CN118456491A - Integrated joint - Google Patents

Abstract

The present application provides an integrated joint, which relates to the field of robot technology. The integrated joint includes a motor, a cycloidal pinwheel reducer, a feedback shaft, a first encoder, a second encoder and a driver, wherein: the driver is electrically connected to the motor to drive the motor to rotate, and the cycloidal pinwheel reducer is embedded in the motor; the feedback shaft is fixedly connected to the cycloidal pinwheel reducer and rotates synchronously with the output end of the cycloidal pinwheel reducer; the first encoder includes a first magnetic ring arranged on the motor, and the driver is provided with a first identification chip corresponding to the first magnetic ring to measure the rotation angle of the motor; the second encoder includes a second magnetic ring arranged on the feedback shaft, and the driver is provided with a second identification chip corresponding to the second magnetic ring to measure the output end rotation angle of the cycloidal pinwheel reducer; the first magnetic ring and the second magnetic ring are coaxially nested. The integrated joint reduces the axial size while improving the output load and transmission accuracy and increasing the impact resistance, thereby improving the space utilization and integration.

Description

Integrated joint

Technical Field

The present invention relates to the field of robotics technology, and in particular to an integrated joint.

Background Art

Nowadays, robots have been widely used in various fields such as external automation, medical treatment, and rescue. The joints, as the core modules of the robots, directly determine the balance, stability, and anti-interference ability of the robot's movement.

In the prior art, the more common joint module adopts a planetary reducer, which has the advantages of high transmission efficiency, small reverse drive torque, and simple manufacturing. However, this reducer has a large transmission backlash, low transmission accuracy, and relatively small output load capacity.

Summary of the invention

The object of the present invention is to provide an integrated joint, which can reduce the axial size of the overall layout while improving the output load and transmission accuracy and increasing the impact resistance, thereby improving the space utilization and integration.

The embodiment of the present invention is achieved as follows:

One aspect of the present invention provides an integrated joint, comprising a motor, a cycloid pinwheel reducer, a feedback shaft, a first encoder, a second encoder and a driver, wherein:

The driver is electrically connected to the motor to drive the motor to rotate, and the cycloidal pinwheel reducer is embedded in the motor; the feedback shaft is fixedly connected to the cycloidal pinwheel reducer and rotates synchronously with the output end of the cycloidal pinwheel reducer; the first encoder includes a first magnetic ring, the first magnetic ring is arranged on the motor, and the driver is provided with a first identification chip corresponding to the first magnetic ring to measure the rotation angle of the motor; the second encoder includes a second magnetic ring, the second magnetic ring is arranged on the feedback shaft, and the driver is provided with a second identification chip corresponding to the second magnetic ring to measure the output end rotation angle of the cycloidal pinwheel reducer; the first magnetic ring and the second magnetic ring are coaxially nested.

Optionally, the motor includes a stator and a rotor, the cycloidal pinwheel reducer is embedded in the stator, and the rotor is sleeved on the outside of the stator and can rotate around the stator; an adapter is provided on the side of the rotor facing the driver, and the first magnetic ring is provided on the adapter to correspond to the first identification chip to realize the angle measurement of the motor.

Optionally, the motor includes a stator and a rotor, the cycloidal pinwheel reducer is embedded in the rotor, and the rotor is embedded in the stator and can rotate around the stator; an adapter is provided on the side of the rotor facing the driver, and the first magnetic ring is provided on the adapter to correspond to the first identification chip to realize the angle measurement of the motor.

Optionally, the cycloidal pinwheel reducer includes a shell and a central axis passing through the interior of the shell, a first cycloidal pinwheel assembly and a second cycloidal pinwheel assembly are respectively passed through the two sides of the central axis, which are transmission-connected and arranged with a phase difference of 180°, and the first cycloidal pinwheel assembly and the second cycloidal pinwheel assembly are arranged in the shell; the feedback shaft passes through the interior of the central axis and is concentrically arranged with the central axis, and the second magnetic ring is arranged at one end of the feedback shaft close to the driver.

Optionally, the first cycloidal pinwheel assembly includes a first cycloidal wheel disc, and the second cycloidal pinwheel assembly includes a second cycloidal wheel disc, and the first cycloidal wheel disc and the second cycloidal wheel disc are arranged with a phase difference of 180°; the cycloidal pinwheel reducer also includes a pinwheel, and the two ends of the pinwheel are respectively arranged on the outer walls of the first cycloidal wheel disc and the second cycloidal wheel disc, and the outer walls of the first cycloidal wheel disc and the second cycloidal wheel disc are evenly distributed with multiple pinwheels; the outer wall of the pinwheel is provided with a pin gear housing, and the pinwheel can be attached to the inner wall of the pin gear housing and rotate relative to the pin gear housing.

Optionally, the pin wheel is cylindrical, and the inner wall of the pin gear housing is provided with a plurality of grooves, and the setting direction of the pin wheel is in the same direction as the extending direction of the grooves, so that the pin wheel can be attached to the grooves and rotate relative to the grooves.

Optionally, the cycloidal pinwheel reducer also includes a hole pin output assembly, the hole pin output assembly includes a first output flange, a second output flange, a pin and a pin sleeve; the first cycloidal wheel disc and the second cycloidal wheel disc are provided with a plurality of coaxially arranged connecting holes, and the pin passes through the connecting holes to sequentially penetrate the first cycloidal wheel disc and the second cycloidal wheel disc; the pin sleeve is arranged on the outer wall of the pin, and the pin sleeve can rotate relative to the pin; the two ends of the pin are respectively fixedly connected to the first output flange and the second output flange; the ends of the central shaft are respectively transmission-connected to the first output flange and the second output flange; the outer wall of the first output flange is provided with a first output bearing, and the outer wall of the second output flange is provided with a second output bearing.

Optionally, the outer wall of the central axis is sleeved with a first swing arm bearing and a second swing arm bearing arranged with a phase difference of 180°, the first cycloid wheel is sleeved on the outer wall of the first swing arm bearing, and the second cycloid wheel is sleeved on the outer wall of the second swing arm bearing.

Optionally, the two ends of the center shaft are respectively provided with a first input bearing and a second input bearing, the center shaft is fixedly connected to the inner holes of the first input bearing and the second input bearing in sequence, and the center shaft is rotatable under the support of the first input bearing and the second output bearing; the center shaft is transmission connected to the first output flange through the first input bearing; the center shaft is transmission connected to the second output flange through the second input bearing.

Optionally, the cycloidal pinwheel reducer includes a hollow first pressure cover, a second pressure cover, a third pressure cover and a fourth pressure cover, the first pressure cover is concentrically arranged with the second pressure cover, the third pressure cover is concentrically arranged with the fourth pressure cover, and connecting nails are provided on the peripheries of the opposite sides of the first pressure cover, the second pressure cover, the third pressure cover and the fourth pressure cover; the shell includes a first shell and a second shell, and the peripheries of the first shell, the second shell, the first output flange and the second output flange are provided with mounting holes corresponding to the positions of the connecting nails.

Optionally, the driver includes a support plate and a PCB board, the PCB board is arranged in the middle of the support plate; the first identification chip and the second identification chip are arranged on the PCB board.

Optionally, the integrated joint also includes a joint shell, a joint front cover and a joint rear cover, the support plate is fixedly connected to the joint shell, the joint front cover and the support plate are respectively connected to the opposite ends of the joint shell to form a accommodating cavity, and the joint rear cover is arranged on the side of the support plate away from the joint shell; the cycloid pinwheel reducer, motor and driver are arranged in the accommodating cavity.

Optionally, the first encoder and the second encoder are absolute encoders; or, the first encoder is an incremental encoder, and the second encoder is an absolute encoder.

The beneficial effects of the present invention include:

The present application provides an integrated joint, which can improve the output load and transmission accuracy of the integrated joint and increase the impact resistance through the setting of a cycloidal pinwheel reducer. At the same time, the cycloidal pinwheel reducer is embedded in the interior of the motor, and the first magnetic ring and the second magnetic ring are coaxially nested, which can effectively reduce the axial size of the joint and improve space utilization and integration.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

FIG1 is a cross-sectional view of an integrated joint provided by an embodiment of the present invention;

FIG2 is a rotational cross-sectional view of an integrated joint provided by an embodiment of the present invention;

FIG3 is an exploded view of an integrated joint provided by an embodiment of the present invention;

FIG4 is one of the exploded views of the cycloid pinwheel reducer with integrated joint provided by an embodiment of the present invention;

FIG. 5 is a second exploded view of the cycloid pinwheel reducer with integrated joint provided in an embodiment of the present invention.

Icons: 100-integrated joint; 110-motor; 111-stator; 112-rotor; 1121-adapter; 113-motor bearing; 120-cycloid reducer; 121-feedback shaft; 1211-support bearing; 122-center shaft; 1221-first swing arm bearing; 1222-second swing arm bearing; 1223-first input bearing; 1224-second input bearing; 123-first cycloid pinwheel assembly; 1231-first cycloid wheel disc; 1232-first output bearing; 124-second cycloid pinwheel assembly; 1241-second cycloid wheel disc; 1242-second output bearing Output bearing; 125-pin wheel; 126-pin gear housing; 127-hole pin output assembly; 1271-first output flange; 1272-second output flange; 1273-pin; 1274-pin sleeve; 1281-first pressure cover; 1282-second pressure cover; 1283-third pressure cover; 1284-fourth pressure cover; 129-housing; 1291-first housing; 1292-second housing; 130-driver; 131-support plate; 132-PCB board; 140-first magnetic ring; 150-second magnetic ring; 160-joint housing; 170-joint front cover; 180-joint rear cover.

DETAILED DESCRIPTION

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition and explanation in the subsequent drawings.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

1 and 2 , the present embodiment provides an integrated joint 100, including a motor 110, a cycloidal pinwheel reducer 120, a feedback shaft 121, a first encoder, a second encoder and a driver 130, wherein: the driver 130 is electrically connected to the motor 110 to drive the motor 110 to rotate; the feedback shaft 121 is fixedly connected to the cycloidal pinwheel reducer 120 and rotates synchronously with the output end of the cycloidal pinwheel reducer 120; the first encoder includes a first magnetic ring 140, the first magnetic ring 140 is arranged on the motor 110, and the driver 130 is provided with a first identification chip corresponding to the first magnetic ring 140 to measure the rotation angle of the motor 110; the second encoder includes a second magnetic ring 150, the second magnetic ring 150 is arranged on the feedback shaft 121, and the driver 130 is provided with a second identification chip corresponding to the second magnetic ring 150 to measure the output end rotation angle of the cycloidal pinwheel reducer 120; the first magnetic ring 140 and the second magnetic ring 150 are coaxially nested.

Specifically, the motor 110 can be an inner rotor frameless torque motor or an outer rotor frameless torque motor, as shown in Figures 1 and 2, and the cycloid pinwheel reducer 120 is embedded in the motor 110. In the present application, by embedding the cycloid pinwheel reducer 120 in the motor 110, the axial dimension of the integrated joint 100 is the axial dimension of the motor 110, and the heat dissipation efficiency of the motor 110 is not affected.

The first encoder includes a first magnetic ring 140 , and the second encoder includes a second magnetic ring 150 . Correspondingly, the driver 130 is provided with a first identification chip corresponding to the position of the first magnetic ring 140 , and a second identification chip corresponding to the position of the second magnetic ring 150 .

Among them, the first magnetic ring 140 is arranged on the motor 110, and the motor 110 includes a stator 111 and a rotor 112 rotating relative to the stator 111. The first magnetic ring 140 is specifically arranged on the rotor 112 of the motor 110. When the rotor 112 rotates relative to the stator 111, the first magnetic ring 140 rotates relative to the first identification chip. The first identification chip can identify the rotation of the first magnetic ring 140 to measure the rotation angle of the motor 110.

The second magnetic ring 150 is arranged on the feedback shaft 121. The feedback shaft 121 is arranged inside the cycloid reducer 120 and extends toward one side of the driver 130. The cycloid reducer 120 is fixedly connected to the feedback shaft 121. When the driver 130 drives the motor 110 to rotate, the cycloid reducer 120 can be driven to rotate. At this time, the feedback shaft 121 drives the second magnetic ring 150 to rotate relative to the second identification chip. The second identification chip can identify the rotation of the second magnetic ring 150 to measure the output end rotation angle of the cycloid reducer 120.

The setting of the feedback shaft 121 can not only ensure the stable setting of the second magnetic ring 150, but also ensure that the rotation process of the second magnetic ring 150 is not interfered by the rotation of the motor 110, thereby ensuring the precision and accuracy of the measurement results of the output end angle of the cycloid pinwheel reducer 120.

The first magnetic ring 140 and the second magnetic ring 150 are coaxial and nested in the same plane. As shown in FIG3 , the inner diameter of the first magnetic ring 140 is larger than the outer diameter of the second magnetic ring 150 , and the first magnetic ring 140 is sleeved on the outer circumference of the second magnetic ring 150 , and the two are located in the same horizontal plane.

By arranging the first magnetic ring 140 and the second magnetic ring 150 coaxially and nested in the same horizontal plane, the axial dimension of the integrated joint 100 is reduced and the load capacity of the joint is improved; at the same time, arranging the first identification chip and the second identification chip on the driver 130 further improves the integration of the joint.

As shown in Fig. 3, the driver 130 includes a support plate 131 and a PCB board 132. The support plate 131 is fixedly connected to the joint housing 160, and the PCB board 132 is arranged in the middle of the support plate 131; the first identification chip and the second identification chip are arranged on the PCB board 132. By arranging the support plate 131 and the PCB board 132, not only the axial size of the integrated joint 100 is reduced, but also the first identification chip and the second identification chip can be integrated, further improving the integration of the integrated joint 100.

It should be noted that, in an implementable embodiment of the present application, the first encoder and the second encoder are absolute encoders; or, the first encoder is an incremental encoder, and the second encoder is an absolute encoder.

The integrated joint 100 provided in the present application can improve the output load and transmission accuracy and increase the impact resistance through the setting of the cycloidal pinwheel reducer 120. At the same time, the cycloidal pinwheel reducer 120 is embedded in the interior of the motor 110, and the first magnetic ring 140 and the second magnetic ring 150 are coaxially nested, which can effectively reduce the axial size of the joint and improve the space utilization and integration.

In one possible implementation of the present application, as shown in Figures 1, 2 and 3, the motor 110 includes a stator 111 and a rotor 112, the cycloid pinwheel reducer 120 is embedded in the stator 111, and the rotor 112 is sleeved on the outside of the stator 111 and can rotate around the stator 111; an adapter 1121 is provided on the side of the rotor 112 facing the driver 130, and the first magnetic ring 140 is arranged on the adapter 1121 to correspond to the first identification chip to realize the angle measurement of the motor 110.

Specifically, as shown in Figures 1, 2 and 3, the integrated joint 100 provided in the present application adopts an external rotor motor, that is, the rotor 112 is sleeved on the outside of the stator 111; an adapter 1121 is provided on the side of the rotor 112 facing the driver 130, and the adapter 1121 can rotate with the rotor 112; the first magnetic ring 140 is provided on the adapter 1121 to correspond to the first identification chip. When the rotor 112 rotates relative to the stator 111, it can drive the adapter 1121 to rotate relative to the driver 130, and then drive the first magnetic ring 140 to rotate relative to the first identification chip. The first identification chip can identify the rotation of the first magnetic ring 140 to measure the rotation angle of the motor 110.

In another possible implementation of the present application, the motor 110 includes a stator 111 and a rotor 112, the cycloidal pinwheel reducer 120 is embedded in the rotor 112, and the rotor 112 is embedded in the stator 111 and can rotate around the stator 111 (not shown in the figure); an adapter 1121 is provided on the side of the rotor 112 facing the driver 130, and the first magnetic ring 140 is arranged on the adapter 1121 to correspond to the first identification chip to realize the angle measurement of the motor 110.

Specifically, the integrated joint 100 provided in the present application adopts an inner rotor motor, that is, the rotor 112 is embedded in the stator 111; an adapter 1121 is provided on the side of the rotor 112 facing the driver 130, and the adapter 1121 can rotate with the rotor 112; the first magnetic ring 140 is provided on the adapter 1121 to correspond to the first identification chip. When the rotor 112 rotates relative to the stator 111, it can drive the adapter 1121 to rotate relative to the driver 130, and then drive the first magnetic ring 140 to rotate relative to the first identification chip. The first identification chip can identify the rotation of the first magnetic ring 140 to measure the rotation angle of the motor 110.

It should be noted that a motor bearing 113 is also provided on the side of the rotor 112 facing the driver 130. The motor bearing 113 is sleeved on the outer periphery of the adapter 1121 of the rotor 112. The setting of the motor bearing 113 can play a role in auxiliary support of the rotor 112 of the motor 110 to ensure the smooth rotation of the rotor 112 of the motor 110.

For example, as shown in Figure 4, the cycloidal pinwheel reducer 120 includes a shell 129 and a central shaft 122 passing through the inside of the shell 129, and the two sides of the central shaft 122 are respectively penetrated by a first cycloidal pinwheel assembly 123 and a second cycloidal pinwheel assembly 124 which are transmission-connected and arranged with a phase difference of 180°, and the first cycloidal pinwheel assembly 123 and the second cycloidal pinwheel assembly 124 are arranged in the shell 129; the feedback shaft 121 passes through the inside of the central shaft 122 and is concentrically arranged with the central shaft 122, and the second magnetic ring 150 is arranged at one end of the feedback shaft 121 close to the driver 130.

Specifically, as shown in FIG. 4 , the cycloid reducer 120 includes a housing 129, a central shaft 122 is provided inside the housing 129, a first cycloid reducer assembly 123 and a second cycloid reducer assembly 124 are provided on the central shaft 122, the first cycloid reducer assembly 123 and the second cycloid reducer assembly 124 are connected in transmission and arranged with a phase difference of 180°, and the housing 129 is provided on the outer wall of the first cycloid reducer assembly 123 and the second cycloid reducer assembly 124 to protect the first cycloid reducer assembly 123 and the second cycloid reducer assembly 124. The central shaft 122 is connected in transmission with the rotor 112 of the motor 110, and the central shaft 122 is the input shaft of the cycloid reducer 120, and the speed output by the motor 110 can be reduced and output by the cycloid reducer 120.

A through hole is provided inside the center shaft 122 for passing the feedback shaft 121. One end of the feedback shaft 121 extends to one side of the driver 130. The second magnetic ring 150 is arranged at one end of the feedback shaft 121 close to the driver 130. When the feedback shaft 121 rotates, the second magnetic ring 150 rotates relative to the second identification chip on the driver 130, thereby measuring the output angle of the cycloid pinwheel reducer 120.

It should be noted that, as shown in Figure 3, a support bearing 1211 is also provided on the feedback shaft 121, and the feedback shaft 121 is fixedly connected to the inner wall of the support bearing 1211. The feedback shaft 121 can rotate under the support of the support bearing 1211 to reduce the vibration of the feedback shaft 121 and improve the measurement accuracy of the output angle of the cycloid pinwheel reducer 120.

By disposing the first cycloid pinwheel assembly 123 and the second cycloid pinwheel assembly 124, the vibration of the cycloid pinwheel reducer 120 can be reduced, making the working process of the cycloid pinwheel reducer 120 more stable and reliable.

In one possible implementation of the present application, as shown in Figure 4, the first cycloidal pinwheel assembly 123 includes a first cycloidal wheel disc 1231, and the second cycloidal pinwheel assembly 124 includes a second cycloidal wheel disc 1241, and the first cycloidal wheel disc 1231 and the second cycloidal wheel disc 1241 are arranged with a phase difference of 180°; the cycloidal pinwheel reducer 120 also includes a pinwheel 125, and the two ends of the pinwheel 125 are respectively arranged on the outer walls of the first cycloidal wheel disc 1231 and the second cycloidal wheel disc 1241, and the outer walls of the first cycloidal wheel disc 1231 and the second cycloidal wheel disc 1241 are evenly distributed with multiple pinwheels 125; the outer wall of the pinwheel 125 is provided with a pin gear housing 126, and the pinwheel 125 can be attached to the inner wall of the pin gear housing 126 and rotate relative to the pin gear housing 126.

Specifically, as shown in FIG4 , the first cycloidal pinwheel assembly 123 includes a first cycloidal wheel disc 1231, and the second cycloidal pinwheel assembly 124 includes a second cycloidal wheel disc 1241. The first cycloidal wheel disc 1231 and the second cycloidal wheel disc 1241 are completely identical and are arranged with a phase difference of 180°, forming a coaxial eccentric structure. The outer walls of the first cycloidal wheel disc 1231 and the second cycloidal wheel disc 1241 are evenly distributed with a plurality of pinwheels 125, and the pinwheels 125 extend along the arrangement direction of the first cycloidal wheel disc 1231 and the second cycloidal wheel disc 1241, and the two sides thereof are respectively in contact with the outer walls of the first cycloidal wheel disc 1231 and the second cycloidal wheel disc 1241, and the pinwheels 125 can rotate relative to the first cycloidal wheel disc 1231 and the second cycloidal wheel disc 1241.

For example, the pin wheel 125 is cylindrical, and the inner wall of the pin gear housing 126 is provided with a plurality of grooves. The setting direction of the pin wheel 125 is in the same direction as the extending direction of the grooves, so that the pin wheel 125 can be attached to the grooves and rotate relative to the grooves.

When the central shaft 122 rotates, the first cycloidal wheel 1231 and the second cycloidal wheel 1241 move eccentrically, and the pin wheel 125 can rotate under the meshing limit of the groove due to being attached to the inner wall of the pin gear housing 126, and rotate at a low speed while moving eccentrically, thereby achieving the purpose of deceleration.

It should be noted that, first, since the cycloid pinwheel reducer 120 is a multi-tooth meshing of the pinwheel 125 and the inner wall of the pinwheel housing 126, the driving load is large, and the sizes of the first cycloid wheel disc 1231, the second cycloid wheel disc 1241 and the pinwheel 125 are relatively large, so the impact resistance is strong;

Second, the meshing structures of the first cycloid wheel 1231, the second cycloid wheel 1241 and the pinwheel 125 are all rolling friction to a certain extent, with less slippage, so the overall efficiency of the cycloid pinwheel reducer 120 is relatively high.

Furthermore, the cycloid pinwheel reducer 120 also includes a hole pin output assembly 127, which includes a first output flange 1271, a second output flange 1272, a pin 1273 and a pin sleeve 1274; the first cycloid wheel 1231 and the second cycloid wheel 1241 are provided with a plurality of coaxially arranged connecting holes, and the pin 1273 passes through the connecting holes to sequentially penetrate the first cycloid wheel 1231 and the second cycloid wheel 1241; the pin sleeve 1274 is arranged on the outer wall of the pin 1273, and the pin sleeve 1274 can rotate relative to the pin 1273; the two ends of the pin 1273 are respectively fixedly connected to the first output flange 1271 and the second output flange 1272; the ends of the central shaft 122 are respectively transmission-connected to the first output flange 1271 and the second output flange 1272; the outer wall of the first output flange 1271 is provided with a first output bearing 1232, and the outer wall of the second output flange 1272 is provided with a second output bearing 1242.

Specifically, as shown in Figure 4, the cycloidal pinwheel reducer 120 also includes a hole pin output assembly 127, and the hole pin output assembly 127 includes a first output flange 1271, a second output flange 1272, a pin 1273 and a pin sleeve 1274, wherein the first output flange 1271 and the second output flange 1272 are sleeved on both sides of the central axis 122, and are located on the side where the first cycloidal wheel disc 1231 and the second cycloidal wheel disc 1241 are away from each other, and the first cycloidal wheel disc 1231 and the second cycloidal wheel disc 1241 are arranged between the first output flange 1271 and the second output flange 1272.

The first cycloid wheel 1231 and the second cycloid wheel 1241 are provided with a plurality of coaxially arranged connection holes, and the pin 1273 passes through the connection holes and sequentially penetrates the first cycloid wheel 1231 and the second cycloid wheel 1241 to achieve fixed connection between the pin 1273 and the first output flange 1271 and the second output flange 1272. As shown in FIG5 , the outer wall of the pin 1273 is provided with a pin sleeve 1274, and the main function of the pin sleeve 1274 is to adjust the gap between the connection hole and the pin 1273, and reduce friction and wear.

When the central shaft 122 rotates one circle, the movement of the first cycloid pinwheel assembly 123 and the second cycloid pinwheel assembly 124 becomes both eccentric movement and rotation with the central shaft 122 as the rotation center. When the central shaft 122 rotates one circle forward, the first cycloid wheel disc 1231 and the second cycloid wheel disc 1241 rotate in opposite directions along the inner wall of the pin gear housing 126 through a groove, thereby reducing speed; and then the low-speed rotation of the first cycloid wheel disc 1231 and the second cycloid wheel disc 1241 is transmitted to the first output flange 1271 and the second output flange 1272 through the hole pin output assembly 127, thereby obtaining a lower output speed.

For example, the outer wall of the central axis 122 is sleeved with a first swing arm bearing 1221 and a second swing arm bearing 1222 arranged with a phase difference of 180°, the first cycloid wheel 1231 is sleeved on the outer wall of the first swing arm bearing 1221, and the second cycloid wheel 1241 is sleeved on the outer wall of the second swing arm bearing 1222.

Specifically, as shown in Figure 5, the outer wall of the central axis 122 is provided with a first swing arm bearing 1221 and a second swing arm bearing 1222. The first swing arm bearing 1221 and the second swing arm bearing 1222 are arranged with a phase difference of 180°. The outer raceways of the first swing arm bearing 1221 and the second swing arm bearing 1222 are respectively the inner holes of the first cycloidal wheel disc 1231 and the second cycloidal wheel disc 1241. The setting of the first swing arm bearing 1221 and the second swing arm bearing 1222 can support the eccentric movement and rotation of the first cycloidal pinwheel assembly 123 and the second cycloidal pinwheel assembly 124, thereby improving the overall rotation reliability of the cycloidal pinwheel reducer 120.

For example, as shown in FIG4 , the two ends of the central shaft 122 are also sleeved with a first input bearing 1223 and a second input bearing 1224, respectively. The central shaft 122 is fixedly connected to the inner holes of the first input bearing 1223 and the second input bearing 1224 in sequence. The central shaft 122 can rotate under the support of the first input bearing 1223 and the second input bearing 1224. The central shaft 122 is transmission-connected to the first output flange 1271 through the first input bearing 1223. The central shaft 122 is transmission-connected to the second output flange 1272 through the second input bearing 1224. Specifically, as shown in FIG4 , the two ends of the central shaft 122 are supported by the first input bearing 1223 and the second input bearing 1224, so that the middle part thereof is an eccentric structure, so as to ensure the eccentric movement of the first cycloidal pinwheel assembly 123 and the second cycloidal pinwheel assembly 124. The first input bearing 1223 and the second input bearing 1224 can support the rotation of the central shaft 122, reduce the friction coefficient of the central shaft 122 during the movement, and ensure the rotation accuracy.

For example, as shown in Figure 4, the cycloidal pinwheel reducer 120 includes a hollow first pressure cover 1281, a second pressure cover 1282, a third pressure cover 1283 and a fourth pressure cover 1284, the first pressure cover 1281 is concentrically arranged with the second pressure cover 1282, the third pressure cover 1283 is concentrically arranged with the fourth pressure cover 1284, and the peripheries of the opposite sides of the first pressure cover 1281, the second pressure cover 1282, the third pressure cover 1283 and the fourth pressure cover 1284 are provided with connecting nails; the shell 129 includes a first shell 1291 and a second shell 1292, and the peripheries of the first shell 1291, the second shell 1292, the first output flange 1271 and the second output flange 1272 are provided with mounting holes corresponding to the positions of the connecting nails.

Specifically, as shown in Figure 4, the first pressure cover 1281 and the second pressure cover 1282 are respectively provided with a circle of connecting nails on one side facing the third pressure cover 1283 and the fourth pressure cover 1284, and the first pressure cover 1281 is arranged on the outer periphery of the second pressure cover 1282; the third pressure cover 1283 and the fourth pressure cover 1284 are respectively provided with a circle of connecting nails on one side facing the first pressure cover 1281 and the second pressure cover 1282, and the third pressure cover 1283 is arranged on the outer periphery of the fourth pressure cover 1284.

The housing 129 of the cycloidal pinwheel reducer 120 includes a first housing 1291 and a second housing 1292. The first housing 1291, the second housing 1292 and the needle gear housing 126 are coaxially arranged and have mounting holes corresponding to the positions of the connecting pins on their peripheries. The connecting pins on the first pressure cover 1281 can pass through the mounting holes on the second housing 1292, the needle gear housing 126 and the second housing 1292 in sequence and fix them in place.

The periphery of the first output flange 1271 and the second output flange 1272 is provided with mounting holes corresponding to the positions of the connecting pins, and the connecting pins on the second pressure cover 1282 can pass through the mounting holes on the second output flange 1272 to limit and fix the second output flange 1272; the connecting pins on the third pressure cover 1283 and the fourth pressure cover 1284 can pass through the mounting holes on the first output flange 1271 to limit and fix the first output flange 1271.

By setting the first pressure cover 1281, the second pressure cover 1282, the third pressure cover 1283 and the fourth pressure cover 1284, they can cooperate with the mounting holes to limit and fix the first output flange 1271, the second output flange 1272, the first input bearing 1223 and the second input bearing 1224 inside the cycloidal pinwheel reducer 120, thereby further improving the connection stability of the internal structure of the cycloidal pinwheel reducer 120; at the same time, the first pressure cover 1281, the second pressure cover 1282, the third pressure cover 1283 and the fourth pressure cover 1284 are connected with the first shell 1291 and the second shell 1292 to form a accommodating cavity, thereby providing protection for the components arranged in the accommodating cavity.

In one possible implementation of the present application, as shown in Figure 3, the integrated joint 100 also includes a joint housing 160, a joint front cover 170 and a joint rear cover 180, the support plate 131 is fixedly connected to the joint housing 160, the joint front cover 170 and the support plate 131 are respectively connected to the opposite ends of the joint housing 160 to form a accommodating cavity, and the joint rear cover 180 is arranged on the side of the support plate 131 away from the joint housing 160; the cycloidal pinwheel reducer 120, the motor 110 and the driver 130 are arranged in the accommodating cavity.

Specifically, as shown in Figures 2 and 3, a joint front cover 170 and a support plate 131 are respectively provided at the opposite ends of the joint housing 160, and a joint rear cover 180 is provided on the side of the support plate 131 away from the joint housing 160. The arrangement of the joint housing 160, the joint front cover 170 and the joint rear cover 180 can protect the motor 110, the cycloidal pinwheel reducer 120, the first encoder, the second encoder and the driver 130 inside the integrated joint 100.

The above description is only an optional embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

Claims (13)

1. An integrated joint, characterized in that it comprises a motor (110), a cycloidal pinwheel reducer (120), a feedback shaft (121), a first encoder, a second encoder and a driver (130), wherein: The driver (130) is electrically connected to the motor (110) to drive the motor (110) to rotate, and the cycloid pinwheel reducer (120) is embedded in the motor (110); the feedback shaft (121) is fixedly connected to the cycloid pinwheel reducer (120) and rotates synchronously with the output end of the cycloid pinwheel reducer (120); the first encoder comprises a first magnetic ring (140), and the first magnetic ring (140) is arranged on the motor (110); the driver (130) A first identification chip corresponding to the first magnetic ring (140) is provided on the motor (110) to measure the rotation angle of the motor (110); the second encoder comprises a second magnetic ring (150), the second magnetic ring (150) is arranged on the feedback shaft (121), and a second identification chip corresponding to the second magnetic ring (150) is provided on the driver (130) to measure the output end rotation angle of the cycloid pinwheel reducer (120); the first magnetic ring (140) and the second magnetic ring (150) are coaxially nested. 2. The integrated joint according to claim 1 is characterized in that the motor (110) comprises a stator (111) and a rotor (112), the cycloid pinwheel reducer (120) is embedded in the stator (111), and the rotor (112) is sleeved on the outside of the stator (111) and can rotate around the stator (111); an adapter (1121) is provided on the side of the rotor (112) facing the driver (130), and the first magnetic ring (140) is arranged on the adapter (1121) to correspond to the first identification chip, so as to realize the rotation angle measurement of the motor (110). 3. The integrated joint according to claim 1 is characterized in that the motor (110) comprises a stator (111) and a rotor (112), the cycloid pinwheel reducer (120) is embedded in the rotor (112), and the rotor (112) is embedded in the stator (111) and can rotate around the stator (111); an adapter (1121) is provided on a side of the rotor (112) facing the driver (130), and the first magnetic ring (140) is arranged on the adapter (1121) to correspond to the first identification chip, so as to realize the rotation angle measurement of the motor (110). 4. The integrated joint according to any one of claims 1 to 3, characterized in that the cycloid pinwheel reducer (120) comprises a housing (129) and a central shaft (122) passing through the housing (129), a first cycloid pinwheel assembly (123) and a second cycloid pinwheel assembly (124) which are respectively passed through the two sides of the central shaft (122) and are transmission-connected and arranged with a phase difference of 180°, the first cycloid pinwheel assembly (123) and the second cycloid pinwheel assembly (124) being arranged in the housing (129); the feedback shaft (121) passing through the interior of the central shaft (122) and being arranged concentrically with the central shaft (122), and the second magnetic ring (150) being arranged at one end of the feedback shaft (121) close to the driver (130). 5. The integrated joint according to claim 4, characterized in that the first cycloidal pinwheel assembly (123) comprises a first cycloidal wheel disc (1231), the second cycloidal pinwheel assembly (124) comprises a second cycloidal wheel disc (1241), and the first cycloidal wheel disc (1231) and the second cycloidal wheel disc (1241) are arranged with a phase difference of 180°; the cycloidal pinwheel reducer (120) further comprises a pinwheel (125), two ends of the pinwheel (125) are respectively arranged on the outer walls of the first cycloidal wheel disc (1231) and the second cycloidal wheel disc (1241), and the outer walls of the first cycloidal wheel disc (1231) and the second cycloidal wheel disc (1241) are evenly distributed with a plurality of the pinwheels (125); the outer wall of the pinwheel (125) is provided with a pin gear housing (126), and the pinwheel (125) can be attached to the inner wall of the pin gear housing (126) and rotate relative to the pin gear housing (126). 6. The integrated joint according to claim 5 is characterized in that the pin wheel (125) is cylindrical, the inner wall of the pin gear housing (126) is provided with a plurality of grooves, and the setting direction of the pin wheel (125) is in the same direction as the extension direction of the groove, so that the pin wheel (125) can be attached to the groove and rotate relative to the groove. 7. The integrated joint according to claim 5, characterized in that the cycloid pinwheel reducer (120) further comprises a pin hole output assembly (127), the pin hole output assembly (127) comprises a first output flange (1271), a second output flange (1272), a pin (1273) and a pin sleeve (1274); the first cycloid wheel (1231) and the second cycloid wheel (1241) are provided with a plurality of coaxially arranged connecting holes, the pin (1273) passes through the connecting holes and sequentially penetrates the first cycloid wheel (1231) and the second cycloid wheel (1241); the pin sleeve (1274) 74) is arranged on the outer wall of the pin (1273), and the pin sleeve (1274) can rotate relative to the pin (1273); the two ends of the pin (1273) are respectively fixedly connected to the first output flange (1271) and the second output flange (1272); the ends of the central shaft (122) are respectively transmission-connected to the first output flange (1271) and the second output flange (1272); the outer wall of the first output flange (1271) is sleeved with a first output bearing (1232), and the outer wall of the second output flange (1272) is sleeved with a second output bearing (1242). 8. The integrated joint according to claim 5 is characterized in that the outer wall of the central axis (122) is sleeved with a first swing arm bearing (1221) and a second swing arm bearing (1222) arranged with a phase difference of 180°, the first cycloid wheel (1231) is sleeved on the outer wall of the first swing arm bearing (1221), and the second cycloid wheel (1241) is sleeved on the outer wall of the second swing arm bearing (1222). 9. The integrated joint according to claim 7 is characterized in that the two ends of the central shaft (122) are respectively sleeved with a first input bearing (1223) and a second input bearing (1224); the central shaft (122) is fixedly connected to the inner holes of the first input bearing (1223) and the second input bearing (1224) in sequence; the central shaft (122) is rotatable under the support of the first input bearing (1223) and the second input bearing (1224); the central shaft (122) is transmission-connected to the first output flange (1271) through the first input bearing (1223); and the central shaft (122) is transmission-connected to the second output flange (1272) through the second input bearing (1224). 10. The integrated joint according to claim 9 is characterized in that the cycloidal pinwheel reducer (120) comprises a hollow first pressure cover (1281), a second pressure cover (1282), a third pressure cover (1283) and a fourth pressure cover (1284), the first pressure cover (1281) and the second pressure cover (1282) are arranged concentrically, the third pressure cover (1283) and the fourth pressure cover (1284) are arranged concentrically, and the first pressure cover (1281), the second pressure cover (1282), the third pressure cover (1283) and the fourth pressure cover (1284) are provided with connecting nails on the periphery of the opposite side; the shell (129) comprises a first shell (1291) and a second shell (1292), and the peripheries of the first shell (1291), the second shell (1292), the first output flange (1271) and the second output flange (1272) are provided with mounting holes corresponding to the positions of the connecting nails. 11. The integrated joint according to any one of claims 1 to 3, characterized in that the driver (130) comprises a support plate (131) and a PCB board (132), and the PCB board (132) is arranged in the middle of the support plate (131); and the first identification chip and the second identification chip are arranged on the PCB board (132). 12. The integrated joint according to claim 11 is characterized in that the integrated joint (100) further comprises a joint housing (160), a joint front cover (170) and a joint rear cover (180), the support plate (131) is fixedly connected to the joint housing (160), the joint front cover (170) and the support plate (131) are respectively connected to opposite ends of the joint housing (160) to form a receiving cavity, and the joint rear cover (180) is arranged on a side of the support plate (131) away from the joint housing (160); the cycloid pinwheel reducer (120), the motor (110) and the driver (130) are arranged in the receiving cavity. 13. The integrated joint according to claim 1, characterized in that the first encoder and the second encoder are absolute encoders; or, the first encoder is an incremental encoder, and the second encoder is an absolute encoder.