A bidirectional hybrid flux type electric gear module and robot

Abstract

The application provides a bidirectional hybrid flux type electric gear module and a robot, and relates to the field of robots.The bidirectional hybrid flux type electric gear module comprises a harmonic reducer assembly, a disc type motor assembly, a radial motor assembly and an encoder, which are sequentially sleeved on a stator hollow shaft and arranged in a shell assembly; a disc type motor stator group is fixedly sleeved outside the stator hollow shaft and inside one end of a disc type motor rotor group; a radial motor stator group is fixedly sleeved outside the stator hollow shaft and inside one end of a radial motor rotor group; the other end of the radial motor rotor group is rotatably sleeved on the stator hollow shaft; and the radial motor rotor group is fixedly connected with the disc type motor rotor group.The axial flux disc type motor is combined with the radial flux outer rotor motor to form a bidirectional hybrid flux structure; and a high-precision harmonic reducer assembly mode is combined to provide a robot joint module which integrates high power density, high transmission precision and high response speed.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a bidirectional hybrid flux motor joint module and a robot. Background Technology

[0002] The humanoid robot industry has already achieved a considerable scale, but there are still technological shortcomings in core servo motor systems, such as insufficient overload capacity, low control precision, and limited heat dissipation. Current traditional motor structures mostly use a single magnetic flux path, which makes it difficult to meet requirements for torque density and dynamic response.

[0003] CN119610203A relates to a miniaturized joint module and robot controller. The miniaturized joint module provided by this patent is suitable for the wrist joint of a humanoid robot, reducing the module length and simplifying the structure, while also enabling miniaturized product design. While placing the motor on the reducer cylinder shortens the module length, it increases the module width, requiring reasonable optimization. Summary of the Invention

[0004] The purpose of this invention is to provide a bidirectional hybrid flux type motor joint module and robot, which forms a bidirectional hybrid flux structure through a combination design of a disc motor and a radial motor. The parallel enhancement of the flux significantly improves the average torque output and transient response performance per unit volume.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A bidirectional hybrid flux type motor joint module and robot include a harmonic reduction assembly, a disc motor assembly, a radial motor assembly, a stator hollow shaft, an encoder, and a housing assembly; the harmonic reduction assembly, the disc motor assembly, the radial motor assembly, and the encoder are sequentially sleeved on the stator hollow shaft and disposed inside the housing assembly; The disc motor assembly includes a disc motor stator assembly and a disc motor rotor assembly; the disc motor stator assembly is fixedly sleeved outside the hollow stator shaft and sleeved inside the end of the disc motor rotor assembly facing the radial motor assembly; the other end of the disc motor rotor assembly is rotatably sleeved on the hollow stator shaft. The radial motor assembly includes a radial motor stator group and a radial motor rotor group; the radial motor stator group is fixedly sleeved outside the hollow stator shaft and sleeved inside the end of the radial motor rotor group facing the disc motor assembly; the other end of the radial motor rotor group is rotatably sleeved on the hollow stator shaft; wherein, the radial motor rotor group and the disc motor rotor group are fixedly connected.

[0006] Furthermore, in this invention, the housing assembly includes a reducer housing and a motor housing, the reducer housing being disposed outside the harmonic reducer assembly; the motor housing being disposed outside the disc motor assembly and the radial motor assembly, and being fixedly connected to the reducer housing.

[0007] Furthermore, in this invention, the harmonic reducer assembly includes a rigid wheel, a flexible wheel, and a wave generator. The wave generator is sleeved outside the stator hollow shaft, and one end of it contacts the reducer housing through a first bearing. The flexible wheel is tightly sleeved outside the wave generator and fixedly connected to the reducer housing. The rigid wheel meshes with the outer side of the flexible wheel, and one end of the rigid wheel contacts the reducer housing through a support bearing.

[0008] Furthermore, in this invention, the disc motor stator assembly includes a disc motor stator and a first stator winding. The disc motor stator is fixedly sleeved outside the hollow stator shaft, and the first stator winding is wound around the disc motor stator. The radial motor stator assembly includes a radial motor stator and a second stator winding. The radial motor stator is fixedly sleeved on the outside of the hollow stator shaft, and the second stator winding is wound around the radial motor stator. Both the first stator winding and the second stator winding are concentrated windings.

[0009] Furthermore, in this invention, the disc motor rotor assembly includes a first rotor and a second rotor. One end of the first rotor is fixedly connected to the input shaft of the wave generator and rotatably sleeved outside the hollow stator shaft. The other end of the first rotor has a first receiving cavity for accommodating the disc motor stator assembly. The second rotor is fixedly connected to the opening end of the first receiving cavity. The radial motor rotor assembly includes a radial motor rotor, one end of which is rotatably sleeved outside the stator hollow shaft, and the other end of which is provided with a second receiving cavity for accommodating the radial motor rotor assembly. The first rotor and the open end are fixedly connected to the open end of the radial motor rotor.

[0010] Furthermore, in this invention, the first receiving cavity sidewall is provided with a plurality of fan slots along its circumference.

[0011] Furthermore, in this invention, the radial motor rotor is fixedly connected to the first rotor and a non-magnetic ring is provided between it and the second rotor; the radial motor rotor, the second rotor, and the non-magnetic ring are fixedly connected by bolts.

[0012] Furthermore, in this invention, surface-mount permanent magnets are respectively provided on the axially opposite sides of the first rotor and the second rotor, as well as on the inner side of the radial motor rotor.

[0013] Furthermore, in this invention, the radial motor rotor and the first rotor are rotatably connected to the stator hollow shaft via a second bearing.

[0014] An articulated robot, including the aforementioned articulated module.

[0015] The present invention has at least the following advantages or beneficial effects: This invention combines an axial flux disc motor with a radial flux external rotor motor to form a magnetically decoupled bidirectional hybrid flux topology. Parallel flux enhancement and synergistic effects significantly improve the average torque output and transient response performance per unit volume. By employing a low aspect ratio flat disc motor, sufficient torque can still be provided in situations with limited axial space. Simultaneously, the introduction of an external rotor structure in the radial motor achieves higher torque density and stronger structural integration compared to an internal rotor motor, which is beneficial for the high integration and lightweight design of robot joint modules. Combined with a high-precision harmonic reducer assembly method, this invention provides a robot joint module integrating high power density, high transmission accuracy, and high response speed, particularly suitable for applications such as humanoid robots and collaborative robots that require high dynamic performance and structural integration. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 An exploded structural diagram of the bidirectional hybrid flux type motor joint module provided in the application embodiment; Figure 2 A schematic diagram of the overall structure of the bidirectional hybrid flux type motor joint module provided in the application embodiment; Figure 3 A cross-sectional view of the bidirectional hybrid flux type motor joint module provided in the application embodiment.

[0018] Reference numerals: 1-Harmonic reducer assembly, 11-Rigid wheel, 12-Flexible wheel, 13-Wave generator, 14-First bearing, 2-Disc motor assembly, 21-Disc motor stator, 22-First stator winding, 23-First rotor, 231-Fan slot, 24-Second rotor, 3-Radial motor assembly, 31-Radial motor stator, 32-Second stator winding, 33-Radial motor rotor, 4-Hollow stator shaft, 5-Encoder, 6-Housing assembly, 61-Reducer housing, 62-Motor housing, 7-Non-magnetic ring, 8-Surface-mount permanent magnet, 9-Second bearing. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. Example

[0021] Please refer to Figures 1-3 The figure shown is a schematic diagram of the structure of the bidirectional hybrid flux type motor joint module in an embodiment of the present invention; This embodiment provides a bidirectional hybrid flux type motor joint module and robot, including a harmonic reduction assembly 1, a disc motor assembly 2, a radial motor assembly 3, a stator hollow shaft 4, an encoder 5, and a housing assembly 6; the harmonic reduction assembly 1, the disc motor assembly 2, the radial motor assembly 3, and the encoder 5 are sequentially sleeved on the stator hollow shaft 4 and disposed inside the housing assembly 6; The disc motor assembly 2 includes a disc motor stator assembly and a disc motor rotor assembly; the disc motor stator assembly is fixedly sleeved on the outside of the stator hollow shaft 4 and sleeved inside the disc motor rotor assembly at one end facing the radial motor assembly 3; the other end of the disc motor rotor assembly is rotatably sleeved on the stator hollow shaft 4. The radial motor assembly 3 includes a radial motor stator assembly and a radial motor rotor assembly; the radial motor stator assembly is fixedly sleeved on the outside of the stator hollow shaft 4 and sleeved inside the end of the radial motor rotor assembly facing the disc motor assembly 2; the other end of the radial motor rotor assembly is rotatably sleeved on the stator hollow shaft 4; wherein, the radial motor rotor assembly and the disc motor rotor assembly are fixedly connected.

[0022] The following will further describe a bidirectional hybrid flux type motor joint module according to this exemplary embodiment.

[0023] In some embodiments of this application, the harmonic reduction assembly 1, disc motor assembly 2, radial motor assembly 3, and encoder 5 are sequentially sleeved on the stator hollow shaft 4 and disposed inside the housing assembly 6; the disc motor assembly 2 includes a disc motor stator group and a disc motor rotor group; the disc motor stator group is fixedly sleeved on the outside of the stator hollow shaft 4 and sleeved inside the end of the disc motor rotor group facing the radial motor assembly 3; the other end of the disc motor rotor group is rotatably sleeved on the stator hollow shaft 4; the radial motor assembly 3 includes a radial motor stator group and a radial motor rotor group; the radial motor stator group is fixedly sleeved on the outside of the stator hollow shaft 4 and sleeved inside the end of the radial motor rotor group facing the disc motor assembly 2; the other end of the radial motor rotor group is rotatably sleeved on the stator hollow shaft 4; wherein, the radial motor rotor group and the disc motor rotor group are fixedly connected. By combining an axial flux disk motor with a radial flux external rotor motor, a magnetically decoupled bidirectional hybrid flux topology is formed. Parallel flux enhancement and synergistic effects significantly improve the average torque output and transient response performance per unit volume, thereby achieving high instantaneous torque density and high overload capacity in the joint module. The use of a low aspect ratio flattened motor ensures sufficient torque even in situations with limited axial space. Simultaneously, the introduction of an external rotor radial motor provides higher torque density compared to an internal rotor motor and offers stronger structural integration capabilities, facilitating the high integration and lightweight design of the robot joint module.

[0024] In a preferred embodiment, the aforementioned housing assembly 6 includes a reducer housing 61 and a motor housing 62. The reducer housing 61 is disposed outside the harmonic reducer assembly; the motor housing 62 is disposed outside the disc motor assembly 2 and the radial motor assembly 3, and is fixedly connected to the reducer housing 61. Specifically, a connecting through hole is provided at the contact end of the reducer housing 61 and the motor housing 62. Bolts are inserted through the connecting through hole to connect and fix the reducer housing 61 and the motor housing 62, thereby realizing the integrated assembly of the motor assembly and the reducer assembly, ensuring the mechanical stability and transmission efficiency of the overall structure.

[0025] In a preferred embodiment, the aforementioned harmonic reducer assembly includes a rigid wheel 11, a flexible wheel 12, and a wave generator 13. The wave generator 13 is sleeved outside the stator hollow shaft 4, and one end of it contacts the reducer housing 61 via a first bearing 14, providing stable support during rotation. The flexible wheel 12 is tightly sleeved on the outside of the wave generator 13 and fixedly connected to the reducer housing 61, specifically by screws or an interference fit, to ensure that the flexible wheel 12 remains fixed during operation, thereby improving the transmission accuracy and overall structural stability of the reducer. The rigid wheel 11 meshes with the outside of the flexible wheel 12, and the outer periphery of the wave generator 13 drives the flexible wheel 12 to undergo elastic deformation, forming a meshing area with the rigid wheel 11. One end of the rigid wheel 11 contacts the reducer housing 61 via a support bearing.

[0026] In a preferred embodiment, the aforementioned disc motor stator assembly includes a disc motor stator 21 and a first stator winding 22. The disc motor stator 21 is fixedly sleeved on the outside of the hollow stator shaft 4, and the first stator winding 22 is wound around the disc motor stator 21. The radial motor stator assembly includes a radial motor stator 31 and a second stator winding 32. The radial motor stator 31 is fixedly sleeved on the outside of the hollow stator shaft 4, and the second stator winding 32 is wound around the radial motor stator 31. Both the first stator winding 22 and the second stator winding 32 are concentrated windings. By adopting a concentrated winding structure and optimizing the winding layout and magnetic pole design, the power density and efficiency of the motor can be effectively improved, making it suitable for complex working conditions such as high precision and high load.

[0027] In a preferred embodiment, the aforementioned disc motor rotor assembly includes a first rotor 23 and a second rotor 24. One end of the first rotor 23 is fixedly connected to the input shaft of the wave generator 13 and rotatably sleeved outside the stator hollow shaft 4. The other end of the first rotor 23 has a first receiving cavity for accommodating the disc motor stator assembly. The second rotor 24 is fixedly connected to the open end of the first receiving cavity. The radial motor rotor assembly includes a radial motor rotor 33. One end of the radial motor rotor 33 is rotatably sleeved outside the stator hollow shaft 4. The other end of the radial motor rotor 33 has a second receiving cavity for accommodating the radial motor rotor assembly. The first rotor 23 and the open end are fixedly connected to the open end of the radial motor rotor 33, forming a unified rotating structure, realizing multi-magnetic flux coupling composite power output, and forming a high-efficiency hybrid power transmission system.

[0028] Understandably, the aforementioned disc motor adopts a dual-rotor structure, with the radial motor positioned on one side of the disc motor for auxiliary output, forming a high-efficiency hybrid flux drive structure. The aforementioned stator hollow shaft 4 passes through the hollow portion of the motor assembly and harmonic reduction assembly 1, and is fixedly connected to the two stators of the motor assembly, providing a hollow channel and installation reference datum to achieve fixed support for the two stators.

[0029] As a preferred embodiment, the first receiving cavity sidewall is provided with a plurality of fan slots 231 along its circumference to improve heat dissipation efficiency.

[0030] In a preferred embodiment, the radial motor rotor 33 is fixedly connected to the first rotor 23, and a non-magnetic ring 7 is provided between it and the second rotor 24 to isolate the two magnetic flux paths, prevent magnetic circuit coupling interference, and improve the system control accuracy and response speed. The radial motor rotor 33, the second rotor 24, and the non-magnetic ring 7 are fixedly connected by bolts, ensuring a stable connection between the three.

[0031] As a preferred embodiment, surface-mount permanent magnets 8 are respectively provided on the axially opposite sides of the first rotor 23 and the second rotor 24 and on the inner side of the radial motor rotor 33. They are respectively fixedly connected to the corresponding rotors by bolts to form an integrated structure, which not only improves the mechanical strength of the system, but also ensures the overall rigidity and coaxiality of the radial motor outer rotor structure.

[0032] In a preferred embodiment, the radial motor rotor 33 and the first rotor 23 are rotatably connected to the stator hollow shaft 4 via the second bearing 9. To achieve high-precision rotor support, bearings are installed at both ends of the entire motor assembly, respectively, to cooperate with the motor housing and the stator hollow shaft 4 for precise guidance and support of the rotor assembly. This achieves efficient bearing support and accurate rotor positioning, thereby ensuring the smoothness and reliability of motor operation.

[0033] This application also provides an articulated robot, including the articulated module described above.

[0034] This invention utilizes a combination design of a disc motor and a radial motor to form a magnetically decoupled bidirectional hybrid flux topology. Parallel flux enhancement and synergistic effects significantly improve the average torque output and transient response per unit volume. Combined with a high-precision harmonic reducer assembly method, it provides a robot joint module integrating high power density, high transmission accuracy, and high response speed, particularly suitable for applications such as humanoid robots and collaborative robots that require high dynamic performance and structural integration. Furthermore, by optimizing the bearing support structure, the alignment accuracy of the motor stator and rotor is improved; and by cooperating with the reducer and external rotor motor, the torque density of the joint module is increased.

[0035] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A bidirectional hybrid flux type motor joint module, characterized in that, It includes a harmonic speed reduction assembly, a disc motor assembly, a radial motor assembly, a stator hollow shaft, an encoder, and a housing assembly; the harmonic speed reduction assembly, the disc motor assembly, the radial motor assembly, and the encoder are sequentially sleeved on the stator hollow shaft and disposed inside the housing assembly; The disc motor assembly includes a disc motor stator assembly and a disc motor rotor assembly; the disc motor stator assembly is fixedly sleeved outside the hollow stator shaft and sleeved inside the end of the disc motor rotor assembly facing the radial motor assembly; the other end of the disc motor rotor assembly is rotatably sleeved on the hollow stator shaft. The radial motor assembly includes a radial motor stator assembly and a radial motor rotor assembly; the radial motor stator assembly is fixedly sleeved outside the hollow stator shaft and sleeved inside the end of the radial motor rotor assembly facing the disc motor assembly; the other end of the radial motor rotor assembly is rotatably sleeved on the hollow stator shaft; wherein, the radial motor rotor assembly is fixedly connected to the disc motor rotor assembly. The disc motor stator assembly includes a disc motor stator and a first stator winding. The disc motor stator is fixedly sleeved outside the hollow stator shaft, and the first stator winding is wound around the disc motor stator. The radial motor stator assembly includes a radial motor stator and a second stator winding. The radial motor stator is fixedly sleeved outside the hollow stator shaft, and the second stator winding is wound around the radial motor stator. Both the first stator winding and the second stator winding are concentrated windings. The disc motor rotor assembly includes a first rotor and a second rotor. One end of the first rotor is fixedly connected to the input shaft of the wave generator and rotatably sleeved outside the hollow stator shaft. The other end of the first rotor has a first receiving cavity for accommodating the disc motor stator assembly. The second rotor is fixedly connected to the open end of the first receiving cavity. The radial motor rotor assembly includes a radial motor rotor. One end of the radial motor rotor is rotatably sleeved outside the hollow stator shaft. The other end of the radial motor rotor has a second receiving cavity for accommodating the radial motor rotor assembly. The first rotor and the open end are fixedly connected to the open end of the radial motor rotor. The radial motor rotor is fixedly connected to the first rotor and a non-magnetic ring is provided between it and the second rotor; the radial motor rotor, the second rotor, and the non-magnetic ring are fixedly connected by bolts.

2. The bidirectional hybrid flux type motor joint module according to claim 1, characterized in that, The housing assembly includes a reducer housing and a motor housing. The reducer housing is disposed outside the harmonic reduction assembly. The motor housing is disposed outside the disc motor assembly and the radial motor assembly, and is fixedly connected to the reducer housing.

3. The bidirectional hybrid flux type motor joint module according to claim 2, characterized in that, The harmonic reducer assembly includes a rigid wheel, a flexible wheel, and a wave generator. The wave generator is sleeved outside the stator hollow shaft, and one end of the wave generator is in contact with the reducer housing through a first bearing. The flexible wheel is tightly sleeved outside the wave generator and fixedly connected to the reducer housing. The rigid wheel meshes with the outer side of the flexible wheel, and one end of the rigid wheel is in contact with the reducer housing through a support bearing.

4. The bidirectional hybrid flux type motor joint module according to claim 1, characterized in that, The first receiving cavity has multiple fan slots along its circumference on its sidewall.

5. The bidirectional hybrid flux type motor joint module according to claim 1, characterized in that, Surface-mounted permanent magnets are respectively provided on the axially opposite sides of the first rotor and the second rotor, as well as on the inner side of the radial motor rotor.

6. The bidirectional hybrid flux type motor joint module according to claim 1, characterized in that, The radial motor rotor and the first rotor are rotatably connected to the stator hollow shaft via the second bearing.

7. An articulated robot, characterized in that, Includes the joint module as described in any one of claims 1-6.

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