Robot motor with damping structure

Abstract

The invention provides a robot motor with a damping structure, and belongs to the technical field of intelligent robots. The rotating shaft is arranged to be of the split combined structure comprising the driving end and the driven end, the damping structure is arranged between the driving end and the driven end, the connecting pin of the damping structure is arranged on the driving end, the two ends of the connecting pin are matched with the two telescopic pins to abut against the two telescopic pins, and the two inserting holes corresponding to the two telescopic pins are formed in the driven end. The driving end selects one telescopic pin to push through rotation of the connecting pin, so that the end of the telescopic pin extends into the corresponding inserting hole, power transmission is achieved, a shock pad is arranged in the inserting hole to abut against the extending telescopic pin, energy absorption and shock absorption after the motor stops rotating are achieved, the influence of inertial motion on a rotating shaft of the motor is reduced, and the service life of the motor is prolonged. The motor is protected, and current which influences the control circuit can be prevented from being generated when the rotating shaft rotates reversely, so that the operation time of the humanoid robot using the motor is prolonged, the operation is more stable, and the operation cost is lower.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of intelligent robots, in particular to a robot motor with a damping structure. BACKGROUND

[0002] With the continuous development and market application popularization of humanoid robots, humanoid robots are increasingly popular in people's production and life. The movement of the existing humanoid robots is realized through the movement of the joints, and the movement of the joints is usually driven by the motor. Therefore, reducing the influence of the motor on the humanoid robot during the movement and prolonging the service life of the motor are important to ensure the long-time and low-cost operation of the humanoid robot.

[0003] At present, the output power of the motor shaft used in the humanoid robot is usually transmitted to the load structure through the transmission structure to drive the load structure to move. In the conventional case, the motor shaft directly meshes with the input gear on the output shaft of the gearbox through the output gear, and then the load structure is driven by the interaction between the output gear or the output disc on the output shaft of the gearbox and the input gear or the input disc on the power shaft of the joint load after the speed change of the gearbox. Although the existing motor can meet the use requirements, due to the weight of the load structure and the transmission structure itself, inertia exists during the movement, that is, when the motor shaft stops moving, a small amount of inertia of the transmission structure and the load structure will be transmitted to the motor shaft in the opposite direction, causing the motor shaft to vibrate, and also causing the shaft to continue to rotate by a certain angle, causing the stator and the rotor of the motor to rotate relative to each other, generating reverse power to the control circuit of the motor, affecting the original control circuit of the motor, affecting the service life, shortening the operation time of the humanoid robot, reducing the operation stability, requiring high maintenance and repair costs, and increasing the operation cost. SUMMARY

[0004] In view of the above problems in the prior art, the present application provides a robot motor with a damping structure, which is provided with a damping structure on the output end of the motor shaft to weaken and absorb the reverse transmission of the movement of the transmission structure and the load structure due to inertia after the motor stops, reduce the influence on the motor shaft, realize the damping of the motor shaft, realize the protection of the motor, and also avoid the problem of affecting the control circuit due to the reverse rotation of the motor, prolong the service life, make the operation time of the humanoid robot longer, and the operation more stable, thereby reducing the operation cost.

[0005] The specific technical solutions are as follows: A robot motor with damping structure, comprising a shell, a rotor assembly, a stator assembly and an end cover, the shell is arranged in a barrel shape, the end cover is arranged at one end of the barrel opening of the shell, the stator assembly is installed on the inner wall of the shell, the rotor assembly is rotatably installed on the inner side of the stator assembly, the two ends of the rotating shaft of the rotor assembly are rotatably installed on the shell and the end cover respectively and one end extends to the outside of the shell and is used as an output end, characterized in that, further comprising: damping structure, the end of the rotating shaft extending to the outside of the shell is a split splicing structure, the end of the rotating shaft extending to the outside of the shell comprises a driving end and a driven end, the damping structure is arranged between the driving end and the driven end, and the damping structure comprises a sleeve, a connecting pin and two telescopic pins, one end of the sleeve is sleeved on the driving end, and two biasing holes are symmetrically arranged on the side wall of the sleeve along the radial direction thereof, the connecting pin is installed on the end of the driving end inserted into the sleeve along the radial direction of the driving end, and the two ends of the connecting pin extend into the two biasing holes respectively, meanwhile, two telescopic holes corresponding to the biasing holes are arranged in the side wall of the sleeve along the axial direction thereof, and the other end of the telescopic hole penetrates the other end of the sleeve, and a telescopic pin is slidably arranged in each telescopic hole, and the end of the telescopic pin close to the biasing hole is provided with a pushing inclined surface, and the end of the telescopic hole corresponding to the biasing hole, and the positions of the two telescopic holes relative to the end portions of the corresponding biasing holes are arranged in axial symmetry on the sleeve, the driven end is connected with the other end of the sleeve, the end face of the end of the driven end connected with the sleeve is provided with a plug-in hole corresponding to the two telescopic holes, and each plug-in hole corresponds to a biasing hole in the axial direction, and a damping pad is arranged in the end of the plug-in hole away from the telescopic pin.

[0006] The above-mentioned robot motor with damping structure, wherein the end face of the end of the driven end provided with the plug-in hole is provided with a protruding positioning block at the center thereof, the positioning block is inserted into the sleeve and arranged coaxially with the driving end.

[0007] The above-mentioned robot motor with damping structure, wherein when the telescopic pin is not pushed by the connecting pin, a space is arranged between the end face of the end of the telescopic pin away from the connecting pin and the end face of the end of the driven end connected with the sleeve.

[0008] The above-mentioned robot motor with damping structure, wherein each plug-in hole is an arc-shaped hole extending along the circumferential direction of the driven end, and in the axial direction of the sleeve, the end of the telescopic hole opposite to the plug-in hole.

[0009] The above-mentioned robot motor with damping structure, wherein the damping pad is provided with an abutting limiting groove at the end close to the telescopic pin, and after the telescopic pin is inserted into the plug-in hole, the abutting limiting groove abuts on the end wall of the telescopic pin.

[0010] The above-mentioned robot motor with damping structure, wherein the hole opening of the end of each plug-in hole opposite to the telescopic hole is arranged in an expanding manner, and the opening of the groove of the abutting limiting groove is also arranged in an expanding manner.

[0011] The aforementioned robot motor with a shock-absorbing structure further includes a return spring, which is disposed in the telescopic hole and located at one end near the passive end. At the same time, the two ends of the return spring abut against the telescopic pin and the sleeve, respectively.

[0012] The aforementioned robot motor with a shock-absorbing structure includes a sealing ring, which is installed on the end face of the sleeve connected to the passive end. The sealing ring has a connecting hole corresponding to the telescopic hole and the insertion hole. The diameter of the connecting hole is smaller than the diameter of the telescopic hole. At the same time, the diameter of the end of the telescopic pin near the passive end is smaller than the diameter of the end near the connecting pin, so as to form an abutment step on the outer wall of the telescopic pin. The return spring is sleeved on the outside of the telescopic pin, and the two ends of the return spring abut against the sealing ring and the abutment step, respectively.

[0013] In the aforementioned robot motor with a shock-absorbing structure, the sealing ring has several connecting holes, and the end face of the sleeve has fixing holes that correspond one-to-one with the connecting holes. The connecting holes and the corresponding fixing holes are locked together by screws, and the connecting holes are countersunk holes.

[0014] In the aforementioned robot motor with a shock-absorbing structure, adhesive is provided between the end of each shock-absorbing pad facing away from the telescopic pin and the inner wall of the corresponding insertion hole, and the thickness of the shock-absorbing pad is less than the depth of the insertion hole.

[0015] The positive effects of the above technical solution are: The aforementioned robot motor with a shock-absorbing structure is designed as a separate assembly of an active end and a passive end, with a shock-absorbing structure between them. This shock-absorbing structure includes two telescopic pins. A connecting pin is located on the active end, and a corresponding insertion hole is provided on the passive end. Each insertion hole contains a shock-absorbing pad. This allows the connecting pin to push different telescopic pins into the corresponding insertion holes on the passive end during forward and reverse rotation. This achieves power transmission while simultaneously absorbing energy and reducing vibration through the deformation of the shock-absorbing pads. This reduces the impact of inertial motion on the motor shaft from the transmission and load structures after the motor stops, thus protecting the motor. Furthermore, it avoids the control circuit problems caused by current generated during reverse rotation of the motor, extending its service life and consequently increasing the operating time of the humanoid robot using it, improving operational stability, and reducing operating costs. Attached Figure Description

[0016] Figure 1 This is a structural diagram of an embodiment of a robot motor with a shock-absorbing structure according to the present invention; Figure 2 This is a cross-sectional view of a vibration damping structure according to a preferred embodiment of the present invention; Figure 3A schematic view of the passive end of the motor of a preferred embodiment of the present application and the telescopic pin when in action when the motor rotates in a direction; Figure 4 A schematic view of the passive end of the motor of a preferred embodiment of the present application and the telescopic pin when in action when the motor rotates in another direction; Figure 5 A schematic view of the active end of the motor of a preferred embodiment of the present application and the sleeve and the telescopic pin when in action when the motor rotates in a direction; Figure 6 A schematic view of the active end of the motor of a preferred embodiment of the present application and the sleeve and the telescopic pin when in action when the motor rotates in another direction; Figure 7 A schematic view of the active end of the motor of a preferred embodiment of the present application and the sleeve and the telescopic pin when in action when the motor rotates in another direction.

[0017] In the drawings: 1, a motor housing; 2, a rotor assembly; 21, a rotating shaft; 211, an active end; 212, a passive end; 2121, a plug-in hole; 2122, a shock-absorbing pad; 2123, a positioning block; 2124, an abutting limiting groove; 3, a stator assembly; 4, a shock-absorbing structure; 41, a sleeve; 42, a connecting pin; 43, a telescopic pin; 44, a return spring; 45, a sealing ring; 411, a yawing hole; 412, a telescopic hole; 413, a fixing hole; 431, a pushing inclined surface; 451, a communication hole; 452, a connecting hole. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the following embodiments are combined with the accompanying drawings to Figure 1 to the accompanying drawings Figure 7 The technical solutions provided by the present application are described in detail, but the following content is not a limitation of the present application.

[0019] Figure 1 A structural view of an embodiment of the robot motor with a shock-absorbing structure of the present application; Figure 2 A sectional view of the shock-absorbing structure of a preferred embodiment of the present application. As shown in Figure 1 and Figure 2 The robot motor with a shock-absorbing structure provided by the present embodiment includes: a motor housing 1, a rotor assembly 2, a stator assembly 3, an end cover and a shock-absorbing structure 4.

[0020] Specifically, the shell 1 is arranged in a barrel shape, and an end cover is arranged at one end of the barrel opening of the shell 1, so that the shell 1 has a barrel cavity, providing space for subsequent installation of the stator assembly 3 and the rotor assembly 2. At the same time, the end cover realizes the closure of the barrel opening of the shell 1, and the structure is more complete. Moreover, the stator assembly 3 is installed on the inner wall of the shell 1. At this time, the stator assembly 3 includes a coil winding and a support frame, and the coil winding is installed on the support frame and installed in the barrel cavity of the shell 1 through the support frame, realizing the stable installation of the coil winding in the shell 1 and providing conditions for the subsequent power-on generation of a magnetic field. In addition, the rotor assembly 2 is rotatably installed on the inner side of the stator assembly 3. At this time, the rotor assembly 2 includes a rotating shaft 21 and a magnetic steel, and the magnetic steel is fixedly sleeved outside the rotating shaft 21 and located on the inner side of the stator assembly 3. Moreover, an air gap is arranged between the magnetic steel and the stator assembly 3, which facilitates the rotation of the magnetic steel in the magnetic field generated by the stator assembly 3, so as to output power through the rotating shaft 21. Moreover, the two ends of the rotating shaft 21 of the rotor assembly 2 are rotatably installed on the shell 1 and the end cover respectively, and one end of the rotating shaft 21 extends out of the shell 1 and is used as an output end. Preferably, bearings are arranged between the rotating shaft 21 and the shell 1 and between the rotating shaft 21 and the end cover, which facilitates the rotation of the rotating shaft 21 and also enables the rotating shaft 21 to output power through the end thereof extending out of the shell 1.

[0021] Figure 3 A schematic view of the passive end of the motor of a preferred embodiment of the present application and the telescopic pin when they act on each other when the motor rotates in one direction; Figure 4 A schematic view of the passive end of the motor of a preferred embodiment of the present application and the telescopic pin when they act on each other when the motor rotates in the other direction; Figure 5 A schematic view of the active end of the motor of a preferred embodiment of the present application and the sleeve and the telescopic pin when they act on each other when the motor rotates in one direction; Figure 6 A schematic view of the active end of the motor of a preferred embodiment of the present application and the sleeve and the telescopic pin when they act on each other when the motor rotates in the other direction; Figure 7 A schematic view of the active end of the motor of a preferred embodiment of the present application and the sleeve and the telescopic pin when they act on each other when the motor rotates in the other direction. As Figures 2 to 7As shown, the end of the rotating shaft 21 extending out of the shell 1 is a split joint structure, at this time, the end of the rotating shaft 21 extending out of the shell 1 includes a driving end 211 and a driven end 212, the driving end 211 is the end connected with the magnetic steel, and the driven end 212 is the end connected with the transmission structure and the load structure, and the damping structure 4 is arranged between the driving end 211 and the driven end 212, so that the rotating shaft 21 of the motor itself has the damping structure 4, without the need to find additional space to arrange the damping and anti-interference structure, reducing the space occupation, simplifying the subsequent matching structure, and facilitating the structural design of the humanoid robot. Moreover, the damping structure 4 includes a sleeve 41, a connecting pin 42 and two extension pins 43, one end of the sleeve 41 is sleeved on the driving end 211, and two bias holes 411 are symmetrically formed on the side wall of the sleeve 41 along the radial direction, each bias hole 411 is a strip hole in the circumferential direction of the sleeve 41, so that the bias hole 411 has a certain length, and the position of the connecting pin 42 in the bias hole 411 can be changed when the connecting pin 42 follows the deflection of the driving end 211, providing conditions for subsequent pushing or moving away the extension pin 43. Moreover, the connecting pin 42 is installed on the end of the driving end 211 inserted into the sleeve 41 along the radial direction of the driving end 211, so that when the driving end 211 rotates, the connecting pin 42 can be driven to rotate, providing conditions for transmitting power to the sleeve 41 through the connecting pin 42. Moreover, the two ends of the connecting pin 42 extend into the two bias holes 411, so that the connecting pin 42 can transmit the power of the driving end 211 to the sleeve 41. At the same time, two extension holes 412 corresponding to the bias holes 411 are formed in the sleeve 41 along the axial direction, and the other end of the extension hole 412 penetrates the other end of the sleeve 41, and each extension hole 412 slidably has an extension pin 43, and the end of the extension pin 43 close to the bias hole 411 is provided with a pushing inclined surface 431, so that when the driving end 211 drives the connecting pin 42 to deflect in the bias hole 411, the end of the connecting pin 42 can press and push the pushing inclined surface 431 to push the extension pin 43 towards the other end of the sleeve 41, so that the other end of the extension pin 43 extends out of the extension hole 412, providing conditions for the extension pin 43 to block the driven end 212, so as to transmit the power from the driving end 211 to the driven end 212 and then output. Moreover, the extension hole 412 is located at one end of the corresponding bias hole 411, and the positions of the two extension holes 412 relative to the end of the corresponding bias hole 411 are axially symmetric on the sleeve 41, so that when the connecting pin 42 deflects, one end of the connecting pin 42 pushes one extension pin 43, and the other end of the connecting pin 42 does not push the extension pin 43, thereby realizing that the two extension pins 43 are selectively extended out of the sleeve 41, providing conditions for meeting the damping requirements of the motor during forward and reverse rotation. In addition, the driven end 212 is connected with the other end of the sleeve 41, so that the driving end 211 can drive the driven end 212 to rotate through the damping structure 4.At this time, the end face of one end of the passive end 212 connected with the sleeve 41 is provided with plug-in holes 2121 corresponding to the two telescopic holes 412 one by one, and each plug-in hole 2121 corresponds to the yaw hole 411 in the axial direction one by one, so that the plug-in hole 2121 can correspond to the telescopic pin 43 in the axial direction and provide a damping space beside the telescopic pin 43, and at the same time, the damping pad 2122 is arranged in the plug-in hole 2121 away from the end opposite to the telescopic pin 43, that is, the damping pad 2122 is arranged in the damping space in the plug-in hole 2121, so that when one end of the telescopic pin 43 extends into the plug-in hole 2121, one end of the telescopic pin 43 directly abuts the hole wall of the plug-in hole 2121 to realize rigid connection, ensuring that the power transmission can be timely and effective, and when the motor stops to stop the driving end 211 from rotating, the passive end 212 continues to rotate under the action of inertia and transmits the vibration in the opposite direction because the passive end 212 drives the sleeve 41 to rotate when transmitting the vibration in the opposite direction, so that the passive end 212 drives the telescopic pin 43 through the damping pad 2122, and the telescopic pin 43 is retracted into the telescopic hole 412 without the pushing of the connecting pin 42, which does not interfere with the connection of the sleeve 41 and the passive end 212. At this time, the sleeve 41 and the passive end 212 are limited by the other telescopic pin 43, so that the sleeve 41 can drive the passive end 212 to rotate, and because the arrangement positions of the two plug-in holes 2121 and the damping pad 2122 in the plug-in hole 2121 are arranged in axial symmetry about the sleeve 41, when the driving end 211 drives the passive end 212 to rotate, the telescopic end on one side directly abuts the hole wall of the plug-in hole 2121 to realize transmission, and the vibration and force transmitted in the opposite direction by the passive end 212 are absorbed by the deformation of the damping pad 2122, which can also reduce the influence on the driving end 211, that is, whether the motor rotates forward or reversely, power transmission can be realized by different telescopic pins 43 cooperating with different plug-in holes 2121 to ensure that the transmission can be directly and rigidly connected, the power output is more timely and reliable, and the energy absorption and damping after the motor stops can also be realized by the damping pad 2122 in the different plug-in holes 2121 to reduce the influence on the motor and prolong the service life.

[0022] More specifically, the end face of the one end of the plug-in hole 2121 of the passive end 212 is provided with a protruding positioning block 2123 at the center, preferably, the positioning block 2123 is an integral structure with the passive end 212, which has higher structural strength. And the positioning block 2123 is inserted into the barrel inner cavity of the sleeve 41 and arranged coaxially with the driving end 211, and the coaxial arrangement of the passive end 212, the sleeve 41 and the driving end 211 is realized through the positioning block 2123, which ensures that the subsequent telescopic pin 43 can be accurately inserted into the corresponding plug-in hole 2121.

[0023] More specifically, when the telescopic pin 43 is not pushed by the connecting pin 42, the end face of the end of the telescopic pin 43 away from the connecting pin 42 is provided with a gap between the end face of the one end of the passive end 212 connected with the sleeve 41, so that the telescopic pin 43 has a certain movement stroke when it is retracted into the telescopic hole 412, so that when the other telescopic pin 43 is retracted from the telescopic state, the end of the other telescopic pin 43 has not completely come out of the plug-in hole 2121, and the telescopic pin 43 has been pushed by the connecting pin 42 in the telescopic hole 412, but it has a certain movement stroke to avoid that when one telescopic pin 43 just comes out of the plug-in hole 2121, the other telescopic pin 43 can just extend from the telescopic hole 412 to the plug-in hole 2121, realizing the connection of the two telescopic pins 43, avoiding the problem that the two telescopic pins 43 are retracted in the telescopic hole 412 or extended into the plug-in hole 2121 at the same time, and the structure design is more reasonable.

[0024] More specifically, each plug-in hole 2121 is an arc-shaped hole extending along the circumference of the passive end 212, and in the axial direction of the sleeve 41, the telescopic hole 412 is opposite to the one end of the plug-in hole 2121, which better adapts to the rotation demand of the passive end 212, so that the shock-absorbing pad 2122 installed in the plug-in hole 2121 is also an arc-shaped structure, thereby adapting to the stress direction of the passive end 212, and the energy-absorbing and shock-absorbing effect is better.

[0025] More specifically, the end of the shock-absorbing pad 2122 close to the telescopic pin 43 is provided with an abutting limiting groove 2124, and after the telescopic pin 43 is inserted into the plug-in hole 2121, the end of the telescopic pin 43 is abutted on the side wall of the telescopic pin 43 through the abutting limiting groove 2124, so that the shock-absorbing pad 2122 and the telescopic pin 43 can be more stable and reliable when they are abutted, and the problem of slipping off does not occur, further improving the energy-absorbing and shock-absorbing effect.

[0026] More specifically, the orifice of each insertion hole 2121 opposite to one end of the telescopic hole 412 is arranged in a flared manner, preferably, the flared structure is an inclined trumpet structure, which not only expands the orifice diameter, but also guides the end of the telescopic pin 43 to be inserted. At the same time, the orifice of the abutting limiting groove 2124 is also arranged in a flared manner, so that the orifice of the abutting limiting groove 2124 can be expanded, preferably, the orifice of the abutting limiting groove 2124 is also an inclined trumpet structure, so that the end of the telescopic pin 43 can be conveniently inserted into the abutting limiting groove 2124 of the shock pad 2122, so that even if the end of the telescopic pin 43 cannot be completely aligned with the insertion hole 2121 and the abutting limiting groove 2124 due to a small error, it can also be guided by the flared structure and smoothly enter the insertion hole 2121 and the abutting limiting groove 2124, and the structural design is more reasonable.

[0027] More specifically, the telescopic hole 412 is provided with a reset spring 44 at one end close to the passive end 212, which realizes hidden installation of the reset spring 44, and at the same time, the two ends of the reset spring 44 abut on the telescopic pin 43 and the sleeve 41 respectively, so that the reset spring 44 can provide a force for the telescopic pin 43 to retract into the telescopic hole 412, that is, when the connecting pin 42 gradually moves away from the telescopic pin 43 from the state of pushing the telescopic pin 43, the telescopic pin 43 can be actively retracted into the telescopic hole 412 under the action of the reset spring 44, so that the end of the telescopic pin 43 can be smoothly pulled out of the insertion hole 2121, and the structural design is more reasonable.

[0028] More specifically, the end face of the sleeve 41 connected to the passive end 212 is further provided with a sealing ring 45, at this time, the sealing ring 45 is provided with a communication hole 451 corresponding to the telescopic hole 412 and the insertion hole 2121, which forms a limiting structure on the end of the sleeve 41 connected to the passive end 212, and provides conditions for the abutment of the reset spring 44. At this time, the diameter of the communication hole 451 is smaller than the diameter of the telescopic hole 412, and at the same time, the diameter of one end of the telescopic pin 43 close to the passive end 212 is smaller than the diameter of the other end close to the connecting pin 42, so that a abutting step can be formed on the outer wall of the telescopic pin 43, and the reset spring 44 is sleeved on the telescopic pin 43, and the two ends of the reset spring 44 abut on the sealing ring 45 and the abutting step respectively, which ensures that the telescopic pin 43 can be subjected to the retraction force into the telescopic hole 412 provided by the reset spring 44, and the structural design is more reasonable.

[0029] More specifically, the sealing ring 45 is provided with a plurality of connecting holes 452, the end face of the sleeve 41 is provided with a plurality of fixing holes 413 corresponding to the connecting holes 452, and the connecting holes 452 and the corresponding fixing holes 413 are locked by screws, so that the sealing ring 45 is detachably connected to the sleeve 41, facilitating the installation of the telescopic pins 43 and the return springs 44. In addition, the connecting holes 452 are countersunk holes, the ends of the screws are hidden in the connecting holes 452, the surface of the sealing ring 45 is kept smooth, and the sealing ring 45 is easily connected to the passive end 212, so that the structure is more reasonable.

[0030] More specifically, the end of each damping pad 2122 away from the telescopic pin 43 is provided with an adhesive between the hole inner wall of the corresponding insertion hole 2121, so that the stability of the damping pad 2122 after being installed in the insertion hole 2121 is ensured, and the damping pad 2122 is prevented from moving in the insertion hole 2121 to block the space in which the telescopic pin 43 is inserted into the insertion hole 2121. In addition, the thickness of the damping pad 2122 is less than the hole depth of the insertion hole 2121, so that the insertion hole 2121 can provide a deformation space for the damping pad 2122 when the damping pad 2122 deforms, and the damping pad 2122 can smoothly deform.

[0031] The motor with a damping structure for a robot provided in the embodiment includes a housing 1, a rotor assembly 2, a stator assembly 3, an end cover, and a damping structure 4. The rotating shaft 21 of the rotor assembly 2 is provided in a split combination structure including an active end 211 and a passive end 212, the damping structure 4 is arranged between the active end 211 and the passive end 212, the connecting pin 42 of the damping structure 4 is arranged on the active end 211, the two ends of the connecting pin 42 are respectively pushed against the two telescopic pins 43, and the two insertion holes 2121 are arranged on the passive end 212 and correspond to the two telescopic pins 43. When the active end 211 drives the connecting pin 42 to rotate, the end of the connecting pin 42 can push one of the telescopic pins 43 to make the end of the telescopic pin 43 extend into the corresponding insertion hole 2121, so as to realize power transmission. In addition, the damping pad 2122 is arranged in the insertion hole 2121 to abut against the telescopic pin 43 extending into the insertion hole 2121, so as to realize energy absorption and damping after the motor stops rotating, reduce the influence of inertial motion on the rotating shaft 21 of the motor, realize motor protection, prevent the current generated when the rotating shaft 21 reverses from affecting the control circuit, and prolong the service life, so as to prolong the operation time of the humanoid robot using the motor, make the operation more stable, and reduce the operation cost.

[0032] The above is only the preferred embodiment of the present application, and does not limit the implementation and protection scope of the present application. Those skilled in the art should be able to realize that any equivalent replacement and obvious change made according to the content of the present application should be included in the protection scope of the present application.

Claims

1. A robot motor with a damping structure, comprising a casing, a rotor assembly, a stator assembly and an end cover, the casing is arranged in a barrel shape, the end cover is arranged at one end of the barrel opening of the casing, the stator assembly is installed on the inner wall of the casing, the rotor assembly is rotatably installed on the inner side of the stator assembly, the two ends of the rotating shaft of the rotor assembly are rotatably installed on the casing and the end cover respectively and one end extends to the outside of the casing and is used as an output end, characterized in that, Also comprising: The damping structure is arranged between the driving end and the passive end, and comprises a sleeve, a connecting pin and two telescopic pins. One end of the sleeve is sleeved on the driving end, and two biasing holes are symmetrically arranged on the side wall of the sleeve along the radial direction thereof. The connecting pin is installed on the end of the driving end inserted into the sleeve along the radial direction of the driving end, and the two ends of the connecting pin extend into the two biasing holes, respectively. Two telescopic holes corresponding to the biasing holes are arranged in the side wall of the sleeve along the axial direction thereof, and the other end of each telescopic hole penetrates the other end of the sleeve. Each telescopic hole is slidably provided with a telescopic pin, and the end of the telescopic pin close to the biasing hole is provided with a pushing inclined surface. The end of the telescopic hole corresponding to the biasing hole is arranged on the sleeve, and the end positions of the two telescopic holes relative to the corresponding biasing holes are arranged in axial symmetry on the sleeve. The passive end is connected to the other end of the sleeve. The end face of the end of the passive end connected to the sleeve is provided with plug-in holes corresponding to the two telescopic holes, and each plug-in hole corresponds to the biasing hole in the axial direction. The end face of the end of the passive end provided with the plug-in hole is provided with a protruding positioning block, and the positioning block is inserted into the sleeve and arranged coaxially with the driving end.

2. The robot motor with a damping structure according to claim 1, characterized by, When the telescopic pin is not pushed by the connecting pin, a space is arranged between the end face of the end of the telescopic pin away from the connecting pin and the end face of the end of the passive end connected to the sleeve.

3. The robot motor with a damping structure according to claim 1, characterized by, Each plug-in hole is an arc-shaped hole extending along the circumference of the passive end, and in the axial direction of the sleeve, the end of the telescopic hole opposite to the plug-in hole.

4. The robot motor with a damping structure according to claim 1, characterized by, The end of the damping pad close to the telescopic pin is provided with an abutting limiting groove, and after the telescopic pin is inserted into the plug-in hole, the abutting limiting groove abuts on the end wall of the telescopic pin.

5. The robot motor with a damping structure according to claim 1, characterized by, The orifice of the end of each plug-in hole opposite to the telescopic hole is arranged in an expanding manner, and the orifice of the abutting limiting groove is also arranged in an expanding manner.

6. The motor with a damping structure for a robot according to claim 5, wherein A reset spring is arranged in the telescopic hole close to the passive end, and the two ends of the reset spring abut on the telescopic pin and the sleeve, respectively.

7. The robot motor with a damping structure according to claim 1, characterized by, ​ 8. The motor with a damping structure for a robot according to claim 7, characterized by, The sealing ring is arranged on the end face of the one end of the sleeve connected with the passive end, and the communication hole corresponding to the telescopic hole and the insertion hole is arranged on the sealing ring, the diameter of the communication hole is smaller than the diameter of the telescopic hole, and the diameter of the one end of the telescopic pin close to the passive end is smaller than the diameter of the one end of the telescopic pin close to the connecting pin, so as to form the abutting step on the outer wall of the telescopic pin, and the reset spring is sleeved on the outer wall of the telescopic pin, and the two ends of the reset spring are respectively abutted on the sealing ring and the abutting step.

9. The motor with a damping structure for a robot according to claim 8, characterized by, A plurality of connecting holes are arranged on the sealing ring, a plurality of fixing holes corresponding to the connecting holes are arranged on the end face of the sleeve, and the connecting holes and the corresponding fixing holes are locked by screws.

10. The robot motor with a damping structure according to claim 1, characterized by, Glue is arranged between the one end of each damping pad away from the telescopic pin and the hole inner wall of the insertion hole, and the thickness of the damping pad is smaller than the hole depth of the insertion hole.

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