Frameless torque motors and controllers for humanoid robots

Abstract

The present invention relates to the field of motor control technology, specifically to a frameless torque motor and controller suitable for humanoid robots, comprising a cylinder, a stator is arranged inside the cylinder, a rotor is arranged on the inner wall of the stator, a nested connection mechanism is arranged on the surface of the rotor, a surface heat dissipation component is arranged on the surface of the cylinder, and the nested connection mechanism includes a placement strip, a connection arc plate, a magnetic suction block, a magnet docking column and a permanent magnetic material rotor ring plate, and the placement strip is fixedly connected to the top of the rotor. The frameless torque motor and controller suitable for humanoid robots are provided with a surface heat dissipation component and a nested connection mechanism to nest multiple layers of permanent magnetic material rotor ring plates together layer by layer. When nesting, adjacent permanent magnetic material rotor ring plates can be magnetically connected together through the magnet docking column and the magnetic suction block after contact, so that the magnetic fields of each layer of rotor ring plates are superimposed and synergistic, generating a larger torque, and having strong practicality.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, in particular to a frameless torque motor and a controller suitable for a humanoid robot. Background Art

[0002] Humanoid robots need to imitate human movements and achieve natural and smooth movements, which places extremely high demands on the flexibility and control accuracy of joints. Traditional motors are difficult to achieve high-precision and high-response speed power output in a small volume, while frameless torque motors, with their high precision, high response speed and high torque, can better adapt to the complex motion control requirements of humanoid robot joints, making the movements of humanoid robots more realistic and natural.

[0003] The prior art discloses a frameless torque motor structure for an electric cylinder with publication number: CN117833586A, comprising a stator and a rotor installed on the outside of the stator, wherein the stator comprises a shell and an iron core assembly, the iron core assembly is installed on the inside of the shell, and the rotor comprises a rotor magnetic cylinder assembly and a magnetic cylinder surface, the magnetic cylinder surface is arranged between the iron core assembly and the rotor magnetic cylinder assembly. In this frameless torque motor structure for an electric cylinder, the rotor and stator structures arranged can be directly connected to the electric cylinder to drive the electric cylinder to extend and retract, so the electric cylinder structure design is more compact, and the elongation is more advantageous under the same external dimensions, reducing a large number of intermediate links and gaps, greatly improving its controllability and control accuracy, so that the electric cylinder can achieve efficient and stable linear motion.

[0004] The rotor and stator structures of the frameless torque motor of the above-mentioned humanoid robot can be directly connected to the electric cylinder to drive the electric cylinder to extend and retract. Therefore, the electric cylinder structure is more compact, and the elongation is more advantageous under the same external dimensions. However, the frameless torque motor of the above-mentioned humanoid robot is only provided with a single-layer rotor, and the rotor is not designed in a multi-layer nested manner. It is impossible to increase the magnetic field strength and complexity of the rotor within a limited space, thereby improving the output torque and torque density of the motor, and has poor practicality. Therefore, it is very necessary to design a frameless torque motor and controller suitable for humanoid robots with strong practicality. Summary of the invention

[0005] The object of the present invention is to provide a frameless torque motor and a controller suitable for a humanoid robot, so as to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a frameless torque motor suitable for a humanoid robot, comprising a cylinder, a stator is arranged inside the cylinder, a rotor is arranged on the inner wall of the stator, a nested connection mechanism is arranged on the surface of the rotor, and a surface heat dissipation component is arranged on the surface of the cylinder.

[0007] The nested connection mechanism includes a placement strip, a connecting arc plate, a magnetic block, a magnet docking column and a permanent magnetic material rotor ring plate. The placement strip is fixedly connected to the top of the rotor, the connecting arc plate is fixedly connected to the side of the placement strip, the magnetic block is fixedly connected to the bottom of the connecting arc plate, the permanent magnetic material rotor ring plate is plug-connected to the surface of the rotor, the magnet docking column is fixedly connected to the top of the permanent magnetic material rotor ring plate, the magnet docking column is slidably connected to the inside of the magnetic block, and a groove is opened on the side of the placement strip.

[0008] Preferably, the surface heat dissipation component includes a control circuit tube, a mounting ring, a heat sink, a cooling device, a micro-circulation pump, a cooling pipe, an inner extension pipe, an inner circulation cooling pipe and a heat conductor, the mounting ring is fixedly connected to the surface of the cylinder near the front, the control circuit tube is connected to the front of the mounting ring, the heat sink is fixedly connected to the surface of the cylinder, the cooling device is fixedly connected to the top of the cylinder, the micro-circulation pump is fixedly connected to the front of the cooling device, the cooling pipe is fixedly connected to the inside of the micro-circulation pump, the cooling pipe is connected to the surface of the heat sink, the inner circulation cooling pipe is fixedly connected to one end of the inner extension pipe away from the bottom of the inner circle of the cooling pipe, and the heat conductor is fixedly connected to the inner circle of the inner circulation cooling pipe.

[0009] Preferably, the diameter of the magnet docking column is matched with the inner diameter of the magnetic attraction block, and the magnet docking column is magnetically connected to the magnetic attraction block.

[0010] Preferably, a through groove is formed on the top of the cylinder, and the diameter of the through groove matches the diameter of the inner extension pipe.

[0011] Preferably, the inner extension pipe member passes through the top of the cylinder member and extends to be connected to the top of the inner circle of the cooling pipe.

[0012] Preferably, one end of the heat conductor away from the inner circle of the inner circulation cooling tube is connected to the surface of the stator, and the heat conductor below fits the internal stator and is close to the rotor. The heat dissipation pipe or heat sink is integrated with the structure of the stator and rotor to make the heat dissipation channel closer to the heat source and improve the heat dissipation efficiency.

[0013] Preferably, the number of the heat conducting members is six, and the six heat conducting members are distributed on the surface of the stator in a ring shape with equal intervals. The provision of multiple heat conducting members can increase the contact area.

[0014] The invention discloses a controller for a frameless torque motor of a humanoid robot, comprising a control component, wherein the control component comprises a sliding mode observer, a single resistor and a phase-locked loop. The input end of the sliding mode observer is connected to the signal output end of the single resistor, and accurate rotor position and speed information is obtained through a PLL to improve control accuracy. A single resistor sampling technology is adopted, and a sampling resistor is used in one phase of the motor to measure the current, reconstruct the three-phase current, realize sensorless control, introduce estimated back electromotive force feedback, use a saturation function to replace a traditional switching function, and replace a fixed sliding mode gain with a variable approach rate to reduce system chattering.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The frameless torque motor and controller suitable for humanoid robots are provided with a surface heat dissipation component and a nested connection mechanism to nest multiple layers of permanent magnetic material rotor ring plates together. When nesting, adjacent permanent magnetic material rotor ring plates can be magnetically connected together through magnet docking columns and magnetic blocks after contact, so that the magnetic fields of each layer of rotor ring plates are superimposed and synergistic, generating a greater torque, and having strong practicality.

[0016] 2. The frameless torque motor and controller suitable for humanoid robots are provided with a micro-circulation pump to extract the coolant and then circulate it through the cooling pipe and the inner extension pipe. The heat-conducting part below fits the internal stator and is close to the rotor. The heat dissipation pipe or heat sink is integrated with the structure of the stator and the rotor, so that the heat dissipation channel is closer to the heat source and the heat dissipation efficiency is improved.

[0017] 3. The frameless torque motor and controller suitable for humanoid robots are provided with a control component, obtain accurate rotor position and speed information through PLL, improve control accuracy, adopt single resistor sampling technology, use a sampling resistor in one phase of the motor to measure the current, reconstruct the three-phase current, realize sensorless control, introduce estimated back electromotive force feedback, use saturation function instead of traditional switching function, and replace fixed sliding mode gain with variable approach rate to reduce system jitter. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional front view structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the cylinder, the nested connection mechanism and the surface heat dissipation assembly of the present invention; Figure 3 For the present invention Figure 2 The enlarged structural diagram at A in the middle; Figure 4 It is a schematic diagram of the three-dimensional structure of the stator, rotor and nested connection mechanism of the present invention; Figure 5 For the present invention Figure 4 The enlarged structural diagram at B in the middle; Figure 6 It is a block diagram of the single resistor sampling high-speed sensorless motor control algorithm based on SMO of the present invention; Figure 7 This is a schematic diagram of the single resistor sampling current reconstruction of the present invention.

[0020] In the figure: 1. Cylinder; 2. Rotor; 3. Stator; 4. Nested connection mechanism; 401. Placement strip; 402. Connecting arc plate; 403. Magnetic block; 404. Magnet docking column; 405. Permanent magnetic material rotor ring plate; 5. Surface heat dissipation component; 501. Control circuit tube; 502. Mounting ring; 503. Heat sink; 504. Cooling equipment; 505. Micro circulation pump; 506. Cooling pipe; 507. Inner extension pipe; 508. Inner circulation cooling pipe; 509. Heat conducting member. DETAILED DESCRIPTION

[0021] The following will be combined with 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 making creative work are within the scope of protection of the present invention.

[0022] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] See also Figure 1-7 , the present invention provides the following technical solutions: A frameless torque motor suitable for a humanoid robot comprises a cylinder 1, a stator 3 is arranged inside the cylinder 1, a rotor 2 is arranged on the inner wall of the stator 3, a nested connection mechanism 4 is arranged on the surface of the rotor 2, and a surface heat dissipation component 5 is arranged on the surface of the cylinder 1.

[0024] The nested connection mechanism 4 includes a placement strip 401, a connecting arc plate 402, a magnetic block 403, a magnet docking column 404 and a permanent magnetic material rotor ring plate 405. The placement strip 401 is fixedly connected to the top of the rotor 2, the connecting arc plate 402 is fixedly connected to the side of the placement strip 401, the magnetic block 403 is fixedly connected to the bottom of the connecting arc plate 402, the permanent magnetic material rotor ring plate 405 is plugged and connected to the surface of the rotor 2, the magnet docking column 404 is fixedly connected to the top of the permanent magnetic material rotor ring plate 405, the magnet docking column 404 is slidably connected to the inside of the magnetic block 403, a groove is provided on the side of the placement strip 401, the diameter of the magnet docking column 404 is adapted to the inner diameter of the magnetic block 403, and the magnet docking column 404 is magnetically connected to the magnetic block 403.

[0025] The surface heat dissipation component 5 includes a control circuit tube 501, a mounting ring 502, a heat sink 503, a cooling device 504, a micro-circulation pump 505, a cooling pipe 506, an inner extension pipe 507, an inner circulation cooling pipe 508 and a heat conductive member 509. The mounting ring 502 is fixedly connected to the surface of the cylinder 1 near the front, the control circuit tube 501 is connected to the front of the mounting ring 502, the heat sink 503 is fixedly connected to the surface of the cylinder 1, the cooling device 504 is fixedly connected to the top of the cylinder 1, the micro-circulation pump 505 is fixedly connected to the front of the cooling device 504, the cooling pipe 506 is fixedly connected to the inside of the micro-circulation pump 505, the cooling pipe 506 is connected to the surface of the heat sink 503, and the inner circulation cooling pipe 508 is fixedly connected to the inner extension pipe 507 away from the cooling pipe 50 At one end of the bottom of the inner ring of the inner circulation cooling pipe 508, the heat conductive member 509 is fixedly connected to the inner ring of the inner circulation cooling pipe 508. There are six heat conductive members 509, which are distributed on the surface of the stator 3 in a circular shape with equal spacing. The arrangement of multiple heat conductive members 509 can increase the contact area. A through groove is provided on the top of the cylinder 1, and the diameter of the through groove is adapted to the diameter of the inner extension pipe 507. The inner extension pipe 507 extends through the top of the cylinder 1 and is connected to the top of the inner ring of the cooling pipe 506. One end of the heat conductive member 509 away from the inner ring of the inner circulation cooling pipe 508 is connected to the surface of the stator 3. The heat conductive member 509 at the bottom fits the internal stator 3 and is close to the rotor 2. The heat dissipation pipe or heat sink is integrated with the structure of the stator and the rotor, so that the heat dissipation channel is closer to the heat source and the heat dissipation efficiency is improved.

[0026] The invention discloses a controller for a frameless torque motor of a humanoid robot, comprising a control component, wherein the control component comprises a sliding mode observer, a single resistor and a phase-locked loop. The input end of the sliding mode observer is connected to the signal output end of the single resistor, and accurate rotor position and speed information is obtained through a PLL to improve control accuracy. A single resistor sampling technology is adopted, and a sampling resistor is used in one phase of the motor to measure the current, reconstruct the three-phase current, realize sensorless control, introduce estimated back electromotive force feedback, use a saturation function to replace a traditional switching function, and replace a fixed sliding mode gain with a variable approach rate to reduce system chattering.

[0027] When in use, the multi-layer permanent magnetic material rotor ring plate 405 is sleeved together layer by layer. When connecting, the magnet docking column 404 on the top of the permanent magnetic material rotor ring plate 405 with the largest diameter is aligned with the magnetic attraction block 403 at the bottom of the top connecting arc plate 402, and then the magnet docking column 404 is inserted to slide in the inside of the magnetic attraction block 403. The magnet docking column 404 and the magnetic attraction block 403 can be magnetically connected together after contact, thereby completing the installation of a single set of permanent magnetic material rotor ring plates 405. The innermost layer of the permanent magnetic material rotor ring plate 405 adopts high-performance rare earth permanent magnetic material to provide the main magnetic field source; the outer layer of the permanent magnetic material rotor ring plate 405 adopts relatively low-cost but permanent magnetic material with good magnetic properties. Through reasonable nesting and magnetization direction design, the magnetic fields of each layer of the rotor ring plates are superimposed and synergistic, generating a larger torque, strong practicality, and on the surface of the cylinder 1. A surface heat dissipation component 5 is provided on the surface. When in use, the micro-circulation pump 505 can be started to extract the coolant and then circulate it through the cooling pipe 506 and the inner extension pipe 507. The heat conductive part 509 below fits the internal stator 3 and is close to the rotor 2. The heat dissipation pipe or heat sink is integrated with the structure of the stator and rotor to make the heat dissipation channel closer to the heat source, improve the heat dissipation efficiency, and ensure the stability of the motor when running under high load. The controller includes a sliding mode observer, a single resistor and a phase-locked loop. Accurate rotor position and speed information are obtained through PLL to improve control accuracy. A single resistor sampling technology is adopted. By using a sampling resistor in one phase of the motor to measure the current, the three-phase current is reconstructed to achieve sensorless control, and estimated back electromotive force feedback is introduced. The saturation function is used instead of the traditional switching function, and the fixed sliding mode gain is replaced by a variable approach rate to reduce system jitter.

[0028] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A frameless torque motor suitable for a humanoid robot, comprising a cylinder (1), characterized in that: A stator (3) is arranged inside the cylinder (1), a rotor (2) is arranged on the inner wall of the stator (3), a nested connection mechanism (4) is arranged on the surface of the rotor (2), and a surface heat dissipation component (5) is arranged on the surface of the cylinder (1); The nested connection mechanism (4) comprises a placement strip (401), a connection arc plate (402), a magnetic attraction block (403), a magnet docking column (404) and a permanent magnetic material rotor ring plate (405); the placement strip (401) is fixedly connected to the top of the rotor (2); the connection arc plate (402) is fixedly connected to the side of the placement strip (401); the magnetic attraction block (403) is fixedly connected to the bottom of the connection arc plate (402); the permanent magnetic material rotor ring plate (405) is plug-connected to the surface of the rotor (2); the magnet docking column (404) is fixedly connected to the top of the permanent magnetic material rotor ring plate (405); the magnet docking column (404) is slidably connected to the inside of the magnetic attraction block (403); and a groove is provided on the side of the placement strip (401).

2. The frameless torque motor suitable for a humanoid robot according to claim 1, characterized in that: The surface heat dissipation component (5) comprises a control circuit tube (501), a mounting ring (502), a heat sink (503), a cooling device (504), a micro-circulation pump (505), a cooling tube (506), an inner extension tube (507), an inner circulation cooling tube (508) and a heat conducting member (509), wherein the mounting ring (502) is fixedly connected to the surface of the cylinder (1) near the front, the control circuit tube (501) is connected to the front of the mounting ring (502), and the heat sink (503) is fixedly connected to the surface of the cylinder (1). The cooling device (504) is fixedly connected to the top of the cylinder (1), the micro-circulation pump (505) is fixedly connected to the front of the cooling device (504), the cooling pipe (506) is fixedly connected to the inside of the micro-circulation pump (505), the cooling pipe (506) is connected to the surface of the heat sink (503), the inner circulation cooling pipe (508) is fixedly connected to one end of the inner extension pipe (507) away from the bottom of the inner circle of the cooling pipe (506), and the heat conducting member (509) is fixedly connected to the inner circle of the inner circulation cooling pipe (508).

3. The frameless torque motor suitable for a humanoid robot according to claim 2, characterized in that: The diameter of the magnet docking column (404) is matched to the inner diameter of the magnetic attraction block (403), and the magnet docking column (404) is magnetically connected to the magnetic attraction block (403).

4. The frameless torque motor suitable for a humanoid robot according to claim 3, characterized in that: A through groove is provided at the top of the cylinder (1), and the diameter of the through groove matches the diameter of the inner extension pipe (507).

5. The frameless torque motor suitable for a humanoid robot according to claim 4, characterized in that: The inner extension pipe (507) passes through the top of the cylinder (1) and extends to be connected to the top of the inner circle of the cooling pipe (506).

6. The frameless torque motor suitable for a humanoid robot according to claim 5, characterized in that: One end of the heat conducting member (509) away from the inner circle of the inner circulation cooling pipe (508) is connected to the surface of the stator (3).

7. The frameless torque motor suitable for a humanoid robot according to claim 6, characterized in that: The number of the heat conducting members (509) is six, and the six heat conducting members (509) are distributed in a ring shape at equal intervals on the surface of the stator (3).

8. A controller for a frameless torque motor for a humanoid robot, comprising a control assembly, characterized in that: The control component includes a sliding mode observer, a single resistor and a phase-locked loop. The input of the sliding mode observer is connected to the signal output of the single resistor. Accurate rotor position and speed information is obtained through PLL to improve control accuracy. A single resistor sampling technology is adopted to measure the current by using a sampling resistor in one phase of the motor to reconstruct the three-phase current and realize sensorless control. Estimated back-electromotive force feedback is introduced, and the saturation function is used instead of the traditional switching function. The fixed sliding mode gain is replaced by a variable approach rate to reduce system jitter.

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