Humanoid robot joint module with overload protection structure

Abstract

The humanoid robot joint module with the overload protection structure comprises a fixed body and a rotating cover, a connecting boss is arranged on the fixed body, an assembling cavity is formed in the connecting position of the connecting boss and the fixed body, a transmission assembly is arranged in the assembling cavity, a brake assembly and a brake driver are arranged on the connecting boss, and the rotating cover is arranged on the rotating cover. The output end of the brake drive is connected with the brake assembly, the brake drive is further connected with the transmission assembly, and the rotating cover is arranged on the connecting boss in a sleeving mode and connected with the connecting boss through the fixing assembly. According to the principle that helical gears are subjected to axial force when being meshed with each other, a magnetic suspension bearing is adopted to connect a rotating shaft with a fixed part, the state of the rotating shaft is monitored through a detection device, and when the output end of the joint module is overloaded, a transmission helical gear is clamped and does not rotate any more, and a driving gear drives the rotating shaft to axially move along a mounting hole; the detection device can control the brake electromagnet to act to brake the rotating cover, meanwhile, the power source stops outputting, and overload damage is prevented.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a humanoid robot joint module with an overload protection structure. Background Art

[0002] The joint module is the driving device that realizes the joint movement of the robot and plays a vital role in modern robotics technology.

[0003] In the development of humanoid robots, joint modules are key components whose performance directly impacts the robot's motion performance, operational reliability, and service life. Traditional humanoid robot joint modules have exposed numerous problems in practical applications. On the one hand, conventional mechanical bearing transmissions are prone to high friction, resulting in severe energy loss. Over time, wear increases, affecting the accuracy of the shaft rotation and, in turn, reducing the accuracy and stability of the robot's joint motion. Furthermore, traditional gear transmissions are prone to impact and noise when transmitting power, especially during high-speed operation or frequent starts and stops. This not only affects the robot's smooth operation but also causes additional damage to the gears, shortening the service life of the transmission components. On the other hand, when the robot is operating in a complex mission scenario, the joint module may encounter an overload situation. The traditional joint module lacks an effective overload protection mechanism. Once overloaded, it is very easy to cause damage to the transmission components, such as gear breakage, motor burnout, etc. This not only increases maintenance costs and downtime, but also limits the application of the robot in heavy loads or sudden impact environments. In addition, the traditional brake components have a slow response speed and cannot brake in time at the moment of overload, making it difficult to effectively protect the joint module and the robot as a whole. Moreover, the connection and fixation methods between the various components of the traditional joint module are not stable and flexible enough. During the movement of the robot, vibration, impact and other factors may cause the components to loosen, affecting the normal operation of the joint module.

[0004] Therefore, we need to design a humanoid robot joint module with an overload protection structure to solve these problems. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide a humanoid robot joint module with an overload protection structure.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: A humanoid robot joint module with an overload protection structure includes a fixed body and a rotating cover, wherein a connecting boss is provided on the fixed body, an assembly cavity is provided at the connection between the connecting boss and the fixed body, a transmission component is provided in the assembly cavity, a brake component and a brake drive are provided on the connecting boss, the output end of the brake drive is connected to the brake component, and the brake drive is also connected to the transmission component, the rotating cover is sleeved on the connecting boss and connected to the connecting boss through a fixed component, and the transmission component and the brake assembly are respectively connected to the rotating cover.

[0007] Preferably, the transmission assembly includes a mounting hole, a rotating shaft, a driving helical gear and a plurality of transmission helical gears, one end of the mounting hole is located on the connecting boss in the assembly cavity, and the other end passes through the fixed body, the rotating shaft is rotatably set in the mounting hole, and is connected to the connecting boss and the fixed body through a magnetic bearing, a spline hole is opened at one end of the rotating shaft, the driving helical gear is fixedly sleeved on the rotating shaft in the assembly cavity, and a plurality of the transmission helical gears are evenly distributed around the driving helical gear and are all engaged with the driving helical gear.

[0008] Such a setting, by adopting helical gear meshing transmission, has a larger tooth surface contact area compared to spur gear transmission, making transmission smoother, able to withstand greater loads, and reducing noise and vibration during transmission. The rotating shaft is connected to the connecting boss and the fixed body through a magnetic bearing. The magnetic bearing has no mechanical contact and extremely low friction, which reduces energy loss. At the same time, it avoids the wear problem of traditional bearings and extends the service life of the rotating shaft. At the same time, the magnetic bearing can allow the rotating shaft to move slightly along the axial direction, and can cooperate with the brake drive to drive the brake assembly to brake. The spline hole design facilitates the rapid connection of the rotating shaft to the external power source, and the spline connection transmits large torque and has high centering accuracy, ensuring the stability of power transmission. The design of the mounting hole passing through the fixed body provides a connection path for the rotating shaft to connect with external components, ensuring the coaxiality of the rotating shaft and further improving transmission accuracy.

[0009] Preferably, the other end of the fixed body is detachably provided with an end cover, a coupling is rotatably provided on the end cover, a spline shaft is fixedly provided on the coupling, the spline shaft matches the spline hole, and the free end is inserted into the spline hole.

[0010] With this arrangement, the detachable design of the end cover facilitates the installation, maintenance, and replacement of internal components such as the rotating shaft and magnetic bearings, reducing the maintenance cost of the equipment. The coupling on the end cover is connected to the spline hole of the rotating shaft through a spline shaft. The spline connection has good guidance and separability, which can not only ensure efficient power transmission, but also quickly separate the coupling and the rotating shaft when needed, and maintain the connection and power transmission between the coupling and the rotating shaft even when the rotating shaft moves axially. At the same time, the setting of the coupling also facilitates the connection between the rotating shaft and external components, and can compensate for certain installation errors and axial and radial displacements during rotation, improving the adaptability of the transmission system and reducing the difficulty of installation.

[0011] Preferably, the brake assembly includes a mounting ring fixed to the connecting boss, a plurality of slide grooves are provided on the mounting ring, and the plurality of slide grooves are radially and evenly distributed with the center line of the mounting ring as the vertex, and a push rod is slidingly provided in the slide groove, a driving column is fixedly provided at one end of the push rod, and a brake pad is fixedly provided at the other end, and a brake spring is also mounted on the push rod, one end of the brake spring is connected to the brake pad, and the other end is connected to the mounting ring, and a limiting ring is also provided on the mounting ring, a rotating disk is provided in the limiting ring, and the rotating disk is provided with the same number of brake grooves as the slide grooves, each of the brake grooves intersects with the projection of the corresponding slide groove on the surface of the connecting boss, and the free end of the driving column is located in the brake groove.

[0012] This arrangement, with its radially distributed slide and push rod design, allows multiple brake pads to simultaneously apply braking force to the rotating hood, making the braking force more evenly distributed and avoiding the uneven force and increased wear on the rotating hood caused by single-point braking. The brake spring is configured to push the brake pads into contact with the brake ring when the brake drive is not output, maintaining the braking state. The brake grooves on the rotating disc cooperate with the drive column of the push rod, and the rotation of the rotating disc can simultaneously drive multiple push rods to move, achieving synchronous action of multiple brake pads and improving the consistency and reliability of braking. The limiting ring acts as a limiter on the rotating disc, ensuring its stable rotation and preventing the rotating disc from shifting due to force during braking.

[0013] Preferably, the brake drive includes a drive tube, a brake electromagnet and a brake controller. The drive tube is coaxially fixed on the rotating disk. A spiral drive groove is provided on the inner wall of the drive tube. The brake electromagnet is arranged on the connecting boss on one side of the drive tube. A telescopic column is fixedly provided at the output end of the brake electromagnet. The free end of the telescopic column passes through the mounting ring and is inserted into the drive tube. A slider is also fixed on the telescopic column in the drive tube, and the slider is located in the drive groove.

[0014] This arrangement converts the linear motion of the brake electromagnet into rotational motion of the rotating disc through the interaction of a spiral drive groove in the inner wall of the drive tube and a slider on the telescopic column, achieving high transmission efficiency and a compact structure. The brake electromagnet, serving as the power source, responds quickly, enabling rapid braking. The brake controller precisely controls the timing and force of the brake. The coordination of the telescopic column and drive groove eliminates the need for complex mechanical transmission structures, reducing the number of components and the probability of failure. By converting electrical signals into mechanical braking action, the braking process is automated and precise, enhancing the safety and reliability of the equipment.

[0015] Preferably, the fixing assembly includes a positioning groove and a fixing hole, the fixing hole is opened through the side wall of the rotating cover, and a positioning cone is arranged in the fixing hole; the positioning groove is opened on the connecting boss, and two pressure bearings are arranged in the positioning groove, and a tightening ring is arranged on the opposite surfaces of the two pressure bearings, and the tightening ring matches the positioning cone.

[0016] This arrangement, through the cooperation of the positioning cone, the thrust ring, and the pressure bearing, not only provides axial positioning for the rotating cover but also allows for its rotation. The pressure bearing reduces frictional resistance between the rotating cover and the connecting boss, lowering energy loss during rotation. The two pressure bearings and the thrust ring within the positioning groove form a stable support structure that can withstand the axial load of the rotating cover and prevent axial movement during rotation. The removable design of the fixing hole and positioning cone facilitates the connection and separation of the rotating cover from the connecting boss, improving equipment assembly efficiency.

[0017] Preferably, the brake electromagnet includes a coil and an iron core, the iron core is slidably arranged in the coil, and the cross-section of the iron core and the inner hole of the coil are the same and both are non-circular, and the telescopic column is fixedly connected to the iron core.

[0018] This arrangement results in a non-circular cross-section of the brake electromagnet's core and coil inner bore. This design prevents the core from rotating within the coil, ensuring linear motion. This ensures the stability of the telescopic column's output direction and avoids problems with the drive slot and slider mating caused by core rotation. This precise alignment of the core and coil improves the electromagnet's magnetic efficiency, making the telescopic column's retraction and extension more sensitive and responsive, further optimizing braking performance.

[0019] Preferably, the brake controller includes a signal ring and a detection device, the signal ring is fixedly sleeved on the rotating shaft, the detection device is fixedly arranged on the fixed body or the connecting boss, and the input end is opposite to the signal ring.

[0020] With this setup, the brakes on the rotating cover can be released by turning on the power supply to the brake electromagnet. The signal ring and detection device work together to monitor the axial movement of the rotating shaft. When the shaft moves axially, the brake electromagnet's endpoints are controlled, and the brake spring pushes the brake pads to apply the brakes. The signal ring is fixed to the shaft and rotates synchronously with it, ensuring the accuracy of the detection signal. The fixed position of the detection device ensures detection stability. Together, these two enhance the precision and reliability of brake control.

[0021] Preferably, a brake ring and a gear ring are fixedly provided on the inner side of the rotating cover, the brake ring is opposite to the brake pad, and the gear ring is meshed with the transmission helical gear.

[0022] With this arrangement, a brake ring is positioned inside the rotating cover, opposite the brake pads, providing a braking surface, enhancing braking effectiveness and improving durability. The meshing of the ring gear with the helical transmission gear establishes a dynamic connection between the rotating cover and the transmission assembly, efficiently transmitting power from the transmission assembly to the rotating cover, driving its rotation. Integrating the brake ring and ring gear inside the rotating cover fully utilizes the internal space of the rotating cover, making the overall structure more compact while ensuring direct braking and transmission actions and reducing energy loss during power transmission and braking.

[0023] Preferably, the end cover is provided with a plug, and the plug is electrically connected to the magnetic bearing and the brake drive respectively.

[0024] This configuration allows plugs on the end caps to connect electrically to the magnetic bearing and brake drive, respectively. This centralizes the connection between the external power supply and internal electrical components, simplifies the device's wiring structure, and facilitates circuit installation and maintenance. This plug configuration makes electrical connections more convenient, allowing for quick disconnection when the end caps need to be removed for internal maintenance, improving maintenance efficiency. Furthermore, this centralized power supply ensures stable power supply to the magnetic bearing and brake drive, ensuring coordinated operation of all electrical components.

[0025] The advantages and positive effects of the present invention are: The present invention utilizes the principle that helical gears are subjected to axial force when they are meshed with each other, adopts a magnetic levitation bearing that allows axial movement to connect the rotating shaft and the fixed component, and monitors the state of the rotating shaft through a detection device. When the output end of the joint module is overloaded, the transmission helical gear is stuck and no longer rotates. Therefore, when the driving gear rotates, it interacts with the teeth on the transmission helical gear, causing the driving gear to drive the rotating shaft to move axially along the mounting hole. When the sensor detects that the rotating shaft has moved axially, it controls the brake electromagnet to operate, drives the rotating disk to rotate through the drive tube, and utilizes the cooperation of the brake groove on the rotating disk and the drive column to push the push rod to move, so that the brake pad on the push rod contacts the brake ring, and the rotating cover is braked. At the same time, the signal of the detection device will also be transmitted to the power source connected to the coupling, so that the power source stops outputting and prevents overload damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is a schematic diagram of the distribution positions of the adjustment holes and the fixing holes of the present invention; Figure 2 It is a schematic diagram of the installation position of the coupling and the socket of the present invention; Figure 3 This is a schematic diagram of the cooperation between the rotating disk and the limiting ring of the present invention; Figure 4 This is a schematic diagram of the mounting ring and slide groove structure of the present invention; Figure 5 This is a schematic diagram of the installation positions of the driving helical gear and the transmission helical gear of the present invention; Figure 6 This is a schematic diagram of the connection structure between the brake pad and the rotating disk of the present invention; Figure 7 It is a schematic diagram of the internal structure of the rotating cover of the present invention; Figure 8 This is a schematic diagram of the cooperation between the telescopic column and the active disk of the present invention; Figure 9 This is a schematic diagram of the connection structure between the brake pad, the drive column and the push rod of the present invention; Figure 10 It is a schematic diagram of the coupling and spline shaft structure of the present invention; Figure 11 It is a schematic cross-sectional view of the internal structure of the present invention; Figure 12 yes Figure 11 A magnified view of the structure at point A; Figure 13 yes Figure 11 A magnified view of the structure at point B in FIG.

[0028] The following are the descriptions of the reference numerals: 1. Fixed body; 2. Assembly cavity; 3. End cover; 4. Coupling; 5. Plug; 6. Rotating cover; 7. Transmission bevel gear; 8. Limiting ring; 9. Rotating plate; 10. Brake groove; 11. Mounting ring; 12. Slide groove; 13. Drive tube; 14. Brake pad; 15. Push rod; 16. Brake spring; 17. Drive column; 18. Rotating shaft; 19. Ring gear; 20. Brake ring; 21. Driving bevel gear; 22. Spline hole; 23. Spline shaft; 24. Magnetic bearing; 25. Adjustment hole; 26. Sensor; 27. Drive groove; 28. Pressure bearing; 29. ​​Telescopic column; 30. Iron core; 31. Coil; 32. Slider; 33. Signal ring; 34. Connecting boss; 35. Mounting hole; 36. Fixing hole; 37. Positioning cone; 38. Positioning groove; 39. Tightening ring. DETAILED DESCRIPTION

[0029] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0030] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0031] The present invention will be further described below with reference to the accompanying drawings: Example: Figures 1-13As shown, a humanoid robot joint module with an overload protection structure includes a fixed body 1 and a rotating cover 6. The fixed body 1 serves as the basic bearing component of the entire module, and is provided with a connecting boss 34. The connecting boss 34 is used to realize the installation and positioning of the rotating cover 6. An assembly cavity 2 is provided at the connection between the connecting boss 34 and the fixed body 1. The assembly cavity 2 provides an installation space for the transmission component. The assembly cavity 2 is provided with a transmission component, and the transmission component is used to transmit power to drive the rotating cover 6 to rotate. A brake assembly and a brake drive are provided on the connecting boss 34. The brake assembly is used to brake the rotating cover 6 when overloaded, and the brake drive provides power for the brake assembly. The output end of the brake drive is connected to the brake assembly to drive the brake assembly to operate, and the brake drive is also connected to the transmission assembly to receive the operating status signal of the transmission assembly. The rotating cover 6 is sleeved on the connecting boss 34 and is connected to the connecting boss 34 through a fixing assembly. The fixing assembly ensures that the rotating cover 6 rotates stably on the connecting boss 34, and the transmission assembly and the brake assembly are respectively connected to the rotating cover 6. The transmission assembly drives the rotating cover 6 to rotate, and the brake assembly brakes the rotating cover 6.

[0032] The transmission assembly includes a mounting hole 35, a rotating shaft 18, a driving bevel gear 21, and a plurality of transmission bevel gears 7. One end of the mounting hole 35 is located on the connecting boss 34 in the assembly cavity 2, and the other end passes through the fixed body 1. The mounting hole 35 provides a mounting channel for the rotating shaft 18. The rotating shaft 18 is rotatably arranged in the mounting hole 35 and is connected to the connecting boss 34 and the fixed body 1 via a magnetic bearing 24. The magnetic bearing 24 reduces friction during the rotation of the rotating shaft 18 and ensures rotation accuracy. At the same time, the magnetic bearing 24 can also allow the rotating shaft 18 to move axially along the mounting hole 35 and can automatically reset after power is applied. A spline hole 22 is provided at one end of the rotating shaft 18 for connection to an external power input component. The driving bevel gear 21 is fixedly mounted on the rotating shaft 18 in the assembly cavity 2 and rotates synchronously with the rotating shaft 18. There are at least three transmission bevel gears 7. The three transmission bevel gears 7 are evenly distributed around the driving bevel gear 21 and are all engaged with the driving bevel gear 21. When the driving bevel gear 21 rotates, it drives the transmission bevel gear 7 to rotate, and the transmission bevel gear 7 transmits power to the rotating cover 6 through the meshing gear ring 19.

[0033] The other end of the fixed body 1 is detachably provided with an end cap 3, which is used to seal the end of the fixed body 1 and protect the internal components. A coupling 4 is rotatably provided on the end cap 3 and is used to connect the external power source to the rotating shaft 18. A spline shaft 23 is fixedly provided on the coupling 4, and the spline shaft 23 rotates synchronously with the coupling 4. The spline shaft 23 matches the spline hole 22, and the free end of the spline shaft 23 is inserted into the spline hole 22. The cooperation between the spline shaft 23 and the spline hole 22 realizes the power transmission between the coupling 4 and the rotating shaft 18.

[0034] The brake assembly includes a mounting ring 11 fixed to a connecting boss 34. This ring 11 provides a mounting base for the other components of the brake assembly. Several slots 12 are arranged radially and evenly from the centerline of the mounting ring 11. These slots 12 provide guides for a push rod 15. A push rod 15 slides within these slots. A drive post 17 is fixed to one end of the push rod 15, driving the push rod 15. A brake pad 14 is fixed to the other end of the push rod 15. The brake pad 14 contacts the rotating cover 6 to generate braking friction. A brake spring 16 is also mounted on the push rod 15. One end of the brake spring 16 is connected to the brake pad 14, and the other end is connected to the mounting ring 11. This spring can push the brake pad 14 into contact with the brake ring 20 even when power is off, braking the rotating cover 6. A limit ring 8 is also provided on the mounting ring 11, which limits the rotating disk 9. The rotating disk 9 is provided inside the limit ring 8. The rotating disk 9 is provided with brake grooves 10 having the same number as the slide grooves 12. Each brake groove 10 intersects with the projection of the relative slide groove 12 on the surface of the connecting boss 34, and the free end of the driving column 17 is located in the brake groove 10. When the rotating disk 9 rotates, the push rod 15 will be driven to move along the slide groove 12 through the cooperation of the brake groove 10 and the driving column 17.

[0035] The brake drive comprises a drive tube 13, a brake electromagnet, and a brake controller. The drive tube 13 is coaxially fixed to the rotating disk 9. When the drive tube 13 rotates, the rotating disk 9 is driven to rotate synchronously. A spiral drive groove 27 is formed on the inner wall of the drive tube 13. The drive groove 27 cooperates with a slider 32 to achieve force conversion. The brake electromagnet is mounted on a connecting boss 34 on one side of the drive tube 13 to provide power for the brake drive. A telescopic column 29 is fixedly mounted on the output end of the brake electromagnet. The telescopic column 29 performs telescopic movement under the action of the brake electromagnet. The free end of the telescopic column 29 passes through the mounting ring 11 and is inserted into the drive tube 13. A slider 32 is also fixedly mounted on the telescopic column 29 within the drive tube 13. The slider 32 moves synchronously with the telescopic column 29. The slider 32 is located in the drive groove 27. When the telescopic column 29 drives the slider 32 to move, the slider 32 slides in the drive groove 27, causing the drive tube 13 to rotate.

[0036] The fixing assembly includes a positioning groove 38 and a fixing hole 36. The fixing hole 36 is provided through the side wall of the rotating cover 6 to provide an installation location for a positioning cone 37. The positioning cone 37 is disposed within the fixing hole 36. The positioning column is connected to the fixing hole 36 via a threaded fit. The positioning cone 37 is used to axially position the rotating cover 6. The positioning groove 38 is provided on the connecting boss 34 to provide installation space for the pressure bearing 28 and the push ring 39. Two pressure bearings 28 are disposed within the positioning groove 38 to reduce friction during rotation of the rotating cover 6. Push rings 39 are disposed on opposing surfaces of the two pressure bearings 28. The push rings 39 cooperate with the positioning cone 37 to achieve positioning. The push rings 39 match the positioning cone 37. The positioning cone 37 and the push ring 39 limit the axial displacement of the rotating cover 6 through the action of the positioning cone 37 and the push ring 39.

[0037] The brake electromagnet consists of a coil 31 and an iron core 30. When coil 31 is energized, it generates magnetic force that drives the iron core 30. The iron core 30 slides within the coil 31. The inner holes of the iron core 30 and coil 31 have the same non-circular cross-section, preventing the iron core 30 from rotating within the coil 31 and ensuring stable movement. The telescopic column 29 is fixedly connected to the iron core 30, and when the iron core 30 moves, the telescopic column 29 moves synchronously with it.

[0038] The brake controller includes a signal ring 33 and a detection device, which uses a Hall effect sensor 26. The signal ring 33 is fixedly mounted on the rotating shaft 18 and rotates synchronously with the rotating shaft 18. The signal ring 33 is used to cooperate with the Hall effect sensor 26 to detect the movement state of the rotating shaft 18. The detection device is fixedly mounted on the fixed body 1 or the connecting boss 34, with the input end opposite the signal ring 33. In the initial state, the signal ring 33 is aligned with the input end of the Hall effect sensor 26. When the rotating shaft 18 undergoes axial movement, it drives the signal ring 33 to move, and the signal ring 33 is offset from the input end of the Hall effect sensor 26. At this time, the Hall effect sensor 26 loses the position of the signal ring 33, thereby sending a signal to control the operation of the brake electromagnet.

[0039] A brake ring 20 and a gear ring 19 are also fixedly provided on the inner side of the rotating cover 6. The brake ring 20 is opposite to the brake pad 14. The brake pad 14 contacts the brake ring 20 to generate friction to achieve braking. The gear ring 19 is engaged with the transmission bevel gear 7. When the transmission bevel gear 7 rotates, it drives the gear ring 19 to rotate, and then drives the rotating cover 6 to rotate; an adjustment hole 25 is opened through the end surface of the rotating cover 6, one end of the drive tube 13 is connected to the telescopic column 29, and the other end is inserted into the adjustment hole 25. The adjustment hole 25 can not only support the drive tube 13, but also manually release the brake by rotating the drive tube 13 inserted into the adjustment hole 25, which is convenient for turning the car or adjusting the position of the rotating cover 6 during maintenance.

[0040] The end cover 3 is provided with a plug 5 for connecting an external power supply and a control circuit. The plug 5 is electrically connected to the magnetic bearing 24 and the brake drive respectively, providing power and control signals to the magnetic bearing 24 and the brake drive.

[0041] The working process of this embodiment is as follows: Before operation, brake pad 14, pushed by brake spring 16, contacts brake ring 20, and rotating cover 6 is in the braking state. Next, the joint module is connected to the robot's main control unit via a socket. The joint module is then fixed to the robot via fixed body 1 and connected to the power source via coupling 4. The rotating cover 6 is then connected to the robot's actuator.

[0042] During operation, first, the power supply of the coil 31 and the magnetic bearing 24 is connected through the plug 5. After the power supply of the magnetic bearing 24 is turned on, the rotating shaft 18 will be placed at the center of the mounting hole 35 to ensure that there is a gap of 0.2-0.4mm between the outer wall of the rotating shaft 18 and the inner wall of the mounting hole 35 in all directions. At the same time, the adsorption force of the magnetic bearing 24 will also position the rotating shaft 18. When the external force is not greater than the magnetic force of the magnetic bearing 24, the rotating shaft 18 will not move axially. Therefore, adjusting the magnetic force of the magnetic bearing 24 can adjust the overload threshold of the joint module.

[0043] Then, when the power supply of the coil 31 is turned on, magnetism will be generated. The magnetic coil 31 will drive the iron core 30 to move inside the coil 31 and drive the telescopic column 29 to move. When the telescopic column 29 moves, it will cooperate with the spiral drive groove 27 through the slider 32 to drive the rotating disk 9 to rotate. After the rotating disk 9 rotates, the brake groove 10 and the drive column 17 will cooperate to drive the push rod 15 to move toward the rotating disk 9. When the push rod 15 moves toward the rotating disk 9, the brake pad 14 will compress the brake spring 16, and the brake pad 14 will separate from the vehicle ring. At this time, the brake of the rotating cover 6 is released.

[0044] Then the external power source will drive the coupling 4 to rotate. When the coupling 4 rotates, it will drive the rotating shaft 18 to rotate through the cooperation between the spline shaft 23 and the spline hole 22. When the rotating shaft 18 rotates, the driving bevel gear 21 will drive the transmission bevel gear 7 to rotate. After the transmission bevel gear 7 rotates, it will drive the rotating cover 6 to rotate through the ring gear 19.

[0045] When the reaction force of the actuator connected to the rotating cover 6 is greater than the axial force applied by the magnetic bearing 24 to the rotating shaft 18, the helical gear 21 is driven to drive the rotating shaft 18 to move axially along the mounting axis under the action of the axial force applied by the transmission helical gear 7. At this time, the signal ring 33 will move axially along the mounting hole 35 together with the rotating shaft 18. The input end of the detection device will send a signal after losing the position of the signal ring 33. At this time, the power supply of the coil 31 will be cut off, and the coil 31 will lose its magnetic force after the power is cut off, so that the tension applied to the telescopic column 29 through the iron core 30 will also disappear. After the tension of the telescopic column 29 disappears, the rotational force applied to the rotating disk 9 will also disappear. At this time, the brake spring 16 will extend, pushing the brake pad 14 to contact the brake ring 20 to brake the rotating cover 6; at the same time, after the signal of the sensor 26 is sent, the power supply of the external power source will also be cut off.

[0046] When the rotating cover 6 needs to be disassembled, replaced or repaired, by rotating the positioning cone 37 in the fixing hole 36, the tip of the positioning column will be pulled out from the positioning groove 38 between the two tightening rings 39 with the cooperation of the thread. When all the tips of the positioning cones 37 are pulled out from the positioning groove 38 between the two tightening rings 39, the brake is released by rotating the drive tube 13 in the adjustment hole 25, and then the rotating cover 6 is removed from the connecting boss 34 for inspection or replacement.

[0047] When installing the rotating cover 6, it is first necessary to rotate the drive tube 13 through the adjustment hole 25 to keep the brake in the released state, and then put the rotating cover 6 onto the connecting boss 34, and make the ring gear 19 engage with the transmission gear. After completing the matching of the ring gear 19 and the transmission gear, rotate the positioning cone 37 in the fixing hole 36, and insert the tip of the positioning cone 37 into the positioning groove 38 between the two tightening rings 39 through threaded matching. Since the matching surfaces of the two tightening rings 39 and the positioning cone 37 are also inclined surfaces, as the positioning cone 37 is continuously inserted, the tightening ring 39 will move to both sides, and after moving, it will squeeze the pressure bearing 28. The mutual cooperation with the pressure bearings 28 on both sides can reduce the resistance of the rotating cover 6 during rotation.

[0048] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A humanoid robot joint module with an overload protection structure, comprising a fixed body (1) and a rotating cover (6), characterized in that: The fixed body (1) is provided with a connecting boss (34), an assembly cavity (2) is provided at the connection between the connecting boss (34) and the fixed body (1), a transmission component is provided in the assembly cavity (2), a brake component and a brake drive are provided on the connecting boss (34), the output end of the brake drive is connected to the brake component, and the brake drive is also connected to the transmission component, the rotating cover (6) is sleeved on the connecting boss (34), and is connected to the connecting boss (34) through the fixed component, and the transmission component and the brake component are respectively connected to the rotating cover (6).

2. The humanoid robot joint module with an overload protection structure according to claim 1, characterized in that: The transmission assembly comprises a mounting hole (35), a rotating shaft (18), a driving helical gear (21) and a plurality of driving helical gears (7). One end of the mounting hole (35) is located on the connecting boss (34) in the assembly cavity (2), and the other end passes through the fixed body (1). The rotating shaft (18) is rotatably arranged in the mounting hole (35) and is connected to the connecting boss (34) and the fixed body (1) through a magnetic bearing (24). A spline hole (22) is provided at one end of the rotating shaft (18). The driving helical gear (21) is fixedly sleeved on the rotating shaft (18) in the assembly cavity (2). The plurality of driving helical gears (7) are evenly distributed around the driving helical gear (21) and are all meshed with the driving helical gear (21).

3. The humanoid robot joint module with an overload protection structure according to claim 2, characterized in that: The other end of the fixed body (1) is detachably provided with an end cover (3), a coupling (4) is rotatably provided on the end cover (3), a spline shaft (23) is fixedly provided on the coupling (4), the spline shaft (23) matches the spline hole (22), and the free end is inserted into the spline hole (22).

4. The humanoid robot joint module with an overload protection structure according to claim 2, characterized in that: The brake assembly includes a mounting ring (11) fixed on the connecting boss (34), a plurality of slide grooves (12) are provided on the mounting ring (11), and the plurality of slide grooves (12) are evenly distributed radially with the center line of the mounting ring (11) as the vertex. A push rod (15) is slidably provided in the slide groove (12), a driving column (17) is fixedly provided at one end of the push rod (15), and a brake pad (14) is fixedly provided at the other end. A brake spring (16) is also provided on the push rod (15), and the brake spring ( 16) is connected to the brake pad (14) at one end and to the mounting ring (11) at the other end. A limit ring (8) is also provided on the mounting ring (11). A rotating disk (9) is provided inside the limit ring (8). The rotating disk (9) is provided with the same number of brake grooves (10) as the slide grooves (12). Each of the brake grooves (10) intersects with the projection of the corresponding slide groove (12) on the surface of the connecting boss (34), and the free end of the driving column (17) is located in the brake groove (10).

5. The humanoid robot joint module with an overload protection structure according to claim 4, characterized in that: The brake drive includes a drive tube (13), a brake electromagnet and a brake controller. The drive tube (13) is coaxially fixed on the rotating disk (9). A spiral drive groove (27) is provided on the inner wall of the drive tube (13). The brake electromagnet is arranged on the connecting boss (34) on one side of the drive tube (13). A telescopic column (29) is fixedly provided at the output end of the brake electromagnet. The free end of the telescopic column (29) passes through the mounting ring (11) and is inserted into the drive tube (13). A slider (32) is also fixedly provided on the telescopic column (29) in the drive tube (13). The slider (32) is located in the drive groove (27).

6. The humanoid robot joint module with an overload protection structure according to claim 1, characterized in that: The fixing assembly includes a positioning groove (38) and a fixing hole (36), wherein the fixing hole (36) is provided through the side wall of the rotating cover (6), and a positioning cone (37) is provided in the fixing hole (36); the positioning groove (38) is provided on the connecting boss (34), and two pressure bearings (28) are provided in the positioning groove (38), and a tightening ring (39) is provided on the opposite surfaces of the two pressure bearings (28), and the tightening ring (39) matches the positioning cone (37).

7. The humanoid robot joint module with an overload protection structure according to claim 5, characterized in that: The brake electromagnet comprises a coil (31) and an iron core (30), wherein the iron core (30) is slidably arranged in the coil (31), and the cross-sections of the inner holes of the iron core (30) and the coil (31) are the same and both are non-circular, and the telescopic column (29) is fixedly connected to the iron core (30).

8. The humanoid robot joint module with an overload protection structure according to claim 5, characterized in that: The brake controller comprises a signal ring (33) and a detection device, wherein the signal ring (33) is fixedly mounted on the rotating shaft (18), and the detection device is fixedly arranged on the fixed body (1) or the connecting boss (34), and the input end is opposite to the signal ring (33).

9. The humanoid robot joint module with an overload protection structure according to claim 5, characterized in that: A brake ring (20) and a gear ring (19) are fixedly provided on the inner side of the rotating cover (6); the brake ring (20) is positioned opposite to the brake pad (14); and the gear ring (19) is meshed with the transmission helical gear (7).

10. The humanoid robot joint module with an overload protection structure according to claim 3, characterized in that: The end cover (3) is provided with a plug (5), and the plug (5) is electrically connected to the magnetic suspension bearing (24) and the brake drive, respectively.

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