Large-inner-hole high-density joint motor for humanoid robot

Abstract

The invention discloses a large-bore high-density joint motor for a humanoid robot, which comprises a stator and a rotor, and is characterized in that the rotor comprises a hollow shaft and magnetic steel surface-mounted on the outer wall of the hollow shaft; the stator comprises a stator core outside the magnetic steel, insulating end plates are arranged at the two ends of the stator core, windings are arranged at the outer ends of the insulating end plates, a leading-out wire is arranged at the outer end of one winding, a thermal resistor is arranged on the winding, and a temperature sensor of the thermal resistor is embedded in the winding; by arranging the thermal resistor on the winding, the temperature can be monitored at any time, so that the load of the motor can be adjusted according to the monitored temperature, the influence on normal operation caused by overhigh temperature rise of the motor is prevented, the diameter of the rotor is increased and the crack ratio is increased by arranging the inner cavity of the hollow shaft into a large inner hole structure and matching the pole slots of the stator and the rotor to adopt 18 slots and 20 poles, and the reliability of the motor is improved. The magnetic conduction thickness of the hollow shaft can be reduced by selecting multiple poles, and the purpose of reducing the weight of the hollow shaft is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, in particular to a large inner hole and high-density joint motor for humanoid robots. Background Art

[0002] Humanoid robots offer broad development prospects, enormous market potential, and significant technical challenges. Highly autonomous and reliable robots can independently perform assigned tasks. Their close imitation of human form also enables enhanced human-robot interaction, allowing them to easily mimic human activities and perform complex tasks on behalf of humans. In military settings, humanoid robots, with their superior battlefield perception, information processing, and communication capabilities, can perform high-risk missions, significantly reducing the burden on soldiers and improving combat efficiency. In the industrial sector, humanoid robots can replace humans in complex and repetitive tasks such as quality inspection, handling, and sorting, reducing worker fatigue. Furthermore, they can serve as home assistants, performing household tasks such as cooking, cleaning, and caring for the elderly and sick.

[0003] The key components of a robot include the brain, cerebellum, robotic arms, and dexterous hands, enabling it to perceive its environment, control movement, and perform tasks. The upstream of the humanoid robot industry chain consists of core components such as motors and reducers, the midstream includes the manufacturing of the humanoid robot itself, and the downstream involves system integration. As a core component of humanoid robots, motors have stringent requirements for high precision, high power, miniaturization, and lightweight design. Weight must be minimized while maintaining constant output power to achieve lightweight and high power density. At the same time, smooth motor operation and high-precision control must be ensured. However, existing joint motors lack design deficiencies in terms of high power density, lightweight design, and smooth operation, making them difficult to meet the requirements of the humanoid robot market. Summary of the Invention

[0004] In order to solve the defects of the prior art, the present invention provides a large inner hole high density joint motor for a humanoid robot.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: The present invention provides a large inner bore, high-density joint motor for a humanoid robot, comprising a stator and a rotor, wherein the rotor comprises a hollow shaft and a magnetic steel attached to the outer wall of the hollow shaft; the stator comprises a stator core outside the magnetic steel, both ends of the stator core are provided with insulating end plates, the outer ends of the insulating end plates are provided with windings, the outer end of one of the windings is provided with a lead wire, the winding is provided with a thermal resistor, and the temperature sensor of the thermal resistor is embedded in the interior of the winding.

[0006] As a preferred technical solution of the present invention, the inner cavity of the hollow shaft is set to a large inner hole structure, and the pole slots of the stator and the rotor are matched to adopt 18 slots and 20 poles.

[0007] As an optimal technical solution of the present invention, the magnetic steel is made of high-grade NdFeB magnets, the stator punchings of the stator core are made of 0.2mm high magnetic permeability silicon steel sheets, and the insulating material of the insulating end plate is made of insulation grade H or above.

[0008] As a preferred technical solution of the present invention, the stator core is configured as skew slots.

[0009] As a preferred technical solution of the present invention, the magnetic steel is set to be a same-arc magnetic steel, the inner and outer arc radii of the magnetic steel are the same, and the thickness of the magnetic steel is equal to the offset height of the inner and outer arc centers.

[0010] As a preferred technical solution of the present invention, a plurality of the same-arc magnetic steels are arranged into a whole block.

[0011] As a preferred technical solution of the present invention, the outer wall of the hollow shaft is provided with a spiral glue storage groove.

[0012] As a preferred technical solution of the present invention, the winding is wound by multiple enameled wires.

[0013] As a preferred technical solution of the present invention, the winding is wound in a star connection.

[0014] As a preferred technical solution of the present invention, the inner hole of the stator core is coated with iron red, and the outer circle of the stator core is coated with anti-rust oil.

[0015] The beneficial effects of the present invention are: 1. This type of humanoid robot uses a large inner hole and high-density joint motor. By installing a thermal resistor on the winding, the temperature can be monitored at all times. The motor load can be adjusted according to the monitored temperature to prevent the motor temperature from rising too high and affecting normal operation.

[0016] 2. This type of humanoid robot uses a large inner hole and high-density joint motor. The inner cavity of the hollow shaft is set as a large inner hole structure. The pole slots of the stator and rotor are matched with 18 slots and 20 poles, which increases the diameter of the rotor and the split ratio. The use of multiple poles can reduce the magnetic conductivity thickness of the hollow shaft, thereby reducing the weight of the hollow shaft.

[0017] 3. This type of humanoid robot uses a large inner hole and high-density joint motor. High-grade neodymium iron boron magnets are selected for the magnetic steel. Since the magnetic steel is adhesive, the air gap is reduced and the air gap magnetic density is increased. The stator punchings of the stator core are made of 0.2mm high magnetic permeability silicon steel sheets, which improves the magnetic density of the teeth of the stator core. The thickness is 0.2mm, which reduces eddy current loss and increases magnetic load. The stator punchings are designed with increased slot area and manual offline to increase slot fill rate, reduce resistance and increase electrical load. The insulation materials are all selected with insulation grade H or above to ensure that the heat generated when the motor is running under high load will not burn the motor.

[0018] 4. This humanoid robot uses a large-bore, high-density joint motor. The optimal skew angle is calculated through simulation, which greatly reduces torque pulsation with minimal efficiency loss and makes the theoretical value of the cogging torque 0.

[0019] 5. This type of humanoid robot uses a large inner hole and high-density joint motor. The magnets are set as same-arc magnets. The inner and outer arc radii of the magnets are the same, and the thickness of the magnets is equal to the offset height of the inner and outer arc centers. Compared with magnets of other structures, same-arc magnets can avoid material waste during magnetic steel wire cutting processing and reduce the wire cutting area; multiple pieces of same-arc magnets are arranged into a whole piece of material, which can save time and material during the wire cutting process and reduce production costs.

[0020] 6. This type of humanoid robot uses a large inner hole and high-density joint motor. A spiral glue storage groove is provided on the outer wall of the hollow shaft, which can be used to store glue. This avoids the situation where the magnetic steel is adsorbed on the hollow shaft and the adhesive may be squeezed out, thereby improving the firmness of the bonding between the hollow shaft and the magnetic steel.

[0021] 7. This type of humanoid robot uses a large inner hole high-density joint motor. The winding is wound with multiple enameled wires, which reduces the wire diameter, makes it easy to bend, and facilitates offline and shaping, thereby ensuring the high power density of the motor and avoiding the situation where the use of a single enameled wire may result in a thicker wire diameter, difficult to bend, increase the difficulty of offline, and increase the workload of the operator.

[0022] 8. This type of humanoid robot uses a large inner hole and high-density joint motor, which adopts a star connection method for winding connection. Compared with the delta connection, the star connection does not have the third harmonic and its multiple harmonics, avoiding the loss and torque pulsation caused by the third harmonic and its multiple harmonics, and ensuring that the motor has lower torque pulsation.

[0023] 9. This type of humanoid robot uses a large inner hole and high-density joint motor. The inner hole of the stator core is coated with iron red. Since the inner hole does not match other dimensions, it will not affect the installation. The outer circle of the stator core is coated with anti-rust oil. The anti-rust oil forms a thin oil film on the outer circle of the stator core, which does not affect the installation size of the outer circle and ensures that the motor will not rust during long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 This is a cross-sectional view of a large inner hole high-density joint motor for a humanoid robot according to the present invention; Figure 2 This is a schematic diagram of the hollow shaft structure of a large inner hole high-density joint motor for a humanoid robot according to the present invention; Figure 3This is a cross-sectional view of a hollow shaft of a large inner hole high-density joint motor for a humanoid robot according to the present invention; Figure 4 This is a star connection diagram of the windings of a large inner bore, high-density joint motor for a humanoid robot according to the present invention; Figure 5 This is a schematic diagram of the magnetic steel structure of a large inner hole high density joint motor for a humanoid robot according to the present invention; Figure 6 This is a cross-sectional view of a micro liquid cooling component of a large inner hole and high density joint motor for a humanoid robot according to the present invention.

[0025] In the figure: 1. Stator; 101. Stator core; 102. Insulating end plate; 103. Winding; 104. Lead wire; 105. Thermal resistor; 2. Rotor; 201. Hollow shaft; 202. Magnet; 3. Micro liquid cooling assembly; 301. Annular liquid cooling groove; 302. Annular liquid cooling pipe; 303. Liquid cooling box; 304. Water pump. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0027] Example: Figure 1 As shown, the present invention provides a large inner hole and high density joint motor for a humanoid robot, comprising a stator 1 and a rotor 2, wherein the rotor 2 comprises a hollow shaft 201 and a magnetic steel 202 attached to the outer wall of the hollow shaft 201; the stator 1 comprises a stator core 101 outside the magnetic steel 202, both ends of the stator core 101 are provided with insulating end plates 102, the outer ends of the insulating end plates 102 are provided with windings 103, the outer end of one winding 103 is provided with a lead wire 104, and the winding 103 is provided with a thermal resistor 105, the temperature sensor of the thermal resistor 105 is buried inside the winding 103, by providing the thermal resistor 105 on the winding 103, the temperature can be monitored at all times, so that the motor load can be adjusted according to the monitored temperature to prevent the motor temperature from rising too high and affecting normal operation, and a phase change material is embedded in the winding 103, preferably a paraffin composite material, to balance the temperature rise by absorbing and releasing heat, thereby reducing the frequent regulation pressure of the thermal resistor 105.

[0028] Specifically, such as Figure 2 and Figure 3 As shown, the inner cavity of the hollow shaft 201 is set to a large inner hole structure, and the pole slots of the stator 1 and the rotor 2 are matched to adopt 18 slots and 20 poles. The inner cavity of the hollow shaft 201 is set to a large inner hole structure, and the pole slots of the stator 1 and the rotor 2 are matched to adopt 18 slots and 20 poles, which increases the diameter of the rotor 2 and increases the split ratio. The use of multiple poles can reduce the magnetic conductivity thickness of the hollow shaft, thereby achieving the purpose of reducing the weight of the hollow shaft 201.

[0029] Among them, the magnetic steel 202 is made of high-grade NdFeB magnets, the stator punchings of the stator core 101 are made of 0.2mm high magnetic permeability silicon steel sheets, the insulation material of the insulating end plate 102 is selected from insulation grade H or above, and the insulating end plate 102 is impregnated with paint to improve the insulation performance and strength of the motor. By selecting high-grade NdFeB magnets for the magnetic steel 202, and since the magnetic steel 202 is adhesive, the air gap is reduced and the air gap magnetic density is increased. The stator punchings of the stator core 101 are made of 0.2mm high magnetic permeability silicon steel sheets, which improves the tooth magnetic density of the stator core 101. The thickness is 0.2mm, which reduces eddy current loss and increases magnetic load. The stator punchings are designed to increase the slot area, and manual offline is used to increase the slot fill rate, reduce resistance, and increase electrical load. The insulation materials are all selected from insulation grade H or above to ensure that the heat generated when the motor is running at high load will not burn the motor.

[0030] The stator core 101 is configured as a skew slot, and the optimal skew slot angle is calculated through simulation, which greatly reduces the torque pulsation with less efficiency loss and makes the theoretical value of the tooth slot torque 0. The stator punching sheets formed by punching are glued and baked using a stacking die to form a stator core in a skew slot stacking manner.

[0031] Specifically, such as Figure 5 As shown, the magnetic steel 202 is set as the same arc magnetic steel, the inner and outer arc radii of the magnetic steel 202 are the same, the thickness of the magnetic steel 202 is equal to the offset height of the inner and outer arc centers, and multiple pieces of the same arc magnetic steel are arranged into a whole piece of material. By setting the magnetic steel 202 as the same arc magnetic steel, the inner and outer arc radii of the magnetic steel 202 are the same, and the thickness of the magnetic steel 202 is equal to the offset height of the inner and outer arc centers, compared with magnetic steel 202 with other structures, the same arc magnetic steel can avoid waste of material in the magnetic steel wire cutting process and reduce the wire cutting area; multiple pieces of the same arc magnetic steel are arranged into a whole piece of material, which can save time and material during the wire cutting process and reduce production costs.

[0032] Specifically, such as Figure 2 and Figure 3 As shown, the outer wall of the hollow shaft 201 is provided with a spiral glue storage groove, which can be used to store glue, thereby avoiding the situation where the magnetic steel 202 is adsorbed onto the hollow shaft 201 and the adhesive glue may be squeezed out, thereby improving the firmness of the bonding between the hollow shaft 201 and the magnetic steel 202.

[0033] Among them, the winding 103 is wound by multiple enameled wires. The winding 103 is wound by multiple enameled wires, which reduces the wire diameter, makes it easy to bend, and facilitates offline and shaping, thereby ensuring the high power density of the motor and avoiding the situation where the use of a single enameled wire may result in a thicker wire diameter, difficult to bend, increased difficulty in offline, and high workload for operators.

[0034] Specifically, such as Figure 4 As shown, the winding 103 is wound in a star connection. Compared with the delta connection, the star connection does not have the third harmonic and its multiple harmonics, thereby avoiding the loss and torque pulsation caused by the third harmonic and its multiple harmonics, and ensuring that the motor has lower torque pulsation.

[0035] The inner hole of the stator core 101 is coated with iron red, and the outer circle of the stator core 101 is coated with anti-rust oil. The inner hole of the stator core 101 is coated with iron red. Since the inner hole does not match other sizes, it will not affect the installation. The outer circle of the stator core 101 is coated with anti-rust oil. The anti-rust oil forms a thin oil film on the outer circle of the stator core 101, which does not affect the installation size of the outer circle, ensuring that the motor will not rust during long-term use.

[0036] Specifically, such as Figure 6 As shown, the inner wall of the hollow shaft 201 is provided with a micro liquid cooling component 3, and the micro liquid cooling component 3 includes a plurality of annular liquid cooling grooves 301 provided on the inner wall of the hollow shaft 201, and an annular liquid cooling pipe 302 is provided inside the annular liquid cooling groove 301. A liquid cooling box 303 is provided at one end of the hollow shaft 201, and a water pump 304 is installed on the liquid cooling box 303. The water inlet of the water pump 304 is connected to the liquid cooling box 303, and the water outlet of the water pump 304 is connected to the water inlet of the annular liquid cooling pipe 302. The water outlet of the annular liquid cooling pipe 302 is connected to the liquid cooling box 303. The liquid cooling box 303 is filled with coolant. By integrating the micro liquid cooling component 3 on the inner wall of the hollow shaft 201, heat is quickly discharged by circulating coolant, thereby further improving the heat dissipation efficiency.

[0037] During operation, by providing a thermal resistor 105 on the winding 103, the temperature can be monitored at all times, so that the motor load can be adjusted according to the monitored temperature to prevent the motor temperature from rising too high and affecting normal operation. The diameter of the rotor 2 is increased, the split ratio is increased, and the multi-pole is selected to reduce the magnetic conductivity thickness of the hollow shaft, thereby achieving the purpose of reducing the weight of the hollow shaft 201. The insulating end plate 102 adopts a paint dipping method to improve the insulation performance and strength of the motor. The high-grade neodymium iron boron magnet 202 is selected. Since the magnet 202 is adhesive, the air gap is reduced and the air gap magnetic field is increased. The stator core 101 is made of 0.2mm high magnetic permeability silicon steel sheet, which improves the magnetic density of the teeth of the stator core 101. The thickness is 0.2mm, which reduces the eddy current loss and increases the magnetic load. The stator sheet is designed to increase the slot area, and manual offline is used to increase the slot full rate, reduce resistance, and increase the electrical load. The insulation material is selected from H-level or above insulation grade to ensure that the heat generated when the motor is running at high load will not burn the motor. The same arc magnetic steel can avoid material waste in the magnetic steel wire cutting process and reduce the wire cutting area; multiple pieces of the same arc magnetic steel are arranged The hollow shaft 201 is provided with a spiral glue storage tank on the outer wall thereof, which can be used to store glue, thereby avoiding the situation in which the magnetic steel 202 is adsorbed on the hollow shaft 201 and the adhesive may be squeezed out, thereby improving the firmness of the bonding between the hollow shaft 201 and the magnetic steel 202. The winding 103 is wound with multiple enameled wires, which reduces the wire diameter and makes it easy to bend, facilitates the unwinding and shaping, thereby ensuring the high power density of the motor and avoiding the problem that the wire diameter may be thicker and not easy to be wound by using a single enameled wire. Bending increases the difficulty of offline operation and increases the workload of operators. Compared with the delta connection, the star connection does not have the third and third multiple harmonics, avoiding the loss and torque pulsation caused by the third and third multiple harmonics, ensuring that the motor has lower torque pulsation. The inner hole of the stator core 101 is coated with iron red. Since the inner hole does not match other sizes, it will not affect the installation. The outer circle of the stator core 101 is coated with anti-rust oil. The anti-rust oil forms a thin oil film on the outer circle of the stator core 101, which does not affect the installation size of the outer circle, ensuring that the motor will not rust during long-term use.

[0038] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A large inner bore high-density joint motor for a humanoid robot, comprising a stator (1) and a rotor (2), characterized in that: The rotor (2) comprises a hollow shaft (201) and a magnetic steel (202) attached to the outer wall of the hollow shaft (201); The stator (1) comprises a stator core (101) outside a magnetic steel (202), both ends of the stator core (101) are provided with insulating end plates (102), the outer ends of the insulating end plates (102) are provided with windings (103), the outer end of one winding (103) is provided with a lead wire (104), the winding (103) is provided with a thermal resistor (105), and the temperature sensor of the thermal resistor (105) is embedded in the winding (103).

2. The large inner hole high density joint motor for a humanoid robot according to claim 1, characterized in that: The inner cavity of the hollow shaft (201) is configured as a large inner hole structure, and the pole slots of the stator (1) and the rotor (2) are matched to adopt 18 slots and 20 poles.

3. The large inner hole high density joint motor for a humanoid robot according to claim 1, characterized in that: The magnetic steel (202) is made of high-grade neodymium iron boron magnetic steel, the stator punching sheets of the stator core (101) are made of 0.2 mm high magnetic permeability silicon steel sheets, and the insulation material of the insulating end plate (102) is made of insulation grade H or above.

4. The large inner hole high density joint motor for a humanoid robot according to claim 1, characterized in that: The stator core (101) is configured as a skew slot.

5. The large inner hole high density joint motor for a humanoid robot according to claim 1, characterized in that: The magnetic steel (202) is configured as a same-arc magnetic steel, the inner and outer arc radii of the magnetic steel (202) are the same, and the thickness of the magnetic steel (202) is equal to the offset height of the inner and outer arc centers.

6. The large inner hole high density joint motor for a humanoid robot according to claim 5, characterized in that: A plurality of the same-arc magnetic steels are arranged into a whole piece of material.

7. The large inner hole high density joint motor for a humanoid robot according to claim 1, characterized in that: The outer wall of the hollow shaft (201) is provided with a spiral glue storage groove.

8. The large inner hole high density joint motor for a humanoid robot according to claim 1, characterized in that: The winding (103) is wound by a plurality of enameled wires.

9. The large inner hole high density joint motor for a humanoid robot according to claim 8, characterized in that: The winding (103) is wound in a star connection.

10. The large inner hole high density joint motor for a humanoid robot according to claim 1, characterized in that: The inner hole of the stator core (101) is coated with iron red, and the outer circle of the stator core (101) is coated with anti-rust oil.

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