state of continuously and normally operating, so as to continuously detect the number of turns of the rotor unit 16, and the counter, the register, and other elements may record and store the number of turns, thereby preventing the power module 100 from losing data due to power failure with an external power source.

Referring to fig. 2 and 3, in some embodiments, the rotor unit 16 includes a rotor magnet 161 and a rotor bracket 162, and the rotor bracket 162 is connected to the rotor magnet 161. The power module 100 further includes a speed reducer unit 17, and the speed reducer unit 17 is connected to the rotor holder 162. The reducer unit 17 comprises a gear assembly 171, which gear assembly 171 may comprise a sun wheel 172 and planet wheels 173, wherein the planet wheels 173 are connected with the sun wheel 172 and the sun wheel 172 is connected with the rotor carrier 162.

So, speed reducer unit 17 is connected with spider 162 for spider 162 can transmit power to speed reducer unit 17, and speed reducer unit 17 realizes the function of slowing down through the mode of planet wheel 173 group, has realized that speed reducer unit 17's volume is less, and the function that the speed reduction is great, can also make speed reducer unit 17 transmission power's stable performance.

Specifically, the rotor unit 16 includes a rotor iron ring 160, a rotor magnet 161, and a rotor holder 162. The rotor magnet 161 includes a plurality of interval distribution in order to enclose into annular slice magnet, the shape of rotor support 162 can be the hollow ring shape, rotor support 162 is last to be provided with the reference column 1621 of a plurality of rectangular shapes at the interval, a plurality of reference columns 1621 are used for fixing the rotor magnet 161 that is enclosed by the slice magnet of a plurality of interval distribution, wherein be fixed with a slice magnet between every two adjacent reference columns 1621, it links together with rotor magnet 161 to have just so realized rotor support 162, make rotor support 162 can play the effect of the motion of conduction rotor unit 16, rotor unit 16 can drive the next stage part motion of power module 100 through rotor support 162 promptly.

The power module 100 is further provided with a speed reducer unit 17 for increasing the driving torque and improving the control accuracy of the robot 1000. The reducer unit 17 can be connected with the rotor unit 16, that is, the reducer unit 17 is connected with the rotor support 162, so that the rotating speed of the rotor unit 16 can be reduced to the rotating speed required for final output through the reducer unit 17, and the torque generated by the cooperation of the rotor unit 16 and the stator unit 15 can be obtained through the operation of the reducer unit 17.

Specifically, the speed reducer unit 17 may be divided into a gear reduction, a worm reduction, and a planetary reduction according to the transmission type, and may be divided into a single-stage reduction and a multi-stage reduction according to the difference in the transmission stage number. Since the power module 100 of the robot 1000 often requires a small transmission system gap, a large rigidity, a high output torque, and a large reduction ratio, the reduction unit 17 can well meet the above requirements by using a planetary reduction gear. In this way, the speed reducer unit 17 in this embodiment may further include a gear assembly 171 for speed reduction, and the gear assembly 171 includes a sun gear 172 and a planet gear 173.

Wherein the sun gear 172 is located in the center of the gear assembly 171, the sun gear 172 may be connected to the rotor holder 162 such that the rotor holder 162 can conduct the movement of the rotor unit 16 to drive the sun gear 172 to move, and the planet gears 173 are engaged with the sun gear 172, i.e. the planet gears 173 can be rotated around the sun gear 172 by the sun gear 172. In this way, the speed reducer unit 17 can realize the speed reduction function by means of the planetary gear 173 set, and the speed reducer unit 17 has a small volume and a large speed reduction ratio, and can also stabilize the performance of the power transmission of the speed reducer unit 17.

In some embodiments, the gear teeth of the sun gear 172 may be partially embedded within the rotor bracket 162 along the axial direction of the sun gear 172.

Specifically, as mentioned above, the sun gear 172 is connected to the rotor bracket 162, then the connection may be: the teeth of the sun gear 172 are partially embedded in the rotor holder 162 in the axial direction of the sun gear 172, i.e., the sun gear 172 may be press-fitted in the rotor holder 162, or the teeth of the sun gear 172 may function as splines. In this way, the effect of the torque on the sun gear 172 is made more uniform and also the effect of increasing the transmission torque is achieved.

Referring to fig. 2 and fig. 6, in some embodiments, the number of the planetary gear 173 may be multiple, and the multiple planetary gears 173 are spaced around the sun gear 172. Further, the gear assembly 171 may further include a planet wheel carrier 175, the plurality of planet wheels 173 being mounted on the planet wheel carrier 175, and the first encoder magnet 21 being mounted on the planet wheel carrier 175.

In this way, by providing a plurality of spaced planet wheels 173 around the sun gear 172 and providing a planet wheel carrier 175 on which the planet wheels 173 are mounted, the speed reducer unit 17 can constitute a complete, compact whole, so that the mounting volume of the speed reducer unit 17 is also smaller when the speed reduction function is completed, and the rotational torque can also be transmitted to the next stage component through the planet wheel carrier 175.

Specifically, in order to facilitate forming the speed reducer unit 17 into a compact whole and supporting the gear assembly 171, a planet carrier 175 is also provided in the gear assembly 171 of the speed reducer unit 17. The planet carrier 175 is annular in shape, and the material of the planet carrier 175 can be made of aluminum alloy to ensure sufficient hardness and durability.

Referring to fig. 7 and 8, the planet carrier 175 includes an upper surface 1750 and a lower surface 1751, and a plurality of protrusions 1756 spaced downward from the lower surface 1751 are formed on the planet carrier 175; a first accommodating groove 1752 is formed in the center of the planet carrier 175, and the first accommodating groove 1752 penetrates through the upper surface 1750 and the lower surface 1751 of the planet carrier 175, so that the first accommodating groove 1752 can be used for installing the sun gear 172; the upper surface 1750 of planet wheel support 175 also is formed with second holding groove 1753 for installing first encoder magnet 21 on planet wheel support 175, the shape and the degree of depth of second holding groove 1753 and the shape and the thickness phase-match of first encoder magnet 21. A plurality of spaced mounting holes 1754 are formed in the planet wheel support 175, and are used for being matched with the pin shaft 18 to mount a plurality of planet wheels 173 on the planet wheel support 175, and the pin shaft 18 can also be used as a torque output shaft of the planet wheels 173.

In the embodiment of the present application, the pin shaft 18 is inserted through the mounting holes 1754 arranged at a plurality of intervals on the planet carrier 175 between the planet carrier 175 and the planet wheel 173, so that the planet wheel 173 can be fixedly mounted on the planet carrier 175. It will be appreciated that the pin 18 needs to be in frequent and intimate contact with the planet carrier 175 and the planet 173. Therefore, as a type of fastener, the pin 18 needs to have certain rigidity and hardness to ensure the dimensional accuracy, the position accuracy and the shape accuracy of the part itself, so the pin 18 can be made of 45 steel, Cr, and other materials.

In particular, since the first encoder magnet 21 is mounted on the planet carrier 175, and the planet carrier 175 can be driven by the rotor unit 16 to rotate, and since the power module 100 is provided with the reducer unit 17, the number of rotations of the planet carrier 175 is detected by the first encoder magnet 21 cooperating with the hall element 22, and the obtained rotation speed of the planet carrier 175 is obtained by reducing the speed of the reducer unit 17. That is, the number of rotation turns of the rotor unit 16 can be obtained by converting the number of rotation turns of the planet carrier 175 detected by the hall element 22 according to the known reduction ratio of the power module 100.

Referring to fig. 3 and 6, in some embodiments, the gear assembly 171 further includes an annulus 174 surrounding the sun gear 172 and the planet gears 173, the annulus 174 and the sun gear 172 both meshing with the planet gears 173.

Thus, the gear ring 174 can make the overall structure of the speed reducer unit 17 more stable, so that the speed reducer unit 17 is not easily shaken when rotating.

Specifically, the gear assembly 171 in the speed reducer unit 17 in the present embodiment further includes a ring gear 174 that surrounds the sun gear 172 and the planet gears 173.

As mentioned above, the sun gear 172 is located in the central position of the gear assembly 171, the sun gear 172 may be connected to the rotor carrier 162, so that the rotor carrier 162 can conduct the movement of the rotor unit 16 to drive the sun gear 172, and the planet gears 173 are engaged with the sun gear 172, i.e. the planet gears 173 can be driven by the sun gear 172 to rotate around the sun gear 172, and in addition, the planet gears 173 are engaged with the peripheral ring gear 174 to further provide a deceleration effect. And the ring gear 174 can make the overall structure of the speed reducer unit 17 more stable, so that the speed reducer unit 17 is not easily shaken when rotating.

Referring to fig. 7 and 8, in some embodiments, the power module 100 may include a flange 19, the flange 19 may be connected to the planet carrier 175 by the pin 18, and the flange 19 and the planet carrier 175 may clamp the planet 173 in the ring gear 174.

Thus, the flange 19 is connected with the planet wheel support 175 through the pin 18, so that the planet wheel support 175 can drive the flange 19 to rotate together, that is, the pin 18 can be used as a torque output shaft of the planet wheel 173 to transmit the power of the planet wheel 173 to the flange 19.

Specifically, the flange 19 may be disposed at an end of the power module 100. The flange 19 may be disc-shaped. The flange 19 may serve as the final output component of the power module 100 and may serve as the input component for the next stage of components. The pin shaft 18 can be inserted through a mounting hole 1754 formed in the planet wheel support 175 to the planet wheel support 175, and further, the pin shaft 18 can be inserted through a mounting hole 1754 also formed in the flange 19 correspondingly, so that the flange 19 is connected with the planet wheel support 175. Thus, since a plurality of planet wheels 173 are mounted on a planet wheel carrier 175, the ring gear 174 meshes with the planet wheels 173, and the flange 19 is connected to the planet wheel carrier 175 via the pin 18, so that the flange 19 cooperates with the planet wheel carrier 175 to clamp the planet wheels 173 in the ring gear 174.

In addition, a plurality of projections 1756 are arranged on the planet wheel support 175 at intervals, and the grooves 190 are formed in the positions, corresponding to the projections 1756, of the flange 19, so that the projections 1756 formed on the planet wheel support 175 can be embedded in the grooves 190 in the positions, corresponding to the flanges 19, of the flange 19 one by one. In addition, all be formed with the pilot hole 1755 that corresponds each other on lug 1756 and the recess 190, pilot hole 1755 is used for holding parts such as erection column 192 to make planet wheel support 175 and ring flange 19 fixed connection together, so that planet wheel support 175 can drive ring flange 19 and rotate, and can also play certain antitorque effect.

Referring to fig. 1, in some embodiments, the pin 18 may protrude from the surface of the flange 19 away from the planet carrier 175.

The projecting portion of the pin 18 can thus be used to locate the next stage component connected to the flange 19.

Specifically, a plurality of pins 18 may fixedly mount the planet carrier 175 with the flange 19, and the pins 18 may protrude from the surface of the flange 19 away from the stator unit 15, so that the protruding portions of the pins 18 may be used to assist in positioning the next stage component connected to the flange 19. Thus, by using the pin 18 to fix the planet carrier 175, the flange 19, and the next stage component, the planet carrier 175, the flange 19, and the next stage component can be formed into a compact integral body.

Referring to fig. 1, 2 and 3, in some embodiments, the power module 100 may include a housing unit 10, the housing unit 10 may include a housing 11 and a first end cap 13, the first end cap 13 may be mounted on the housing 11, and the ring gear 174 may be mounted on the first end cap 13. The flange 19 is rotatably arranged relative to the first end cap 13. The stator unit 15 is disposed in the housing 11 and is fixedly disposed with the housing 11.

So for power module 100's overall structure is compacter and firm, also makes the spare part to power module 100 inside can play certain guard action.

Specifically, the housing 11 includes a first side 110 and a second side 111 opposite to each other, and the structure of the housing 11 may be a large-area hollow cylinder, and the hollow portion is used for accommodating other devices of the power module 100. The housing 11 can protect the internal components from the external environment, and in order to provide the housing 11 with certain hardness and rigidity, the housing 11 can be made of an aluminum alloy material, but the housing 11 can also be made of other alloy pieces. The housing 11 may be threaded to increase friction.

Referring to fig. 9, the housing unit 10 may further include a second end cap 12, the second end cap 12 may be circular in outline, the second end cap 12 may be disposed on the first side 110 of the housing 11, and the second end cap 12 may serve as a protective cover for the internal components of the housing 11.

The second end cap 12 has a plurality of spaced attachment holes 123 formed therein, and the plurality of attachment holes 123 can be used to mate fasteners such as screws to secure the second end cap 12 to the upper stage. An annular wall 124 is also provided within the second end cap 12, and a plurality of spaced apart threaded holes 125 are formed in the annular wall 124. The annular wall 124 is formed with a protrusion 126 at a position corresponding to the threaded hole 125, and the threaded hole 125 penetrates through the protrusion 126. When the second end cap 12 is installed, a fastener such as a screw may be used to fit the threaded hole 125.

Like this, through setting up annular wall 124 and screw hole 125 cooperation arch 126 to carry out thickening reinforcement to second end cover 12, make the installation at second end cover 12 more firm, second end cover 12 is difficult to deform, and power module 100 is also more firm.

The housing unit 10 may further include a first end cover 13, the first end cover 13 may be annular, and the first end cover 13 may serve to support internal components of the power module 100, such as the gear assembly 171, the stator unit 15, and the rotor unit 16. The first end cover 13 can be directly mounted on the housing 11, so that the first end cover 13 can be better integrated with the housing 11, and the overall structure of the power module 100 is more compact and stable. The first end cap 13 may have a ring gear 174 mounted thereon to allow for a more highly integrated power module 100.

A flange 19 may be disposed on the second side 111 of the housing 11, the flange 19 being rotatably disposed relative to the first end cap 13. The stator unit 15 may be disposed inside the housing 11 and fixed with the housing 11, so that the housing 11 and the stator unit 15 may be well integrated together, so as to achieve a more compact overall structure of the power module 100 and to facilitate a highly integrated design of the power module 100.

Referring to fig. 2 and 3, in some embodiments, the flange 19 and the first end cap 13 may be coupled by a bearing 20, and the housing unit 10 may include a threaded cap 14 removably coupled to the first end cap 13, the threaded cap 14 abutting the bearing 20 to limit movement of the bearing 20 away from the rotor unit 16.

So, detachable mounting means makes it be convenient for link together screw cap 14 and first end cap 13, and screw cap 14's setting can play and have certain limiting displacement to bearing 20.

Specifically, a bearing 20 is further disposed between the flange 19 and the first end cover 13, the flange 19 may be connected to the first end cover 13 through the bearing 20, wherein the bearing 20 may be a roller bearing 20. Because the first end cover 13 is provided with the gear ring 174, and the gear assembly 171 is in rotational contact with the flange 19, the arrangement of the bearing 20 can better reduce the friction force during the movement process, and ensure the rotation precision of the power module 100. Meanwhile, when the flange 19 is impacted by collision, falling and the like, the impact force can be buffered on the bearing 20, so that the purpose of protecting devices such as gears and the like with weak inside is achieved.

The screw cap 14 may be in the form of a hollow ring, and the inner surface 140 of the screw cap 14 may be a screw-shaped surface, so that when the flange 19 is engaged in the screw cap 14 and the first end cap 13 is fixedly connected to the screw cap 14, friction between the two components may be increased, and the two components may be combined more tightly and firmly. The screw cap 14 may also serve to fix the bearing 20, and the screw cap 14 may abut against the bearing 20 to limit the bearing 20 from moving away from the rotor unit 16, while ensuring that the bearing 20 and the housing 11 of the power module 100 fuse into one rigid body.

Referring to fig. 10, in some embodiments, the rotor bracket 162 includes a bracket surface facing the gear assembly 171, and the bracket surface of the rotor bracket 162 is provided with a fan structure 1622, wherein the fan structure 1622 forms an airflow during rotation of the rotor bracket 162.

Specifically, flabellum structure 1622's quantity can be a plurality ofly, and flabellum structure 1622 can be streamlined sand grip, and flabellum structure 1622 that a plurality of intervals set up can form the air current at rotor support 162 pivoted in-process to thereby play supplementary radiating effect and improve power module 100's radiating effect. In particular, blade structure 1622 is curved, which prevents vortex flow during the flow guiding process and reduces noise generated by power module 100.

Referring to fig. 3, in some embodiments, the power module 100 includes a second encoder magnet 25 and an encoder chip 26 disposed on the rotor bracket 162, and the encoder chip 26 is disposed opposite to the second encoder magnet 25. The encoder chip 26 cooperates with the second encoder magnet 25 to detect the rotation angle of the rotor unit 16.

In this way, by providing the encoder chip 26 and the second encoder magnet 25, the rotation angle of the rotor unit 16 can be detected, and then the accurate rotation information of the rotor unit 16 can be determined according to the number of rotation turns of the rotor unit 16 detected by the cooperation of the first encoder magnet 21 and the hall element 22.

Specifically, the second encoder magnet 25 and the encoder chip 26 constitute a motor-side encoder of the power module 100, that is, a part of an absolute position encoding device, for detecting an absolute positional relationship between the rotor unit 16 and the stator unit 15, that is, the second encoder magnet 25 and the encoder chip 26 may cooperate to detect a rotation angle of the rotor unit 16.

The second encoder magnet 25 is fixedly disposed on the rotor holder 162, for example, the position of the central axis of the rotor holder 162 moves along with the movement of the rotor holder 162, and the movement of the rotor holder 162 is the movement of the rotor unit 16, so that the second encoder magnet 25 can transmit the position of the rotor unit 16 relative to the stator unit 15 to the encoder chip 26 disposed opposite to the rotor unit 15 for further processing of the position signal, that is, can cooperate to detect the rotation angle of the rotor unit 16.

It should be noted that, in the prior art, the motor-side encoder is subject to its own physical principle, and under the condition of no external power supply, the motor-side encoder can only feed back a value of 0-360 degrees, i.e. return to zero after more than one turn (i.e. 360 degrees), so that it can only meet the requirement of accurately feeding back the stator unit and the rotor unit within the accurate range of 0-360 degrees, i.e. the motor-side encoder can only measure the rotation angle of the rotor unit, and cannot confirm the number of turns of the rotor unit.

In the present embodiment, the power module 100 may adopt a 6-fold speed reduction ratio, that is, the rotor unit 16 rotates 6 times by 0-360 degrees, and the flange 19 finally outputs 1 rotation by 0-360 degrees, while the joint angle output by the flange 19 is finally used in the present application, so that the absolute position of 0-360 degrees output by the flange 19 needs to be measured. According to the above description, the motor-end encoder cannot represent the mechanical angle of the flange 19, because the motor rotates a full circle 360 degrees in absolute position, and the flange 19 rotates only 60 degrees after being decelerated according to the 6-fold speed reduction ratio, i.e. only represents 60 degrees of the flange 19. It can be seen that the flange 19 can be divided into 6 consecutive 60 degree zones during a single rotation, and that the motor-side encoder alone cannot accurately distinguish which zone is located.

Therefore, in the present embodiment, the number of rotations of the flange plate 19 is detected by matching the hall element 22 and the first encoder magnet 21, and the number of rotations of the rotor unit 16 can be converted according to a known reduction ratio, so that the rotational position of the rotor unit 16 is determined together with the rotational angle of the rotor unit 16 detected by the second encoder magnet 25 and the encoder chip 26.

In particular, the hall element 22 and the encoder chip 26 may share the same encoder magnet, for example, the second encoder magnet 25 disposed on the rotor holder 162, so that the determination of the rotation angle and the number of rotations of the rotor unit 16 can be achieved without providing two encoder magnets.

In addition, when the hall element 22 is a single one, the first encoder magnet 21 may be provided on the rotor holder 162 instead of the planet carrier 175 in order to detect the rotation angle and the number of rotations of the rotor unit 16. In this case, the first encoder magnet 21 and the second encoder magnet 25 may be the same magnet.

Referring to fig. 3 and 4, in some embodiments, the power module 100 includes a first circuit board 23 and a second circuit board 24, the first circuit board 23 and the second circuit board 24 are disposed opposite to each other, and the first circuit board 23 is electrically connected to the second circuit board 24. The hall element 22 is provided on the first circuit board 23, and the encoder chip 26 is provided on the second circuit board 24.

In this way, the first circuit board 23 and the second circuit board 24, and the hall element 22 and the encoder chip 26 may jointly constitute a hall encoder of the power module 100 to detect the rotation angle and the number of rotations of the rotor unit 16.

Specifically, the first circuit board 23 is circular, the second circuit board 24 is disc-shaped, the first circuit board 23 and the second circuit board 24 are oppositely arranged, and the area of the first circuit board 23 is smaller than that of the second circuit board 24.

In addition, the first circuit board 23 is provided with a plurality of hall elements 22, and the number of the hall elements 22 can be multiple, and the specific number can be designed according to actual needs. When there are a plurality of hall elements 22, the plurality of hall elements 22 are arranged on the first circuit board 23 at intervals around the rotational axis of the sun gear 172, and six hall elements 22 are provided on the first circuit board 23 in this example. The second circuit board 24 is provided with a single encoder chip 26, and the first circuit board 23 and the second circuit board 24 are electrically connected together through a connecting piece 230 which is bent in a ring shape, so that the structure of the hall encoder is more compact.

In this embodiment, the problem that the specific position of the flange 19 cannot be positioned can be solved by providing the hall element 22 and the first encoder magnet 21. Specifically, when the first encoder magnet 21 is mounted on the planet carrier 175, since the length of the magnetic line of the first encoder magnet 21 can be sensed by the adjacent hall elements 22 mounted on the first circuit board 23 in a surrounding manner, the area through which the first encoder magnet 21 rotates can be distinguished according to the number of the hall elements 22 distributed uniformly and annularly, so that the area through which the flange 19 rotates is determined, and then the output rotation information of the flange 19, that is, the number of rotation turns and the rotation angle, is determined jointly in cooperation with the angle of the rotor unit 16 recorded by the encoder chip 26.

Further, the rotational position of the rotor unit 16 can be determined by converting the information on the number of rotations of the rotor unit 16 based on the determined reduction ratio in accordance with the rotational angle of the rotor unit 16 detected by the encoder chip 26 and the second encoder magnet 25.

It should be noted that, when the plurality of hall elements 22 are disposed, they may be disposed on the same circuit board as the encoder chip 26, for example, as shown in fig. 11, and the plurality of hall elements 22 and the encoder chip 26 are disposed on the second circuit board 24. It is of course also possible, as shown in fig. 4, to provide a plurality of hall elements 22 individually on another circuit board, for example, to provide a plurality of hall elements 22 on a first circuit board 23 and an encoder chip 26 on a second circuit board 24.

Still alternatively, the plurality of hall elements 22 are partially provided on the first circuit board 23 and partially provided on the second circuit board 24. The specific arrangement positions of the plurality of hall elements 22 are not limited in the present application, and it is sufficient that the plurality of hall elements 22 are arranged at equal angles around the rotation axis of the rotor unit 16.

It will be readily appreciated that the arrangement of the individual hall elements 22 may also be provided on the second circuit board 24 in conjunction with the encoder chip 26, or separately on the first circuit board 23, as described above. The battery 29 used in cooperation with a single hall element 22 may be disposed on the same circuit board as the hall element 22, or may be disposed on a different circuit board.

Referring to fig. 3 and 4, in some embodiments, the power module 100 may include a driving circuit board 27, and the driving circuit board 27 may be stacked with the second circuit board 24. The driving circuit board 27 is used for driving the rotor unit 16 to rotate, and an accommodating space 270 is formed between the driving circuit board 27 and the second circuit board 24.

In this way, by arranging the driving circuit board 27 to drive the stator unit 15 to generate a rotating magnetic field to interact with the rotor magnet 161 on the rotor unit 16, so as to drive the rotor unit 16 to rotate, the accommodating space 270 can accommodate the electric devices on the driving circuit board 27. For example, the capacitor on the driving circuit board 27 and the electric devices such as the battery 29 for supplying power to the hall element 22 can be accommodated in the accommodating space 270, so that the interference between these components and the housing 11 of the power module 100 can be avoided, and the space for accommodating the electric devices of the driving circuit board 27 is effectively utilized, so that the power module 100 has a more compact structure and a smaller volume.

Specifically, the driving circuit board 27 and the second circuit board 24 are stacked opposite to each other, and a large-area accommodating space 270 is formed between the driving circuit board 27 and the second circuit board 24, so as to accommodate large-volume devices such as a large-capacity filter capacitor, a power supply of the driving circuit board 27, and a battery 29 for supplying power to the hall element 22. The driving circuit board 27 is also provided with a microprocessor unit, a driving power MOS (Field effect transistor) device unit, a capacitor and other devices required by a motor driving program for operating the FOC (Field-Oriented Control, magnetic Field Oriented Control) motor.

The receiving space 270 is further provided therein with a connecting wire 28 for electrically connecting the second circuit board 24 with the driving circuit board 27, so that the detected number of turns and angle of rotation of the rotor unit 16 can be transmitted to the driving circuit board 27. After the driving circuit board 27 can receive the position signals of the rotor unit 16 and the stator unit 15 transmitted by the second circuit board 24, the microprocessor unit disposed on the driving circuit board 27 can operate the FOC motor driving program according to the three-phase current of the coil in the stator unit 15, so as to drive the stator unit 15 to generate the rotating magnetic field and interact with the rotor unit 16 to generate the torque.

It should be noted that, when a single hall element 22 is provided, a battery 29 for supplying power to the hall element 22 is also provided, and the battery 29 may be provided on the driving circuit board 27 or on the second circuit board 24, that is, the battery 29 may be provided in the accommodating space 270. The battery 29 can keep the hall element 22, the counter, the register and other parts in a continuous and normal working state, so that the hall element 22 can continuously detect the number of turns of the rotor unit 16, the counter and the register can store the number of turns of the rotor unit 16, the phenomenon of data loss caused by the power module 100 and an external power supply after power failure is prevented, and the rotating state of the rotor unit 16 can be accurately controlled.

Referring to fig. 12, the present embodiment provides a robot 1000, and the robot 1000 includes a main body 200, a first power module 300, and a second power module 400. Wherein the first power module 300 is connected to the main body 200, and the first power module 300 may include the power module 100 of any of the above embodiments; the second power module 400 may be connected to the first power module 300.

Thus, the robot 1000 can be driven to move by the cooperation of the first power module 300 and the second power module 400.

Specifically, in the figure, the plurality of first power modules 300 and the plurality of second power modules 400 cooperate to drive the robot 1000 to walk on four feet. The first power module 300 may be connected to the main body 200, i.e., the trunk of the robot 1000, and the first power module 300 may include the power module 100 of any of the above embodiments, for example, the housing unit 10, the stator unit 15, the rotor unit 16, the reducer unit 17, the flange 19, and the like. The flange 19 of the first power module 300 can be used as an input component of the second power module 400 to provide power to drive the second power module 400 to move, that is, the second power module 400 can be connected to the first power module 300 through the flange 19.

Referring to fig. 1 and 13, in some embodiments, the first power module 300 may include a flange 19 and a plurality of pins 18, the pins 18 protrude from a surface of the flange 19 away from the stator unit 15, the second power module 400 may include an end cover 40, the end cover 40 is formed with a plurality of positioning holes 41, and the plurality of pins 18 may be inserted into the positioning holes 41.

In this manner, the projecting portion of the pin 18 may have a locating function to assist in securing the end cap 40 to the flange 19.

Specifically, a plurality of pins 18 may fixedly mount the planet carrier 175 and the flange 19 together, and the pins 18 may also protrude from the surface of the flange 19 away from the stator unit 15, so that the protruding portions of the pins 18 may be used to cooperate with the positioning holes 41 to assist in positioning the end cap 40 connected to the flange 19. In this way, the pin 18 is used to fix the planet carrier 175, the flange 19 and the end cover 40, so that the first power module 300 and the second power module 400 can form a compact whole.

Referring to fig. 1 and 13, in some embodiments, the flange 19 of the first power module 300 and the end cap 40 of the second power module 400 may be fixedly connected by fasteners.

Thus, the flange 19 of the first power module 300 can be fixedly connected with the end cover 40 of the second power module 400, so that the first power module 300 can drive the second power module 400 to move.

Specifically, the fastening members may be screws, and a plurality of fixing holes 191 are correspondingly formed in the flange 19 of the first power module 300 and the end cover 40 of the second power module 400, and the plurality of fixing holes 191 may cooperate with the fastening members to fixedly connect the flange 19 and the end cover 40 together. In this way, the flange 19 can be used as an output component of the first power module 300 and an input component of the second power module 400 at the same time, so that the cascade structure of the robot 1000 is reduced, the structure of the robot 1000 is more compact, and the cost is also reduced.

Referring to fig. 12, in some embodiments, the robot 1000 further includes a third power module 500 and an actuator 600, the third power module 500 being disposed in the body and connected to the first power module 300. The second power module 400 is connected to the actuator 600. The second power module 400 is used for driving the actuating component 600 to move, and the third power module 500 is used for driving the first power module 300, the second power module 400 and the actuating component 600 to move integrally.

In the embodiment of the present application, the rotation axis of the third power module 500 intersects with the rotation axis of the first power module 300, for example, the rotation axis of the third power module 500 and the rotation axis of the first power module 300 may be perpendicular to each other. Under the action of the common driving of the first power module 300, the second power module 400 and the third power module 500, the executing component 600 can complete actions such as jumping and walking, so that the robot 1000 can realize a predetermined function.

In summary, referring to fig. 2, 3 and 12, the present application discloses a power module 100 and a robot 1000, where the power module 100 includes a housing unit 10, a stator unit 15, a rotor unit 16, a speed reducer unit 17, a flange 19, a first encoder magnet 21, a hall element 22, a second encoder magnet 25, an encoder chip 26, a first circuit board 23, a second circuit board 24, a connecting wire 28, and the like.

Specifically, the housing unit 10 may include a housing 11, a second end cap 12, a first end cap 13, and a threaded cap 14. The housing 11 has opposite first and

second sides

110 and 111, the second end cap 12 is mounted to the first side 110 of the housing 11, the first end cap 13 is mounted to the housing 11 opposite the second end cap 12, and the threaded cap 14 is removably mounted to the first end cap 13.

The stator unit 15 may include a stator coil fixed to the housing 11. The rotor unit 16 includes a rotor iron ring 160, a rotor magnet 161, and a rotor holder 162. The rotor holder 162 is connected with the rotor magnet 161, and the rotor iron ring 160, the rotor magnet 161 and the rotor holder 162 together form the basic structure of the external rotor motor. The stator unit 15 and the rotor unit 16 are responsible for power generation together, and constitute the basic structure of the outer rotor brushless motor.

The speed reducer unit 17 comprises a gear assembly 171, which gear assembly 171 may comprise a sun gear 172, a plurality of planet gears 173, a ring gear 174 and a planet gear carrier 175. The sun gear 172, the planet gears 173, the ring gear 174 and the planet gear carrier 175 together form a planetary reducer. And the sun gear 172 is connected to the rotor carrier 162 in the rotor unit 16, a plurality of planet gears 173 are each connected to the sun gear 172 and mounted on a planet gear carrier 175, and the ring gear 174 may be mounted on the first end cover 13 in the housing 11 unit.

The flange 19 may be disposed at an end of the power module 100, the flange 19 may be connected to the reducer unit 17, and the rotation of the reducer unit 17 may drive the flange 19 to rotate together, that is, the flange 19 may be rotatably disposed relative to the first end cap 13 in the housing 11 unit, and the flange 19 may be further embedded in the screw cap 14 of the housing 11 unit.

The power module 100 includes a first circuit board 23, a first encoder magnet 21, and a hall element 22, where the first encoder magnet 21 is disposed opposite to the hall element 22, the first encoder magnet 21 may be mounted on the planet carrier 175, and the hall element 22 may be disposed on the first circuit board 23. The first encoder magnet 21 and the hall element 22 can cooperate to detect the number of rotations and the rotation angle of the rotor unit 16.

The power module 100 includes a second circuit board 24, a second encoder magnet 25 and an encoder chip 26, the second circuit board 24 is electrically connected to the first circuit board 23, the encoder chip 26 is disposed on the second circuit board 24, the second encoder magnet 25 is disposed on the rotor support 162 of the rotor unit 16, and the second encoder magnet 25 cooperates with the encoder chip 26 to detect the rotation angle of the rotor support 162.

The power module 100 may further include a driving circuit board 27 and a connecting wire 28, wherein the driving circuit board 27 is electrically connected to the second circuit board 24 through the connecting wire 28.

It can be easily understood that the stator unit 15, the rotor unit 16, the speed reducer unit 17, the flange 19, the first encoder magnet 21, the hall element 22, the second encoder magnet 25, the encoder chip 26, the first circuit board 23, the second circuit board 24, the wiring 28, and the like may be provided within the housing 11 of the case unit 10.

The operation principle of the power module 100 according to the embodiment of the present application will be briefly described below: the stator unit 15 is fixed on the housing unit 10, and the rotor iron ring 160, the rotor magnet 161 and the rotor bracket 162 constitute the rotor unit 16, forming the basic structure of the external rotor motor. The stator unit 15 and the rotor unit 16 are responsible for power generation of the power module 100, and constitute a basic structure of the outer rotor brushless motor.

In accordance with the brushless motor driving principle, the precise absolute position of the stator unit 15 and the rotor unit 16 is required to be known for the normal rotation of the brushless motor, and then in the present embodiment, the second encoder magnet 25 is disposed at the central axis position on the rotor holder 162, and the second encoder magnet 25 can transmit the position of the rotor unit 16 relative to the stator unit 15 to the encoder chip 26 disposed on the second circuit board 24. That is, the second encoder magnet 25, the encoder chip 26 and the second circuit board 24 constitute a motor-side encoder of the power module 100 for providing an absolute positional relationship of the rotor unit 16 and the stator unit 15.

The second circuit board 24 is electrically connected to the drive circuit board 27 via a wiring 28, so that a position signal can be transmitted to the drive circuit board 27 via the wiring 28 harness. A microprocessor unit, a driving power MOS (Field effect transistor) device unit, a large-capacity filter capacitor, and the like, which are required by a motor operating FOC (Field-Oriented Control) motor driving program, are arranged on the driving circuit board 27.

The driving circuit board 27 and the second circuit board 24 are separately arranged, a large space is reserved between the two circuit boards, and large-volume elements such as a battery 29 matched with the single Hall element 22 can be conveniently accommodated.

The driving circuit board 27 can drive the rotor unit 16 to rotate, the driving circuit board 27 is electrically connected with the second circuit board 24, and after the driving circuit board 27 receives the position signal transmitted by the second circuit board 24, the microprocessor unit operates the FOC motor driving program according to the three-phase current of the stator unit 15, so as to drive the stator unit 15 to generate a rotating magnetic field and interact with the rotor unit 16 to generate torque.

This torque is reduced in speed by the sun gear 172 connected to the rotor carrier 162 and the planet gears 173 engaging with the sun gear 172, and by the ring gear 174 engaging with the planet gears 173, and is then output via the flange 19.

It should be noted that, in the prior art, the motor-side encoder is subject to its own physical principle, and can only feed back a value of 0-360 degrees without external power supply, i.e. return to zero after more than one turn (i.e. 360 degrees), which only satisfies the precise range of 0-360 degrees between the stator unit 15 and the rotor unit 16, i.e. the motor-side encoder can only measure the rotation angle of the rotor unit 16, and cannot confirm the rotation number of the rotor unit 16.

For example, in the present embodiment, the power module 100 may adopt a 6-fold speed reduction ratio, that is, the rotor unit 16 rotates 6 times by 0-360 degrees, and the final flange 19 output rotates 1 time by 0-360 degrees, while the final application uses the joint angle of the flange 19 output, so that the absolute position of the flange 19 output by 0-360 degrees needs to be measured. According to the above description, the motor-end encoder cannot represent the mechanical angle of the flange 19, because the motor rotates a full circle 360 degrees in absolute position, and the flange 19 rotates only 60 degrees after being decelerated according to the 6-fold speed reduction ratio, i.e. only represents 60 degrees of the flange 19. It can be seen that the flange 19 can be divided into 6 consecutive 60 degree zones during a single rotation, and that the motor-side encoder alone cannot accurately distinguish which zone is located.

Finally, the decelerated large torque is output through the pin 18 penetrating through the planet wheel bracket 175 and the flange 19, the pin 18 can be directly inserted into the end cover 40 of the second power module 400, and then the end cover 40 and the flange 19 are tightly assembled through internal screws. Thus, the two power parts can be connected together without additional devices.

In particular, it should be noted that the decelerated torque is output by the flange 19, and when the external collision or drop occurs, the flange 19 needs to bear the impact, so that the flange 19 is matched with the bearing 20 capable of resisting the axial direction and the radial direction, and the output torque can be output efficiently, and the impact can be buffered on the bearing 20 without damaging the gear assembly 171 and other devices with weak internal parts.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A power module, comprising:

a stator unit;

a rotor unit rotatably disposed with respect to the stator unit;

a first encoder magnet connected to the rotor unit; and

and the Hall element is connected with the stator unit and is arranged opposite to the first encoder magnet, and the Hall element is matched with the first encoder magnet to detect the number of turns of the rotor unit.

2. The power module of claim 1, wherein the number of the hall elements is plural, and the plural hall elements are arranged at equal angles around the rotation axis of the rotor unit.

3. The power module of claim 1, wherein the number of hall elements is single, the power module including a battery electrically connected to the hall elements.

4. The power module of claim 1, wherein the rotor unit includes a rotor magnet and a rotor carrier coupled to the rotor magnet, the power module including a speed reducer unit coupled to the rotor carrier, the speed reducer unit including a gear assembly including a sun gear and planet gears coupled to the sun gear, the sun gear coupled to the rotor carrier.

5. The power module of claim 4, wherein the number of planets is a plurality, the plurality of planets being spaced around the sun, the gear assembly comprising a planet carrier on which the plurality of planets is mounted, the first encoder magnet being mounted on the planet carrier.

6. The power module of claim 4, wherein the gear assembly further includes a ring gear surrounding the sun gear and the planet gears, the ring gear and the sun gear each being in mesh with the planet gears.

7. The power module of claim 6, comprising a flange connected to the planet carrier by a pin, the flange and the planet carrier sandwiching the planet in the ring gear.

8. The power module of claim 7, wherein the pin protrudes from a surface of the flange away from the planet carrier.

9. The power module of claim 7, wherein the power module includes a housing unit including a housing and an end cap mounted to the housing, the ring gear being mounted to the end cap, the flange being rotatably disposed relative to the end cap, and the stator unit being disposed within the housing and fixedly disposed with the housing.

10. The power module of claim 9, wherein the flange is coupled to the end cap by a bearing, and wherein the housing unit includes a threaded cap removably coupled to the end cap, the threaded cap abutting the bearing to limit movement of the bearing away from the rotor unit.

11. A power module according to claim 4, characterised in that the rotor support comprises a support surface facing the gear assembly, which support surface is provided with fan structures which create an air flow during rotation of the rotor support.

12. The power module of claim 4, wherein the power module includes a second encoder magnet disposed on the rotor support and an encoder chip disposed opposite the second encoder magnet, the encoder chip and the second encoder magnet cooperating to detect a rotation angle of the rotor unit.

13. The power module of claim 11, wherein the power module comprises a first circuit board and a second circuit board, the first circuit board and the second circuit board are oppositely arranged, the first circuit board is electrically connected with the second circuit board, the hall element is arranged on the first circuit board, and the encoder chip is arranged on the second circuit board.

14. The power module as claimed in claim 13, wherein the power module includes a driving circuit board stacked with the second circuit board, the driving circuit board is used for driving the rotor unit to rotate, and an accommodating space is formed between the driving circuit board and the second circuit board.

15. A robot, comprising:

a main body;

a first power module coupled to the main body, the first power module comprising the power module of any of claims 1-14; and

and the second power module is connected with the first power module.

16. The robot of claim 15, wherein the first power module includes a flange and a plurality of pins protruding from a surface of the flange remote from the stator unit, and wherein the second power module includes an end cap formed with a plurality of locating holes into which the plurality of pins are inserted.

17. The robot of claim 16, wherein the flange of the first power module is fixedly coupled to the end cap of the second power module by fasteners.