A joint module for a humanoid robot

Abstract

This invention discloses a joint module for a humanoid robot, comprising a housing, a first cooling pipe, and a motor and a reduction mechanism coaxially disposed within the housing. The motor includes a main shaft rotatably disposed within the housing and a first rotor, a stator, and a second rotor arranged sequentially along the axial direction of the main shaft. An annular base of the stator is fixed within the housing cavity. The main shaft is coaxially disposed within the inner ring of the annular base, with both ends extending beyond the stator and connected to the two rotors respectively. The annular base is provided with stator cores spaced circumferentially. An internal oil passage is provided on the housing, including a spiral oil passage surrounding the outer circumference of the reduction mechanism. The first cooling pipe is circumferentially fixed within the inner ring of the stator. Based on a single-stator dual-rotor motor structure, this invention effectively cools the joint module and improves its service life by providing a first cooling pipe on the stator and a spiral oil passage surrounding the outer circumference of the reduction mechanism.

Description

Technical Field

[0001] This invention relates to the field of robot joint drive technology, and more specifically to a joint module for a humanoid robot. Background Technology

[0002] In the field of humanoid robots, axial flux motors are widely used in applications such as joint modules for robot dogs and humanoid robots due to their advantages such as high torque density and compact structure. Currently, conventional axial flux motors mainly use natural cooling solutions, and rarely use air cooling or oil cooling solutions. However, with the increasing number of joint motors in humanoid robots and the further improvement of torque density requirements, there is an urgent need to improve the cooling capacity of motors.

[0003] In the existing technology, existing axial flux motors mainly adopt natural cooling solutions, and rarely use air cooling or oil cooling solutions. As the number of joint motors in humanoid robots increases and the torque density requirements increase, the motor cooling capacity is insufficient, making it difficult to dissipate heat in time, which easily causes problems such as motor insulation and temperature rise.

[0004] Furthermore, during normal operation, the reduction gear mechanism within the joint module converts some input power into heat due to efficiency losses, causing the internal temperature of the reduction gear mechanism to rise. Excessive temperature in the reduction gear mechanism can damage internal components. Current joint modules primarily use air cooling to dissipate heat from the motor drive board and the motor itself, without considering cooling the reduction gear mechanism.

[0005] In summary, the existing joint modules have poor cooling capabilities, which seriously affects their service life. Summary of the Invention

[0006] This invention proposes a joint module for a humanoid robot to solve the problem of poor cooling capacity of the joint module.

[0007] The present invention discloses a joint module for a humanoid robot, comprising a housing, a first cooling pipe, and a motor and a reduction mechanism coaxially disposed within the housing cavity;

[0008] The motor includes a main shaft rotatably disposed within the housing and a first rotor, a stator, and a second rotor arranged sequentially along the axial direction of the main shaft.

[0009] The annular base of the stator is fixed in the inner cavity of the housing; the main shaft is coaxially arranged in the inner ring of the annular base, and both ends of the main shaft extend to the outside of the stator and are respectively connected to the first rotor and the second rotor; the annular base is provided with stator cores distributed circumferentially, and stator winding modules are wound around the outer circumference of the stator cores.

[0010] The reduction mechanism is located on the side of the first rotor away from the stator, and the input end of the reduction mechanism is connected to the output end of the main shaft.

[0011] The housing is provided with an internal oil passage, which includes an oil inlet passage, an oil outlet passage, and a spiral oil passage that surrounds the outer periphery of the reduction mechanism and is connected to the oil inlet passage and the oil outlet passage respectively.

[0012] The first cooling pipe is fixedly arranged around the inner ring of the stator and is connected to the oil inlet and oil outlet respectively. The first cooling pipe has extensions spaced circumferentially. These extensions are arranged radially along the main shaft and distributed between adjacent stator cores. Based on a single-stator dual-rotor motor structure, by providing a first cooling pipe on the stator and a spiral oil passage surrounding the reduction mechanism, the joint module is effectively cooled, thus improving its service life.

[0013] Optionally, the stator core extends axially along the main shaft and passes through the annular base; the two ends of the stator core are symmetrically distributed on both sides of the annular base;

[0014] The first cooling pipe includes two annular pipes symmetrically distributed on both sides of the annular base;

[0015] The annular pipeline includes the extension and the arc-shaped portion that is arranged around the inner side of the corresponding stator core, and two adjacent extensions are connected through the corresponding arc-shaped portion;

[0016] Two arc-shaped portions symmetrically distributed on both sides of the annular base are connected by a connecting pipe; the connecting pipe is arranged along the axial direction of the main shaft.

[0017] One of the annular pipes is connected to the oil inlet of the internal oil circuit via an oil inlet pipe, and the other annular pipe is connected to the oil outlet of the internal oil circuit via an oil outlet pipe. This design ensures that the first cooling pipe effectively cools the motor.

[0018] Optionally, the end of the spiral oil passage away from the stator is connected to the oil inlet passage of the internal oil passage, and the end of the spiral oil passage close to the stator is connected to the oil outlet passage of the internal oil passage.

[0019] An annular pipe located on the side of the annular base near the reduction gear mechanism is connected to the oil inlet circuit of the internal oil circuit via the oil inlet pipe; an annular pipe located on the side of the annular base away from the reduction gear mechanism is connected to the oil outlet circuit of the internal oil circuit via the oil outlet pipe, with the oil inlet pipe and the oil outlet pipe located on both sides of the stator. This design ensures effective cooling of the spiral oil circuit and the first cooling pipe circuit.

[0020] Optionally, the main shaft is a hollow shaft, and the reduction mechanism is an RV reducer;

[0021] The input shaft of the reduction mechanism is a hollow shaft, and the input shaft is located at one end of the reduction mechanism near the first rotor. The input end of the input shaft is coaxially fixed in the inner cavity of the end of the main shaft.

[0022] The output end of the deceleration mechanism is provided with an output shaft, and a connecting shaft is coaxially fixed to the center of the output shaft. The free end of the connecting shaft passes through the axial center hole of the input shaft and the axial center hole of the main shaft in sequence, and extends to the outside of the main shaft. A bearing is provided between the axial center hole of the main shaft and the connecting shaft.

[0023] An input encoder is installed at the end of the main shaft away from the reduction mechanism, and an output encoder is installed at the free end of the connecting shaft; the output encoder is located in the inner ring of the input encoder.

[0024] The motor also includes a control mechanism for controlling the rotation of the rotor; the control mechanism is fixed inside the housing and is adapted to detect the input and output parameters of the joint module based on the signals from the input encoder and the output encoder. By adopting the above scheme and setting input and output encoders, the accuracy of the control mechanism in controlling the joint module is improved.

[0025] Optionally, the motor further includes a front end cover distributed between the reduction mechanism and the first rotor, and a rear end cover distributed on the side of the second rotor away from the stator;

[0026] The outer edge of the front cover is fixedly connected to the housing, and the inner ring of the front cover is connected to the main shaft through a bearing;

[0027] The outer edge of the rear end cover is fixedly connected to the housing, and the inner ring of the rear end cover is connected to the main shaft through a bearing;

[0028] The input encoder and the output encoder are located on the same plane, and both encoders are distributed on the side of the rear end cover away from the second rotor, and both are encoder rotors;

[0029] The control mechanism includes an encoder stator and a drive board;

[0030] The encoder stator is adapted to detect the input and output parameters of the joint module based on the signals from the input encoder and the output encoder.

[0031] The drive board is adapted to control the rotor to rotate and to receive the input and output parameters of the joint module detected by the encoder stator. Using this scheme, encoders on the same plane can share a single control circuit board, eliminating the need for additional wiring and additional control circuit boards, thereby further ensuring the overall simplicity and structural optimization of the joint module.

[0032] Optionally, the main shell of the housing is a hollow structure with openings at the front and rear ends;

[0033] The annular base is fixed to the main housing, and the main shaft is rotatably disposed within the main housing;

[0034] The reduction mechanism is installed in the front opening of the main housing, and a cooling oil cover is installed on the outer periphery of the front end of the main housing. The output end of the reduction mechanism extends outside the cooling oil cover.

[0035] A spiral groove centered on the axis of the main shaft is formed on the outer peripheral wall of the front end of the main housing. The spiral groove and the inner wall of the cooling oil cover form the spiral oil passage.

[0036] The main housing is provided with a main oil inlet and a main oil outlet spaced apart. The starting end of the spiral oil circuit is connected to the main oil inlet through a first connecting hole on the cooling oil cover, and the ending end of the spiral oil circuit is connected to the main oil outlet through a second connecting hole on the cooling oil cover.

[0037] The oil inlet pipe of the first cooling pipe is connected to the main oil inlet, and the oil outlet pipe of the first cooling pipe is connected to the main oil outlet.

[0038] The first connecting hole and the main oil inlet hole constitute the oil inlet passage of the internal oil circuit; the second connecting hole and the main oil outlet hole constitute the oil outlet passage of the internal oil circuit. This design effectively cools the outer periphery of the reduction gear mechanism.

[0039] Optionally, the spiral groove includes two opposing sidewalls and a bottom surface connecting the two sidewalls, the two sidewalls being parallel to each other;

[0040] The sidewalls are inclined, with an angle of 45° to 60° between the sidewalls and the axis of the main shaft. One sidewall has a heat dissipation protrusion, and a gap is provided between the heat dissipation protrusion and the other sidewall for cooling oil to pass through. This design increases the contact area between the cooling oil and the spiral groove, thereby improving the cooling effect.

[0041] Optionally, a cooling ring is fixedly connected to the inner wall of the main housing, and the cooling ring is placed between the main housing and the second rotor;

[0042] The outer ring of the cooling ring is provided with a first arc-shaped groove and a second arc-shaped groove spaced apart. The oil inlet pipe is connected to the main oil inlet hole through the first arc-shaped groove, and the oil outlet pipe is connected to the main oil outlet hole through the second arc-shaped groove.

[0043] The inner ring of the cooling oil cover has a first annular groove and a second annular groove; the first connecting hole is connected to the starting end of the spiral oil passage through the first annular groove; the second connecting hole is connected to the ending end of the spiral oil passage through the second annular groove. This design reduces the difficulty of connecting the spiral oil passage, the first cooling pipe, and the internal oil passage.

[0044] Optionally, a rear cover is installed at the rear end of the main housing; the rear cover is a cavity with an open front end and a sealed rear end.

[0045] The motor control mechanism is installed in the inner cavity of the rear cover, and a second cooling pipe is provided between the rear cover and the control mechanism;

[0046] The second cooling pipe is fixed to the rear cover and is connected to the main oil inlet and the main oil outlet, respectively. This design effectively cools the drive plate.

[0047] Optionally, the second cooling pipe, the drive plate of the control mechanism, and the rear cover are encapsulated using an integrated potting process;

[0048] In the integrated potting process, the adhesive used is epoxy resin.

[0049] By adopting the above technical solution, the present invention has the following advantages compared with the prior art:

[0050] Based on the single-stator dual-rotor motor structure, the first cooling pipe is set on the stator. The distribution of the first cooling pipe effectively improves the heat dissipation efficiency of the motor, avoids the heat retention problem caused by the traditional dual-stator single-rotor or dual-stator dual-rotor structure, and effectively reduces the risk of motor temperature rise.

[0051] By setting a spiral oil circuit around the outer periphery of the reduction mechanism, effective cooling of the reduction mechanism is achieved, thereby improving the service life of the reduction mechanism.

[0052] By using an integrated potting process to encapsulate the second cooling pipe, drive board, and rear cover, the problem of insufficient heat dissipation capacity of traditional control mechanisms is effectively solved, and the working efficiency and durability of control mechanisms are improved.

[0053] The oil inlet circuit, oil outlet circuit, spiral circuit, first cooling pipe, and second cooling pipe form an integrated cooling system, which achieves uniform heat dissipation of the joint module, high heat dissipation efficiency, and improves the cooling effect.

[0054] The distribution of the first cooling pipes will not affect the axial length of the motor, effectively adapting to the structure of a single stator dual rotor motor.

[0055] By setting input and output encoders, the control mechanism's accuracy in controlling the joint module is improved.

[0056] The above description of the disclosure and the following description of the embodiments are intended to demonstrate and explain the spirit and principles of the present invention, and to provide a further explanation of the scope of the patent application of the present invention. Attached Figure Description

[0057] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0058] Figure 1 This is a cross-sectional view of the joint module in this invention;

[0059] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0060] Figure 3 This is a schematic diagram of the stator and the first cooling pipeline in this invention;

[0061] Figure 4 This is a schematic diagram of the first cooling pipe in the present invention;

[0062] Figure 5 This is a schematic diagram of the oil circuit connection within the joint module of the present invention;

[0063] Figure 6 This is a cross-sectional view of the deceleration mechanism in this invention;

[0064] Figure 7 This is a partial schematic diagram of the joint module in this invention;

[0065] Figure 8 This is a schematic diagram of the distribution of the dual encoders in this invention.

[0066] Explanation of icon numbers:

[0067] 1. Housing; 11. Main housing; 111. Spiral groove; 112. Main oil inlet; 113. Main oil outlet; 114. Heat dissipation protrusion; 12. Cooling oil cover; 121. First connecting hole; 122. Second connecting hole; 123. First annular groove; 124. Second annular groove; 13. Cooling ring; 131. First arc-shaped groove; 132. Second arc-shaped groove; 14. Rear cover; 15. Support tray;

[0068] 2. First cooling pipe; 21. Annular pipe; 211. Extension; 212. Arc-shaped section; 22. Connecting pipe; 23. Oil inlet pipe; 24. Oil outlet pipe;

[0069] 3. Motor; 31. Main shaft; 311. Front fixed frame; 312. Rear fixed frame; 32. First rotor; 33. Stator; 331. Annular base; 332. Stator core; 3321. Stator winding module; 333. Input end tray; 34. Second rotor; 35. Input end encoder; 36. Control mechanism; 361. Encoder stator; 362. Drive board; 37. Front cover; 38. Rear cover;

[0070] 4. Reduction mechanism; 41. Input shaft; 42. Output shaft; 43. Connecting shaft; 431. Output end tray; 44. Output end encoder;

[0071] 5. Second cooling pipe;

[0072] 6. Oil inlet connector;

[0073] 7. Oil outlet connector. Detailed Implementation

[0074] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0075] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during use. They are only for the convenience of describing the present 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 limiting the present invention.

[0076] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0077] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0078] This invention provides a joint module for a humanoid robot, suitable for application at the joints of a humanoid robot.

[0079] Please see Figure 1 and Figure 3 As shown, the joint module includes a housing 1, a first cooling pipe 2, a motor 3, and a reduction mechanism 4. The motor 3 and the reduction mechanism 4 are coaxially arranged within the inner cavity of the housing 1.

[0080] The motor 3 in this invention adopts a single-stator, dual-rotor structure. The motor 3 includes a main shaft 31 rotatably mounted within a housing 1, and a first rotor 32, a stator 33, and a second rotor 34 arranged sequentially along the axial direction of the main shaft 31. In this embodiment, the axial direction of the main shaft 31 is front-to-back. The first rotor 32, stator 33, and second rotor 34 are arranged sequentially from front to back. The stator 33 includes an annular base 331 fixed within the cavity of the housing 1 and several stator cores 332 mounted on the annular base 331. The several stator cores 332 are circumferentially spaced on the annular base 331. A stator winding module 3321 is wound around the outer periphery of each stator core 332. The main shaft 31 is coaxially mounted within the inner ring of the annular base 331, and the main shaft 31 is spaced apart from the annular base 331. Both ends of the main shaft 31 extend outwards from the stator 33 in the front-to-back direction and are connected to the first rotor 32 and the second rotor 34, respectively. Specifically, the front end of the main shaft 31 is connected to the first rotor 32, and the rear end of the main shaft 31 is connected to the second rotor 34.

[0081] In this embodiment, the reduction mechanism 4 is located on the front side of the motor 3. Specifically, the reduction mechanism 4 is located on the side of the first rotor 32 away from the stator 33. The input end of the reduction mechanism 4 is connected to the output end of the main shaft 31 (i.e., the front end of the main shaft 31).

[0082] An internal oil passage is provided on the housing 1. The internal oil passage includes an oil inlet passage, an oil outlet passage, and a spiral oil passage surrounding the outer periphery of the reduction mechanism 4. The spiral oil passage is connected to the oil inlet passage and the oil outlet passage respectively, for cooling the reduction mechanism 4. The oil inlet passage is suitable for connection to the oil supply line outside the joint module, and the oil outlet passage is suitable for connection to the oil return line outside the joint module.

[0083] The first cooling pipe 2 is fixedly arranged around the inner ring of the stator 33. The first cooling pipe 2 is connected to the oil inlet and oil outlet lines respectively. The first cooling pipe 2 is provided with a plurality of extensions 211 distributed circumferentially. The plurality of extensions 211 are arranged radially along the main shaft 31 and distributed between two adjacent stator cores 332 to cool the motor 3. Preferably, the first cooling pipe 2 is an aluminum alloy pipe, and the first cooling pipe 2 is in contact with the stator winding module 3321 wound on the stator core 332, thereby improving the cooling effect.

[0084] The present invention cools the reduction mechanism 4 by means of a spiral oil circuit surrounding the outer periphery of the reduction mechanism 4, thereby improving the working efficiency and service life of the reduction mechanism 4; the present invention uses a single stator and dual rotor motor 3, and cools the motor 3 by means of a first cooling pipe 2 set on the stator 33, thereby improving the service life of the motor 3.

[0085] Please see Figure 1 , Figure 5 and Figure 7 As shown, the housing 1 includes a main housing 11 and a cooling oil cover 12. The main housing 11 is a hollow structure with openings at both the front and rear ends. The front end of the main housing 11 has a small diameter, and the rear end has a large diameter. An annular base 331 is fixed to the middle section of the inner cavity of the main housing 11, and a main shaft 31 is rotatably mounted within the main housing 11. A reduction gear 4 is installed inside the front opening of the main housing 11. The cooling oil cover 12 is installed on the outer periphery of the front end of the main housing 11. The output end of the reduction gear 4 extends forward beyond the cooling oil cover 12.

[0086] A spiral groove 111 centered on the axis of the main shaft 31 is formed on the outer peripheral wall of the front end (i.e., the small diameter end) of the main housing 11. The spiral groove 111 and the inner wall of the cooling oil cover 12 form a spiral oil passage. To prevent leakage in the spiral oil passage, two sealing rings are installed between the outer periphery of the main housing 11 and the inner wall of the cooling oil cover 12, with the two sealing rings spaced apart in front of and behind the spiral oil passage.

[0087] The main housing 11 is provided with a main oil inlet 112 and a main oil outlet 113 spaced apart. In this embodiment, the axes of both the main oil inlet 112 and the main oil outlet 113 extend in the front-rear direction and are both located on the large-diameter end of the main housing 11. The cooling oil cover 12 is provided with a first connecting hole 121 and a second connecting hole 122 spaced apart. The axes of both the first connecting hole 121 and the second connecting hole 122 extend in the front-rear direction and extend to the rear end face of the cooling oil cover 12. The starting end of the spiral oil passage is connected to the main oil inlet 112 through the first connecting hole 121. The ending end of the spiral oil passage is connected to the main oil outlet 113 through the second connecting hole 122.

[0088] The first connecting hole 121 and the main oil inlet hole 112 form the oil inlet passage of the internal oil circuit. The second connecting hole 122 and the main oil outlet hole 113 form the oil outlet passage of the internal oil circuit. In order to fully cool the deceleration mechanism 4, the end of the spiral oil circuit away from the stator 33 is the starting end (i.e., the front end of the spiral oil circuit), which is connected to the first connecting hole 121. The front end of the spiral oil circuit is connected to the first connecting hole 121, and the rear end of the first connecting hole 121 is connected to the front end of the main oil inlet hole 112. The end of the spiral oil circuit closer to the stator 33 is the ending end (i.e., the rear end of the spiral oil circuit), which is connected to the second connecting hole 122. The rear end of the spiral oil circuit is connected to the second connecting hole 122, and the rear end of the second connecting hole 122 is connected to the front end of the main oil outlet hole 113.

[0089] To prevent leakage at the junction of the rear end of the first connecting hole 121 and the front end of the main oil inlet hole 112, and at the junction of the rear end of the second connecting hole 122 and the front end of the main oil outlet hole 113, two sealing rings are installed between the rear end face of the cooling oil cover 12 and the main housing 11. The two sealing rings are spaced apart, and the junction of the rear end of the first connecting hole 121 and the front end of the main oil inlet hole 112, and the junction of the rear end of the second connecting hole 122 and the front end of the main oil outlet hole 113 are both located between the two sealing rings.

[0090] Furthermore, the spiral groove 111 includes front and rear sidewalls arranged opposite to each other and a bottom surface connecting the front and rear sidewalls. The front and rear sidewalls are parallel to each other. The rear sidewall is inclined. The angle between the rear sidewall and the axis of the main shaft 31 is 45° to 60°. Preferably, the angle between the rear sidewall and the axis of the main shaft 31 is 60°. The rear sidewall is provided with heat dissipation protrusions 114 (such as...). Figure 2 (As shown). A gap is provided between the heat dissipation protrusion 114 and the front sidewall for cooling oil to pass through. In this embodiment, the cooling oil cover 12 can be manufactured by methods such as lost foam casting or 3D printing.

[0091] By tilting the sidewall of the spiral groove 111 and adding a heat dissipation protrusion 114, the contact area between the cooling oil and the spiral groove 111 is increased, thereby improving the cooling effect.

[0092] Furthermore, to reduce the difficulty of connecting the first connecting hole 121 to the front end of the spiral oil passage, please refer to... Figure 1 , Figure 2 and Figure 5As shown, the inner ring of the cooling oil cover 12 has a first annular groove 123, and the first connecting hole 121 is connected to the front end of the spiral oil passage through the first annular groove 123. The inner ring of the cooling oil cover 12 also has a second annular groove 124, and the second connecting hole 122 is connected to the rear end of the spiral oil passage through the second annular groove 124. In this embodiment, the first annular groove 123 and the second annular groove 124 are spaced apart, and the first annular groove 123 is located in front of the second annular groove 124. The outer diameter of the first annular groove 123 is larger than the outer diameter of the second annular groove 124 to ensure that the first connecting hole 121 and the second annular groove 124 are spaced apart.

[0093] Please see Figures 3-5 As shown, each stator core 332 extends axially along the main shaft 31 and passes through the annular base 331, so that the front and rear ends of the same stator core 332 are symmetrically distributed on the front and rear sides of the annular base 331. The first cooling pipe 2 includes two annular pipes 21 symmetrically distributed on the front and rear sides of the annular base 331. The annular pipe 21 is flower-shaped, including an extension 211 and an arc-shaped portion 212 encircling the inner side of the corresponding stator core 332. Two adjacent extensions 211 are connected by corresponding arc-shaped portions 212. The two arc-shaped portions 212 symmetrically distributed on the front and rear sides of the annular base 331 are connected by a connecting pipe 22. The connecting pipe 22 is arranged axially along the main shaft 31. One annular pipe 21 is connected to the main oil inlet 112 through an oil inlet pipe 23, and the other annular pipe 21 is connected to the main oil outlet 113 through an oil outlet pipe 24.

[0094] In this embodiment, the annular pipe 21 located on the side of the annular base 331 closest to the reduction mechanism 4 (i.e., the annular pipe 21 located on the front side of the annular base 331) is connected to the main oil inlet 112 via the oil inlet pipe 23. The annular pipe 21 located on the side of the annular base 331 furthest from the reduction mechanism 4 (i.e., the annular pipe 21 located on the rear side of the annular base 331) is connected to the main oil outlet 113 via the oil outlet pipe 24.

[0095] Furthermore, in order to ensure that the cooling oil in the first cooling pipe 2 is fully circulated within the first cooling pipe 2, the oil inlet pipe 23 and the main oil outlet hole 113 are distributed on the left and right sides of the outer edge of the stator 33.

[0096] Furthermore, to reduce the difficulty of connecting the oil inlet pipe 23 to the main oil inlet port 112, please refer to... Figure 1 and Figure 5As shown, a cooling ring 13 is fixedly connected to the inner wall of the main housing 11. The cooling ring 13 is positioned between the main housing 11 and the second rotor 34. The outer ring of the cooling ring 13 is provided with a first arc-shaped groove 131 and a second arc-shaped groove 132 spaced apart. The first arc-shaped groove 131 and the second arc-shaped groove 132 respectively form corresponding arc-shaped oil passages with the inner wall of the main housing 11. The oil inlet pipe 23 is connected to the main oil inlet hole 112 through the first arc-shaped groove 131. The oil outlet pipe 24 is connected to the main oil outlet hole 113 through the second arc-shaped groove 132. In this embodiment, one end of the oil inlet pipe 23 is connected to the annular pipe 21 located in front of the annular base 331, and the other end passes through the annular base 331 and extends to the rear side of the annular base 331, connecting with the first arc-shaped groove 131.

[0097] To prevent leakage in the arc-shaped oil passage, two sealing rings are installed between the inner wall of the main housing 11 and the outer wall of the cooling ring 13. The two sealing rings are spaced apart in front of and behind the arc-shaped oil passage.

[0098] Please see Figure 1 As shown, the main shaft 31 is a hollow shaft, and the reduction mechanism 4 is an RV reducer. The RV reducer is existing technology and will not be described in detail.

[0099] The main shaft 31 has a front cover 37 on its outer periphery. The inner ring of the front cover 37 is connected to the main shaft 31 via a bearing, and its outer edge is fixedly connected to the main housing 11 via bolts. A front mounting bracket 311 is located at the front end of the main shaft 31, behind the front cover 37. The first rotor 32 is fixed to the rear surface of the front mounting bracket 311. Multiple first permanent magnets are located on the rear surface of the first rotor 32. The stator 33 is located behind the first permanent magnets. A rear mounting bracket 312 is fixed to the rear end of the main shaft 31 via bolts, located behind the stator 33. A second rotor 34 is fixed to the front surface of the rear mounting bracket 312. Multiple second permanent magnets are located on the front surface of the second rotor 34, between the rear mounting bracket 312 and the stator 33. Positioning protrusions that cooperate with the main shaft 31 are provided on the first rotor 32 and the second rotor 34 respectively, to achieve relative positioning and cooperation between the first rotor 32 and the second rotor 34. A rear end cover 38 is provided on the outer periphery of the rear end of the main shaft 31. The rear end cover 38 is located behind the second rotor 34. The inner ring of the rear end cover 38 is connected to the main shaft 31 through a bearing, and the outer edge of the rear end cover 38 is fixedly connected to the main housing 11 by bolts.

[0100] An input tray 333 is also mounted on the outer periphery of the rear end of the spindle 31, and the input tray 333 is located behind the rear end cover 38. An input encoder 35 is fixed to the rear surface of the input tray 333.

[0101] Please see Figure 1 and Figure 6As shown, the input shaft 41 of the reduction mechanism 4 is a hollow shaft. The input shaft 41 is located at the end of the reduction mechanism 4 near the first rotor 32, and its input end is coaxially fixed to the inner cavity of the front end of the main shaft 31. The output end of the reduction mechanism 4 is provided with an output shaft 42. The output shaft 42 is located at the front end of the reduction mechanism 4. The output shaft 42 is a hollow shaft, and its front end is provided with a connecting flange for connecting to the limbs of the humanoid robot to drive the corresponding limbs to move. A connecting shaft 43 is coaxially fixed within the central axial hole of the output shaft 42. The connecting shaft 43 has a connecting end and a free end that are arranged opposite each other. The connecting end of the connecting shaft 43 is fixedly connected to the output shaft 42. The free end of the connecting shaft 43 passes sequentially through the axial central hole of the input shaft 41 and the axial central hole of the main shaft 31, and extends outside the main shaft 31. A bearing is provided between the axial central hole of the main shaft 31 and the connecting shaft 43. The free end of the connecting shaft 43 is provided with an output end tray 431. The output tray 431 is located inside the input tray 333 and behind the input tray 333. The output encoder 44 is fixed to the rear surface of the output tray 431.

[0102] In this embodiment, both the input encoder 35 and the output encoder 44 are hollow encoders. The output encoder 44 is located within the inner ring of the input encoder 35 (e.g., ...). Figure 8 As shown in the figure, the input encoder 35 and the output encoder 44, which are located on the same plane, can share a single control circuit board, eliminating the need for additional wiring and control circuit boards, thereby further ensuring the overall simplicity and structural optimization of the joint module.

[0103] The motor 3 also includes a control mechanism 36 for controlling the rotation of the dual rotors. The control mechanism 36 is fixed inside the housing 1 and is adapted to detect the input and output parameters of the joint module based on signals from the input encoder 35 and the output encoder 44. The control mechanism 36 includes an encoder stator 361 and a drive board 362.

[0104] In this embodiment, the rear surface of the rear cover 38 is fixedly connected to the support tray 15 by bolts. The support tray 15 is placed inside the main housing 11, and the input tray 333 is placed inside the support tray 15. The encoder stator 361 is fixed on the rear surface of the support tray 15 and is located behind the input encoder 35 and the output encoder 44. The input encoder 35 and the output encoder 44 are both encoder rotors, and the encoder stator 361 is adapted to detect the input and output parameters of the joint module based on the signals from the input encoder 35 and the output encoder 44.

[0105] In this embodiment, please refer to Figure 1As shown, a rear cover 14 is installed at the rear end of the main housing 11. The rear cover 14 is located behind the support tray 15, snaps into the rear end opening of the main housing 11, and is fixedly connected to the support tray 15 by bolts. The rear cover 14 is a cavity with an open front end and a sealed rear end. The drive plate 362 is fixed to the inner cavity of the rear cover 14 by hexagonal copper studs. The drive plate 362 is located behind the encoder stator 361 and is electrically connected to the encoder stator 361. The drive plate 362 is adapted to control the rotation of the dual rotors and receive the input and output parameters of the joint module detected by the encoder stator 361. The drive plate 362 is adapted to accurately detect the transmission ratio of the joint module based on the input parameters (i.e., the position, speed, angle, etc. of the main shaft 31) and output parameters (i.e., the position, speed, angle, etc. of the output shaft 42), thereby improving the control accuracy. This dual feedback mechanism can ensure good control performance under complex motion and rapid change conditions.

[0106] In this embodiment, an exposure hole is provided on the rear cover 14 to expose the interface on the drive board 362 so that the drive board 362 can be connected to external cables.

[0107] Furthermore, to effectively cool the drive plate 362, a certain gap is provided between the drive plate 362 and the rear end face of the inner cavity of the rear cover 14. Please refer to... Figure 1 As shown, a second cooling pipe 5 is provided between the drive board 362 and the rear end face of the inner cavity of the rear cover 14. The arrangement of the second cooling pipe 5 effectively avoids protruding components and interfaces on the drive board 362.

[0108] Please see Figure 5 and Figure 8 As shown, the rear end of the main housing 11 is threadedly connected to an oil inlet connector 6, which communicates with the main oil inlet hole 112, and an oil outlet connector 7, which communicates with the main oil outlet hole 113. The oil inlet connector 6 and the oil outlet connector 7 extend in the front-rear direction. The front end of the oil inlet connector 6 is connected to the main oil inlet hole 112. The rear end of the oil inlet connector 6 is an oil pipe insertion end, which passes sequentially through the rear end cover 38, the support tray 15, and the rear cover 14, and extends beyond the rear cover 14 for connection to the oil supply line outside the joint module. Similarly, the front end of the oil outlet connector 7 is connected to the main oil outlet hole 113. The rear end of the oil outlet connector 7 is an oil pipe insertion end, which passes sequentially through the rear end cover 38, the support tray 15, and the rear cover 14, and extends beyond the rear cover 14 for connection to the oil supply line outside the joint module.

[0109] The oil inlet connector 6 has a branch connector on its peripheral wall, which is connected to the oil inlet end of the second cooling pipe 5. The oil outlet connector 7 has a branch connector on its peripheral wall, which is connected to the oil outlet end of the second cooling pipe 5.

[0110] Furthermore, to ensure that the second cooling pipe 5 is effectively fixed to the rear cover 14, the second cooling pipe 5, the drive plate 362, and the rear cover 14 are encapsulated using an integrated potting process. In this integrated potting process, epoxy resin is used to improve cooling and heat dissipation.

[0111] In addition, the first cooling pipe 2 and the stator 33 are also encapsulated using an integrated potting process.

[0112] The working principle of the joint module is as follows:

[0113] The control mechanism 36 controls the main shaft 31 of the motor 3 to rotate, and then the main shaft 31 drives the input shaft 41 to rotate. Subsequently, under the transmission of the reduction mechanism 4, the output shaft 42 rotates. The output shaft 42 is adapted to be connected to the limbs of the humanoid robot to drive the corresponding limbs to move.

[0114] Cooling oil in the external oil tank enters the main oil inlet 112 through the oil inlet connector 6. A portion of the cooling oil in the main oil inlet 112 enters the spiral oil passage through the first connecting hole 121, and then the cooling oil in the spiral oil passage returns to the main oil outlet 113 through the second connecting hole 122. A portion of the cooling oil in the main oil inlet 112 enters the first cooling pipe 2 through the first arc-shaped groove 131, and the cooling oil in the first cooling pipe 2 returns to the main oil outlet 113 through the second arc-shaped groove 132. The cooling oil in the main oil outlet 113 returns to the external oil tank through the oil outlet connector 7 for cooling and temperature reduction, ready for subsequent recycling.

[0115] Part of the cooling oil in the oil inlet connector 6 enters the second cooling pipe 5 to cool the drive plate 362. The cooling oil in the second cooling pipe 5 returns to the external oil tank through the oil outlet connector 7.

[0116] In summary, the humanoid robot joint module provided in this application, based on a single-stator dual-rotor motor structure, effectively improves the motor's heat dissipation efficiency by incorporating a first cooling pipe on the stator. This avoids the heat retention problem caused by traditional dual-stator single-rotor or dual-stator dual-rotor structures, effectively reducing the risk of motor temperature rise. A spiral oil circuit surrounding the reduction mechanism effectively cools it, extending its service life. An integrated potting process is used to encapsulate the second cooling pipe, drive board, and rear cover, effectively solving the problem of insufficient heat dissipation capacity in traditional control mechanisms and improving their efficiency and durability. The inlet oil circuit, outlet oil circuit, spiral oil circuit, first cooling pipe, and second cooling pipe form an integrated cooling system, achieving uniform and efficient heat dissipation for the joint module. The inclusion of input and output encoders improves the control accuracy of the joint module. Furthermore, the distribution of the first cooling pipe does not affect the motor's axial length, effectively adapting to the single-stator dual-rotor motor structure.

[0117] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A joint module of a humanoid robot, characterized by, The shell (1), the first cooling pipeline (2), the motor (3) and the speed reduction mechanism (4) are coaxially arranged in the inner cavity of the shell (1); The motor (3) comprises a main shaft (31) rotatably arranged in the shell (1), a first rotor (32), a stator (33) and a second rotor (34) arranged along the main shaft (31) in sequence in the axial direction; The annular base (331) of the stator (33) is fixed in the inner cavity of the shell (1); the main shaft (31) is coaxially arranged in the inner ring of the annular base (331), and both ends of the main shaft (31) extend to the outside of the stator (33) and are connected with the first rotor (32) and the second rotor (34) respectively; a plurality of stator cores (332) are arranged on the annular base (331) in a circumferential direction; and a stator winding module (3321) is wound on the outer periphery of the stator core (332); The speed reduction mechanism (4) is arranged on the side of the first rotor (32) away from the stator (33), and the input end of the speed reduction mechanism (4) is connected with the output end of the main shaft (31); The shell (1) is provided with an internal oil circuit, which comprises an oil inlet oil circuit, an oil outlet oil circuit and a spiral oil circuit surrounding the outer periphery of the speed reduction mechanism (4) and connected with the oil inlet oil circuit and the oil outlet oil circuit respectively; The first cooling pipeline (2) is annularly arranged on the inner ring of the stator (33) and connected with the oil inlet oil circuit and the oil outlet oil circuit respectively; the first cooling pipeline (2) is provided with a plurality of extension portions (211) arranged in a circumferential direction; the extension portion (211) is arranged in the radial direction of the main shaft (31) and is arranged between two adjacent stator cores (332); The stator core (332) extends in the axial direction of the main shaft (31) and is arranged in the annular base (331); and the two ends of the stator core (332) are symmetrically arranged on the two sides of the annular base (331); The first cooling pipeline (2) comprises two annular pipelines (21) symmetrically arranged on the two sides of the annular base (331); The annular pipeline (21) comprises the extension portion (211) and an arc-shaped portion (212) annularly arranged on the inner side of the corresponding stator core (332); and two adjacent extension portions (211) are connected through the corresponding arc-shaped portion (212); Two arc-shaped portions (212) symmetrically arranged on the two sides of the annular base (331) are connected through a connecting pipeline (22); and the connecting pipeline (22) is arranged in the axial direction of the main shaft (31); One of the annular pipelines (21) is connected with the oil inlet oil circuit of the internal oil circuit through an oil inlet pipeline (23), and the other annular pipeline (21) is connected with the oil outlet oil circuit of the internal oil circuit through an oil outlet pipeline (24); The main shell (11) of the shell (1) is a hollow structure with open front and rear ends; The annular base (331) is fixed in the main shell (11), and the main shaft (31) is rotatably arranged in the main shell (11). The front end opening of the main shell (11) is equipped with the reduction mechanism (4), and the outer periphery of the front end of the main shell (11) is provided with a cooling oil cover (12), and the output end of the reduction mechanism (4) extends out of the cooling oil cover (12); A spiral groove (111) is formed on the outer peripheral wall of the front end of the main shell (11) and centered on the axis of the main shaft (31), and the spiral groove (111) and the inner wall of the cooling oil cover (12) form the spiral oil channel.

2. The joint module according to claim 1, characterized in that The end of the spiral oil channel away from the stator (33) is connected with the oil inlet oil channel of the internal oil channel, and the end of the spiral oil channel close to the stator (33) is connected with the oil outlet oil channel of the internal oil channel. The annular pipelines (21) distributed on the side of the annular base (331) close to the reduction mechanism (4) are connected with the oil inlet oil channel of the internal oil channel through the oil inlet pipe (23), and the annular pipelines (21) distributed on the side of the annular base (331) away from the reduction mechanism (4) are connected with the oil outlet oil channel of the internal oil channel through the oil outlet pipe (24), and the oil inlet pipe (23) and the oil outlet pipe (24) are distributed on both sides of the stator (33).

3. The joint module of claim 1, wherein The main shaft (31) is a hollow shaft, and the reduction mechanism (4) is an RV reduction mechanism; The input shaft (41) of the reduction mechanism (4) is a hollow shaft, the input shaft (41) is located at the end of the reduction mechanism (4) close to the first rotor (32), and the input end of the input shaft (41) is coaxially fixed in the inner cavity of the end of the main shaft (31); The output end of the reduction mechanism (4) is provided with an output shaft (42), the center of the output shaft (42) is coaxially fixed with a connecting shaft (43), the free end of the connecting shaft (43) sequentially passes through the axial center hole of the input shaft (41) and the axial center hole of the main shaft (31), and extends out of the main shaft (31), and a bearing is arranged between the axial center hole of the main shaft (31) and the connecting shaft (43); The end of the main shaft (31) away from the reduction mechanism (4) is provided with an input end encoder (35), and the free end of the connecting shaft (43) is provided with an output end encoder (44); the output end encoder (44) is located in the inner ring of the input end encoder (35); The motor (3) further comprises a control mechanism (36) for controlling the rotation of the rotor; the control mechanism (36) is fixed in the shell (1) and is adapted to detect the input parameters and output parameters of the joint module according to the signals of the input end encoder (35) and the output end encoder (44).

4. The joint module according to claim 3, characterized in that The motor (3) further comprises a front end cover (37) distributed between the reduction mechanism (4) and the first rotor (32), and a rear end cover (38) distributed on the side of the second rotor (34) away from the stator (33); The outer edge of the front end cover (37) is fixedly connected with the shell (1), and the inner ring of the front end cover (37) is connected with the main shaft (31) through a bearing; The outer edge of the rear end cover (38) is fixedly connected with the shell (1), and the inner ring of the rear end cover (38) is connected with the main shaft (31) through a bearing; The input end encoder (35) and the output end encoder (44) are located in the same plane, and both of them are distributed on the side of the rear end cover (38) away from the second rotor (34) and are both encoder rotors; The control mechanism (36) comprises an encoder stator (361) and a driving plate (362); The encoder stator (361) is adapted to detect the input parameter and the output parameter of the joint module according to the signals of the input end encoder (35) and the output end encoder (44); The driving plate (362) is adapted to control the rotation of the rotor and receive the input parameter and the output parameter of the joint module detected by the encoder stator (361).

5. The joint module of claim 1, wherein The main shell (11) is provided with a main oil inlet hole (112) and a main oil outlet hole (113) at intervals, the starting end of the spiral oil path is connected with the main oil inlet hole (112) through a first connecting hole (121) on the cooling oil cover (12), and the terminal end of the spiral oil path is connected with the main oil outlet hole (113) through a second connecting hole (122) on the cooling oil cover (12); The oil inlet pipe (23) of the first cooling pipeline (2) is connected with the main oil inlet hole (112), and the oil outlet pipe (24) of the first cooling pipeline (2) is connected with the main oil outlet hole (113); The first connecting hole (121) and the main oil inlet hole (112) constitute an oil inlet oil path of the internal oil path, and the second connecting hole (122) and the main oil outlet hole (113) constitute an oil outlet oil path of the internal oil path.

6. The joint module of claim 1, wherein, The spiral groove (111) comprises two opposite side walls and a bottom surface connecting the two side walls, and the two side walls are parallel to each other; The side wall is arranged in an inclined manner, the included angle between the side wall and the axis of the main shaft (31) is 45°-60°, one of the side walls is provided with a heat dissipation protrusion (114), and a gap for cooling oil to pass through is arranged between the heat dissipation protrusion (114) and the other side wall.

7. The joint module of claim 5, wherein, The inner wall of the main shell (11) is fixedly connected with a cooling ring (13), and the cooling ring (13) is arranged between the main shell (11) and the second rotor (34); The outer ring of the cooling ring (13) is provided with a first arc-shaped groove (131) and a second arc-shaped groove (132) at intervals, the oil inlet pipe (23) is connected with the main oil inlet hole (112) through the first arc-shaped groove (131), and the oil outlet pipe (24) is connected with the main oil outlet hole (113) through the second arc-shaped groove (132); The inner ring of the cooling oil cover (12) is provided with a first annular groove (123) and a second annular groove (124); the first connecting hole (121) is connected with the starting end of the spiral oil path through the first annular groove (123); and the second connecting hole (122) is connected with the terminal end of the spiral oil path through the second annular groove (124).

8. The joint module of claim 5, wherein, The rear end of the main housing (11) is provided with a rear cover (14); the rear cover (14) is a cavity with an open front end and a sealed rear end; A control mechanism (36) of the motor (3) is arranged in the inner cavity of the rear cover (14), and a second cooling pipeline (5) is arranged between the rear cover (14) and the control mechanism (36); The second cooling pipeline (5) is fixed on the rear cover (14) and is in communication with the main oil inlet hole (112) and the main oil outlet hole (113) respectively.

9. The joint module of claim 8, wherein, The second cooling pipeline (5), a driving plate (362) of the control mechanism (36) and the rear cover (14) are filled by using an integral glue filling process. In the integral glue filling process, the glue is an epoxy resin material.

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