Frameless motor reinforcing connection device for humanoid robot

Abstract

The application discloses a frameless motor reinforcing connecting device of a humanoid robot, which is arranged on a stator and a rotor and comprises a first shell, a second shell, a pressing rod and a rotor connecting piece. The first shell is sleeved outside the stator, the second shell is sleeved outside the rotor and is clamped with the first shell, the first shell and the second shell can be pressed against the stator and the rotor, the pressing rod is arranged at one end of the stator and is used for pressing the stator against the rotor in cooperation with the first shell, and the rotor connecting piece is arranged at one end of the rotor and is used for pressing the rotor against the stator. The rotor connecting piece comprises a compression spring and is used for relieving the hard pressing of the rotor. The frameless motor reinforcing connecting device of the humanoid robot is characterized in that the first shell and the stator connecting piece form double limiting through precise clamping and inserting structure, the circumferential and radial displacement of the stator is effectively limited, the coaxiality of the motor axis and the joint rotating axis is obviously improved, the relative shaking between the stator and the shell is avoided, and the connecting precision is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of frameless motor technology, specifically to a frameless motor reinforcement connection device for a humanoid robot. Background Technology

[0002] In humanoid robot joint drive systems, frameless motors are widely used to achieve high-precision motion control of joints due to their high torque density, compact size, and flexible installation characteristics. However, in existing technologies, the lack of a dedicated integrated mounting structure often results in insufficient connection precision between the motor stator and the joint body, and between the rotor and the rotating parts of the joint, leading to wobbling between the motor and the joint body during robot movement. Furthermore, because frameless motors lack a complete outer shell support structure, gaps can easily exist at the connection interface with joint components, causing vibration and noise during power transmission. This not only affects the smoothness and positioning accuracy of joint movement but may also lead to fatigue damage to connecting components due to wobbling over long-term use, reducing the overall reliability and lifespan of the robot. Summary of the Invention

[0003] The purpose of this invention is to provide a frameless motor reinforcement connection device for humanoid robots to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a frameless motor reinforcement connection device for a humanoid robot, which is disposed on the stator and rotor, characterized in that it comprises:

[0005] A first outer casing, which is fitted over the stator;

[0006] The second outer shell is sleeved on the outside of the rotor and is interlocked with the first outer shell, pressing against the stator and the rotor, and the first outer shell and the second outer shell can also rotate;

[0007] A pressing rod is located at one end of the stator and is used to press the stator toward the rotor in conjunction with the first housing.

[0008] A rotor connector is disposed at one end of the rotor and presses the rotor toward the stator. The rotor connector includes a compression spring to relieve the hard compression on the rotor.

[0009] Preferably, a stator insertion slot is provided at one end of the stator and the extrusion rod, and a stator connector is provided on the stator insertion slot. The stator connector is used to connect with the extrusion rod.

[0010] A sealing plate is provided at one end where the rotor and the rotor connector are connected. The sealing plate has a rotor insertion slot for connecting with the rotor connector.

[0011] Preferably, the stator connector is hollow, and a snap-fit ​​strip is provided on the outer side of the stator connector for stable connection with the first housing. A stator insertion plate is provided on the inner side of the stator connector, and the outer dimensions of the stator insertion plate match the inner dimensions of the stator insertion slot.

[0012] Preferably, the first outer shell has a snap-fit ​​groove, the inner dimension of which matches the outer dimension of the snap-fit ​​strip.

[0013] Preferably, the first housing is provided with a first latching arm, and one end of the first latching arm is provided with a first latching block;

[0014] The second housing is provided with a second latching arm, and one end of the second latching arm is provided with a second latching block;

[0015] The first latching block and the second latching block are latched together, and the first latching arm and the second latching arm are in contact with each other.

[0016] Preferably, a rolling ring is provided in the contact gap between the first snap-fit ​​arm and the second snap-fit ​​block, and the first snap-fit ​​block and the second snap-fit ​​arm. A rotating roller is provided on the rolling ring, and the rotating roller reduces friction by rotating.

[0017] Preferably, the rotor connector further includes:

[0018] Connecting rods and mounting brackets;

[0019] The end of the plug rod near the rotor is connected to a bearing plate, and the bearing plate is provided with a rotor plug plate on the side near the rotor;

[0020] The mounting bracket is slidably provided with a mounting seat, and the outer side of the mounting bracket is provided with a connecting wing, and the connecting wing is provided with a second mounting hole;

[0021] The mounting base is provided with a spring mounting plate, and the side of the spring mounting plate away from the rotor is provided with an anti-compression spring;

[0022] The connector rod is inserted into the mounting base.

[0023] The extrusion rod is provided with a containment cavity, and both the containment cavity and the extrusion rod are provided with anti-compression springs.

[0024] Preferably, the mounting bracket has a snap-fit ​​plate on the side away from the rotor, and both the spring mounting plate and the snap-fit ​​plate have rotating holes;

[0025] The sealing plate is also provided with a rotor extension rod, which is inserted into and passes through the rotating hole. The rotor extension rod is provided with fan blades, and the snap-fit ​​plate is provided with a blower chamber.

[0026] Preferably, one end of the snap-fit ​​plate is provided with a filter screen, the filter screen is provided with a reinforcing beam, and the reinforcing beam is provided with a third mounting hole.

[0027] Preferably, the connecting frame is mounted on the rotor, and a first mounting hole is provided on one side of the connecting frame. The positions of the first mounting hole, the second mounting hole, and the third mounting hole are corresponding. Mounting rods are inserted into the first mounting hole, the second mounting hole, and the third mounting hole to limit the connection between the second housing and the rotor.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] The frameless motor reinforcement connection device of this humanoid robot forms a double limit between the first shell and the stator connector through a precision snap-fit ​​and plug-in structure, which effectively restricts the circumferential and radial displacement of the stator, significantly improves the coaxiality of the motor axis and the joint rotation axis, ensures no relative wobble between the stator and the shell, and greatly improves the connection accuracy.

[0030] The frameless motor reinforcement connection device of this humanoid robot, with the second shell and the first shell connected by a hook-and-loop roller structure, reduces relative rotational friction while limiting the radial clearance between the stator and rotor. Combined with the buffering effect of the anti-compression spring, it significantly reduces the vibration amplitude and noise level during power transmission, and significantly improves the smoothness and positioning accuracy of joint movement.

[0031] The frameless motor reinforcement connection device of this humanoid robot uses a snap-fit ​​and compression structure to eliminate the gap at the connection interface, avoiding the fatigue wear of components caused by traditional gaps. At the same time, the active cooling system reduces the operating temperature of the motor, effectively improving the fatigue resistance and overall service life of the frameless motor and joint components. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 For the present invention Figure 1 Enlarged structural diagram at point A;

[0034] Figure 3 This is a schematic diagram of the outer shell structure of the present invention;

[0035] Figure 4 For the present invention Figure 3 Enlarged structural diagram at point B;

[0036] Figure 5 This is a cross-sectional structural diagram of the outer shell structure of the present invention;

[0037] Figure 6 For the present invention Figure 5 Enlarged structural diagram at point C;

[0038] Figure 7 This is a schematic diagram of the structure of the rolling ring of the present invention;

[0039] Figure 8 For the present invention Figure 7 Enlarged structural diagram at point D;

[0040] Figure 9 This is a schematic diagram of the internal structure of the present invention;

[0041] Figure 10 For the present invention Figure 9 A schematic diagram of the structure with the blower chamber removed;

[0042] Figure 11 This is a schematic diagram showing the separation of the connector of the present invention;

[0043] Figure 12 This is a schematic diagram of the rotor connector of the present invention separated on the left side;

[0044] Figure 13 This is a schematic diagram on the right side showing the separation of the rotor connector of the present invention.

[0045] In the diagram: 1. First outer shell; 11. Snap-fit ​​groove; 12. First snap-fit ​​arm; 13. First snap-fit ​​block; 2. Second outer shell; 21. Robotic arm; 22. Second snap-fit ​​arm; 23. Second snap-fit ​​block; 24. Filter screen; 241. Reinforcing beam; 242. Third mounting hole; 3. Roller ring; 31. Rotary roller; 4. Stator connector; 41. Snap-fit ​​strip; 42. Stator insertion plate; 5. Extrusion rod; 51. Enclosing cavity; 6. Connecting frame; 61 7. First mounting hole; 7. Rotor connector; 71. Rotor plug plate; 72. Bearing plate; 73. Plug rod; 74. Mounting base; 75. Mounting bracket; 76. Connecting wing; 77. Second mounting hole; 78. Compression spring; 79. Spring mounting plate; 8. Stator; 81. Stator plug slot; 9. Rotor; 91. Sealing plate; 92. Rotor plug slot; 93. Rotor extension rod; 94. Fan blade; 10. Snap-fit ​​plate; 101. Blower chamber. Detailed Implementation

[0046] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Please see Figures 1-13 This invention provides a technical solution: a frameless motor reinforcement connection device for a humanoid robot, which is disposed on a stator 8 and a rotor 9. The stator 8 and rotor 9 rotate in coordination, enabling the joints of the humanoid robot to rotate. The device includes:

[0048] The first outer shell 1 serves as the torso connection shell for the humanoid robot and is mainly used to connect with the humanoid robot joint shell of the second outer shell 2. The first outer shell 1 is fitted onto the stator 8 and is used for the frameless motor. The first outer shell 1 has a snap-fit ​​groove 11, which is used to limit the stator connector 4. It works in conjunction with the snap-fit ​​strip 41 on the stator connector 4 to ensure the stability of the stator 8 in the first outer shell 1. The inner dimensions of the snap-fit ​​groove 11 and the outer dimensions of the snap-fit ​​strip 41 match. This design ensures that there is no gap between the snap-fit ​​strip 41 and the snap-fit ​​groove 11 when the snap-fit ​​groove 11 is inserted into the outer side of the snap-fit ​​strip 41.

[0049] The stator 8 and rotor 9 rotate in coordination to drive the joints of the humanoid robot. The first outer shell 1, serving as the torso connecting shell, connects to the joint shell of the second outer shell 2. It is fitted onto the outside of the stator 8 and engages with the locking strip 41 of the stator connector 4 via a locking groove 11. The inner side of the locking groove 11 matches the outer side of the locking strip 41, thus limiting the position of the stator connector 4 and stably fixing the stator 8 within the first outer shell 1. When the rotor 9 rotates relative to the stator 8, the first outer shell 1 transmits power to the joints through the connection structure with the second outer shell 2. The circumferential and radial displacement of the stator 8 is restricted by the engagement of the locking groove 11 and the locking strip 41, ensuring that there is no relative wobbling between the stator 8 and the first outer shell 1, thereby achieving close linkage between the stator 8, rotor 9, and joint shells.

[0050] Please see Figures 5-6The second outer shell 2 is fitted onto the rotor 9, which drives the second outer shell 2 to rotate. A robotic arm 21 is connected to the second outer shell 2, serving as part of the humanoid robot's limbs. The second outer shell 2 and the first outer shell 1 are interlocked without affecting the rotation between them, thus compressing the stator 8 and rotor 9 to ensure a stable connection. This compression reduces vibration during rotation and, under certain conditions, can also address the concentricity issue of the stator 8 and rotor 9. Both the first and second outer shells are also rotatable. The first outer shell 1 has a first locking arm 12 with a first locking block 13 at one end. The second outer shell 2 has... There is a second snap-fit ​​arm 22, and a second snap-fit ​​block 23 is provided at one end of the second snap-fit ​​arm 22. The first snap-fit ​​block 13 and the second snap-fit ​​block 23 snap-fit ​​each other. The snap-fit ​​method of the first snap-fit ​​arm 12 and the second snap-fit ​​arm 22 is a hook-and-hook snap-fit. This snap-fit ​​method can ensure the stability of the connection between the first outer shell 1 and the second outer shell 2. A roller ring 3 is provided in the contact gap between the first snap-fit ​​arm 12 and the second snap-fit ​​block 23, and the first snap-fit ​​block 13 and the second snap-fit ​​arm 22. A rotating roller 31 is provided on the roller ring 3. The rotating roller 31 reduces friction. The inner and outer sides of the roller ring 3 are provided with rotating rollers 31. The rotating roller 31 can reduce the friction generated by the rotation of the connection between the first outer shell 1 and the second outer shell 2 by rotating. In actual use, industrial grease needs to be applied to the roller ring 3 to further reduce the friction between the first outer shell 1 and the second outer shell 2.

[0051] The second outer shell 2 is fitted onto the outside of the rotor 9, and is driven to rotate by the rotor 9 and connected to the robotic arm 21. The first outer shell 1 and the second outer shell 2 are hooked together by the first hooking block 13 of the first hooking arm 12 and the second hooking block 23 of the second hooking arm 22. A rolling ring 3 is provided in the contact gap. The inner and outer rollers 31 of the rolling ring 3 reduce friction by rotating, and the rolling ring 3 is coated with a lubricating medium to further reduce resistance. The snap-fit ​​structure restricts the radial displacement of the stator 8 and the rotor 9 while allowing the first outer shell 1 and the second outer shell 2 to rotate relative to each other. The rotational power of the rotor 9 is transmitted to the robotic arm 21 through the second outer shell 2. The stator 8 is fixed by the first outer shell 1. The two are aligned and stably connected by the snap-fit ​​of the outer shells, forming a linkage structure in which the stator 8 is fixed and the rotor 9 drives the second outer shell 2 to rotate.

[0052] Please see Figures 9-11 The extrusion rod 5 is located at one end of the stator 8 and is used to cooperate with the first housing 1 to extrude the stator 8 towards the rotor 9. The extrusion rod 5 is provided with a containment cavity 51, and both the containment cavity 51 and the extrusion rod 5 are provided with an anti-compression spring 78.

[0053] The rotor connector 7 is located at one end of the rotor 9 and is connected by a plug-in connection. This ensures that the rotor connector 7 can rotate with the rotor 9 and compress the rotor 9 towards the stator 8. The rotor connector 7 includes a compression spring 78. When the first outer shell 1 and the second outer shell 2 are tightly connected, the space inside the first outer shell 1 and the second outer shell 2 is insufficient for the stator connector 4 and the rotor connector 7 to fully extend. The rotor connector 7 will be compressed by the second outer shell 2, thereby driving the rotor 9 to move towards the stator 8 and compressing the stator 8 and the rotor 9 tightly. The rotor 9 will also rebound force against the rotor connector 7. At this time, the compression spring 78 will be retracted by the reaction force, adapting to the pressure of the first outer shell 1 and the second outer shell 2 on the stator 8 and the rotor 9, and is used to relieve the hard compression on the rotor 9.

[0054] Please see Figure 11 The stator 8 and the end connected to the extrusion rod 5 are provided with a stator insertion slot 81. The stator insertion slot 81 is used to cooperate with the stator insertion plate 42 provided on the inner side of the stator connector 4 for insertion, so that the stator connector 4 can connect and fix the stator 8. The stator insertion slot 81 is provided with a stator connector 4, which is used to connect with the extrusion rod 5. The extrusion rod 5 is used to relieve the extrusion of the stator 8 by the first outer shell 1. The extrusion rod 5 can retract into the containment cavity 51. The containment cavity 51 is also provided with an anti-compression spring 78, so as to achieve the retraction effect and maintain the pressure on the stator 8. A sealing plate 91 is provided on one end of the rotor 9 and the rotor connector 7. The sealing plate 91 is used to limit the stator 8. A turntable is provided on the side of the sealing plate 91 near the stator 8 to prevent friction from occurring on the stator 8 when the rotor 9 rotates. Since the turntable on the sealing plate 91 is inside the rotor 9, it is not explicitly shown in the attached drawings of the specification. The sealing plate 91 is provided with rotor insertion slots 92. The rotor insertion slots 92 are used to cooperate with the insertion of the rotor connector 7. They are used to connect with the rotor connector 7. The specific number is four, which is the same as the number of rotor insertion plates 71.

[0055] The stator connector 4 is hollow, which is used to fully enclose the stator 8, thereby ensuring further control over the vibration of the stator 8. The stator connector 4 has a snap-fit ​​strip 41 on its outer side, which is inserted into the stator insertion slot 81 to connect the stator connector 4 and the stator 8, and to stably connect with the first housing 1. The stator connector 4 has a stator insertion plate 42 on its inner side. The outer dimensions of the stator insertion plate 42 match the inner dimensions of the stator insertion slot 81. When the stator insertion plate 42 is inserted into the stator insertion slot 81, the stator connector 4 wraps around the stator 8, thereby better limiting the position of the stator 8.

[0056] Please see Figures 12-13The rotor connector 7 also includes a plug rod 73 and a mounting bracket 75. A support plate 72 is connected to one end of the plug rod 73 near the rotor 9. The support plate 72 supports the rotor plug plate 71. The outer dimensions of the rotor plug plate 71 match the inner dimensions of the rotor plug slot 92. The rotor plug plate 71 is located on the side of the support plate 72 near the rotor 9. A mounting seat 74 is slidably provided in the mounting bracket 75. The mounting seat 74 accommodates the plug rod 73. The plug rod 73 and the mounting seat 74 are designed to connect via a plug-in method, facilitating subsequent maintenance and installation. A connecting wing 76 is provided on the outer side of the mounting bracket 75. The connecting wing 76 is used by the second housing 2 to limit the rotor connector 7, ensuring that when the rotor 9 drives the rotor connector 7 to rotate... When the rotor 9 rotates, it can synchronously drive the second outer shell 2 to rotate. The connecting wing 76 has a second mounting hole 77. The second mounting hole 77 is used to connect the second outer shell 2, the rotor connector 7 and the rotor 9 into a whole. When the rotor 9 rotates, it can synchronously drive the rotor connector 7 and the second outer shell 2 to rotate. The mounting base 74 has a spring mounting plate 79. The spring mounting plate 79 is used to place the anti-compression spring 78 in the mounting bracket 75. The anti-compression spring 78 is provided on the side of the spring mounting plate 79 away from the rotor 9. The anti-compression spring 78 is used to relieve the pressure applied by the second outer shell 2 to the rotor 9 through the rotor connector 7. The anti-compression spring 78 is used to relieve and continuously release this pressure. The plug rod 73 is inserted into the mounting base 74.

[0057] The rotor connector 7 is connected to the rotor 9 via a plug-in rod 73, a bearing plate 72, and a rotor plug-in plate 71. The rotor plug-in plate 71 is sized to fit the rotor plug-in slot 92 for a secure fit. The mounting base 74 inside the mounting bracket 75 is plugged into the plug-in rod 73 for easy disassembly and maintenance. The connecting wing 76 on the outer side of the mounting bracket 75 has a second mounting hole 77, which is fixed and limited to the second housing 2 to ensure that the rotor connector 7 and the second housing 2 rotate synchronously when the rotor 9 rotates. The spring mounting plate 79 inside the mounting base 74 is fitted with a compression spring 78 to buffer the pressure transmitted from the second housing 2 to the rotor 9 via the rotor connector 7 and to continuously release the buffer force, ensuring the stability of the connection structure and realizing the power linkage transmission between the rotor 9, the rotor connector 7, and the second housing 2.

[0058] A snap-fit ​​plate 10 is provided on the side of the mounting bracket 75 away from the rotor 9. The snap-fit ​​plate 10 has ventilation holes to allow the fan blades 94 to rotate as driven by the rotor 9, thus blowing air into the second housing 2 to cool the rotor 9 and stator 8, thereby increasing the operating time of the stator 8 and rotor 9. Both the spring mounting plate 79 and the snap-fit ​​plate 10 have rotating holes for inserting the rotor extension rod 93, extending the fan blades 94 to one end near the second housing 2. The sealing plate 91 also has a rotor extension rod 93, which inserts into and passes through the rotating holes. The rotor extension rod 93 has fan blades 94 mounted on it. The snap-fit ​​plate 10 has a blower chamber 101 for... To protect the fan blade 94, the blower chamber 101 is wrapped around the fan blade 94. One end of the snap-fit ​​plate 10 is provided with a filter screen 24. The filter screen 24 is used to filter foreign objects, and its gaps do not affect the airflow. When the fan blade 94 rotates, it will draw the airflow outside the second outer shell 2 into the second outer shell 2. The filter screen 24 is provided with a reinforcing beam 241. The reinforcing beam 241 is used to strengthen the connection between the blower chamber 101 and the second outer shell 2, and also to support the third mounting hole 242. The reinforcing beam 241 is provided with a third mounting hole 242. A threaded rod is inserted into the third mounting hole 242 and finally connected to the first mounting hole 61 on the connecting frame 6 through the second mounting hole 77.

[0059] Please see Figures 9-10 A snap-fit ​​plate 10 is installed on the side of the mounting bracket 75 away from the rotor 9, with ventilation holes, which work in conjunction with the fan blades 94 driven by the rotor 9 to blow air. The rotor extension rod 93 passes through the rotating holes of the spring mounting plate 79 and the snap-fit ​​plate 10, extending the fan blades 94 to one end near the second housing 2. The blower chamber 101 of the snap-fit ​​plate 10 encloses the fan blades 94 for protection, and the filter screen 24 at one end filters foreign objects while ensuring airflow. The rotation of the fan blades 94 draws external airflow into the second housing 2 to cool the rotor 9 and stator 8. The reinforcing beam 241 of the filter screen 24 has a third mounting hole 242. A threaded rod passes through the second mounting hole 77 and the first mounting hole 61 in sequence to achieve a fixed connection between the snap-fit ​​plate 10, the rotor connector 7, and the connecting bracket 6, ensuring the stability of the overall structure while cooling and dissipating heat.

[0060] The connecting frame 6 is mounted on the rotor 9, and the connecting frame 6 and the rotor 9 are fixedly connected. The connecting frame 6 is provided with cooling holes to allow the rotor 9 to dissipate heat without affecting the normal use of the rotor 9. A first mounting hole 61 is provided on one side of the connecting frame 6. The first mounting hole 61 ensures the final connection position of the threaded rod. The opening positions of the first mounting hole 61, the second mounting hole 77, and the third mounting hole 242 are corresponding to ensure that the threaded rod can pass through the second mounting hole 77. Mounting rods are inserted into the first mounting hole 61, the second mounting hole 77, and the third mounting hole 242 to limit the connection between the second housing 2 and the rotor 9 and enhance the stability of the connection between the second housing 2 and the rotor 9.

[0061] Please see Figure 11 The connecting frame 6 is fixed to the rotor 9. Its cooling holes allow the rotor 9 to dissipate heat without affecting its operation. The first mounting hole 61 on one side corresponds to the second mounting hole 77 on the rotor connector 7 and the third mounting hole 242 on the reinforcing beam 241 of the snap-fit ​​plate 10. The mounting rod passes through the third mounting hole 242 and the second mounting hole 77 in sequence and is then inserted into the first mounting hole 61. Through the cooperation of multiple component holes, the second outer shell 2, the rotor connector 7 and the rotor 9 are connected in a limiting manner, which enhances the connection stability between the second outer shell 2 and the rotor 9 and ensures the structural stability during power transmission.

[0062] When using the frameless motor reinforcement connection device for the humanoid robot: the first outer shell 1 is fitted onto the stator 8, and axial and radial positioning is achieved through precise dimensional matching between the inner wall snap-fit ​​groove 11 and the snap-fit ​​strip 41 of the stator connector 4. At the same time, the stator insertion plate 42 on the inner side of the stator connector 4 is inserted into the stator insertion slot 81 of the stator 8, stably fixing the stator 8 inside the first outer shell 1. The second outer shell 2 is fitted onto the rotor 9, and the rotor insertion plate 71 of its rotor connector 7 is inserted into the rotor insertion slot 92 of the rotor 9 to form a rigid connection. The outer connecting wing 76 is fixed to the second outer shell 2 through the second mounting hole 77, so that the rotor 9 rotates synchronously to drive the second outer shell 2 and the robotic arm 21. The first outer shell 1 and the second outer shell 2 are hooked together by the first snap-fit ​​block 13 of the first snap-fit ​​arm 12 and the second snap-fit ​​block 23 of the second snap-fit ​​arm 22. The inner and outer rollers 31 of the rolling ring 3 in the snap-fit ​​gap are reduced by rotation and industrial grease lubrication. Friction allows the two to rotate relative to each other while limiting the radial displacement of the stator 8 and rotor 9 through snap-fit ​​compression, thus calibrating concentricity. The compression rod 5 and the anti-compression spring 78 in the rotor connector 7 respectively buffer the hard compression of the outer shell on the stator and rotor, and continuously release pressure through elastic deformation to maintain connection stability. The rotor extension rod 93 of the rotor 9 passes through the rotating hole of the spring mounting plate 79 and the snap-fit ​​plate 10, driving the fan blade 94 to rotate in the blower chamber 101. The external airflow is drawn into the second outer shell 2 through the ventilation hole of the snap-fit ​​plate 10 and the filter screen 24 to cool the stator and rotor. The reinforcing beam 241 of the filter screen 24 is aligned with the first mounting hole 61 of the connecting frame 6 through the third mounting hole 242, the second mounting hole 77 of the rotor connector 7, and the mounting rod is used to connect them, enhancing the connection stability between the second outer shell 2 and the rotor 9. Finally, a linkage structure with "stator fixed and rotor driving the outer shell to rotate" and heat dissipation and vibration reduction functions is formed.

[0063] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A frameless motor reinforcement connection device for a humanoid robot, which is provided on a stator (8) and a rotor (9), characterized in that, The utility model relates to a kind of motor, including: First shell (1), the first shell (1) is sleeved to the stator (8) outside; Second shell (2), the second shell (2) is sleeved to the rotor (9) outside, and with the first shell (1) is mutually clamped, the stator (8) and the rotor (9) are extruded, and the first shell (1) and the second shell (2) can also rotate; Extrusion rod (5), which is provided at one end of the stator (8), is used to cooperate with the first shell (1) to extrude the stator (8) towards the rotor (9); Rotor connector (7), the rotor connector (7) is provided at one end of the rotor (9), and is used to extrude the rotor (9) towards the stator (8). The rotor connector (7) includes a compression spring (78) for relieving the hard extrusion on the rotor (9). The first shell (1) is provided with a first clamping arm (12), one end of the first clamping arm (12) is provided with a first clamping block (13); The second shell (2) is provided with a second clamping arm (22), one end of the second clamping arm (22) is provided with a second clamping block (23); The first clamping block (13) and the second clamping block (23) are clamped with each other, and the first clamping arm (12) and the second clamping arm (22) are clamped with each other; The first clamping arm (12) and the second clamping block (23), and the first clamping block (13) and the second clamping arm (22) are clamped with each other. A rolling ring (3) is arranged in the contact gap. The rolling ring (3) is provided with a rotating roller (31). The rotating roller (31) rotates to reduce friction.

2. The frameless motor reinforcement connection device of a humanoid robot according to claim 1, characterized in that: The stator (8) and the extrusion rod (5) are connected at one end, and a stator insertion slot (81) is formed. The stator insertion slot (81) is provided with a stator connector (4) for connecting with the extrusion rod (5). The rotor (9) and the rotor connector (7) are connected at one end, and a rotor insertion slot (92) is formed on the sealing plate (91) for connecting with the rotor connector (7).

3. The frameless motor reinforcement connection device of a humanoid robot according to claim 2, characterized in that: The stator connector (4) is hollow. The stator connector (4) is provided with a clamping strip (41) on the outside for stable connection with the first shell (1). The stator connector (4) is provided with a stator insertion plate (42) on the inside. The outside dimension of the stator insertion plate (42) matches the inside dimension of the stator insertion slot (81).

4. The frameless motor reinforcement connection device of a humanoid robot according to claim 3, characterized in that: The first shell (1) is provided with a clamping slot (11). The inside dimension of the clamping slot (11) matches the outside dimension of the clamping strip (41).

5. The frameless motor reinforcement connection device of a humanoid robot according to claim 2, characterized in that: The rotor connector (7) further includes: An insertion rod (73) and a mounting bracket (75); The insertion rod (73) is connected with a bearing plate (72) at one end close to the rotor (9). The bearing plate (72) is provided with a rotor insertion plate (71) on the side close to the rotor (9); The mounting bracket (75) is provided with a connecting wing (76) on the outside. The connecting wing (76) is provided with a second mounting hole (77). The mounting seat (74) is provided with a spring mounting plate (79), and a compression spring (78) is arranged on the side of the spring mounting plate (79) away from the rotor (9); The plug-in rod (73) is plugged into the mounting seat (74); The extrusion rod (5) is provided with an accommodation cavity (51), and the accommodation cavity (51) and the extrusion rod (5) are provided with a compression spring (78) therein.

6. The frameless motor reinforcement connection device of a humanoid robot according to claim 5, characterized in that: The mounting frame (75) is provided with a clamping plate (10) on the side away from the rotor (9), and the spring mounting plate (79) and the clamping plate (10) are both provided with a rotating hole; The sealing plate (91) is further provided with a rotor extension rod (93), the rotor extension rod (93) is plugged into and passes through the rotating hole, the rotor extension rod (93) is provided with a fan blade (94), and the clamping plate (10) is provided with a blowing warehouse (101).

7. The frameless motor reinforcement connection device of a humanoid robot according to claim 6, characterized in that: One end of the clamping plate (10) is provided with a filter screen (24), the filter screen (24) is provided with a reinforcing beam (241), and the reinforcing beam (241) is provided with a third mounting hole (242).

8. The frameless motor reinforcement connection device of a humanoid robot according to claim 7, characterized in that: The connecting frame (6) is arranged on the rotor (9), one side of the connecting frame (6) is provided with a first mounting hole (61), the first mounting hole (61) corresponds to the positions where the second mounting hole (77) and the third mounting hole (242) are arranged, and the first mounting hole (61), the second mounting hole (77) and the third mounting hole (242) are plugged with mounting rods, which are used for limiting and positioning the connection between the second shell (2) and the rotor (9).

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