Double-stator permanent magnet motor driving unit of modular robot joint

Abstract

The invention belongs to the technical field of motors, and particularly relates to a double-stator permanent magnet motor driving unit of a modular robot joint, which comprises a shell and an end cover which are detachably fixed, an outer stator, a rotor and an inner stator are mounted in the shell, the rotor is positioned between the outer stator and the inner stator, and a motor shaft is jointly and rotationally connected between the shell and the end cover. The motor shaft is fixedly connected with the rotor through the rotor support. In the invention, the inner and outer double-stator design is adopted, the heavy high torque output at the inner stator side is suitable for low-speed heavy-load operation and heavy high-speed operation at the outer stator side (suitable for light-load high-speed), and the dynamic switching of dynamic characteristics is realized through independent winding control. Compared with a traditional single-stator motor, the design can cover a wider working range, diversified load requirements of robot joints can be met without an external gearbox, the energy efficiency is remarkably improved, and the mechanical complexity is reduced.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to a dual-stator permanent magnet motor drive unit for a modular robot joint. Background Technology

[0002] Humanoid robots are robots with appearances and functions similar to humans. Currently, humanoid robots are gradually moving from science fiction into reality, becoming one of the hottest research topics in the field of robotics. Numerous companies and research institutions both domestically and internationally are actively investing in the research and development and application of humanoid robots. Humanoid robots have broad application prospects in manufacturing, service industries, healthcare, education, and other fields. In today's rapidly developing robotics technology, the performance of robot joint drive motors plays a crucial role in the overall performance of robots. Traditional single-stator permanent magnet motors, due to structural limitations, struggle to balance high speed and high torque output. When faced with the diverse load requirements of robot joints, they often require external gearboxes for adaptation. This not only increases mechanical complexity but also leads to reduced energy efficiency and increased costs. Furthermore, the complex mechanical structure increases the risk of failure, limiting the robot's working range and operational efficiency. Summary of the Invention

[0003] Based on the technical problems existing in the prior art, this invention proposes a modular robot joint dual-stator permanent magnet motor drive unit.

[0004] This invention proposes a modular robot joint dual-stator permanent magnet motor drive unit, comprising a detachable and fixed outer shell and end caps. An outer stator, a rotor, and an inner stator are installed within the outer shell, with the rotor located between the outer and inner stators. A motor shaft is rotatably connected between the outer shell and the end caps, and the motor shaft is fixedly connected to the rotor via a rotor bracket. The dual-stator design prioritizes high torque output, suitable for low-speed, heavy-load operation, while the outer stator prioritizes high-speed operation (suitable for light-load, high-speed operation). Dynamic switching of power characteristics is achieved through independent winding control. Compared to traditional single-stator motors, this design covers a wider operating range, adapts to diverse load requirements of robot joints without the need for an external gearbox, significantly improves energy efficiency, and reduces mechanical complexity.

[0005] Preferably, a cover is fixedly connected to the tail end of the outer casing, a horizontal plate is fixedly connected inside the cover, and a fan blade is rotatably connected to the horizontal plate. A docking sleeve is fitted onto the tail end of the motor shaft, and the docking sleeve is slidably connected to the motor shaft through a sliding groove. An electric actuator located inside the cover is also fixedly connected to the tail end of the outer casing. The output shaft of the electric actuator is fixedly connected to a disc that is slidably connected to the end of the docking sleeve. The end of the fan blade is provided with a docking structure for docking with the docking sleeve. When heat dissipation is required, the electric actuator drives the docking sleeve to move closer to the fan blade through the output shaft. Then, the docking sleeve docks with the fan blade through the docking structure. In this way, the motor shaft will synchronously drive the fan blade to rotate through the docking structure to dissipate heat from the motor.

[0006] Preferably, a temperature sensor is installed inside the housing, and a controller is installed inside the cover. The temperature sensor is electrically connected to the controller, and the controller is electrically connected to the electric actuator. When the temperature sensor detects that the internal temperature of the motor reaches a set threshold, it sends the information to the controller. After processing the information, the controller generates a heat dissipation signal, which then sends a command to the electric actuator. The electric actuator then drives the docking sleeve and the fan blade to dock, thereby realizing automatic control of heat dissipation.

[0007] Preferably, the docking structure includes a docking disc fitted inside a sliding groove at the end of the fan blade. The outer circumference of the docking disc is provided with a pair of protrusions that can be inserted into the sliding groove. One end of the docking disc is fixedly connected to a pair of guide posts that pass through the fan blade. A spring is fitted on the guide posts, and the two ends of the spring are fixedly connected to the fan blade and the docking disc, respectively. When the docking sleeve and the docking disc just come into contact, the protrusions and the sliding groove on the docking sleeve are not aligned. Then the docking sleeve will continue to push the docking disc against the docking disc and push the docking disc to move together, so that the spring is compressed. At the same time, the docking sleeve continues to rotate. When the docking sleeve rotates until the sliding groove is aligned with the protrusion, the compressed spring will push the docking disc, so that the protrusion is inserted into the sliding groove to achieve docking. Then the docking sleeve can drive the fan blade to rotate through the docking disc.

[0008] Preferably, the docking structure includes a pair of docking blocks embedded in the ends of the fan blades and capable of being inserted into corresponding grooves. A fixing frame is fixedly connected to the end of the fan blade, and two guide rods are inserted into the end cap. The two guide rods are fixedly connected to the corresponding docking blocks, and springs are sleeved on the guide rods. The two ends of springs are fixedly connected to the fixing frame and the docking blocks, respectively. When the docking sleeve and the docking blocks just come into contact, the grooves on the docking blocks and the docking sleeve are not aligned. Then, the docking sleeve will press against the docking blocks through the inclined surface on the docking blocks, causing springs to be compressed. At the same time, the docking sleeve continues to rotate. When the docking sleeve rotates until the grooves are aligned with the docking blocks, the compressed springs will push the docking blocks, causing the docking blocks to insert into the grooves to achieve docking. Then, the docking sleeve can drive the fan blades to rotate through the docking blocks.

[0009] Preferably, a sealing plate is provided at the end of the cover away from the outer shell. The inner side of the sealing plate is provided with a central column that penetrates into the center of the fan blade. The central column is connected to the docking structure through a transmission assembly. The sealing plate is inserted into the cover through multiple inserts. When the docking sleeve is not docked with the fan blade, the sealing plate closes the end opening of the cover to prevent dust and other particles from entering the robot's joints and motor. When the docking sleeve docks with the fan blade, the sealing plate is pushed outward through the transmission assembly, and the end opening of the sealing plate opens, allowing for normal heat dissipation.

[0010] Preferably, the transmission assembly includes a T-shaped column fixedly connected to the docking plate, and the other end of the T-shaped column is rotatably connected to the central column; when the docking sleeve and the fan blade dock, the docking plate will synchronously drive the T-shaped column to move, and then the T-shaped column will push the sealing plate outward through the central column to open the end opening of the sealing plate.

[0011] Preferably, the transmission assembly includes a T-shaped rod, one end of which is rotatably connected to a pair of connecting rods, the other ends of which are rotatably connected to corresponding docking blocks, and the other end of the T-shaped rod is rotatably connected to a central column. When the docking sleeve and the fan blade dock, the two docking blocks will push the T-shaped rod through the connecting rods, and then the T-shaped rod will push the sealing plate outward through the central column, opening the end opening of the sealing plate.

[0012] Preferably, the stator windings on the outer and inner stators support both physical and electrical reconfiguration: physically, winding modules can be replaced via quick-release interfaces (e.g., series / parallel topology switching); electrically, the excitation mode can be dynamically adjusted via an H-bridge circuit (e.g., square wave / sine wave drive). Users can quickly switch motor parameters according to task requirements (e.g., high torque for handling mode, high precision for assembly mode), achieving "one machine for multiple uses" and reducing hardware redundancy costs of robot joints.

[0013] Preferably, the outer stator switches to generator mode during braking or deceleration to recover kinetic energy and supply it to the inner stator or energy storage unit, thereby improving the system's energy utilization rate. In addition, a micro solar film (suitable for outdoor robots) is integrated at the rotor end to power the sensors during standby, achieving energy self-sufficiency.

[0014] Compared with the prior art, the present invention provides a modular robot joint dual-stator permanent magnet motor drive unit, which has the following advantages: 1. A modular robot joint dual-stator permanent magnet motor drive unit, which adopts an inner and outer dual-stator design. The inner stator focuses on high torque output to adapt to low-speed heavy-load scenarios, while the outer stator focuses on high-speed operation to meet the needs of light-load high-speed operation. The dynamic switching of power characteristics is achieved through independent winding control. It can cover a wider working range without the need for an external gearbox, significantly improve energy efficiency, and reduce mechanical complexity. Compared with traditional single-stator motors, it can enable robot joints to maintain efficient and stable operation under different working conditions.

[0015] 2. A modular robot joint dual-stator permanent magnet motor drive unit, through the cooperation of components such as temperature sensor, controller, electric actuator, docking sleeve and fan blade, realizes automatic heat dissipation control. When the motor temperature reaches the set threshold, the heat dissipation device is automatically activated to ensure that the motor works at a suitable temperature and extend the service life of the motor. The sealing plate is linked with the docking structure to close the opening at the end of the cover in the non-heat dissipation state to prevent dust and other objects from entering and improve the protection performance of the motor and robot joint.

[0016] 3. A modular robot joint dual-stator permanent magnet motor drive unit, wherein the stator windings on the outer stator and inner stator support physical / electrical dual reconfiguration. Physically, the topology can be switched by replacing the winding module through a quick-release interface. Electrically, the excitation mode is dynamically adjusted by using an H-bridge circuit. Users can quickly switch motor parameters according to task requirements to achieve "one machine for multiple uses", reduce the hardware redundancy cost of the robot joint, and improve equipment utilization and economy.

[0017] 4. A modular robot joint dual-stator permanent magnet motor drive unit, wherein the outer stator can switch to generator mode when braking or decelerating, recovering kinetic energy to supply the inner stator or energy storage unit, thereby improving the system's energy utilization rate; the micro solar film integrated at the rotor end is suitable for outdoor robots, powering sensors when in standby mode, achieving energy self-sufficiency, reducing dependence on external power sources, and enhancing the robot's endurance and operational independence in complex environments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a dual-stator permanent magnet motor drive unit for a modular robot joint proposed in Embodiment 1 of the present invention. Figure 2 This is a schematic diagram showing the outer stator, rotor, and inner stator of a modular robot joint dual-stator permanent magnet motor drive unit proposed in this invention. Figure 3 This is a partial structural schematic diagram of a dual-stator permanent magnet motor drive unit for a modular robot joint proposed in Embodiment 2 of the present invention; Figure 4 For the present invention Figure 3 A magnified structural diagram at point A; Figure 5 This is a schematic diagram of the installation structure between the motor shaft and the docking sleeve of a dual-stator permanent magnet motor drive unit for a modular robot joint proposed in this invention. Figure 6 This is a partial structural schematic diagram of a dual-stator permanent magnet motor drive unit for a modular robot joint proposed in Embodiment 2 of the present invention; Figure 7 For the present invention Figure 6A magnified structural diagram at point B; Figure 8 For the present invention Figure 6 A magnified structural diagram at point C; Figure 9 This is a system block diagram of a dual-stator permanent magnet motor drive unit for a modular robot joint proposed in this invention.

[0019] In the diagram: 1. Outer shell; 2. End cover; 3. Motor shaft; 4. Outer stator; 5. Rotor; 6. Inner stator; 7. Rotor support; 8. Cover; 9. Horizontal plate; 10. Fan blade; 11. Electric actuator; 12. Slide groove; 13. Connecting sleeve; 14. Disc; 15. Connecting plate; 16. Slide opening; 17. Guide post; 18. Spring 1; 19. Connecting block; 20. Fixing frame; 21. Guide rod; 22. Spring 2; 23. Sealing plate; 24. Insert rod; 25. Center post; 26. T-shaped post; 27. T-shaped rod; 28. Connecting rod; 29. ​​Temperature sensor; 30. Controller. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] Reference Figures 1-2 In Embodiment 1, a modular robot joint dual-stator permanent magnet motor drive unit includes a detachable and fixed outer shell 1 and an end cap 2. An outer stator 4, a rotor 5 and an inner stator 6 are installed inside the outer shell 1. The rotor 5 is located between the outer stator 4 and the inner stator 6. A motor shaft 3 is rotatably connected between the outer shell 1 and the end cap 2. The motor shaft 3 is fixedly connected to the rotor 5 through a rotor bracket 7. In use, it adopts an inner and outer dual-stator design. The inner stator 6 focuses on high torque output, suitable for low-speed heavy loads, while the outer stator 4 focuses on high-speed operation (suitable for light loads and high speeds). Dynamic switching of power characteristics is achieved through independent winding control. Compared with traditional single-stator motors, this design can cover a wider working range, adapt to the diverse load requirements of robot joints without the need for an external gearbox, significantly improve energy efficiency and reduce mechanical complexity.

[0023] In addition, the stator windings on the outer stator 4 and inner stator 6 support both physical and electrical reconfiguration: physically, winding modules can be replaced via quick-release interfaces (e.g., series / parallel topology switching); electrically, the excitation mode can be dynamically adjusted via an H-bridge circuit (e.g., square wave / sine wave drive). Users can quickly switch motor parameters according to task requirements (e.g., high torque for handling mode, high precision for assembly mode), achieving "one machine for multiple uses" and reducing hardware redundancy costs of robot joints.

[0024] In addition, the outer stator 4 switches to generator mode when braking or decelerating, recovering kinetic energy and supplying it to the inner stator or energy storage unit, thereby improving the system's energy utilization rate. Furthermore, the rotor 5 integrates a micro solar film (suitable for outdoor robots) at its end, which powers sensors (including but not limited to the temperature sensor proposed in this application) when in standby mode, achieving energy self-sufficiency.

[0025] In Example 2, refer to Figures 3-8 The tail end of the outer shell 1 is fixedly connected to a cover 8, a horizontal plate 9 is fixedly connected inside the cover 8, and a fan blade 10 is rotatably connected to the horizontal plate 9. The tail end of the motor shaft 3 is fitted with a docking sleeve 13, and the docking sleeve 13 is slidably connected to the motor shaft 3 through a sliding groove 12. The tail end of the outer shell 1 is also fixedly connected to an electric push rod 11 located inside the cover 8. The output shaft of the electric push rod 11 is fixedly connected to a disc 14 that is slidably connected to the end of the docking sleeve 13. The end of the fan blade 10 is provided with a docking structure for docking with the docking sleeve 13. When heat dissipation is required, the electric actuator 11 drives the docking sleeve 13 to move closer to the fan blade 10 via the output shaft. Then, the docking sleeve 13 docks with the fan blade 10 through the docking structure. In this way, the motor shaft 3 will synchronously drive the fan blade 10 to rotate through the docking structure, thereby dissipating heat from the motor.

[0026] Reference Figure 3 and Figure 9 The outer casing 1 is equipped with a temperature sensor 29 (including but not limited to a platinum resistance temperature sensor), and the casing 8 is equipped with a controller 30. The temperature sensor 29 is electrically connected to the controller 30, and the controller 30 is electrically connected to the electric push rod 11. In use, when the temperature sensor 29 detects that the internal temperature of the motor has reached the set threshold, it will send the information to the controller 30. After processing the information, the controller 30 will generate a heat dissipation signal and then send a command to the electric actuator 11. The electric actuator 11 will drive the docking sleeve 13 and the fan blade 10 to dock, thereby realizing automatic control of heat dissipation.

[0027] Furthermore, a sealing plate 23 is provided at the end of the cover 8 away from the outer shell 1. A central column 25 is provided on the inner side of the sealing plate 23 and passes through the center of the fan blade 10. The central column 25 is connected to the docking structure through a transmission component. The sealing plate 23 is inserted into the cover 8 through multiple insert rods 24. When the docking sleeve 13 is not docked with the fan blade 10, the sealing plate 23 closes the end opening of the cover 8 to prevent dust and other particles from entering the robot's joints and motor. When the docking sleeve 13 docks with the fan blade 10, the transmission assembly pushes the sealing plate 23 outward, opening the end opening of the sealing plate 23, allowing for normal heat dissipation.

[0028] In one embodiment, the docking structure includes a docking plate 15 fitted inside a sliding opening 16 at the end of the fan blade 10. The outer circumferential wall of the docking plate 15 is provided with a pair of protrusions that can be inserted into the sliding groove 12. One end of the docking plate 15 is fixedly connected to a pair of guide posts 17 that pass through the fan blade 10. A spring 18 is fitted on the guide post 17. The two ends of the spring 18 are fixedly connected to the fan blade 10 and the docking plate 15, respectively. In use, when the docking sleeve 13 and the docking plate 15 just come into contact, the protrusion and the sliding groove 12 on the docking sleeve 13 are not aligned. Then the docking sleeve 13 will continue to press against the docking plate 15 and push the docking plate 15 to move together, so that the spring 18 is compressed. At the same time, the docking sleeve 13 continues to rotate. When the docking sleeve 13 rotates until the sliding groove 12 is aligned with the protrusion, the compressed spring 18 will push the docking plate 15, so that the protrusion is inserted into the sliding groove 12 to achieve docking. Then the docking sleeve 13 can drive the fan blade 10 to rotate through the docking plate 15.

[0029] In this embodiment, the transmission assembly includes a T-shaped column 26 fixedly connected to the docking plate 15, and the other end of the T-shaped column 26 is rotatably connected to the central column 25; When the docking sleeve 13 and the fan blade 10 are docked, the docking plate 15 will drive the T-shaped column 26 to move synchronously. Then, the T-shaped column 26 will push the sealing plate 23 outward through the central column 25, opening the end opening of the sealing plate 23.

[0030] In another embodiment, the docking structure may also include a pair of docking blocks 19 embedded in the end of the fan blade 10 and capable of being inserted into the corresponding slide groove 12. The end of the fan blade 10 is fixedly connected to a fixing frame 20. Two guide rods 21 are inserted into the end cap 2. The two guide rods 21 are fixedly connected to the corresponding docking blocks 19 respectively. A second spring 22 is sleeved on the guide rod 21. The two ends of the second spring 22 are fixedly connected to the fixing frame 20 and the docking blocks 19 respectively. In use, when the docking sleeve 13 and the docking block 19 first come into contact, the sliding groove 12 on the docking block 19 and the docking sleeve 13 are not aligned. Then, the docking sleeve 13 will press against the docking block 19 through the inclined surface on the docking block 19, causing the second spring 22 to be compressed. At the same time, the docking sleeve 13 continues to rotate. When the docking sleeve 13 rotates until the sliding groove 12 is aligned with the docking block 19, the compressed second spring 22 will push the docking block 19, causing the docking block 19 to insert into the sliding groove 12 to achieve docking. Then, the docking sleeve 13 can drive the fan blade 10 to rotate through the docking block 19.

[0031] In this embodiment, the transmission assembly includes a T-shaped rod 27, one end of which is rotatably connected to a pair of connecting rods 28, the other end of which is rotatably connected to a corresponding docking block 19, and the other end of the T-shaped rod 27 is rotatably connected to a central column 25. When the connecting sleeve 13 and the fan blade 10 are connected, the two connecting blocks 19 will push the T-shaped rod 27 through the connecting rod 28, and then the T-shaped rod 27 will push the sealing plate 23 outward through the central column 25, opening the end opening of the sealing plate 23.

[0032] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A modular robot joint dual-stator permanent magnet motor drive unit, comprising a detachably fixed outer shell (1) and an end cap (2), characterized in that, The outer stator (4), rotor (5) and inner stator (6) are installed inside the outer casing (1). The rotor (5) is located between the outer stator (4) and the inner stator (6). The outer casing (1) and the end cover (2) are rotatably connected by a motor shaft (3). The motor shaft (3) is fixedly connected to the rotor (5) through a rotor bracket (7).

2. The dual-stator permanent magnet motor drive unit for a modular robot joint according to claim 1, characterized in that, The tail end of the outer shell (1) is fixedly connected to a cover (8), a horizontal plate (9) is fixedly connected inside the cover (8), a fan blade (10) is rotatably connected on the horizontal plate (9), a docking sleeve (13) is sleeved on the tail end of the motor shaft (3), the docking sleeve (13) is slidably connected to the motor shaft (3) through a sliding groove (12), the tail end of the outer shell (1) is also fixedly connected to an electric push rod (11) located inside the cover (8), the output shaft of the electric push rod (11) is fixedly connected to a disc (14) that is slidably connected to the end of the docking sleeve (13), and the end of the fan blade (10) is provided with a docking structure for docking with the docking sleeve (13).

3. The dual-stator permanent magnet motor drive unit for a modular robot joint according to claim 2, characterized in that, A temperature sensor (29) is installed inside the outer shell (1), and a controller (30) is installed inside the cover (8). The temperature sensor (29) is electrically connected to the controller (30), and the controller (30) is electrically connected to the electric push rod (11).

4. The dual-stator permanent magnet motor drive unit for a modular robot joint according to claim 2, characterized in that, The docking structure includes a docking plate (15) fitted inside a sliding opening (16) at the end of the fan blade (10). The outer circumference of the docking plate (15) is provided with a pair of protrusions that can be inserted into the sliding groove (12). One end of the docking plate (15) is fixedly connected to a pair of guide posts (17) that pass through the fan blade (10). A spring (18) is fitted on the guide post (17). The two ends of the spring (18) are fixedly connected to the fan blade (10) and the docking plate (15) respectively.

5. The dual-stator permanent magnet motor drive unit for a modular robot joint according to claim 2, characterized in that, The docking structure includes a pair of docking blocks (19) embedded in the end of the fan blade (10) and capable of being inserted into the corresponding sliding groove (12). The end of the fan blade (10) is fixedly connected to a fixing frame (20). Two guide rods (21) are inserted on the end cap (2). The two guide rods (21) are fixedly connected to the corresponding docking blocks (19) respectively. A second spring (22) is sleeved on the guide rod (21). The two ends of the second spring (22) are fixedly connected to the fixing frame (20) and the docking block (19) respectively.

6. A dual-stator permanent magnet motor drive unit for a modular robot joint according to claim 4 or 5, characterized in that, The end of the cover (8) away from the outer shell (1) is provided with a sealing plate (23). The inner side of the sealing plate (23) is provided with a central column (25) that penetrates into the center of the fan blade (10). The central column (25) is connected to the docking structure through a transmission assembly. The sealing plate (23) is inserted into the cover (8) through multiple insert rods (24).

7. The modular robot joint dual-stator permanent magnet motor drive unit according to claim 6, characterized in that, The transmission assembly includes a T-shaped column (26) fixedly connected to the docking plate (15), and the other end of the T-shaped column (26) is rotatably connected to the central column (25).

8. The dual-stator permanent magnet motor drive unit for a modular robot joint according to claim 6, characterized in that, The transmission assembly includes a T-shaped rod (27), one end of which is rotatably connected to a pair of connecting rods (28), the other end of which is rotatably connected to the corresponding docking block (19), and the other end of which is rotatably connected to the central column (25).

9. A dual-stator permanent magnet motor drive unit for a modular robot joint according to claim 1, characterized in that, The stator windings on the outer stator (4) and inner stator (6) support physical / electrical dual reconfiguration: physically, the winding module can be replaced through a quick-release interface, and electrically, the excitation mode can be dynamically adjusted through an H-bridge circuit.

10. A dual-stator permanent magnet motor drive unit for a modular robot joint according to claim 1, characterized in that, The outer stator (4) switches to generator mode when braking or decelerating, recovers kinetic energy and supplies it to the inner stator or energy storage unit, and the rotor (5) integrates a micro solar film at the end to power the sensor when in standby mode, thus achieving energy self-sufficiency.

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