CN116372974A - Servo module, joint and robot - Google Patents

Abstract

The invention provides a servo module, a joint and a robot, and relates to the field of robots. The servo module includes: the motor comprises a shell, an end cover, a stator and a rotor, wherein the shell is provided with an annular outer shell part and an annular inner shell part, the inner wall of the inner shell part is provided with a plurality of teeth, the stator is arranged around the inner shell part, and the rotor is arranged between the stator and the outer shell part; the planetary speed reduction assembly comprises a planet carrier, a planet wheel and a sun wheel, wherein the planet carrier is in running fit with the inner wall of the inner shell part, the planet wheel is arranged on the planet carrier and meshed with the teeth, and the sun wheel is meshed with the planet wheel and connected with the rotor; and the servo driver is arranged on one side of the end cover facing the shell and is electrically connected with the stator. The motor, the planetary reduction assembly and the servo driver are integrally designed, so that the whole servo module is more compact and smaller in size. The torque parameter of the motor is estimated through the current of the windings of the stator, so that the structure of the servo module is simplified, and the requirements of the robot for pursuing light weight and small volume can be met better.

Description

Servo module, joint and robot

Technical Field

The invention relates to the field of robots, in particular to a servo module, a joint and a robot.

Background

The joints of the robot may be divided into a driving joint and a driven joint according to whether or not the driving is separately performed. In the active joint, the servo module is used as an executing device and is a core part of the robot.

The existing servo module used by the robot joint is generally a harmonic servo module, the speed reduction ratio is high, the moment is large, but the moment cannot be directly observed or estimated through the current of a driver, a moment sensor is required to be installed in the occasion needing force control, the defects of complex structure and large volume exist, and the requirements of the robot on pursuing light weight and small volume are not met.

Disclosure of Invention

In order to solve the problems in the prior art, one of the objectives of the present invention is to provide a servo module.

The invention provides the following technical scheme:

a servo module, comprising:

the motor comprises a shell, an end cover, a stator and a rotor, wherein the shell is provided with an annular outer shell part and an annular inner shell part, a plurality of teeth are arranged on the inner wall of the inner shell part along the circumferential direction, the end cover is connected with the outer shell part, the stator is arranged around the inner shell part and fixedly connected with the inner shell part, and the rotor is rotatably arranged between the stator and the outer shell part;

the planetary reduction assembly comprises a planet carrier, a planet wheel and a sun wheel, wherein the planet carrier is in running fit with the inner wall of the inner shell part, the planet wheel is rotatably arranged on the planet carrier and meshed with the teeth on the inner shell part, and the sun wheel is meshed with the planet wheel and connected with the rotor; and

The servo driver is arranged on one side of the end cover, which faces the shell, and is connected with the end cover and electrically connected with the stator.

As a further alternative scheme of the servo module, the end cover is made of a heat conducting material, a heat conducting piece is arranged between the servo driver and the end cover, and the servo driver abuts against the end cover through the heat conducting piece.

As a further alternative to the servo module, the end cap has a boss, a receiving cavity is formed in the boss, and the servo driver is located in the receiving cavity.

As a further alternative scheme of the servo module, the servo driver comprises a board card and a control module, wherein the board card is connected with the end cover, and the control module is arranged on the board card and is electrically connected with the stator so as to collect current signals of the stator.

As a further alternative scheme of the servo module, the servo driver further comprises an encoding and decoding module, the encoding and decoding module is electrically connected with the control module, the encoding and decoding module is arranged on one side of the board card, which faces the sun gear, and is opposite to the sun gear, and a magnet is correspondingly arranged at one end, close to the encoding and decoding module, of the sun gear.

As a further alternative to the servo module, a first bearing and a second bearing are provided on the inner wall of the inner housing part, the first bearing and the second bearing are arranged along the axial direction of the inner housing part, and the planet carrier is in running fit with the inner wall of the inner housing part through the first bearing and the second bearing.

As a further alternative scheme of the servo module, the motor further comprises a rotor frame, the rotor frame is connected with the rotor, the rotor frame is provided with a sleeve part, and the sleeve part is sleeved at one end of the sun gear and is connected with the sun gear.

As a further alternative to the servo module, a third bearing is disposed between the planet carrier and one end of the sun gear away from the sleeve portion, and a fourth bearing is disposed between the sleeve portion and the planet carrier.

It is another object of the present invention to provide a joint.

The invention provides the following technical scheme:

a joint comprises the servo module.

It is a further object of the present invention to provide a robot.

The invention provides the following technical scheme:

a robot includes the above-mentioned joint.

The embodiment of the invention has the following beneficial effects:

in the above servo module, the housing of the motor has an annular housing portion and an inner housing portion. The stator is arranged around the inner shell part, the rotor is rotatably arranged between the stator and the outer shell part, so that the normal operation of the motor can be ensured, and a space for embedding and installing the planetary reduction assembly can be formed at the inner side of the inner shell part. On the basis, the planet carrier is in running fit with the inner wall of the inner shell part and is installed by depending on the shell. And the planet wheels mesh with teeth on the inner wall of the inner housing part, which serves as a gear ring. In addition, the servo driver is arranged on one side of the end cover, which faces the shell, and the end cover is used for installation and fixation, so that the integrated design of the motor, the planetary reduction assembly and the servo driver is realized, and the whole servo module is more compact along the radial direction and the axial direction, and the size is smaller.

When the planetary gear is used, the rotor of the motor drives the sun gear to rotate, and the sun gear drives the meshed planetary gears to rotate. Under the condition that the inner shell part serving as the gear ring is fixed, the planet wheel drives the planet carrier to rotate, and the planet carrier is used as the output end of the whole servo module. Compared with the existing harmonic servo module, the planetary speed reduction assembly has smaller speed reduction ratio, and the moment parameters of the motor can be accurately estimated through the current of the windings of the stator, so that a moment sensor is not required to be arranged, the structure of the servo module is simplified, the size of the whole servo module is reduced, and the requirements of the robot for pursuing light weight and small size can be met better.

In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram showing an overall structure of a servo module according to an embodiment of the present invention;

FIG. 2 is an exploded view of a servo module according to an embodiment of the present invention;

FIG. 3 is a schematic cross-sectional view of a motor in a servo module according to an embodiment of the present invention;

FIG. 4 shows an exploded view of a motor in a servo module according to an embodiment of the present invention;

FIG. 5 is an exploded view of a planetary reduction assembly in a servo module according to an embodiment of the present invention;

FIG. 6 is a schematic diagram showing a matching relationship between a planet carrier and a housing in a servo module according to an embodiment of the present invention;

FIG. 7 is a schematic diagram showing a matching relationship among a sun gear, a rotor frame and a planet carrier in a servo module according to an embodiment of the present invention;

FIG. 8 is a schematic diagram showing a connection relationship between an end cover and a servo driver in a servo module according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a servo driver in a servo module according to an embodiment of the present invention.

Description of main reference numerals:

100-motor; 110-a housing; 111-a housing part; 112-an inner housing portion; 113-teeth; 114-a first bearing; 115-a second bearing; 120-end caps; 121-a heat conducting member; 122-a boss; 130-a stator; 140-rotor; 150-rotor frame; 151-a sleeve portion; 152-fourth bearings; 200-planetary reduction assembly; 210-a planet carrier; 211-a first frame body; 211 a-a first shoulder; 212-a second frame; 212 a-a second shoulder; 213-support columns; 220-planet wheels; 230-sun gear; 231-a third bearing; 232-fixing blocks; 233-a magnet; 300-servo driver; 310-board card; 320-a control module; 330-a power module; 340-a codec module; 350-a digital quantity output interface; 360-scram control interface; 370-temperature sensor.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to fig. 1 and 2 together, the present embodiment provides a servo module, which includes a motor 100, a planetary reduction assembly 200 and a servo driver 300.

Referring to fig. 3 and 4 together, the motor 100 includes a housing 110, an end cover 120, a stator 130, and a rotor 140. The casing 110 has an annular outer casing portion 111 and an inner casing portion 112, and the inner wall of the inner casing portion 112 is provided with a plurality of teeth 113 in the circumferential direction. The end cap 120 is connected to the housing portion 111. The stator 130 is disposed around the inner housing portion 112 and fixedly coupled to the inner housing portion 112, and the rotor 140 is rotatably disposed between the stator 130 and the outer housing portion 111. In addition, the stator 130 is electrically connected to the servo driver 300.

Referring to fig. 5, 6 and 7 together, the planetary reduction assembly 200 includes a planet carrier 210, planet gears 220 and a sun gear 230. The planet carrier 210 is in a rotational fit with the inner wall of the inner housing portion 112. The planet gears 220 are rotatably disposed on the planet carrier 210 and engage the teeth 113 on the inner housing portion 112. The sun gear 230 is in mesh with the planet gears 220 and is connected to the rotor 140.

Referring again to fig. 2, in addition, the servo driver 300 is disposed on a side of the end cover 120 facing the housing 110, and is connected to the end cover 120.

In the servo module described above, the housing 110 of the motor 100 has the annular outer housing part 111 and the annular inner housing part 112. The stator 130 is disposed around the inner housing portion 112, and the rotor 140 is rotatably disposed between the stator 130 and the outer housing portion 111, so that normal operation of the motor 100 can be ensured, and a space for embedding and mounting the planetary reduction assembly 200 can be formed inside the inner housing portion 112. On this basis, the planet carrier 210 is in rotary fit with the inner wall of the inner housing 112, and is mounted by the housing 110. While the planet gears 220 mesh with the teeth 113 on the inner wall of the inner housing part 112, acting as a ring gear by the inner housing part 112. In addition, the servo driver 300 is disposed at a side of the end cover 120 facing the housing 110, and is mounted and fixed by using the end cover 120, so that an integrated design of the motor 100, the planetary reduction assembly 200 and the servo driver 300 is realized, and the whole servo module is more compact in radial and axial directions and has a smaller volume.

In use, the rotor 140 of the motor 100 drives the sun gear 230 to rotate, and the sun gear 230 drives the engaged planet gears 220 to rotate. With the inner housing 112 acting as a ring gear stationary, the planet gears 220 rotate the planet carrier 210, with the planet carrier 210 acting as the output of the entire servo module. Compared with the existing harmonic servo module, the planetary speed reduction assembly 200 has smaller speed reduction ratio, and the torque parameter of the motor 100 can be accurately estimated through the current of the windings of the stator 130, so that a torque sensor is not required to be arranged, the structure of the servo module is simplified, the size reduction of the whole servo module is facilitated, and the requirements of the robot for pursuing light weight and small size can be met better.

Example 2

Referring to fig. 1 and 2 together, the present embodiment provides a servo module, specifically a quasi-moment servo module, applied to a joint of a robot, which comprises a motor 100, a planetary reduction assembly 200 and a servo driver 300.

Referring to fig. 3 and 4 together, in particular, the motor 100 is composed of a casing 110, an end cover 120, a stator 130, a rotor 140, and a rotor frame 150.

The casing 110 has an annular outer casing portion 111 and an annular inner casing portion 112, an axis of the outer casing portion 111 coincides with an axis of the inner casing portion 112, and the outer casing portion 111 is located outside the inner casing portion 112. One end of the outer shell portion 111 and the inner shell portion 112 in the axial direction is closed, and the other end is open and disposed opposite to the end cap 120.

Further, the inner wall of the inner housing part 112 is integrally formed with a plurality of teeth 113, and the respective teeth 113 are uniformly distributed in the circumferential direction of the inner housing part 112.

The end cap 120 is fixedly connected with the outer shell portion 111 by bolts, and a gap is left between the end cap 120 and the inner shell portion 112.

The stator 130 includes a core disposed around the inner housing part 112 and adhered and fixed to the inner housing part 112 by a high strength adhesive, and windings disposed on the core. In addition, windings of the stator 130 are electrically connected to the servo driver 300.

The rotor 140 is provided between the stator 130 and the housing 111, and is rotatable with respect to the stator 130 and the housing 111.

The rotor frame 150 is disposed at a side of the end cover 120 facing the inner housing part 112 and passes through a gap between the end cover 120 and the inner housing part 112, and an outer edge of the rotor frame 150 is fixedly coupled with the rotor 140.

In use, servo driver 300 supplies power to windings of stator 130 to operate motor 100, and rotor 140 drives rotor frame 150 to rotate. At the same time, the current through the windings of the stator 130 may more accurately estimate the torque parameters of the motor 100.

Referring to fig. 5, in particular, the planetary reduction assembly 200 is embedded inside the inner housing 112 and is composed of a planet carrier 210, a planet gear 220 and a sun gear 230.

Please refer to fig. 6 and 7, wherein the planet carrier 210 is rotatably engaged with the inner wall of the inner housing portion 112. The planet gears 220 are rotatably disposed on the planet carrier 210 and engage the teeth 113 on the inner wall of the inner housing portion 112. The sun gear 230 is in mesh with the planet gears 220 and is connected to the rotor 140 by the rotor carrier 150.

In some embodiments, the rotor frame 150 has a sleeve portion 151. The sleeve portion 151 is sleeved at one end of the sun gear 230, and is in interference fit with the sun gear 230, so as to be relatively fixed with the sun gear 230.

In use, the rotor 140 drives the sun gear 230 to rotate, and the sun gear 230 drives the engaged planet gears 220 to rotate. With the inner housing 112 acting as a ring gear stationary, the planet gears 220 rotate the planet carrier 210, with the planet carrier 210 acting as the output of the entire servo module.

Referring to fig. 6, further, a first bearing 114 and a second bearing 115 are provided on the inner wall of the inner housing 112. The first bearing 114 and the second bearing 115 are aligned along the axial direction of the inner housing part 112, and are located at both sides of the teeth 113, respectively, and the planet carrier 210 is rotatably engaged with the inner wall of the inner housing part 112 through the first bearing 114 and the second bearing 115.

The first bearing 114 and the second bearing 115 can reduce frictional resistance of the planet carrier 210 during relative rotation with the inner housing part 112, improve energy transmission efficiency, and avoid abrasion generated when the planet carrier 210 is in direct contact engagement with the inner housing part 112.

Referring again to fig. 5, in some embodiments, the planet carrier 210 is composed of a first carrier 211, a second carrier 212, and support columns 213. The first frame 211 and the second frame 212 are all annular, the axis of the first frame 211 and the axis of the second frame 212 are all coincident with the axis of the inner shell 112, and the first frame 211 and the second frame 212 are arranged along the axis direction of the inner shell 112.

The support columns 213 are at least two and are located between the first frame 211 and the second frame 212. Each support column 213 is parallel to the axis of the first frame 211, and each support column 213 is arranged along the circumferential direction of the first frame 211. One end of the supporting column 213 is integrally formed with the first frame 211, and the other end of the supporting column 213 is abutted against the second frame 212 and bolted to the second frame 212, thereby forming a complete planet carrier 210.

In addition, the outer side wall of the end of the first frame body 211 far away from the second frame body 212 is provided with a first shaft shoulder 211a, and the outer side wall of the end of the second frame body 212 far away from the first frame body 211 is provided with a second shaft shoulder 212a.

On the other hand, the first shoulder 211a abuts against the side of the first bearing 114 facing away from the teeth 113, so that the first bearing 114 can be limited. The second shoulder 212a abuts against a side of the second bearing 115 facing away from the teeth 113, and is capable of limiting the second bearing 115. On the other hand, the split arrangement of the first frame 211 and the second frame 212 makes the installation of the first bearing 114 and the second bearing 115 more convenient, and the support column 213 can be connected with the second frame 212 after the first bearing 114, the second bearing 115, the first frame 211 and the second frame 212 are installed.

The planetary gears 220 are located between the first frame 211 and the second frame 212 along the axial direction of the first frame 211. The planetary gears 220 are located between adjacent two support columns 213 along the circumferential direction of the first carrier 211. In addition, one end of the axle of the planet gear 220 penetrates into the first frame 211 to be in running fit with the first frame 211, and the other end penetrates into the second frame 212 to be in running fit with the second frame 212.

Also, due to the split arrangement of the first frame 211 and the second frame 212, the planetary gear 220 can be placed between the first frame 211 and the second frame 212 during installation, so that the wheel shafts of the planetary gear 220 respectively penetrate into the first frame 211 and the second frame 212, and then the supporting columns 213 are connected with the second frame 212. At this time, the first frame 211 and the second frame 212 form a limit for the planetary gear 220.

Alternatively, the number of the support columns 213 and the number of the planetary gears 220 are three, and the three support columns 213 and the three planetary gears 220 are uniformly distributed and spaced along the circumferential direction of the first frame 211.

Referring to fig. 7, further, a third bearing 231 is sleeved on an end of the sun gear 230 away from the sleeve portion 151, and is rotatably engaged with the inner wall of the first frame 211 through the third bearing 231. The sleeve portion 151 is sleeved with a fourth bearing 152, and is in rotational fit with the inner wall of the second frame 212 through the fourth bearing 152.

The third bearing 231 and the fourth bearing 152 can reduce frictional resistance applied to the sun gear 230 and the sleeve portion 151 during relative rotation with the carrier 210, improve energy transmission efficiency, and avoid abrasion generated when the sun gear 230 is in direct contact engagement with the carrier 210 and the sleeve portion 151 is in direct contact engagement with the carrier 210.

Optionally, a fixing block 232 is bolted to the end surface of the sun gear 230 away from the sleeve portion 151, and the fixing block 232 abuts against the third bearing 231 to limit the third bearing 231.

In the above-described motor 100 and planetary reduction assembly 200, the inner housing portion 112 of the housing 110 serves as a mounting base. The stator 130 is disposed around the inner housing part 112 and fixedly connected with the inner housing part 112, so that coaxiality of the stator 130 and the inner housing part 112 can be ensured. The planet carrier 210 is rotatably mounted on the inner wall of the inner housing part 112 through the first bearing 114 and the second bearing 115, and has good coaxiality with the inner housing part 112. The sun gear 230 and the rotor frame 150 are rotatably mounted on the inner wall of the planet carrier 210 through the third bearing 231 and the fourth bearing 152, and have good coaxiality with the planet carrier 210 and further with the inner housing part 112. The rotor 140 is fixedly connected with the sun gear 230 through the rotor frame 150, and is mounted on the planet carrier 210 along with the sun gear 230, and also has good coaxiality with the inner shell 112, and further has good coaxiality with the stator 130, so that stable operation of the motor 100 is facilitated.

Referring to fig. 8 and 9 together, specifically, the servo driver 300 is disposed on a side of the end cover 120 facing the housing 110, and includes a board card 310, a control module 320 and a power module 330.

It should be noted that conventional motor drives include drive boards, power boards, control boards, and the like. The driving board comprises a driving circuit and a protection circuit, and the power board comprises a power device and a bus supporting capacitor. In operation, a control signal is output by the control board to the drive board, which further drives the power board, thereby outputting current to the motor 100.

The servo driver 300 integrates a driving board, a power board and a control board on one board card 310, which is very small in size, compared to a conventional electric driver. The structural components of the driving plate and the power plate are the same as those of a conventional motor driver, and are not described herein. The control module 320 and the power module 330 are both control boards, and are described below as being implemented around the control boards.

The board 310 is connected to the end cap 120, and the control module 320 and the power module 330 are disposed on the board 310. The control module 320 is electrically connected to the power module 330, and the power module 330 converts the battery power into a suitable voltage to supply power to the control module 320. In addition, the control module 320 is electrically connected with the windings of the stator 130 through the conditioning circuit module.

In use, the conditioning circuit module converts the winding current signal to a 0-3V voltage signal and transmits it to the control module 320. The control module 320 indirectly calculates a current signal of the winding according to the voltage signal, and further calculates a torque parameter of the motor 100 according to an actual current of the winding. In addition, the control module 320 may also accept communication data.

In some embodiments, the control module 320 employs an MCU (Microcontroller Unit, micro control unit) host chip.

Referring to fig. 7, further, the control board of the servo driver 300 further includes a codec module 340. The encoding and decoding module 340 is electrically connected with the control module 320, and the encoding and decoding module 340 is disposed on one side of the board 310 facing the sun gear 230 and is opposite to the end face of the sun gear 230. Correspondingly, a magnet 233 is embedded at one end of the sun gear 230 near the encoding and decoding module 340, and the distance between the magnet 233 and the encoding and decoding module 340 is 1mm.

When the motor 100 is operated, the magnet 233 rotates with the sun gear 230. The codec module 340 may decode the position information of the motor 100 by rotating the magnet 233, and further transmit the position information of the motor 100 to the control module 320. The control module 320 controls the driving board and the power board according to the position information of the motor 100, and controls the rotation angle and the speed of the motor 100 by controlling the current output by the power board, thereby realizing the closed-loop control of 'position-control-position'.

In some embodiments, the codec module 340 employs a magnetic encoder.

Further, the control board of the servo driver 300 further includes a digital quantity output interface 350, an emergency stop control interface 360, and a temperature sensor 370. The servo module is externally powered and output through the digital quantity output interface 350, so that the power supply or logic control function is realized. The emergency stop control interface 360 may implement a stop in an emergency. The temperature sensor 370 is used for detecting the temperature of the motor 100, realizing the temperature protection of the motor 100, and effectively playing the limit performance of the motor 100.

Further, the end cap 120 is made of a heat conductive material, such as metal, ceramic, etc. A heat conducting member 121 is disposed between the servo driver 300 and the end cover 120, and the servo driver 300 abuts against the end cover 120 through the heat conducting member 121.

Heat generated in the working process of the power device of the power board of the servo driver 300 is transferred to the end cover 120 through the heat conducting member 121, so that the heat dissipation problem of the power device can be effectively solved. In other words, the servo driver 300 is installed and fixed by using the end cover 120, and dissipates heat by using the end cover 120, which is beneficial to reducing the radial and axial dimensions of the whole servo module and realizing a servo module with smaller volume.

Further, the middle portion of the end cap 120 has a boss 122. The boss 122 defines a receiving cavity therein in which the servo drive 300 is positioned in sufficient spacing from the rotor frame 150 and sun gear 230.

In addition, the size of the boss 122 fits within the size of the servo driver 300 in the radial plane of the end cap 120. The region of the end cap 120 other than the boss 122 is proximate to the rotor frame 150, making the overall servo module more compact.

In summary, in the above servo module, the housing 110 of the motor 100 has the annular outer housing part 111 and the annular inner housing part 112. The stator 130 is disposed around the inner housing portion 112, and the rotor 140 is rotatably disposed between the stator 130 and the outer housing portion 111, so that normal operation of the motor 100 can be ensured, and a space for embedding and mounting the planetary reduction assembly 200 can be formed inside the inner housing portion 112. On this basis, the planet carrier 210 is in rotary fit with the inner wall of the inner housing 112, and is mounted by the housing 110. While the planet gears 220 mesh with the teeth 113 on the inner wall of the inner housing part 112, acting as a ring gear by the inner housing part 112. In addition, the servo driver 300 is disposed at a side of the end cover 120 facing the housing 110, and is mounted and fixed by using the end cover 120, so that an integrated design of the motor 100, the planetary reduction assembly 200 and the servo driver 300 is realized, and the whole servo module is more compact in radial and axial directions and has a smaller volume.

In use, the rotor 140 drives the sun gear 230 to rotate, and the sun gear 230 drives the engaged planet gears 220 to rotate. With the inner housing 112 acting as a ring gear stationary, the planet gears 220 rotate the planet carrier 210, with the planet carrier 210 acting as the output of the entire servo module. Compared with the existing harmonic servo module, the planetary speed reduction assembly 200 has smaller speed reduction ratio, and the torque parameter of the motor 100 can be accurately estimated through the current of the windings of the stator 130, so that a torque sensor is not required to be arranged, the structure of the servo module is simplified, the size reduction of the whole servo module is facilitated, and the requirements of the robot for pursuing light weight and small size can be met better. Wherein, the lightweight is to lighten the weight of the servo module and improve the motion performance. The small size can make the critical component compact in size, promotes the aesthetic measure of robot outward appearance, and the activity is more nimble.

Compared with a direct-drive motor, the servo module has higher moment density. Based on the combination of the high-power density motor 100 and the small reduction ratio planetary reduction assembly 200, a high rotation speed can be achieved. Moment control is achieved based on the current loop, and high force control bandwidth can be achieved, so that the servo module is guaranteed to have high dynamic performance. The servo module has smaller end effective inertia, so that the servo module has better anti-driving performance and can cope with dynamic collision.

In addition, the servo module realizes modularized design, can realize multiplexing and large-scale manufacturing, and has good economic benefit.

The embodiment also provides a joint, in particular to an active joint applied to a robot, wherein the joint comprises the servo module.

Optionally, the joint is a rotary joint.

The embodiment also provides a robot comprising the joint.

In some embodiments, the robot is a humanoid robot.

In other embodiments, the robot is a foot robot. The weight of the leg of the foot robot can be effectively reduced by the design of the servo driver 300 with a very small volume.

Any particular values in all examples shown and described herein are to be construed as merely illustrative and not a limitation, and thus other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The above examples merely represent a few embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the present invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.

Claims (10)

1. A servo module, comprising:

the motor comprises a shell, an end cover, a stator and a rotor, wherein the shell is provided with an annular outer shell part and an annular inner shell part, a plurality of teeth are arranged on the inner wall of the inner shell part along the circumferential direction, the end cover is connected with the outer shell part, the stator is arranged around the inner shell part and fixedly connected with the inner shell part, and the rotor is rotatably arranged between the stator and the outer shell part;

the planetary reduction assembly comprises a planet carrier, a planet wheel and a sun wheel, wherein the planet carrier is in running fit with the inner wall of the inner shell part, the planet wheel is rotatably arranged on the planet carrier and meshed with the teeth on the inner shell part, and the sun wheel is meshed with the planet wheel and connected with the rotor; and

The servo driver is arranged on one side of the end cover, which faces the shell, and is connected with the end cover and electrically connected with the stator.

2. The servo module of claim 1 wherein the end cap is a thermally conductive material, a thermally conductive member is disposed between the servo driver and the end cap, and the servo driver is in contact with the end cap via the thermally conductive member.

3. The servo module of claim 1 wherein the end cap has a boss with a receiving cavity formed therein, the servo driver being located in the receiving cavity.

4. A servo module as recited in any one of claims 1-3, wherein said servo driver comprises a board card and a control module, said board card being connected to said end cap, said control module being disposed on said board card, said control module being electrically connected to said stator for collecting current signals from said stator.

5. The servo module of claim 4, wherein the servo driver further comprises an encoding and decoding module, the encoding and decoding module is electrically connected with the control module, the encoding and decoding module is arranged on one side of the board towards the sun gear and is opposite to the sun gear, and a magnet is correspondingly arranged at one end of the sun gear, which is close to the encoding and decoding module.

6. The servo module of claim 1 wherein the inner wall of the inner housing portion is provided with a first bearing and a second bearing, the first bearing and the second bearing being aligned in the axial direction of the inner housing portion, the planet carrier being in rotational engagement with the inner wall of the inner housing portion via the first bearing and the second bearing.

7. The servo module of claim 1 wherein the motor further comprises a rotor frame, the rotor frame being coupled to the rotor, the rotor frame having a sleeve portion that is sleeved on one end of the sun gear and coupled to the sun gear.

8. The servo module of claim 7 wherein a third bearing is disposed between the planet carrier and an end of the sun gear distal from the sleeve portion, and a fourth bearing is disposed between the sleeve portion and the planet carrier.

9. A joint comprising a servo module as claimed in any one of claims 1 to 8.

10. A robot comprising a joint according to claim 9.

Images