A hollow encoder for humanoid robots

Abstract

The present invention discloses a hollow encoder for a humanoid robot, comprising a hollow encoder body, a gear ring 1 fixedly connected to the front side of the surface of the hollow encoder body, a mounting ring arranged on the front side of the hollow encoder body, a cooling fan rotatably connected to the surface of the mounting ring, and a gear ring 2 fixedly connected to the rear side of the cooling fan. The encoder also comprises a kinetic energy transmission mechanism rotatably mounted on one side of the surface of the hollow encoder body and used to provide sufficient rotational kinetic energy for the cooling fan; a control clutch mechanism rotatably mounted inside the kinetic energy transmission mechanism and used to control the connection and disconnection of the kinetic energy of the cooling fan. The present invention drives the rotational force of the hollow encoder body to be converted by a frameless torque motor, so that the rotational force of the hollow encoder body is transmitted to a cooling component, and the kinetic energy of the hollow encoder body drives the cooling component to rotate, and the cooling component does not need to be rotated with the aid of an external kinetic energy device, thereby improving the energy-saving and environmental protection effect of the hollow encoder body.

Description

Technical Field

[0001] The invention relates to the technical field of hollow encoders, and in particular to a hollow encoder for a humanoid robot. Background Art

[0002] The hollow encoder is mainly composed of a fixed read / write head and a rotating encoding disk; the encoding disk is usually a transparent disc with several photoelectric or magnetoelectric signal lines engraved on it; when the encoding disk rotates with the rotating shaft, the read / write head senses the changes in the lines through infrared rays (photoelectric encoder) or magnetic fields (magnetoelectric encoder), and converts them into digital signals, which are output to the computer or control system for processing; the hollow design allows the encoder to be directly installed on the rotating shaft without taking up additional space, and provides convenience for other components (such as cables, drive shafts, etc.) to pass through the shaft, which is suitable for scenarios with limited installation space; compared with other encoders, the hollow encoder is directly installed on the shaft, which reduces the possibility of inaccurate readings due to mechanical shock or vibration, and has better resistance to mechanical damage.

[0003] When humanoid robots use frameless torque motors, hollow encoders are needed to detect them. Traditional hollow encoders will generate a lot of heat during long-term work, and require an external drive device to connect to a heat dissipation device to dissipate the heat of the hollow encoder. The hollow encoder continues to work, and the drive device of the heat dissipation device needs to run continuously. Long-term operation will increase energy consumption. The hollow encoder consumes electrical energy during work, and dissipating the hollow encoder also consumes additional electrical energy. Long-term use will consume a lot of energy. When the hollow encoder needs efficient heat dissipation, the external drive device needs to run at high power, which further increases energy consumption and increases the problem of high energy consumption of the hollow encoder. Summary of the invention

[0004] In order to solve the problems raised in the above-mentioned background technology, the purpose of the present invention is to provide a hollow encoder for a humanoid robot, which has the advantages of efficient energy-saving and heat dissipation, and solves the problem that the hollow encoder will generate a large amount of heat during long-term work, and an external drive device is required to connect to the heat dissipation device to dissipate the heat of the hollow encoder. The hollow encoder continues to work, and the drive device of the heat dissipation device needs to run continuously. Long-term operation will increase energy consumption. The hollow encoder needs to consume electrical energy during work, and dissipating the hollow encoder also needs to consume additional electrical energy. Long-term use will consume a lot of energy. When the hollow encoder needs efficient heat dissipation, the external drive device needs to run at high power, which further increases the energy consumption and increases the problem of high energy consumption of the hollow encoder.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A hollow encoder for a humanoid robot, comprising a hollow encoder body, a first gear ring fixedly connected to the front side of the surface of the hollow encoder body, a mounting ring arranged on the front side of the hollow encoder body, a cooling fan rotatably connected to the surface of the mounting ring, and a second gear ring fixedly connected to the rear side of the cooling fan, and also comprising a kinetic energy transmission mechanism rotatably mounted on one side of the surface of the hollow encoder body and used to provide sufficient rotational kinetic energy for the cooling fan;

[0006] A control clutch mechanism is rotatably mounted inside the kinetic energy transmission mechanism and is used to control the connection and disconnection of the kinetic energy of the cooling fan;

[0007] The hollow encoder body comprises a base buckle boss for connection, a code disc rotatably connected inside the base buckle boss, and a bracket buckled on the surface of the base buckle boss.

[0008] As a preferred embodiment of the present invention, shells are provided at the top and bottom of the hollow encoder body, the inner wall of the shell is fixedly connected with support ribs, the front and rear sides of the inner wall of the shell are fixedly connected with limit ribs, a frameless torque motor is provided on the inner side of the support ribs and the limit ribs, the four corners of the front side of the frameless torque motor are fixedly connected with elastic clamps, the surface of the elastic clamp is clamped with a clamping sleeve, the inner side of the clamping sleeve is fixedly connected to the surface of the hollow encoder body, a breathable groove group is provided on the front side of the shell, and the bottom of the front side of the mounting ring is fixedly connected to the bottom of the front side of the inner wall of the shell.

[0009] As a preferred embodiment of the present invention, the kinetic energy transmission mechanism includes a mounting frame, the mounting frame is fixedly connected to the front side of one side of the inner wall of the shell, the gear ring 1 is meshed with a transmission gear, the transmission gear is rotatably connected to the surface of the mounting frame, one side of the transmission gear is fixedly connected to a helical tooth 1, the helical tooth 1 is meshed with a helical tooth 2, one side of the helical tooth 2 is fixedly connected to a rotating shaft, the rotating shaft is rotatably connected to the inside of the mounting frame, one side of the rotating shaft is fixedly connected to a helical tooth 3, the front side of the helical tooth 3 is meshed with a helical tooth 4, the front side of the helical tooth 4 is fixedly connected to a large gear, the large gear is mounted on the inner wall of the shell through a rotating component, the A small gear is meshed with the bottom of one side of the large gear, a transmission slider is fixedly connected to the interior of the small gear, a control shaft is slidably connected to the interior of the small gear, the transmission slider is slidably connected to the interior of the control shaft, the front side of the control shaft is rotatably connected to the front side of the inner wall of the shell, the rear side of the control shaft is rotatably connected to the interior of the mounting frame, a large pulley is fixedly connected to the front side of the control shaft surface, a belt is sleeved on the surface of the large pulley, a small pulley is provided on one side of the inner part of the belt, the rear side of the small pulley is rotatably connected to the surface of the mounting frame, a kinetic energy gear is fixedly connected to the front side of the small pulley, and the kinetic energy gear is meshed with the second gear ring.

[0010] As a preferred embodiment of the present invention, the control clutch mechanism includes a movable sleeve, which is sleeved on the bottom of the pinion surface, and the bottom of the movable sleeve is fixedly connected to a movable plate, and the interior of the movable plate is slidably connected to a sliding frame, and the sliding frame is fixedly connected to one side of the mounting frame, and the rear side of the mounting frame is rotatably connected to a micro-electric push rod through a hinge, and the output end of the micro-electric push rod is rotatably connected to a seesaw, one side of the seesaw extends to one side of the mounting frame, and the seesaw is rotatably connected to the interior of the mounting frame, and one side of the seesaw extends to the interior of the movable plate, and the interior of the movable plate is fixedly connected to a push column, and the surface of the push column contacts the surface of the seesaw.

[0011] As a preferred embodiment of the present invention, reinforcing ribs are fixedly connected to the surface of the shell, and the reinforcing ribs are located at the four corners of the outer side of the hollow encoder body.

[0012] As a preferred embodiment of the present invention, the housing is fixedly connected to a protective cover, and the hollow encoder body is located inside the protective cover.

[0013] As a preferred embodiment of the present invention, an arc-shaped extension cover is fixedly connected to one side of the shell, and the large gear is located inside the arc-shaped extension cover.

[0014] As a preferred embodiment of the present invention, the surface of the elastic clamping plate is fixedly connected with anti-slip grooves, and the anti-slip grooves are located on the front side of the clamping sleeve.

[0015] As a preferred embodiment of the present invention, a measure groove is provided on the surface of the ferrule, and the measure groove is located inside the shell.

[0016] As a preferred embodiment of the present invention, a structural rib is fixedly connected to the surface of the mounting frame, and the structural rib is located on the top of the pinion gear.

[0017] Beneficial effects of the present invention: The present invention converts the rotational force of the hollow encoder body through a frameless torque motor, so that the rotational force of the hollow encoder body is transmitted to the heat dissipation component. The kinetic energy of the hollow encoder body drives the heat dissipation component to rotate. The heat dissipation component does not need to be rotated with the aid of an external kinetic energy device, thereby improving the energy-saving and environmental protection effect of the use of the hollow encoder body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention;

[0019] Figure 2 A three-dimensional diagram of the hollow encoder body of the present invention;

[0020] Figure 3 is a three-dimensional diagram of a gear ring 1 of the present invention;

[0021] Figure 4 is a three-dimensional diagram of the frameless torque motor of the present invention;

[0022] Figure 5 A three-dimensional diagram of the elastic clamp of the present invention;

[0023] Figure 6 It is a structural exploded diagram of the hollow encoder body of the present invention;

[0024] Figure 7 A three-dimensional diagram of the reinforcing bar of the present invention;

[0025] Figure 8 is a three-dimensional diagram of the heat dissipation fan of the present invention;

[0026] Fig. 9 is a three-dimensional diagram of a large gear of the present invention;

[0027] Fig.10 is a three-dimensional diagram of the belt of the present invention;

[0028] Fig.11 is a three-dimensional diagram of the rotating shaft of the present invention;

[0029] Fig.12 is a three-dimensional diagram of a pinion of the present invention;

[0030] Fig.13 A three-dimensional diagram of a push column of the present invention;

[0031] Fig.14 It is a three-dimensional diagram of the transmission slider of the present invention;

[0032] Fig.15 A three-dimensional diagram of the anti-slip pattern of the present invention;

[0033] Fig.16 is a three-dimensional diagram of the mounting frame of the present invention;

[0034] Fig.17 is a three-dimensional diagram of the housing of the present invention;

[0035] Fig.18 It is a three-dimensional diagram of the ventilation groove group of the present invention.

[0036] In the figure: 1, housing; 2, supporting ribs; 3, limiting ribs; 4, frameless torque motor; 5, elastic clamping plate; 6, clamping sleeve; 7, hollow encoder body; 71, base buckle boss; 72, code disk; 73, bracket; 8, gear ring 1; 9, mounting ring; 10, cooling fan; 11, gear ring 2; 12, ventilation groove group; 13, kinetic energy transmission mechanism; 131, mounting frame; 132, transmission gear; 133, helical gear 1; 134, helical gear 2; 135, rotating shaft; 136, helical gear 3; 137, helical gear 4; 138. Large gear; 139. Small gear; 1310. Transmission slider; 1311. Control shaft; 1312. Large pulley; 1313. Belt; 1314. Small pulley; 1315. Kinetic gear; 14. Control clutch mechanism; 141. Moving sleeve; 142. Moving plate; 143. Sliding frame; 144. Micro electric push rod; 145. Rocker; 146. Push column; 15. Reinforcement rib; 16. Protective cover; 17. Arc extension cover; 18. Anti-slip pattern; 19. Measures groove; 20. Structural rib. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0038] like Figures 1 to 18 As shown, a hollow encoder for a humanoid robot provided by the present invention comprises a hollow encoder body 7, a toothed ring 1 8 fixedly connected to the front side of the surface of the hollow encoder body 7, a mounting ring 9 arranged on the front side of the hollow encoder body 7, a cooling fan 10 rotatably connected to the surface of the mounting ring 9, a toothed ring 2 11 fixedly connected to the rear side of the cooling fan 10, and also comprises a kinetic energy transmission mechanism 13 rotatably mounted on one side of the surface of the hollow encoder body 7 and used to provide sufficient rotational kinetic energy for the cooling fan 10;

[0039] The control clutch mechanism 14 is rotatably mounted inside the kinetic energy transmission mechanism 13 and is used to control the connection and disconnection of the kinetic energy of the cooling fan 10;

[0040] The hollow encoder body 7 includes a base snap-fitting boss 71 for connection, a code disc 72 rotatably connected inside the base snap-fitting boss 71 , and a bracket 73 snapped onto the surface of the base snap-fitting boss 71 .

[0041] refer to Figure 1As shown, a shell 1 is provided at the top and bottom of the hollow encoder body 7, the inner wall of the shell 1 is fixedly connected with a support rib 2, the front and rear sides of the inner wall of the shell 1 are fixedly connected with a limit rib 3, a frameless torque motor 4 is provided on the inner side of the support rib 2 and the limit rib 3, the four corners of the front side of the frameless torque motor 4 are fixedly connected with an elastic clamp 5, the surface of the elastic clamp 5 is clamped with a clamping sleeve 6, the inner side of the clamping sleeve 6 is fixedly connected to the surface of the hollow encoder body 7, a breathable groove group 12 is opened on the front side of the shell 1, and the bottom of the front side of the mounting ring 9 is fixedly connected to the bottom of the front side of the inner wall of the shell 1.

[0042] As a technical optimization solution of the present invention, by setting the outer shell 1, the surface of the hollow encoder body 7 can be protected to prevent external impurities and foreign objects from falling on the surface of the hollow encoder body 7, causing the hollow encoder body 7 to be blocked, thereby improving the rotational stability of the hollow encoder body 7.

[0043] refer to Fig.10 As shown, the kinetic energy transmission mechanism 13 includes a mounting frame 131, which is fixedly connected to the front side of one side of the inner wall of the shell 1, a gear ring 18 is meshed with a transmission gear 132, and the transmission gear 132 is rotatably connected to the surface of the mounting frame 131, one side of the transmission gear 132 is fixedly connected to a bevel gear 133, the bevel gear 133 is meshed with a bevel gear 2 134, one side of the bevel gear 2 134 is fixedly connected to a rotating shaft 135, and the rotating shaft 135 is rotatably connected to the inside of the mounting frame 131, one side of the rotating shaft 135 is fixedly connected to a bevel gear 3 136, the front side of the bevel gear 3 136 is meshed with a bevel gear 4 137, the front side of the bevel gear 4 137 is fixedly connected to a large gear 138, the large gear 138 is mounted on the inner wall of the shell 1 through a rotating assembly, and the bottom of one side of the large gear 138 is meshed with a small gear 136. Gear 139, a transmission slider 1310 is fixedly connected inside the pinion 139, a control shaft 1311 is slidably connected inside the pinion 139, the transmission slider 1310 is slidably connected inside the control shaft 1311, the front side of the control shaft 1311 is rotationally connected to the front side of the inner wall of the shell 1, the rear side of the control shaft 1311 is rotationally connected to the inside of the mounting frame 131, a large pulley 1312 is fixedly connected to the front side of the surface of the control shaft 1311, a belt 1313 is sleeved on the surface of the large pulley 1312, a small pulley 1314 is arranged on one side inside the belt 1313, the rear side of the small pulley 1314 is rotationally connected to the surface of the mounting frame 131, a kinetic energy gear 1315 is fixedly connected to the front side of the small pulley 1314, and the kinetic energy gear 1315 is meshed with the gear ring 11.

[0044] As a technical optimization scheme of the present invention, by setting up a kinetic energy transmission mechanism 13, the rotational force of the hollow encoder main body 7 during operation can be converted into the rotational power of the fan, avoiding the need for additional kinetic energy equipment to be provided by the cooling fan 10 used for the hollow encoder main body 7, thereby reducing the energy consumption of the hollow encoder main body 7 and improving the energy-saving and environmental protection effect of the use of the hollow encoder main body 7.

[0045] refer to Fig.13 The control clutch mechanism 14 includes a moving sleeve 141, which is sleeved on the bottom of the surface of the pinion 139, and a moving plate 142 is fixedly connected to the bottom of the moving sleeve 141, and a sliding frame 143 is slidably connected inside the moving plate 142, and the sliding frame 143 is fixedly connected to one side of the mounting frame 131, and a micro-electric push rod 144 is rotatably connected to the rear side of the mounting frame 131 through a hinge, and a seesaw 145 is rotatably connected to the output end of the micro-electric push rod 144, and one side of the seesaw 145 extends to one side of the mounting frame 131, and the seesaw 145 is rotatably connected to the inside of the mounting frame 131, and one side of the seesaw 145 extends to the inside of the moving plate 142, and a push column 146 is fixedly connected to the inside of the moving plate 142, and the surface of the push column 146 contacts the surface of the seesaw 145.

[0046] As a technical optimization solution of the present invention, by setting a control clutch mechanism 14, the kinetic energy transmission mechanism 13 can be controlled to avoid the kinetic energy transmission mechanism 13 being always connected to the cooling fan 10, causing the cooling fan 10 to always rotate. The connection and disconnection between the cooling fan 10 and the kinetic energy transmission mechanism 13 can be controlled, thereby improving the working state control effect of the cooling fan 10.

[0047] refer to Figure 1 The surface of the housing 1 is fixedly connected with reinforcing ribs 15 , and the reinforcing ribs 15 are located at the four corners of the outer side of the hollow encoder body 7 .

[0048] As a technical optimization solution of the present invention, by setting reinforcing ribs 15, the structural strength of the shell 1 can be increased, providing the shell 1 with stronger structural resistance, preventing the shell 1 from being subjected to external forces, causing deformation and cracking of the shell 1, increasing the service life of the shell 1, and improving the damage resistance of the shell 1.

[0049] refer to Figure 1 A protective cover 16 is fixedly connected to the rear sides of both sides of the housing 1 , and the hollow encoder body 7 is located inside the protective cover 16 .

[0050] As a technical optimization scheme of the present invention, by setting a protective cover 16, the portion of the frameless torque motor 4 extending out of the outer casing 1 can be shielded and protected, thereby preventing the protruding portion of the frameless torque motor 4 from being exposed to the air, causing this portion of the frameless torque motor 4 to be damaged by corrosive substances in the natural environment, and also improving the anti-oxidation effect of the frameless torque motor 4 and increasing the integrity of the frameless torque motor 4.

[0051] refer to Figure 1 As shown, an arc-shaped extension cover 17 is fixedly connected to one side of the housing 1 , and the large gear 138 is located inside the arc-shaped extension cover 17 .

[0052] As a technical optimization solution of the present invention, by setting an arc-shaped extension cover 17, the kinetic energy transmission mechanism 13 can be shielded and protected to prevent external impurities from entering the interior of the outer shell 1, causing impurities to enter the meshing point between the large gear 138 and the small gear 139, preventing the cooperation between the large gear 138 and the small gear 139 from being hindered by external impurities, thereby improving the cooperation stability and smoothness of the large gear 138 and the small gear 139.

[0053] refer to Fig.15 As shown, the surface of the elastic clamping plate 5 is fixedly connected with an anti-slip pattern 18 , and the anti-slip pattern 18 is located on the front side of the clamping sleeve 6 .

[0054] As a technical optimization solution of the present invention, by setting anti-slip grooves 18, the roughness of the surface of the elastic clip plate 5 can be increased, avoiding the surface of the elastic clip plate 5 being too smooth, which causes the user's fingertips to easily slide against the surface of the elastic clip plate 5, thereby improving the friction of the user's fingertips on the elastic clip plate 5 and increasing the pressing stability of the elastic clip plate 5.

[0055] refer to Fig.15 As shown, a measure groove 19 is provided on the surface of the ferrule 6 , and the measure groove 19 is located inside the housing 1 .

[0056] As a technical optimization solution of the present invention, by setting the measure groove 19, the pressing method of the elastic clip 5 can be increased to avoid other conditions of the elastic clip 5 that cause the front end of the elastic clip 5 to be unable to be pressed. The user can use a tool to pass through the measure groove 19 to forcibly press the elastic clip 5, thereby improving the convenience of using the elastic clip 5.

[0057] refer to Fig.16 As shown, a structural rib 20 is fixedly connected to the surface of the mounting frame 131 , and the structural rib 20 is located on the top of the pinion 139 .

[0058] As a technical optimization solution of the present invention, by setting structural ribs 20, the long arm of the mounting frame 131 can be connected and strengthened to prevent the long arm of the mounting frame 131 from being easily bent by external force, causing the long arm of the mounting frame 131 to bend, thereby improving the bending resistance of the long arm of the mounting frame 131 and increasing the service life of the mounting frame 131.

[0059] The working principle and use process of the present invention are as follows: when in use, firstly, the hollow encoder body 7 is fixed to the output end of the frameless torque motor 4 through the cooperation of the elastic clamping plate 5 and the clamping sleeve 6, and then the frameless torque motor 4 is placed inside the support ribs 2 and the limit ribs 3 inside the lower shell 1, so that the gear ring 1 8 is meshed with the transmission gear 132, and the upper and lower shells 1 are clamped and installed, and the frame torque motor is started. When the output end of the frame torque motor is working, the hollow encoder body 7 detects its working end, and at the same time, the hollow encoder body 7 will also rotate with the working end of the frameless torque motor 4;

[0060] The hollow encoder body 7 rotates during the rotation of the gear ring 18, the gear ring 18 drives the helical gear 1 133 and the helical gear 2 134 to rotate, the helical gear 2 134 drives the rotating shaft 135, the helical gear 3 136 and the helical gear 4 137 to rotate, the helical gear 4 137 drives the large gear 138 to rotate, the large gear 138 drives the small gear 139 to rotate, the small gear 139 drives the transmission slider 1310 and the control shaft 1311 to rotate, the control shaft 1311 drives the large pulley 1312 to rotate, and the large pulley 1312 drives The driving belt 1313 rotates, the belt 1313 drives the small pulley 1314 to rotate, the small pulley 1314 drives the kinetic energy gear 1315 to rotate, the kinetic energy gear 1315 drives the gear ring 2 11 to rotate, the gear ring 2 11 drives the cooling fan 10 to rotate, the cooling fan 10 rotates on the surface of the mounting ring 9, the cooling fan 10 sucks the outside air into the housing 1 through the air permeable groove group 12, and transports the airflow to the surface of the heated hollow encoder body 7, and the airflow cools the hollow encoder body 7;

[0061] The large gear 138 rotates one circle and can drive the small pulley 1314 to rotate several circles. The cooperation between the large gear 138 and the small gear 139 can accelerate the rotation of the control shaft 1311. The small pulley 1314 drives the control shaft 1311 and the large pulley 1312 to rotate one circle, which can drive the small pulley 1314 and the kinetic energy gear 1315 to rotate several circles. The kinetic energy gear 1315 can be accelerated for a second time, so that the kinetic energy gear 1315 drives the gear ring 2 11 and the cooling fan 10 to rotate at a faster speed, thereby increasing the rotation speed of the cooling fan 10.

[0062] When the cooling fan 10 does not need to rotate, the micro electric push rod 144 is started, and the output end of the micro electric push rod 144 pushes one side of the seesaw 145 to move forward, and one side of the seesaw 145 moves backward. One side of the seesaw 145 drives the pushing column 146 to move backward, and the pushing column 146 drives the moving plate 142 and the moving sleeve 141 to move backward. The moving sleeve 141 drives the pinion 139 to move backward, and the pinion 139 drives the transmission slider 1310 to move backward inside the control shaft 1311. The pinion 139 is separated from the large gear 138, and the control shaft 1311 stops rotating. The kinetic energy of the cooling fan 10 is disconnected, and the cooling fan 10 stops rotating.

[0063] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0064] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A hollow encoder for a humanoid robot, comprising a hollow encoder body (7), a first gear ring (8) fixedly connected to the front side of the surface of the hollow encoder body (7), a mounting ring (9) arranged on the front side of the hollow encoder body (7), a cooling fan (10) rotatably connected to the surface of the mounting ring (9), and a second gear ring (11) fixedly connected to the rear side of the cooling fan (10), characterized in that: It also includes a kinetic energy transmission mechanism (13) which is rotatably mounted on one side of the surface of the hollow encoder body (7) and is used to provide sufficient rotational kinetic energy for the cooling fan (10); A control clutch mechanism (14) is rotatably mounted inside the kinetic energy transmission mechanism (13) and is used to control the connection and disconnection of the kinetic energy of the cooling fan (10); The hollow encoder body (7) comprises a base buckle boss (71) for connection, a code disc (72) rotatably connected inside the base buckle boss (71), and a bracket (73) buckled on the surface of the base buckle boss (71); The top and bottom of the hollow encoder body (7) are both provided with a shell (1), the inner wall of the shell (1) is fixedly connected to a support rib (2), the front and rear sides of the inner wall of the shell (1) are fixedly connected to a limit rib (3), a frameless torque motor (4) is provided inside the support rib (2) and the limit rib (3), the four corners of the front side of the frameless torque motor (4) are fixedly connected to an elastic clamping plate (5), the surface of the elastic clamping plate (5) is clamped with a clamping sleeve (6), the inner side of the clamping sleeve (6) is fixedly connected to the surface of the hollow encoder body (7), the front side of the shell (1) is provided with a venting groove group (12), and the bottom of the front side of the mounting ring (9) is fixedly connected to the bottom of the front side of the inner wall of the shell (1); A measure groove (19) is provided on the surface of the clamping sleeve (6), and the measure groove (19) is located inside the housing (1). The measure groove (19) can increase the pressing mode of the elastic clamping plate (5), thereby improving the convenience of using the elastic clamping plate (5).

2. A hollow encoder for a humanoid robot according to claim 1, characterized in that: The kinetic energy transmission mechanism (13) comprises a mounting frame (131), the mounting frame (131) being fixedly connected to the front side of one side of the inner wall of the housing (1), the gear ring 1 (8) being meshed with a transmission gear (132), the transmission gear (132) being rotatably connected to the surface of the mounting frame (131), one side of the transmission gear (132) being fixedly connected with a helical gear 1 (133), the helical gear 1 (133) being meshed with a helical gear 2 (134), and one side of the helical gear 2 (134) being meshed with a helical gear 1 (134). A rotating shaft (135) is fixedly connected, the rotating shaft (135) is rotatably connected to the inside of the mounting frame (131), one side of the rotating shaft (135) is fixedly connected to a bevel gear three (136), the front side of the bevel gear three (136) is meshed with a bevel gear four (137), the front side of the bevel gear four (137) is fixedly connected to a large gear (138), the large gear (138) is mounted on the inner wall of the housing (1) through a rotating assembly, and the bottom of one side of the large gear (138) is meshed with a large gear (138). The housing (1) is provided with a pinion gear (139), the interior of the pinion gear (139) is fixedly connected with a transmission slider (1310), the interior of the pinion gear (139) is slidably connected with a control shaft (1311), the transmission slider (1310) is slidably connected to the interior of the control shaft (1311), the front side of the control shaft (1311) is rotatably connected to the front side of the inner wall of the housing (1), the rear side of the control shaft (1311) is rotatably connected to the interior of the mounting frame (131), and the control shaft A large pulley (1312) is fixedly connected to the front side of the surface (1311), a belt (1313) is sleeved on the surface of the large pulley (1312), a small pulley (1314) is arranged on one side inside the belt (1313), the rear side of the small pulley (1314) is rotatably connected to the surface of the mounting frame (131), and a kinetic energy gear (1315) is fixedly connected to the front side of the small pulley (1314), and the kinetic energy gear (1315) is meshed with the second gear ring (11).

3. A hollow encoder for a humanoid robot according to claim 2, characterized in that: The control clutch mechanism (14) comprises a moving sleeve (141), the moving sleeve (141) being sleeved on the bottom of the surface of the pinion gear (139), the bottom of the moving sleeve (141) being fixedly connected to a moving plate (142), the interior of the moving plate (142) being slidably connected to a sliding frame (143), the sliding frame (143) being fixedly connected to one side of a mounting frame (131), and the rear side of the mounting frame (131) being rotatably connected to a micro electric push rod (144) via a hinge. The output end of the micro electric push rod (144) is rotatably connected to a seesaw (145), one side of the seesaw (145) extends to one side of the mounting frame (131), the seesaw (145) is rotatably connected to the inside of the mounting frame (131), one side of the seesaw (145) extends to the inside of the moving plate (142), the inside of the moving plate (142) is fixedly connected to a push column (146), and the surface of the push column (146) contacts the surface of the seesaw (145).

4. A hollow encoder for a humanoid robot according to claim 1, characterized in that: Reinforcement ribs (15) are fixedly connected to the surface of the housing (1), and the reinforcement ribs (15) are located at the four corners of the outside of the hollow encoder body (7).

5. The hollow encoder for a humanoid robot according to claim 1, characterized in that: The housing (1) is fixedly connected to a protective cover (16), and the hollow encoder body (7) is located inside the protective cover (16).

6. A hollow encoder for a humanoid robot according to claim 2, characterized in that: An arc-shaped extension cover (17) is fixedly connected to one side of the housing (1), and the large gear (138) is located inside the arc-shaped extension cover (17).

7. The hollow encoder for a humanoid robot according to claim 1, characterized in that: The surface of the elastic clamping plate (5) is fixedly connected with an anti-slip pattern (18), and the anti-slip pattern (18) is located on the front side of the clamping sleeve (6).

8. The hollow encoder for a humanoid robot according to claim 2, characterized in that: A structural rib (20) is fixedly connected to the surface of the mounting frame (131), and the structural rib (20) is located on the top of the pinion gear (139).

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