Hollow rotary joint module and humanoid robot

Abstract

The invention discloses a hollow rotary joint module and a humanoid robot, and relates to the field of robots. The hollow rotary joint module comprises a harmonic reducer, a motor assembly, an encoder magnetic ring assembly and an output flange. The motor assembly comprises a frameless motor and a motor flange, the rotor is rotationally arranged on the inner side of the stator, the rotor is connected with the motor flange to drive the motor flange to rotate, and the motor flange is connected with the wave generator; a first magnetic ring of the encoder magnetic ring assembly is arranged on a first magnetic ring flange, the first magnetic ring flange is connected with a motor flange and a wave generator, a second magnetic ring is arranged on a second magnetic ring flange, and the first magnetic ring and the second magnetic ring are located on the same plane. The output flange comprises a flange part and a straight barrel part, openings are formed in the two opposite ends of the straight barrel part, the straight barrel part penetrates through the harmonic reducer, the first magnetic ring flange and the second magnetic ring flange, and the flange part is connected with the harmonic reducer. The hollow rotary joint module is compact in structure, the overall length of the hollow rotary joint module is reduced, and the size of the hollow rotary joint module is smaller.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a hollow rotary joint module and a humanoid robot. Background Art

[0002] With the rapid advancement of robotics technology and its widespread application, robots have played a vital role in many fields such as industrial manufacturing, surgical operations and home services.

[0003] In the related technology, the rotary joint module of the robot is the actuator for realizing the joint movement of the robot. The current joint module adopts a frameless torque motor, a motor shaft, an encoder, a reducer, a magnetic ring of a motor magnetic encoder, an output magnetic encoder magnetic ring, an output magnetic ring end cover, etc. The output magnetic encoder magnetic ring is connected to the output magnetic ring end cover, and the magnetic ring of the motor magnetic encoder and the output magnetic encoder magnetic ring are installed on opposite sides of the frameless torque motor, which makes the joint module structure longer, resulting in a larger overall size of the joint module, which is not conducive to the miniaturization of the robot joint.

[0004] Therefore, developing a joint module with simplified structure and small size has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of this application is to overcome the deficiencies in the prior art and provide a hollow rotary joint module.

[0006] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0007] In a first aspect, an embodiment of the present application provides a hollow rotary joint module, the hollow rotary joint module comprising:

[0008] Harmonic speed reducer, including wave generator;

[0009] A motor assembly, comprising a frameless motor and a motor flange, wherein the frameless motor comprises a stator and a rotor, the rotor being rotatably disposed inside the stator, the rotor being connected to the motor flange to drive the motor flange to rotate, and the motor flange being connected to the wave generator;

[0010] An encoder magnetic ring assembly includes a first magnetic ring, a second magnetic ring, a first magnetic ring flange, and a second magnetic ring flange, wherein the first magnetic ring is arranged on the first magnetic ring flange, the first magnetic ring flange is connected to the motor flange and the wave generator respectively, and the second magnetic ring is arranged on the second magnetic ring flange, the first magnetic ring and the second magnetic ring are located on a side of the motor flange away from the wave generator, and the top surface of the first magnetic ring and the top surface of the second magnetic ring are located in the same plane, and / or the bottom surface of the first magnetic ring and the bottom surface of the second magnetic ring are located in the same plane;

[0011] The output flange includes a flange portion and a straight tube portion, wherein the opposite ends of the straight tube portion have openings, and the straight tube portion is inserted into the harmonic reducer, the first magnetic ring flange and the second magnetic ring flange. One end of the straight tube portion is connected to the flange portion, and the other end of the straight tube portion is connected to the second magnetic ring flange. The flange portion is connected to the harmonic reducer.

[0012] The hollow rotary joint module provided in the present application has openings at both ends of the straight cylindrical part of the output flange to form a hollow structure, which is convenient for the robot to route the wires. At the same time, the first magnetic ring and the second magnetic ring are located on the same side of the frameless motor and on the same plane, making the structure of the joint module more compact, reducing the length and size of the joint module, making it smaller in size, and more easily applicable to various joints of humanoid robots and miniaturized automation equipment.

[0013] In addition, the hollow rotary joint module according to the present application may also have the following additional technical features:

[0014] In one embodiment of the first aspect, the inner diameter of the motor flange is larger than the outer diameter of the first magnetic ring flange, the outer diameter of the first magnetic ring flange is larger than the outer diameter of the second magnetic ring flange, and a portion of the first magnetic ring flange is located on the inner side of the motor flange.

[0015] In one embodiment of the first aspect, a first boss is provided along the circumference of the first magnetic ring flange, and the first magnetic ring is mounted on the first boss; a second boss is provided along the circumference of the second magnetic ring flange, and the second magnetic ring is mounted on the second boss.

[0016] In one embodiment of the first aspect, the hollow rotary joint module further includes:

[0017] A tray having a mounting cavity, the harmonic reducer is connected to the tray, and the wave generator is arranged through the mounting cavity and has a gap with the cavity wall of the mounting cavity;

[0018] A first bearing is located in the gap, an inner ring of the first bearing abuts against the wave generator, and an outer ring of the first bearing abuts against the cavity wall of the installation cavity.

[0019] In one embodiment of the first aspect, a step portion is provided on a side of the tray facing the motor flange, a retaining ring is provided on the step portion, and a portion of the retaining ring abuts against a side of the outer ring of the first bearing facing the motor flange;

[0020] An annular boss is provided in the installation cavity, a step structure is formed on the side of the wave generator away from the straight cylinder portion, and an end of the first bearing away from the motor flange abuts against the annular boss and the step structure respectively.

[0021] In one embodiment of the first aspect, a limiting member is provided on a side of the motor flange facing the first bearing, and the limiting member abuts against a side of the inner ring of the first bearing facing the motor flange.

[0022] In one embodiment of the first aspect, the limiting member is fixedly connected to or integrally formed with the motor flange.

[0023] In one embodiment of the first aspect, the hollow rotary joint module further includes a shell having a receiving cavity, the motor assembly is disposed in the receiving cavity, and the tray is connected to the shell.

[0024] In one of the embodiments of the first aspect, the hollow rotary joint module also includes a second bearing and a third bearing, the second bearing and the third bearing are sleeved on the straight cylinder portion and spaced apart, the side of the second bearing facing away from the third bearing abuts against the flange portion, and the outer ring of the second bearing and the outer ring of the third bearing respectively abut against the inner side of the wave generator.

[0025] In one embodiment of the first aspect, a first sealing ring is provided between the inner ring of the second bearing and the straight cylindrical portion, and the first sealing ring is respectively in contact with the inner ring of the second bearing and the straight cylindrical portion; and / or a second sealing ring is provided between the flange portion and the harmonic reducer, and the second sealing ring is respectively in contact with the flange portion and the harmonic reducer.

[0026] In a second aspect, the present application also provides a humanoid robot, comprising a joint body and the hollow rotary joint module described in any one of the above embodiments, wherein the hollow rotary joint module is installed at the joint body.

[0027] The humanoid robot provided in the second aspect of the present application includes the hollow rotary joint module in any one of the above embodiments, and therefore has all the beneficial effects of the above hollow rotary joint module, which will not be described here one by one. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A schematic diagram of the three-dimensional structure of a hollow rotary joint module provided in some embodiments of the present application is shown;

[0030] Figure 2 A schematic structural diagram of a hollow rotary joint module provided in some embodiments of the present application is shown from one perspective;

[0031] Figure 3 Shown Figure 2 AA-direction cross-sectional structural diagram shown in ;

[0032] Figure 4 Shown Figure 3 The enlarged structural diagram of point B shown in FIG;

[0033] Figure 5 Shown Figure 3 The enlarged structural diagram of position C shown in FIG;

[0034] Figure 6 Shown Figure 3 A schematic diagram of the structure of the motor flange from one perspective shown in FIG;

[0035] Figure 7 Shown Figure 3 A schematic structural diagram of a first magnetic ring flange from one perspective shown in FIG;

[0036] Figure 8 Shown Figure 3 A schematic structural diagram of a second magnetic ring flange from one perspective shown in FIG;

[0037] Figure 9 Shown Figure 3 A schematic diagram of the structure of the output flange from one perspective shown in FIG;

[0038] Figure 10 Shown Figure 9 DD-direction cross-sectional structural diagram shown in ;

[0039] Figure 11 Shown Figure 3 A schematic structural diagram of a harmonic reducer from one perspective shown in FIG;

[0040] Figure 12 Shown Figure 11 EE-direction cross-sectional structural diagram shown in ;

[0041] Figure 13 Shown Figure 1 A schematic structural diagram of the shell body from one perspective is shown in FIG.

[0042] Description of main component symbols:

[0043] 100 - hollow rotary joint module; 101 - drive plate; 110 - harmonic reducer; 111 - wave generator; 1111 - stepped structure; 112 - flexible pulley; 113 - flexible bearing; 114 - rigid pulley; 120 - motor assembly; 121 - frameless motor; 1211 - stator; 1212 - rotor; 122 - motor flange; 1221 - limiter; 130 - encoder magnetic ring assembly; 131 - first magnetic ring; 132 - second magnetic ring; 133 - first magnetic ring flange; 1331 - first boss; 134 - second magnetic ring flange; 1341 - second boss; 140 - output flange; 141-flange portion; 142-straight tube portion; 1421-hollow structure; 150-tray; 151-step portion; 152-retaining ring; 153-annular boss; 160-first bearing; 161-second bearing; 162-third bearing; 163-first sealing ring; 164-second sealing ring; 165-third sealing ring; 170-housing; 1701-accommodating cavity; 1702-heat dissipation hole; 171-housing body; 172-end cover; 173-connecting portion; 174-annular connecting piece; 1741-threading hole; 175-adapter; 1751-connecting hole; 180-heat dissipation device. DETAILED DESCRIPTION

[0044] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0045] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0047] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0048] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0049] In related art, a robot joint module includes a motor magnetic encoder ring, an integrated control board, a frameless torque motor, an output magnetic ring end cap, an output magnetic encoder circuit board, an output magnetic encoder ring, and a reducer. The integrated control board is mounted on the motor end cap of the frameless torque motor. The motor shaft of the frameless torque motor is equipped with a motor magnetic encoder ring, which is connected to the reducer. The reducer is equipped with an output magnetic ring end cap and an output magnetic encoder circuit board. The output magnetic encoder ring is mounted on the output magnetic ring end cap, and the output magnetic encoder circuit board is connected to the integrated control board for data transmission. The integrated control board integrates the joint control and drive circuitry, the IMU sensor, the temperature sensor circuitry, the force sensor acquisition circuitry, the external communication circuitry, the chip for the motor magnetic encoder ring, and the power and motor cables. The motor magnetic encoder ring, motor shaft, reducer, output magnetic ring end cap, and output magnetic encoder ring are arranged in series, resulting in a relatively long joint module, which results in a large overall size and hinders the miniaturization of the robot joint.

[0050] like Figure 1 and Figure 2 As shown, in order to solve the above technical problems, an embodiment of the present application provides a hollow rotary joint module 100 with a simple structure and a small size.

[0051] Combine Figure 3 As shown, the hollow rotary joint module 100 includes a harmonic reducer 110 , a motor assembly 120 , an encoder magnetic ring assembly 130 and an output flange 140 .

[0052] The harmonic reducer 110 includes a wave generator 111. The motor assembly 120 includes a frameless motor 121 and a motor flange 122. The frameless motor 121 includes a stator 1211 and a rotor 1212. The rotor 1212 is rotatably disposed inside the stator 1211. The rotor 1212 is connected to the motor flange 122 to drive the motor flange 122 to rotate. The motor flange 122 is also connected to the wave generator 111 to achieve rotation of the wave generator 111 by the rotation of the rotor 1212.

[0053] Combine Figure 3 and Figure 4 As shown, the encoder magnetic ring assembly 130 includes a first magnetic ring 131, a second magnetic ring 132, a first magnetic ring flange 133, and a second magnetic ring flange 134. The first magnetic ring 131 is arranged on the first magnetic ring flange 133, and the first magnetic ring flange 133 is connected to the motor flange 122 and the wave generator 111 respectively. The second magnetic ring 132 is arranged on the second magnetic ring flange 134. The first magnetic ring 131 and the second magnetic ring 132 are located on the side of the motor flange 122 away from the wave generator 111, and the top surface of the first magnetic ring 131 and the top surface of the second magnetic ring 132 are located in the same plane, and / or the bottom surface of the first magnetic ring 131 and the bottom surface of the second magnetic ring 132 are located in the same plane. In this way, the longitudinal size of the hollow rotary joint module 100 is reduced to facilitate miniaturization.

[0054] Combine Figure 9 and Figure 10 As shown, the output flange 140 includes a flange portion 141 and a straight portion 142. The straight portion 142 has openings at opposite ends, forming a hollow structure 1421 within the straight portion 142, facilitating robot routing. The straight portion 142 is disposed through the harmonic reducer 110, the first magnetic ring flange 133, and the second magnetic ring flange 134. One end of the straight portion 142 is connected to the flange portion 141, and the other end is connected to the second magnetic ring flange 134. The end of the straight portion 142 away from the flange portion 141 is connected to the second magnetic ring flange 134. The flange portion 141 is connected to the harmonic reducer 110. Rotation of the harmonic reducer 110 drives the output flange 140 to rotate.

[0055] For example, the flange portion 141 and the straight tube portion 142 are integrally formed. Of course, in other embodiments, the flange portion 141 and the straight tube portion 142 can also be fixedly connected by screw connection or welding.

[0056] The hollow rotary joint module 100 provided in the embodiment of the present application, the frameless motor 121, the harmonic reducer 110, and the output flange 140 are integrated in series, and the straight cylindrical portion 142 of the output flange 140 is opened at both ends to form a hollow structure 1421, which is convenient for the robot to route. At the same time, the first magnetic ring 131 and the second magnetic ring 132 are located on the same side of the frameless motor 121 and on the same plane, making the structure of the joint module more compact, reducing the overall length and size of the joint module, making it smaller in size, and more easily applicable to various joints of humanoid robots and miniaturized automation equipment.

[0057] In some embodiments, the top surface of the first magnetic ring 131 and the top surface of the second magnetic ring 132 are located in the same plane.

[0058] In some other embodiments, the bottom surface of the first magnetic ring 131 and the bottom surface of the second magnetic ring 132 are located in the same plane. Of course, in other embodiments, the top surface of the first magnetic ring 131 and the top surface of the second magnetic ring 132 are located in the same plane, and the bottom surface of the first magnetic ring 131 and the bottom surface of the second magnetic ring 132 are located in the same plane.

[0059] It should be noted that, in order to facilitate the description of each embodiment, the top surface of the first magnetic ring 131 and the top surface of the second magnetic ring 132 are Figure 3 The top surface in the up-down direction is the top surface of the first magnetic ring 131 and the bottom surface of the second magnetic ring 132, and the bottom surface of the first magnetic ring 131 and the bottom surface of the second magnetic ring 132 are the bottom surfaces in the up-down direction, and the up-down direction is the axial direction H of the straight cylindrical portion 142. In other words, the top surface of the first magnetic ring 131 and the top surface of the second magnetic ring 132 are the surfaces of the first magnetic ring 131 and the second magnetic ring 132 facing the drive plate 101, and the bottom surface of the first magnetic ring 131 and the bottom surface of the second magnetic ring 132 are the surfaces of the first magnetic ring 131 and the second magnetic ring 132 facing the motor flange 122.

[0060] like Figure 3 and Figure 4 As shown, in some embodiments, the height of the first magnetic ring 131 along the axial direction H of the straight tube portion 142 is h1, and the height of the second magnetic ring 132 along the axial direction H of the straight tube portion 142 is h2, which satisfies the relationship: 0mm≤|h1-h2|≤5mm, that is, the absolute value of the height difference between the height h1 of the first magnetic ring 131 and the height h2 of the second magnetic ring 132 is within the range of 0 to 5mm. In this way, the hollow rotary joint module 100 can be realized. Figure 3 The overall height in the up and down directions is smaller, which reduces its volume and is more conducive to the miniaturization of the hollow rotary joint module 100.

[0061] In some embodiments, for example, the absolute value of the height difference between the height h1 of the first magnetic ring 131 and the height h2 of the second magnetic ring 132 is 0. Of course, in other embodiments, the absolute value of the height difference between the height h1 of the first magnetic ring 131 and the height h2 of the second magnetic ring 132 can also be 1mm, 1.2mm, 1.5mm, 2mm, 2.5mm, 2.8mm, 3mm, 3.2mm, 3.5mm, 4.5mm, or 5mm.

[0062] like Figure 11 and Figure 12 As shown, it should be noted that in some embodiments, the harmonic reducer 110 includes a wave generator 111, a flexible bearing 113, a flexspline 112, and a rigid pulley 114, arranged sequentially from the inside to the outside. The flexible bearing 113 is installed between the wave generator 111 and the flexspline 112 to provide support and force transmission, while also being able to accommodate the elastic deformation of the flexspline 112. The flexspline 112 is connected to the output flange 140. The flexspline 112 is a thin-walled cup-shaped structure made of alloy steel with external teeth at the open end. It can produce significant elastic deformation under the action of the wave generator 111. When the motor flange 122 rotates, driving the wave generator 111 to rotate, the wave generator 111 causes the flexspline 112 to elastically deform and mesh with the rigid pulley 114, thereby transmitting motion and power to the flexspline 112. The flexspline 112 acts as a driven pulley to output rotation, driving the output flange 140 to move.

[0063] like Figure 2 As shown, in some embodiments, the inner diameter of the motor flange 122 is larger than the outer diameter of the first magnetic ring flange 133, the outer diameter of the first magnetic ring flange 133 is larger than the outer diameter of the second magnetic ring flange 134, and a portion of the first magnetic ring flange 133 is located inside the motor flange 122. In this embodiment, a portion of the first magnetic ring flange 133 is embedded in the motor flange 122, making its structural layout more compact.

[0064] Exemplarily, the motor flange 122 , the first magnetic ring flange 133 and the wave generator 111 are fixedly connected by bolts.

[0065] like Figure 7 and Figure 8As shown, in some embodiments, a first boss 1331 is provided along the circumference of the first magnetic ring flange 133. The first magnetic ring 131 is mounted on the first boss 1331 and is located on the outer wall of the first magnetic ring flange 133. A second boss 1341 is provided along the circumference of the second magnetic ring flange 134 and is located on the outer wall of the second magnetic ring flange 134. The second magnetic ring 132 is mounted on the second boss 1341 and is located inside the first magnetic ring flange 133. The top surfaces of the second magnetic ring 132 and the first magnetic ring 131 are in the same plane. Of course, the bottom surfaces of the second magnetic ring 132 and the first magnetic ring 131 may also be in the same plane.

[0066] It should be noted that the driving plate 101 of the hollow rotary joint module 100 is arranged opposite to the first magnetic ring 131 and the second magnetic ring 132, and the first magnetic ring 131 and the second magnetic ring 132 are arranged on the side away from the wave generator 111. It should be pointed out that the top surface of the first magnetic ring 131 and the second magnetic ring 132 is the side facing the driving plate 101.

[0067] like Figure 3 and Figure 5 As shown, in some embodiments, the hollow rotary joint module 100 further includes a tray 150 and a first bearing 160. The tray 150 has a mounting cavity, and the harmonic reducer 110 is connected to the tray 150. Specifically, the rigid wheel 114 of the harmonic reducer 110 is fixedly connected to the tray 150 by bolts. The wave generator 111 is arranged in the mounting cavity and has a gap with the cavity wall of the mounting cavity. The first bearing 160 is located in the gap, the inner ring of the first bearing 160 abuts against the wave generator 111, and the outer ring of the first bearing 160 abuts against the cavity wall of the mounting cavity to facilitate the rotation of the wave generator 111.

[0068] In this embodiment, the harmonic reducer 110 is fixed on a tray 150 . The tray 150 has a simple structure and is convenient for installing the harmonic reducer 110 .

[0069] In some embodiments, a step portion 151 is provided on the side of the tray 150 facing the motor flange 122. A retaining ring 152 is provided on the step portion 151. A portion of the retaining ring 152 abuts against the outer ring of the first bearing 160 facing the motor flange 122. An annular boss 153 is provided within the mounting cavity. A stepped structure 1111 is formed on the side of the wave generator 111 facing away from the straight cylindrical portion 142. The end of the first bearing 160 facing away from the motor flange 122 abuts against the annular boss 153 and the stepped structure 1111, respectively.

[0070] In this embodiment, the first bearing 160 is prevented from moving downward along the axial direction of the straight cylinder portion 142 by the restriction of the annular boss 153 and the stepped structure 1111. At the same time, the setting of the retaining ring 152 also prevents the first bearing 160 from moving upward along the axial direction of the straight cylinder portion 142. In this case, the wave generator 111 is prevented from moving along the axial direction of the straight cylinder portion 142, thereby improving the accuracy of the hollow rotary joint module 100.

[0071] like Figure 3 and Figure 6 As shown, in the embodiment of the tray 150 described above, a limit member 1221 is further provided on the side of the motor flange 122 facing the first bearing 160. The limit member 1221 abuts against the side of the inner ring of the first bearing 160 facing the motor flange 122. In this embodiment, the limit member 1221 further abuts against the inner ring of the first bearing 160, preventing the first bearing 160 from moving upward along the axis of the straight cylindrical portion 142, thereby preventing the wave generator 111 from moving along the axis of the straight cylindrical portion 142.

[0072] In the embodiment of the above-mentioned stopper 1221, the stopper 1221 is integrally formed with the motor flange 122. The integrally formed structure facilitates manufacturing and reduces the installation and screwing process, thereby reducing production costs and improving installation efficiency. In addition, the stopper 1221 and the motor flange 122 are integrally formed, which increases the connection strength between the two and improves reliability. Of course, in other embodiments, the stopper 1221 can also be fixedly connected to the motor flange 122.

[0073] like Figure 3 As shown, in some embodiments, a third sealing ring 165 is abutted between the tray 150 and the rigid wheel 114 to improve the sealing between the tray 150 and the rigid wheel 114 .

[0074] like Figure 1 、 Figure 2 and Figure 3 As shown, in some embodiments, the hollow rotary joint module 100 further includes a housing 170 having a receiving cavity 1701. The motor assembly 120 is disposed in the receiving cavity 1701. The stator 1211 is fixedly connected to the housing 170. The tray 150 is connected to the housing 170. This facilitates the fixing of the motor assembly 120 and the tray 150, and also facilitates the installation of the tray 150 on the harmonic reducer 110.

[0075] like Figure 3As shown, in some embodiments, the hollow rotary joint module 100 further includes a second bearing 161 and a third bearing 162. The second bearing 161 and the third bearing 162 are sleeved on the straight cylindrical portion 142 and spaced apart. The side of the second bearing 161 facing away from the third bearing 162 abuts against the flange portion 141. The outer ring of the second bearing 161 and the outer ring of the third bearing 162 respectively abut against the inner side of the wave generator 111. In this embodiment, the provision of the second bearing 161 and the third bearing 162, i.e., the spaced apart arrangement of the second bearing 161 and the third bearing 162 along the axis of the straight cylindrical portion 142, reduces radial runout of the straight cylindrical portion 142 during rotation, thereby improving its rotational accuracy.

[0076] like Figure 13 As shown, in some embodiments, the housing 170 is provided with a heat dissipation hole 1702, which is in communication with the accommodating cavity 1701. A heat dissipation device 180 is mounted on the outer wall of the housing 170. The heat dissipation device 180 is mounted on the heat dissipation hole 1702 to dissipate heat from the frameless motor 121. Exemplarily, the heat dissipation device 180 is a cooling fan. The driver board 101 is fixed to the housing 170.

[0077] like Figure 1 As shown, in some embodiments, the housing 170 includes a housing body 171 and an end cover 172. The end cover 172 covers the opening of the housing body 171 on the side facing away from the output flange 140, and the tray 150 is fixed to the side of the housing body 171 facing away from the end cover 172. Furthermore, a connecting portion 173 is provided on the end cover 172. The connecting portion 173 is used to connect to the robot body of the humanoid robot. The connecting portion 173 and the end cover 172 are integrally formed. Of course, the connecting portion 173 can also be fixedly connected to the end cover 172.

[0078] like Figure 13 As shown, in some embodiments, an annular connecting piece 174 is provided on the side of the housing 171 facing the end cap 172. The end cap 172 is connected to the annular connecting piece 174 by bolts, and the drive plate 101 is also connected to the annular connecting piece 174 by bolts. Furthermore, the annular connecting piece 174 is provided with a threading hole 1741. The cable of the motor assembly 120 is passed through the threading hole 1741 and electrically connected to the drive plate 101, so that the drive plate 101 can control the motor assembly 120.

[0079] like Figure 1 As shown, in some embodiments, a transfer platform 175 is connected to the housing 170 , and the transfer platform 175 is used to connect to the robot body of the humanoid robot to facilitate fixing the hollow rotary joint module 100 on the robot body.

[0080] In the above embodiment, the connecting portion 173 and the adapter 175 are respectively provided with connecting holes 1751 to facilitate the fixed connection with the robot body by bolts.

[0081] like Figure 3 As shown, in some embodiments, a first sealing ring 163 is disposed between the inner ring of the second bearing 161 and the straight cylindrical portion 142. The first sealing ring 163 abuts the inner ring of the second bearing 161 and the straight cylindrical portion 142, respectively. This increases friction between the inner ring of the second bearing 161 and the straight cylindrical portion 142, facilitating rotation. The first sealing ring 163 also provides a sealing effect. And / or a second sealing ring 164 is disposed between the flange portion 141 and the harmonic reducer 110. The second sealing ring 164 abuts the flange portion 141 and the harmonic reducer 110, respectively. The provision of the second sealing ring 164 enhances the sealing between the flange portion 141 and the harmonic reducer 110.

[0082] like Figure 3 As shown, in the above embodiment, exemplarily, a first sealing ring 163 is provided between the inner ring of the second bearing 161 and the straight cylinder portion 142 , and a second sealing ring 164 is provided between the flange portion 141 and the harmonic reducer 110 .

[0083] An embodiment of the present application further provides a humanoid robot, comprising a joint body and the hollow rotary joint module 100 described in any one of the above embodiments, wherein the hollow rotary joint module 100 is installed at the joint body.

[0084] The humanoid robot provided in this embodiment includes the hollow rotary joint module 100 in any one of the above embodiments, and therefore has all the beneficial effects of the above hollow rotary joint module 100, which will not be described in detail here.

[0085] For example, the joint body is the waist joint of a humanoid robot, and the hollow rotary joint module 100 is set at the waist joint. The wiring harness at the waist joint can be passed through the straight tube portion 142 with a hollow structure 1421 to facilitate wiring. Of course, the joint body can also be a neck joint, arm joint, leg joint, etc.

[0086] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0087] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A hollow rotary joint module, characterized in that: include: Harmonic speed reducer, including wave generator; A motor assembly, comprising a frameless motor and a motor flange, wherein the frameless motor comprises a stator and a rotor, the rotor being rotatably disposed inside the stator, the rotor being connected to the motor flange to drive the motor flange to rotate, and the motor flange being connected to the wave generator; An encoder magnetic ring assembly includes a first magnetic ring, a second magnetic ring, a first magnetic ring flange, and a second magnetic ring flange, wherein the first magnetic ring is arranged on the first magnetic ring flange, the first magnetic ring flange is connected to the motor flange and the wave generator respectively, and the second magnetic ring is arranged on the second magnetic ring flange, the first magnetic ring and the second magnetic ring are located on a side of the motor flange away from the wave generator, and the top surface of the first magnetic ring and the top surface of the second magnetic ring are located in the same plane, and / or the bottom surface of the first magnetic ring and the bottom surface of the second magnetic ring are located in the same plane; The output flange includes a flange portion and a straight tube portion, wherein the opposite ends of the straight tube portion have openings, and the straight tube portion is inserted into the harmonic reducer, the first magnetic ring flange and the second magnetic ring flange. One end of the straight tube portion is connected to the flange portion, and the other end of the straight tube portion is connected to the second magnetic ring flange. The flange portion is connected to the harmonic reducer.

2. The hollow rotary joint module according to claim 1, characterized in that: The inner diameter of the motor flange is larger than the outer diameter of the first magnetic ring flange. The outer diameter of the first magnetic ring flange is larger than the outer diameter of the second magnetic ring flange. A portion of the first magnetic ring flange is located inside the motor flange.

3. The hollow rotary joint module according to claim 1, characterized in that: A first boss is provided along the circumference of the first magnetic ring flange, and the first magnetic ring is mounted on the first boss; a second boss is provided along the circumference of the second magnetic ring flange, and the second magnetic ring is mounted on the second boss.

4. The hollow rotary joint module according to any one of claims 1 to 3, characterized in that: The hollow rotary joint module also includes: A tray having a mounting cavity, the harmonic reducer is connected to the tray, and the wave generator is arranged through the mounting cavity and has a gap with the cavity wall of the mounting cavity; A first bearing is located in the gap, an inner ring of the first bearing abuts against the wave generator, and an outer ring of the first bearing abuts against the cavity wall of the installation cavity.

5. The hollow rotary joint module according to claim 4, characterized in that: A step portion is provided on a side of the tray facing the motor flange, a retaining ring is provided on the step portion, and a portion of the retaining ring abuts against a side of the outer ring of the first bearing facing the motor flange; An annular boss is provided in the installation cavity, a step structure is formed on the side of the wave generator away from the straight cylinder portion, and an end of the first bearing away from the motor flange abuts against the annular boss and the step structure respectively.

6. The hollow rotary joint module according to claim 5, characterized in that: A limiting member is provided on a side of the motor flange facing the first bearing, and the limiting member abuts against a side of the inner ring of the first bearing facing the motor flange.

7. The hollow rotary joint module according to claim 6, characterized in that: The limiting member is fixedly connected to the motor flange or is integrally formed therewith.

8. The hollow rotary joint module according to claim 4, characterized in that: The hollow rotary joint module further includes a shell having a receiving cavity. The motor assembly is disposed in the receiving cavity. The tray is connected to the shell.

9. The hollow rotary joint module according to claim 1, characterized in that: The hollow rotary joint module also includes a second bearing and a third bearing, which are sleeved on the straight cylinder portion and spaced apart. The side of the second bearing facing away from the third bearing abuts against the flange portion, and the outer ring of the second bearing and the outer ring of the third bearing respectively abut against the inner side of the wave generator.

10. The hollow rotary joint module according to claim 9, characterized in that: A first sealing ring is provided between the inner ring of the second bearing and the straight cylinder portion, and the first sealing ring is respectively in contact with the inner ring of the second bearing and the straight cylinder portion; and / or a second sealing ring is provided between the flange portion and the harmonic reducer, and the second sealing ring is respectively in contact with the flange portion and the harmonic reducer.

11. A humanoid robot, characterized in that: It comprises a joint body and the hollow rotary joint module according to any one of claims 1 to 10, wherein the hollow rotary joint module is installed at the joint body.

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