Robot motor with a damping structure

Abstract

The application provides a robot motor with a damping structure and belongs to the technical field of intelligent robots. The damping structure is arranged between the driving end and the driven end, and the connecting pin of the damping structure is arranged on the driving end and matched with the two telescopic pins at both ends. The driven end is provided with two insertion holes corresponding to the two telescopic pins. The driving end is pushed by one of the telescopic pins through the rotation of the connecting pin, so that the end of the telescopic pin is inserted into the corresponding insertion hole to realize power transmission. The damping pad is arranged in the insertion hole to abut against the inserted telescopic pin, so that the energy absorption and damping of the motor after stopping are realized, the influence of inertial motion on the motor shaft is reduced, the motor is protected, and the current affecting the control circuit when the shaft is reversed is prevented, so that the running time of the humanoid robot using the motor is prolonged, the robot runs more stably, and the running cost is lower.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, specifically to a robot motor with a shock-absorbing structure. Background Technology

[0002] With the continuous development and market application of humanoid robots, they are becoming increasingly prevalent in people's production and daily lives. Current humanoid robots move through the movement of their joints, which are typically driven by motors. Therefore, minimizing the impact on the motors during operation and extending their lifespan are crucial for ensuring the long-term, low-cost operation of humanoid robots.

[0003] Currently, the motors used in humanoid robots typically transmit power from their shafts to the load structure via a transmission mechanism to drive its movement. Normally, the motor shaft meshes directly with the input gear on the output shaft of a gearbox via an output gear. After gearbox speed changes, the output gear or output wheel on the gearbox's output shaft interacts with the input gear or input wheel on the power shaft of the joint load to drive the load structure. While existing motors meet the requirements, the weight of the load and transmission structures creates inertia during movement. Even after the motor shaft stops moving, a small amount of inertia remains and is transmitted back to the motor shaft, causing vibration and continued rotation. This rotation results in relative rotation between the stator and rotor, generating electricity in reverse that affects the motor's control circuit, impacting its lifespan. Consequently, this leads to shorter operating time, decreased operational stability, higher maintenance costs, and increased overall operating expenses for the humanoid robot. Summary of the Invention

[0004] To address the aforementioned problems in existing technologies, this invention aims to provide a robot motor with a shock-absorbing structure. This structure is installed at the output end of the motor shaft to weaken and absorb the inertial reverse motion of the transmission and load structures after the motor stops, reducing the impact on the motor shaft and achieving shock absorption. This protects the motor and also avoids the control circuit problems caused by the current generated by the reverse rotation of the motor, extending its service life and enabling the humanoid robot to operate for longer and more stably, thereby reducing operating costs.

[0005] The specific technical solution is as follows:

[0006] A robot motor with a shock-absorbing structure includes a housing, a rotor assembly, a stator assembly, and an end cover. The housing is barrel-shaped, with the end cover located at one end of the barrel opening. The stator assembly is mounted on the inner wall of the housing, and the rotor assembly is rotatably mounted inside the stator assembly. The rotor assembly's shaft has two ends rotatably mounted on the housing and the end cover, with one end extending outside the housing and serving as an output end. The motor further includes a shock-absorbing structure. The end of the shaft extending outside the housing is a split-joint structure, comprising an active end and a passive end. The shock-absorbing structure is located between the active and passive ends. The shock-absorbing structure includes a sleeve, a connecting pin, and two telescopic pins. One end of the sleeve is fitted over the active end, and two radially arranged sway holes are symmetrically formed on the side wall of the sleeve. The connecting pin extends along the active end... The moving end is radially mounted on the end of the active end that is inserted into the sleeve, and the two ends of the connecting pin extend into the two sway holes respectively. At the same time, two telescopic holes corresponding to the sway holes are opened in the side wall of the sleeve along its axial direction, and the other end of the telescopic hole passes through the other end of the sleeve. A telescopic pin is slidably arranged in each telescopic hole, and a pushing slope is provided at the end of the telescopic pin near the sway hole. The telescopic hole is located at the end of the corresponding sway hole, and the two telescopic holes are arranged axially symmetrically on the sleeve with respect to the end positions of their respective sway holes. The driven end is connected to the other end of the sleeve, and a insertion hole corresponding to the two telescopic holes is opened on the end face of the driven end connected to the sleeve. Each insertion hole corresponds to the sway hole in the axial direction, and a shock-absorbing pad is provided in the insertion hole at the end opposite to the telescopic pin.

[0007] In the aforementioned robot motor with a shock-absorbing structure, a protruding positioning block is provided at the center of the end face of the passive end with a plug hole. The positioning block is inserted into the sleeve and arranged coaxially with the active end.

[0008] In the aforementioned robot motor with a shock-absorbing structure, when the telescopic pin is not pushed by the connecting pin, there is a gap between the end face of the telescopic pin away from the connecting pin and the end face of the sleeve connecting the passive end.

[0009] In the aforementioned robot motor with a shock-absorbing structure, each insertion hole is an arc-shaped hole extending circumferentially along the passive end, and in the axial direction of the sleeve, the telescopic hole is directly opposite one end of the insertion hole.

[0010] In the aforementioned robot motor with a shock-absorbing structure, the end of the shock-absorbing pad near the telescopic pin has an abutment limiting groove, and after the telescopic pin is inserted into the insertion hole, the abutment limiting groove abuts against the end side wall of the telescopic pin.

[0011] In the aforementioned robot motor with a shock-absorbing structure, the opening edge of each insertion hole facing the telescopic hole is flared, and the opening edge of the groove that abuts the limiting groove is also flared.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] The positive effects of the above technical solution are:

[0017] 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

[0018] Figure 1 This is a structural diagram of an embodiment of a robot motor with a shock-absorbing structure according to the present invention;

[0019] Figure 2 This is a cross-sectional view of a vibration damping structure according to a preferred embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the interaction between the passive end of the motor and the telescopic pin when the motor rotates in one direction according to a preferred embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the interaction between the passive end of the motor and the telescopic pin when the motor rotates in another direction according to a preferred embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the interaction between the driving end of the motor, the sleeve, and the telescopic pin when the motor rotates in one direction according to a preferred embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of the interaction between the driving end of the motor, the sleeve, and the telescopic pin when the motor rotates in another direction according to a preferred embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of the interaction between the driving end of the motor, the sleeve, and the telescopic pin when the motor rotates in another direction according to a preferred embodiment of the present invention.

[0025] In the attached diagram: 1. Housing; 2. Rotor assembly; 21. Shaft; 211. Driving end; 212. Passive end; 2121. Insertion hole; 2122. Vibration damping pad; 2123. Positioning block; 2124. Abutment limiting groove; 3. Stator assembly; 4. Vibration damping structure; 41. Sleeve; 42. Connecting pin; 43. Telescopic pin; 44. Return spring; 45. Sealing ring; 411. Swing hole; 412. Telescopic hole; 413. Fixing hole; 431. Pushing inclined surface; 451. Connecting hole; 452. Connection hole. Detailed Implementation

[0026] To make the technical means, creative features, objectives, and effects of this invention easier to understand, the following embodiments are provided in conjunction with the appendix. Figure 1 To be continued Figure 7 The technical solutions provided by this invention are described in detail, but the following content is not intended to limit this invention.

[0027] 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 1 and Figure 2 As shown, the robot motor with shock absorption structure provided in this embodiment includes: housing 1, rotor assembly 2, stator assembly 3, end cover and shock absorption structure 4.

[0028] Specifically, the housing 1 is arranged in a barrel shape, with an end cap located at one end of the barrel opening, giving the housing 1 an inner cavity. This provides space for the subsequent installation of the stator assembly 3 and rotor assembly 2. Simultaneously, the end cap seals the opening of the housing 1, resulting in a more complete structure. The stator assembly 3 is then installed on the inner wall of the housing 1. The stator assembly 3 includes coil windings and a support frame. The coil windings are mounted on the support frame, which, in turn, places them within the inner cavity of the housing 1. This stable installation of the coil windings within the housing 1 provides the necessary conditions for generating a magnetic field when energized. Furthermore, the rotor assembly 2 is rotatably installed inside the stator assembly 3. The rotor assembly 2 includes a shaft 21 and magnets. The magnets are fixedly sleeved outside the shaft 21 and located inside the stator assembly 3. An air gap is provided between the magnets and the stator assembly 3 to facilitate the rotation of the magnets within the magnetic field generated by the stator assembly 3, thereby outputting power through the shaft 21. Furthermore, the two ends of the rotor assembly 2 shaft 21 are rotatably mounted on the housing 1 and the end cover, respectively, and one end of the shaft 21 extends outside the housing 1 and is used as the output end. Preferably, bearings are provided between the shaft 21 and the housing 1, as well as between the shaft 21 and the end cover, which facilitates the rotation of the shaft 21 and also enables the shaft 21 to output power through the end that extends outside the housing 1.

[0029] Figure 3 This is a schematic diagram of the interaction between the passive end of the motor and the telescopic pin when the motor rotates in one direction according to a preferred embodiment of the present invention. Figure 4 This is a schematic diagram of the interaction between the passive end of the motor and the telescopic pin when the motor rotates in another direction according to a preferred embodiment of the present invention. Figure 5 This is a schematic diagram of the interaction between the driving end of the motor, the sleeve, and the telescopic pin when the motor rotates in one direction according to a preferred embodiment of the present invention. Figure 6 This is a schematic diagram of the interaction between the driving end of the motor, the sleeve, and the telescopic pin when the motor rotates in another direction according to a preferred embodiment of the present invention. Figure 7 This is a schematic diagram illustrating the interaction between the driving end of the motor, the sleeve, and the telescopic pin when the motor rotates in another direction according to a preferred embodiment of the present invention. Figures 2 to 7As shown, the end of the rotating shaft 21 extending outside the housing 1 is a split splicing structure. At this time, the end of the rotating shaft 21 extending outside the housing 1 includes an active end 211 and a passive end 212. The active end 211 is the end connected to the magnet, and the passive end 212 is the end connected to the transmission structure and the load structure. The shock absorption structure 4 is set between the active end 211 and the passive end 212, so that the rotating shaft 21 of the motor itself has a shock absorption structure 4. There is no need to find space to set up a shock absorption and anti-interference structure, which reduces space occupation, simplifies the structure when used in subsequent matching, and is beneficial to the structural design of humanoid robots. Furthermore, the shock-absorbing structure 4 includes a sleeve 41, a connecting pin 42, and two telescopic pins 43. One end of the sleeve 41 is fitted onto the outside of the active end 211, and two radially arranged deflection holes 411 are symmetrically opened on the side wall of the sleeve 41. Each deflection hole 411 is a strip-shaped hole in the circumference of the sleeve 41, so that the deflection hole 411 has a certain length, which allows the connecting pin 42 to change its position in the deflection hole 411 when it follows the deflection of the active end 211, thus providing conditions for pushing or moving away from the telescopic pins 43. In addition, the connecting pin 42 is installed radially on the end of the active end 211 that is inserted into the sleeve 41, so that when the active end 211 rotates, it can drive the connecting pin 42 to rotate, thus providing conditions for transmitting power to the sleeve 41 through the connecting pin 42. Furthermore, both ends of the connecting pin 42 extend into the two swing holes 411, allowing the connecting pin 42 to transmit the power from the active end 211 to the sleeve 41. Simultaneously, two telescopic holes 412, corresponding one-to-one with the swing holes 411, are provided on the side wall of the sleeve 41 along its axial direction. The other end of each telescopic hole 412 penetrates the other end of the sleeve 41. A telescopic pin 43 is slidably disposed within each telescopic hole 412, and a pushing inclined surface 431 is provided at the end of the telescopic pin 43 near the swing hole 411. When the active end 211 drives the connecting pin 42 to deflect within the swing hole 411, the end of the connecting pin 42 can press against the pushing inclined surface 431, pushing the telescopic pin 43 towards the other end of the sleeve 41. This causes the other end of the telescopic pin 43 to extend out of the telescopic hole 412, providing a condition for the telescopic pin 43 to subsequently engage the passive end 212, thereby transferring the power from the active end 211 to the passive end 212 and then transmitting it out. Furthermore, the telescopic hole 412 is located at one end of the corresponding swing hole 411, and the two telescopic holes 412 are arranged axially symmetrically on the sleeve 41 with respect to the end positions of their respective corresponding swing holes 411. This ensures that when the connecting pin 42 deflects, while one end of the connecting pin 42 pushes against a telescopic pin 43, the other end of the connecting pin 42 will not push against the telescopic pin 43. This allows one of the two telescopic pins 43 to extend out of the sleeve 41, providing conditions for meeting the vibration damping requirements during the forward and reverse rotation of the motor. In addition, the passive end 212 is connected to the other end of the sleeve 41, allowing the active end 211 to drive the passive end 212 to rotate through the vibration damping structure 4.At this time, the end face of the passive end 212 connected to the sleeve 41 is provided with insertion holes 2121 corresponding one-to-one with the two telescopic holes 412. Furthermore, each insertion hole 2121 corresponds one-to-one with the eccentric hole 411 in the axial direction, so that the insertion hole 2121 can correspond to the telescopic pin 43 in the axial direction and also provide a damping space beside the telescopic pin 43. Simultaneously, a damping pad 2122 is provided in the end of the insertion hole 2121 opposite to the telescopic pin 43, i.e., the damping pad 2122 is placed in the damping space within the insertion hole 2121, so that when one end of the telescopic pin 43 extends into the insertion hole 2121, the telescopic pin 412... One end of 3 directly abuts against the wall of the insertion hole 2121 to achieve a rigid connection, ensuring timely and effective power transmission. When the motor stops to stop the active end 211 from rotating, the passive end 212 continues to rotate under inertia due to its connection with the transmission structure and load structure, which will transmit the vibration in the opposite direction. Since the passive end 212 pushes the sleeve 41 to rotate when transmitting in the opposite direction, the passive end 212 pushes the telescopic pin 43 through the shock-absorbing pad 2122. The deformation of the shock-absorbing pad 2122 absorbs the shock and adapts to the rotation of the passive end 212, reducing the impact on the active end 211. When the single motor rotates in the reverse direction, the active end 211 drives the connecting pin 42 to rotate in the reverse direction. At this time, the connecting pin 42 pushes another telescopic pin 43 to extend into the telescopic hole 412 and insert into another insertion hole 2121. The telescopic pin 43 that was previously inserted into the insertion hole 2121 retracts into the telescopic hole 412 due to the lack of push from the connecting pin 42, and will not cause any interference to the connection between the sleeve 41 and the passive end 212. At this time, the sleeve 41 and the passive end 212 are limited by another telescopic pin 43, so that the sleeve 41 can drive the passive end 212 to rotate. Furthermore, since the two insertion holes 2121 and the shock-absorbing pads 2122 inside the insertion holes 2121 are arranged symmetrically about the sleeve 41, when the active end 211 drives the passive end 212 to rotate, one side of the telescopic end directly abuts against the hole wall of the insertion hole 2121 to achieve transmission. The vibration and force transmitted in the reverse direction by the passive end 212 are absorbed by the deformation of the shock-absorbing pads 2122, which can also reduce the impact on the active end 211. That is, regardless of whether the motor rotates in the forward or reverse direction, power transmission can be achieved by using different telescopic pins 43 in conjunction with different insertion holes 2121, ensuring that the transmission can be directly rigidly connected, and the power output is more timely and reliable. Moreover, the shock-absorbing pads 2122 inside the different insertion holes 2121 can also absorb energy and damp the vibration after the motor stops, reducing the impact on the motor and extending its service life.

[0030] More specifically, the passive end 212 has a protruding positioning block 2123 at the center of the end face of the end with the insertion hole 2121. Preferably, the positioning block 2123 and the passive end 212 are an integral structure, resulting in higher structural strength. Furthermore, the positioning block 2123 is inserted into the inner cavity of the sleeve 41 and arranged coaxially with the active end 211. The positioning block 2123 achieves the coaxial arrangement of the passive end 212, the sleeve 41, and the active end 211, ensuring that the subsequent telescopic pin 43 can be accurately inserted into the corresponding insertion hole 2121.

[0031] More specifically, when the telescopic pin 43 is not pushed by the connecting pin 42, there is a gap between the end face of the telescopic pin 43 facing away from the connecting pin 42 and the end face of the sleeve 41 connected to the passive end 212. This allows the telescopic pin 43 to have a certain travel when it retracts into the telescopic hole 412. This ensures that when another telescopic pin 43 retracts from the telescopic state, before the end of the other telescopic pin 43 has completely disengaged from the insertion hole 2121, although the telescopic pin 43 has been pushed by the connecting pin 42 in the telescopic hole 412, it has a certain travel to avoid this gap. This allows the other telescopic pin 43 to extend from the telescopic hole 4121 just as one telescopic pin 43 disengages from the insertion hole 2121, thus achieving the connection of the two telescopic pins 43. This avoids the problem of both telescopic pins 43 retracting into the telescopic hole 412 or extending into the insertion hole 2121 at the same time, making the structural design more reasonable.

[0032] More specifically, each insertion hole 2121 is an arc-shaped hole extending circumferentially along the passive end 212, and in the axial direction of the sleeve 41, the telescopic hole 412 is directly opposite one end of the insertion hole 2121, which better adapts to the rotation requirements of the passive end 212, so that the shock-absorbing pad 2122 subsequently installed in the insertion hole 2121 is also an arc-shaped structure, thereby adapting to the force direction of the passive end 212 and achieving better energy absorption and shock absorption effect.

[0033] More specifically, the shock-absorbing pad 2122 has an abutment limiting groove 2124 at one end near the telescopic pin 43. After the telescopic pin 43 is inserted into the insertion hole 2121, it abuts against the end side wall of the telescopic pin 43 through the abutment limiting groove 2124, so that the shock-absorbing pad 2122 and the telescopic pin 43 can abut more stably and reliably, and there will be no slippage problem, which further improves the energy absorption and shock absorption effect.

[0034] More specifically, the opening edge of each insertion hole 2121 opposite the telescopic hole 412 is flared. Preferably, the flare is an inclined flared structure, which both expands the opening diameter and guides the insertion of the end of the telescopic pin 43. At the same time, the opening edge of the abutment limiting groove 2124 is also flared, thereby expanding the opening of the abutment limiting groove 2124. Preferably, the opening of the abutment limiting groove 2124 is also an inclined flared structure, which facilitates the insertion of the end of the telescopic pin 43 into the abutment limiting groove 2124 of the shock-absorbing pad 2122. Even if the end of the telescopic pin 43 cannot be completely aligned with the insertion hole 2121 and the abutment limiting groove 2124 due to a small error, it can still smoothly enter the insertion hole 2121 and the abutment limiting groove 2124 after being guided by the flared structure, making the structural design more reasonable.

[0035] More specifically, a return spring 44 is also provided inside the telescopic hole 412 and at one end near the passive end 212, realizing the concealed installation of the return spring 44. At the same time, the two ends of the return spring 44 are respectively abutted against the telescopic pin 43 and the sleeve 41, so that the return spring 44 can provide a force for the telescopic pin 43 to retract toward the telescopic hole 412. That is, when the connecting pin 42 gradually moves away from the telescopic pin 43 from the state of pushing against the telescopic pin 43, the telescopic pin 43 can actively retract toward the telescopic hole 412 under the action of the return spring 44, so that the end of the telescopic pin 43 can be smoothly disengaged from the insertion hole 2121, making the structural design more reasonable.

[0036] More specifically, a sealing ring 45 is provided on the end face of the sleeve 41 connected to the passive end 212. The sealing ring 45 has a connecting hole 451 corresponding to the telescopic hole 412 and the insertion hole 2121. The sealing ring 45 forms a limiting structure on the end of the sleeve 41 connected to the passive end 212, providing conditions for the engagement of the return spring 44. At this time, the diameter of the connecting hole 451 is smaller than the diameter of the telescopic hole 412. Simultaneously, the diameter of the end of the telescopic pin 43 near the passive end 212 is smaller than the diameter of the end near the connecting pin 42, so that an abutment step can be formed on the outer wall of the telescopic pin 43. Furthermore, the return spring 44 is sleeved on the outside of the telescopic pin 43, with both ends of the return spring 44 abutting against the sealing ring 45 and the abutment step, respectively. This ensures that the telescopic pin 43 can receive the force provided by the return spring 44 to retract into the telescopic hole 412, resulting in a more rational structural design.

[0037] More specifically, the sealing ring 45 has several connecting holes 452, and the end face of the sleeve 41 has fixing holes 413 corresponding to the connecting holes 452. The connecting holes 452 and the corresponding fixing holes 413 are locked together by screws, realizing the detachable connection of the sealing ring 45 on the sleeve 41, which facilitates the installation of the telescopic pin 43 and the return spring 44. In addition, the connecting holes 452 are countersunk holes, which allows the end of the screw to be hidden in the connecting holes 452, ensuring that the surface of the sealing ring 45 can remain flat, thereby facilitating docking with the passive end 212, and making the structural design more reasonable.

[0038] More specifically, adhesive is provided between the end of each shock-absorbing pad 2122 facing away from the telescopic pin 43 and the inner wall of the corresponding insertion hole 2121. This ensures the stability of the shock-absorbing pad 2122 after it is installed in the insertion hole 2121, preventing the shock-absorbing pad 2122 from moving within the insertion hole 2121 during use and blocking the space for the telescopic pin 43 to be inserted into the insertion hole 2121. In addition, the thickness of the shock-absorbing pad 2122 is less than the depth of the insertion hole 2121, so that the insertion hole 2121 can provide deformation space for the shock-absorbing pad 2122 when it deforms, ensuring that the shock-absorbing pad 2122 can deform smoothly.

[0039] The robot motor with a shock-absorbing structure provided in this embodiment includes a housing 1, a rotor assembly 2, a stator assembly 3, an end cover, and a shock-absorbing structure 4. The rotor assembly 2's shaft 21 is configured as a split assembly structure including an active end 211 and a passive end 212. The shock-absorbing structure 4 is positioned between the active end 211 and the passive end 212. A connecting pin 42 of the shock-absorbing structure 4 is located on the active end 211, with both ends of the connecting pin 42 engaging with two telescopic pins 43. Simultaneously, two insertion holes 2121 are provided on the passive end 212, corresponding to the two telescopic pins 43 respectively. The active end 211 drives the... When the connecting pin 42 rotates, the end of the connecting pin 42 can push one of the telescopic pins 43 to extend into the corresponding insertion hole 2121, thereby realizing power transmission. At the same time, a shock-absorbing pad 2122 is provided in the insertion hole 2121 to abut the extended telescopic pin 43, realizing energy absorption and shock absorption after the motor stops, reducing the impact of inertial motion on the motor shaft 21, realizing motor protection. In addition, it can also prevent the current that affects the control circuit when the shaft 21 reverses, resulting in a longer service life, thereby extending the running time of the humanoid robot using the motor, making the operation more stable, and reducing the operating cost.

[0040] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot motor with a shock-absorbing structure, comprising a housing, a rotor assembly, a stator assembly, and an end cover, wherein the housing is arranged in a barrel shape, the end cover is disposed at one end of the barrel opening of the housing, the stator assembly is mounted on the inner wall of the housing, the rotor assembly is rotatably mounted on the inner side of the stator assembly, and the two ends of the rotor assembly's rotating shaft are respectively rotatably mounted on the housing and the end cover, with one end extending outside the housing and used as an output end, characterized in that... Also includes: The shock-absorbing structure comprises a split-joint structure at one end of the rotating shaft extending outside the housing, which includes an active end and a passive end. The shock-absorbing structure is positioned between the active end and the passive end. The shock-absorbing structure includes a sleeve, a connecting pin, and two telescopic pins. One end of the sleeve is fitted over the active end, and two radially arranged eccentric holes are symmetrically formed on the side wall of the sleeve. The connecting pin is installed radially on the end of the active end that is inserted into the sleeve, and both ends of the connecting pin extend into the two eccentric holes. Simultaneously, two eccentric holes corresponding to the eccentric holes are formed axially on the side wall of the sleeve. Furthermore, the other end of the telescopic hole passes through the other end of the sleeve. A telescopic pin is slidably disposed in each telescopic hole, and a pushing slope is provided at the end of the telescopic pin near the swing hole. The telescopic hole is located at one end of the corresponding swing hole, and the two telescopic holes are arranged axially symmetrically on the sleeve with respect to the end positions of their respective corresponding swing holes. The passive end is connected to the other end of the sleeve, and a insertion hole corresponding to each of the two telescopic holes is opened on the end face of the passive end connected to the sleeve. Each insertion hole corresponds to the swing hole axially, and a shock-absorbing pad is provided in the insertion hole at the end opposite to the telescopic pin.

2. The robot motor with shock absorption structure according to claim 1, characterized in that, The passive end has a protruding positioning block at the center of the end face of the end with the insertion hole, and the positioning block is inserted into the sleeve and arranged coaxially with the active end.

3. The robot motor with shock absorption structure according to claim 1, characterized in that, When the telescopic pin is not pushed by the connecting pin, there is a gap between the end face of the telescopic pin away from the connecting pin and the end face of the sleeve connected to the passive end.

4. The robot motor with shock absorption structure according to claim 1, characterized in that, Each of the aforementioned insertion holes is an arc-shaped hole extending circumferentially along the passive end, and in the axial direction of the sleeve, the telescopic hole is directly opposite one end of the insertion hole.

5. The robot motor with shock absorption structure according to claim 1, characterized in that, The shock-absorbing pad has an abutment limiting groove at one end near the telescopic pin, and after the telescopic pin is inserted into the insertion hole, the abutment limiting groove abuts against the end side wall of the telescopic pin.

6. The robot motor with shock absorption structure according to claim 5, characterized in that, The opening edge of each of the aforementioned insertion holes is flared at the end opposite to the telescopic hole, and the opening edge of the abutment limiting groove is also flared.

7. The robot motor with shock absorption structure according to claim 1, characterized in that, It also 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.

8. The robot motor with shock absorption structure according to claim 7, characterized in that, The device includes a sealing ring, which is installed on the end face of the sleeve connected to the passive end. The sealing ring has a communicating hole corresponding to the telescopic hole and the insertion hole. The diameter of the communicating 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 telescopic pin, and the two ends of the return spring abut against the sealing ring and the abutment step, respectively.

9. The robot motor with shock absorption structure according to claim 8, characterized in that, The sealing ring has a plurality of connecting holes, and the end face of the sleeve has a fixing hole corresponding to each of the connecting holes. The connecting holes and the corresponding fixing holes are locked together by screws. The connecting holes are countersunk holes.

10. The robot motor with shock absorption structure according to claim 1, characterized in that, An adhesive is provided between the end of each shock-absorbing pad facing away from the telescopic pin and the inner wall of the insertion hole, and the thickness of the shock-absorbing pad is less than the depth of the insertion hole.

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