Torque optimization type flat axial flux motor and humanoid robot joint module

Abstract

The invention provides a torque optimization type flat axial magnetic flux motor which comprises a main body assembly, and the main body assembly comprises two stator iron cores, an electromagnetic ring, a mounting frame, an electromagnetic coil, a rotor disc, a mounting seat, two limiting blocks, two fixing plates, two upper magnetic blocks, two limiting grooves, two limiting rods, a supporting spring and a through groove. And the through grooves are symmetrically formed in the rotor disc. When the robot needs to bear a large load, the electromagnetic ring pushes the sliding block through the lower magnetic block, the sliding block drives the clamping blocks, the two clamping blocks get close to each other, then the electromagnetic ring works, the upper magnetic block is pushed through magnetic force to move in the direction away from the mounting frame, meanwhile, the mounting base drives the magnetic steel, and due to the fact that the mounting base generates displacement, the magnetic steel is driven to rotate. And the torque of the axial magnetic flux motor is in direct proportion to the cube of the radius of the rotor, so that the torque can be remarkably improved by increasing the radius of the rotor, the motor is further suitable for a scene with a relatively large load, and the motion performance of the robot is ensured.

Description

Technical Field

[0001] The present invention relates to an axial flux motor and a humanoid robot joint module, in particular to a torque-optimized flat axial flux motor and a humanoid robot joint module, belonging to the technical field of axial flux motors. Background Art

[0002] Axial flux motors are motors with axial magnetic flux direction, radial current-carrying conductors, and disc-type stator and rotor cores. The magnetic flux direction of axial flux motors is parallel to the motor axis, which is different from the radial magnetic flux direction of ordinary motors. The magnetic poles of the stator are arranged along the axis, and the rotor is usually a cylindrical structure, with the magnetic flux passing through the central axis of the rotor. The air gap of the motor is planar, short in axial length, and thin in disc shape.

[0003] The working principle of the axial flux motor follows the basic laws of electromagnetism. Specifically, the motor driver controls the strength and direction of the rotor's magnetic field by changing the direction and magnitude of the current passing through the coil. Since the stator's magnetic poles are fixed, when the direction and strength of the rotor's magnetic field change, the magnetic field interacts to generate the Lorentz force, which drives the rotor to rotate.

[0004] Existing axial flux motors usually have a fixed torque output range, while the torque requirements of humanoid robot joints change dynamically under different motion states. When the humanoid robot needs to bear a large load, the torque output of the axial flux motor often cannot match the actual needs of the robot well, which leads to unsmooth robot movement or limited performance. Therefore, a torque-optimized flat axial flux motor and a humanoid robot joint module are proposed. Summary of the invention

[0005] In view of this, the present invention provides a torque-optimized flat axial flux motor and a humanoid robot joint module to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0006] The technical solution of the embodiment of the present invention is implemented as follows: a torque-optimized flat axial flux motor includes a main body assembly, wherein the main body assembly includes two stator cores, an electromagnetic ring, a mounting frame, an electromagnetic ring, a rotor disk, a mounting seat, two limit blocks, two fixing plates, two upper magnetic blocks, two limit slots, two limit rods, a support spring and a through slot; The through slot is symmetrically opened inside the rotor disk, the mounting seat is slidably connected to the inner wall of the through slot, the two limiting slots are symmetrically opened on both sides of the mounting seat, the two limiting blocks are symmetrically slidably connected to the inner walls of the two limiting slots, the two limiting rods are symmetrically slidably connected to the inside of the limiting blocks, the supporting spring is sleeved on the outer wall of the limiting rod, the two upper magnetic blocks are symmetrically fixedly connected to the front surface and the rear surface of the mounting seat through the two fixing plates, the mounting frame is fixedly connected to the stator core, the electromagnetic ring is fixedly connected to the outer wall of the mounting frame, the electromagnetic ring is installed on the side of the mounting frame away from the stator core, and the front surface and the rear surface of the mounting seat are fixedly connected with magnetic steel.

[0007] Further preferably, the main body assembly further includes a lower magnetic block, two clamping blocks, two sliding blocks, a guide rod and a limit spring; The two clamping blocks are symmetrically fixedly connected to the upper surfaces of the two sliders, the two sliders are symmetrically slidably connected to the outer side walls of the guide rod, the limit spring is sleeved on the outer side walls of the guide rod, the two lower magnetic blocks are symmetrically fixedly connected to the opposed surfaces of the two sliders, a mounting groove is provided on the lower surface of the mounting seat, and the two clamping blocks are symmetrically clamped to the inner side walls of the mounting groove.

[0008] Further preferably, two connecting grooves are symmetrically provided on both sides of the inner wall of the through groove, and the limiting block is fixedly connected to the inside of the connecting groove by bolts.

[0009] Further preferably, two ends of the limiting rod are fixedly connected to the inner top wall and inner bottom wall of the limiting groove, and two ends of the supporting spring respectively support the lower surface of the limiting block and the inner bottom wall of the limiting groove.

[0010] Further preferably, the two sliders are symmetrically slidably connected to the inner bottom wall of the through groove, and the two ends of the limit spring respectively support the adjacent surfaces of the two sliders.

[0011] Further preferably, the upper magnetic block is located outside the mounting frame, the position of the upper magnetic block corresponds to the position of the electromagnetic ring, and the position of the lower magnetic block corresponds to the position of the electromagnetic coil.

[0012] Further preferably, the two stator cores are both wound with stator windings, the two stator cores are symmetrically located in front of and behind the rotor disk, the positions of the stator windings correspond to the positions of the magnetic steels, the inside of the rotor disk is fixedly connected with a rotor shaft, and the rotor shaft is located inside the stator cores.

[0013] Further preferably, a housing assembly is installed outside the stator core, and the housing assembly includes a front housing and a rear housing; The two stator cores are symmetrically fixedly connected to the inner side wall of the front housing and the inner side wall of the rear housing, and the front housing is fixedly connected to the rear housing by bolts.

[0014] Further preferably, two bearings are symmetrically mounted on the outer side wall of the rotor shaft, and the rotor shaft is rotatably connected to the interior of the front housing and the interior of the rear housing via the two bearings.

[0015] A humanoid robot joint module comprises an axial flux motor, wherein the axial flux motor is a torque-optimized flat axial flux motor.

[0016] Since the embodiment of the present invention adopts the above technical scheme, it has the following advantages: when the robot of the present invention needs to bear a large load, the electromagnetic ring works, and the electromagnetic ring pushes the slider through the lower magnetic block, and the slider drives the clamping block. The two clamping blocks approach each other, and the position limitation of the mounting seat can be released. Then the electromagnetic ring works, and the upper magnetic block is pushed to move away from the mounting frame through magnetic force. The upper magnetic block drives the mounting seat to move away from the axis of the rotor disk through the fixed plate. At the same time, the mounting seat drives the magnetic steel. Due to the displacement of the mounting seat, the radius of the motor rotor can be increased. Since the torque of the axial flux motor is proportional to the cube of the rotor radius, increasing the rotor radius can significantly increase the torque, which is suitable for working scenarios with large loads and ensures the robot's motion performance.

[0017] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a structural diagram of the torque optimized flat axial flux motor of the present invention; Figure 2 This is a disassembled view of the torque-optimized flat axial flux motor of the present invention; Figure 3 It is a structural diagram of the mounting frame of the present invention; Figure 4 It is a schematic diagram of the connection between the rotor disk and the mounting seat of the present invention; Figure 5 It is a schematic diagram of the connection between the limit block and the mounting seat of the present invention; Figure 6 It is a structural diagram of the limit block of the present invention; Figure 7 It is a block structure diagram of the present invention; Figure 8 This is a structural diagram of the rotor disk of the present invention; Fig. 9 It is a structural diagram of the mounting seat of the present invention.

[0020] Figure numerals: 101, main assembly; 11, stator core; 12, stator winding; 13, electromagnetic ring; 14, mounting frame; 15, electromagnetic coil; 16, rotor disk; 17, magnetic steel; 18, rotor shaft; 19, mounting seat; 20, limit block; 21, fixing plate; 22, upper magnetic block; 23, lower magnetic block; 24, limit groove; 25, limit rod; 26, support spring; 27, block; 28, slider; 29, guide rod; 30, limit spring; 31, connecting groove; 32, through groove; 33, mounting groove; 501, housing assembly; 51, front housing; 52, rear housing; 53, bearing. DETAILED DESCRIPTION

[0021] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0022] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0023] In the prior art, the axial flux motor has a fixed torque output range, while the torque requirements of the joints of a humanoid robot change dynamically under different motion states. When the humanoid robot needs to bear a large load, the torque output of the axial flux motor often cannot match the actual needs of the robot well, resulting in the robot's unsmooth movement or limited performance.

[0024] like Figure 1-9 As shown, an embodiment of the present invention provides a torque-optimized flat axial flux motor, including a main body assembly 101, the main body assembly 101 includes two stator cores 11, an electromagnetic ring 13, a mounting frame 14, an electromagnetic coil 15, a rotor disk 16, a mounting seat 19, two limit blocks 20, two fixing plates 21, two upper magnetic blocks 22, two limit slots 24, two limit rods 25, a support spring 26 and a through slot 32; The through slot 32 is symmetrically opened inside the rotor disk 16, the mounting seat 19 is slidably connected to the inner side wall of the through slot 32, the two limit slots 24 are symmetrically opened on both sides of the mounting seat 19, the two limit blocks 20 are symmetrically slidably connected to the inner side walls of the two limit slots 24, the two limit rods 25 are symmetrically slidably connected to the inside of the limit blocks 20, the support spring 26 is sleeved on the outer side wall of the limit rod 25, the two upper magnetic blocks 22 are symmetrically fixedly connected to the front surface and the rear surface of the mounting seat 19 through the two fixing plates 21, and the mounting frame 14 is fixedly connected to the stator core 11 Then, the electromagnetic ring 13 is fixedly connected to the outer wall of the mounting frame 14, the electromagnetic ring 15 is installed on the side of the mounting frame 14 away from the stator core 11, the front surface and the rear surface of the mounting seat 19 are fixedly connected with the magnetic steel 17, the electromagnetic ring 15 and the electromagnetic ring 13 are connected to the control system of the robot, and the radius of the motor rotor can be controlled by controlling the electromagnetic ring 15 and the electromagnetic ring 13. The torque of the axial flux motor is proportional to the cube of the rotor radius. Therefore, increasing the rotor radius can significantly increase the torque, which is suitable for working scenarios with large loads.

[0025] In one embodiment, the main body assembly 101 further includes a lower magnetic block 23, two clamping blocks 27, two sliding blocks 28, a guide rod 29 and a limit spring 30; The two clamping blocks 27 are symmetrically fixedly connected to the upper surfaces of the two sliders 28, and the two sliders 28 are symmetrically slidably connected to the outer side walls of the guide rod 29. The limit spring 30 is sleeved on the outer side walls of the guide rod 29. The two lower magnetic blocks 23 are symmetrically fixedly connected to the opposite surfaces of the two sliders 28. A mounting groove 33 is provided on the lower surface of the mounting seat 19. The two clamping blocks 27 are symmetrically clamped to the inner side walls of the mounting groove 33. The shapes of the ends of the two clamping blocks 27 are adapted to the shape of the mounting groove 33. Under the push of the limit spring 30, the ends of the two clamping blocks 27 are clamped to the mounting groove 33. Since the slider 28 can only slide horizontally, the position of the clamping block 27 can be limited. Through the cooperation between the clamping block 27 and the mounting groove 33, the position of the mounting seat 19 can be limited, thereby enhancing the stability of the motor rotor.

[0026] In one embodiment, two connecting grooves 31 are symmetrically opened on both sides of the inner wall of the through groove 32, the limit block 20 is fixedly connected to the inside of the connecting groove 31 by bolts, the two ends of the limit rod 25 are fixedly connected to the inner top wall and the inner bottom wall of the limit groove 24, and the two ends of the support spring 26 respectively support the lower surface of the limit block 20 and the inner bottom wall of the limit groove 24, and the mounting seat 19 is pushed by the support spring 26. Since the position of the limit block 20 is fixed, the mounting seat 19 is subjected to the thrust of the support spring 26, and the thrust direction is close to the axis of the rotor shaft 18. When the electromagnetic ring 13 stops working, the support spring 26 can push the mounting seat 19 to reset.

[0027] In one embodiment, the two sliders 28 are symmetrically slidably connected to the inner bottom wall of the through groove 32, and the two ends of the limit spring 30 respectively support the adjacent surfaces of the two sliders 28. The two sliders 28 are pushed away from each other by the limit spring 30. The two sliders 28 respectively drive the clamping blocks 27, so that the clamping blocks 27 can be clamped in the installation groove 33, thereby limiting the position of the mounting seat 19.

[0028] In one embodiment, the upper magnetic block 22 is located outside the mounting frame 14, and the position of the upper magnetic block 22 corresponds to the position of the electromagnetic ring 13, and the position of the lower magnetic block 23 corresponds to the position of the electromagnetic coil 15. When the electromagnetic ring 13 is working, the magnetic poles of the adjacent surfaces of the electromagnetic ring 13 and the upper magnetic block 22 are the same, and thus the electromagnetic ring 13 can push the upper magnetic block 22 to move in a direction away from the axis of the rotor shaft 18. When the electromagnetic coil 15 is working, the magnetic poles of the adjacent surfaces of the electromagnetic coil 15 and the lower magnetic block 23 are the same, and thus under the action of the two electromagnetic coils 15, the corresponding two lower magnetic blocks 23 can be pushed to move in a direction close to each other.

[0029] In order to solve the problems existing in the prior art, an embodiment of the present invention provides a torque-optimized flat axial flux motor and solves the problems through the above technical solutions: When the robot needs to bear a large load, the electromagnetic coil 15 works, and the electromagnetic coil 15 pushes the slider 28 through the lower magnetic block 23, and the slider 28 drives the clamping block 27. The two clamping blocks 27 approach each other, and the position limit of the mounting seat 19 is released. Then the electromagnetic ring 13 works, and the upper magnetic block 22 is pushed away from the mounting frame 14 by magnetic force. The upper magnetic block 22 drives the mounting seat 19 to move away from the axis of the rotor disk 16 through the fixed plate 21. At the same time, the mounting seat 19 drives the magnet 17. Since the mounting seat 19 is displaced, the radius of the motor rotor can be increased. Since the torque of the axial flux motor is proportional to the cube of the rotor radius, increasing the rotor radius can significantly increase the torque, which is suitable for working scenarios with large loads and ensures the robot's motion performance.

[0030] In one embodiment, the two stator cores 11 are both wound with stator windings 12, and the two stator cores 11 are symmetrically located in front of and behind the rotor disk 16. The positions of the stator windings 12 correspond to the positions of the magnetic steel 17. The rotor disk 16 is fixedly connected with a rotor shaft 18, and the rotor shaft 18 is located inside the stator cores 11. A housing assembly 501 is installed outside the stator core 11, and the housing assembly 501 includes a front housing 51 and a rear housing 52; The two stator cores 11 are symmetrically fixedly connected to the inner wall of the front shell 51 and the inner wall of the rear shell 52. The front shell 51 and the rear shell 52 are fixedly connected by bolts. The positions of the two stator cores 11 can be limited by the front shell 51 and the rear shell 52. When the stator winding 12 is energized, the magnet 17 on the rotor disk 16 is repelled by the magnetic field, and then the rotor disk 16 can drive the rotor shaft 18 to rotate to achieve power output.

[0031] In one embodiment, two bearings 53 are symmetrically installed on the outer wall of the rotor shaft 18. The rotor shaft 18 is rotatably connected to the interior of the front housing 51 and the interior of the rear housing 52 through the two bearings 53. The rotor shaft 18 is in contact with the front housing 51 and the rear housing 52 through the bearings 53, which can reduce the friction force on the rotor shaft 18.

[0032] A humanoid robot joint module comprises an axial flux motor, which is a torque-optimized flat axial flux motor.

[0033] When the present invention is working, the stator winding 12 is energized, and the magnetic field generated by the current through the stator acts on the magnetic steel 17 on the rotor disk 16. When the magnetic steel 17 on the rotor disk 16 is repelled by the magnetic field, the rotor disk 16 drives the rotor shaft 18 to rotate, thereby realizing the output of power. During the rotation of the rotor, the position of the mounting seat 19 can be limited by the cooperation between the clamping block 27 and the mounting groove 33, thereby ensuring the stability of the rotor operation. When the robot needs to bear a large load, the electromagnetic ring 15 works, and the electromagnetic ring 15 pushes the lower magnetic block 23 through magnetic force, and the lower magnetic block 23 pushes the slider 28, so that the two blocks 27 can slide in the mounting groove 33 and approach each other to release the position limitation of the mounting seat 19, and then the electromagnetic ring 13 works, and the electromagnetic ring 13 pushes the upper magnetic block 22 through magnetic force, and the upper magnetic block 22 moves away from the mounting frame 14. When the upper magnetic block 22 moves, it drives the mounting seat 19 to move away from the axis of the rotor disk 16 through the fixed plate 21. When the mounting seat 19 moves, it drives the magnet 17. Due to the displacement of the mounting seat 19, the radius of the motor rotor can be increased, thereby increasing the torque of the motor. It can be suitable for working scenes with large loads and ensures the movement performance of the robot.

[0034] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A torque-optimized flat axial flux motor, comprising a main assembly (101), characterized in that: The main body component (101) comprises two stator cores (11), an electromagnetic ring (13), a mounting frame (14), an electromagnetic coil (15), a rotor disk (16), a mounting seat (19), two limit blocks (20), two fixing plates (21), two upper magnetic blocks (22), two limit slots (24), two limit rods (25), a support spring (26) and a through slot (32); The through slot (32) is symmetrically arranged inside the rotor disk (16); the mounting seat (19) is slidably connected to the inner side wall of the through slot (32); the two limiting slots (24) are symmetrically arranged on both sides of the mounting seat (19); the two limiting blocks (20) are symmetrically slidably connected to the inner side walls of the two limiting slots (24); the two limiting rods (25) are symmetrically slidably connected to the inside of the limiting blocks (20); the support spring (26) is sleeved on the outer side of the limiting rod (25); The two upper magnetic blocks (22) are symmetrically fixedly connected to the front surface and the rear surface of the mounting seat (19) through the two fixing plates (21); the mounting frame (14) is fixedly connected to the stator core (11); the electromagnetic ring (13) is fixedly connected to the outer side wall of the mounting frame (14); the electromagnetic ring (15) is installed on a side of the mounting frame (14) away from the stator core (11); and the front surface and the rear surface of the mounting seat (19) are both fixedly connected to magnetic steel (17).

2. A torque-optimized flat axial flux motor according to claim 1, characterized in that: The main body component (101) further comprises a lower magnetic block (23), two clamping blocks (27), two sliding blocks (28), a guide rod (29) and a limit spring (30); The two clamping blocks (27) are symmetrically fixedly connected to the upper surfaces of the two sliders (28), the two sliders (28) are symmetrically slidably connected to the outer side walls of the guide rod (29), the limit spring (30) is sleeved on the outer side walls of the guide rod (29), the two lower magnetic blocks (23) are symmetrically fixedly connected to the faces away from each other of the two sliders (28), the lower surface of the mounting seat (19) is provided with a mounting groove (33), and the two clamping blocks (27) are symmetrically clamped to the inner side walls of the mounting groove (33).

3. A torque-optimized flat axial flux motor according to claim 2, characterized in that: Two connection grooves (31) are symmetrically formed on both sides of the inner wall of the through groove (32), and the limit block (20) is fixedly connected to the inside of the connection groove (31) by means of bolts.

4. A torque-optimized flat axial flux motor according to claim 3, characterized in that: The two ends of the limiting rod (25) are fixedly connected to the inner top wall and the inner bottom wall of the limiting groove (24), and the two ends of the supporting spring (26) respectively support the lower surface of the limiting block (20) and the inner bottom wall of the limiting groove (24).

5. A torque-optimized flat axial flux motor according to claim 4, characterized in that: The two sliders (28) are symmetrically slidably connected to the inner bottom wall of the through slot (32), and the two ends of the limit spring (30) respectively support the adjacent surfaces of the two sliders (28).

6. A torque-optimized flat axial flux motor according to claim 5, characterized in that: The upper magnetic block (22) is located outside the mounting frame (14); the position of the upper magnetic block (22) corresponds to the position of the electromagnetic ring (13); and the position of the lower magnetic block (23) corresponds to the position of the electromagnetic coil (15).

7. A torque optimized flat axial flux motor according to claim 6, characterized in that: Stator windings (12) are wound inside the two stator cores (11), and the two stator cores (11) are symmetrically located in front of and behind the rotor disk (16). The positions of the stator windings (12) correspond to the positions of the magnetic steels (17). A rotor shaft (18) is fixedly connected to the inside of the rotor disk (16), and the rotor shaft (18) is located inside the stator cores (11).

8. A torque-optimized flat axial flux motor according to claim 7, characterized in that: A housing assembly (501) is installed outside the stator core (11), and the housing assembly (501) comprises a front housing (51) and a rear housing (52); The two stator cores (11) are symmetrically fixedly connected to the inner side wall of the front housing (51) and the inner side wall of the rear housing (52); the front housing (51) and the rear housing (52) are fixedly connected by bolts.

9. A torque-optimized flat axial flux motor according to claim 8, characterized in that: Two bearings (53) are symmetrically mounted on the outer side wall of the rotor shaft (18), and the rotor shaft (18) is rotatably connected to the interior of the front housing (51) and the interior of the rear housing (52) via the two bearings (53).

10. A humanoid robot joint module, comprising an axial flux motor, characterized in that: The axial flux motor is a torque-optimized flat axial flux motor as described in any one of claims 1-9.

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