Motor for robot, mechanical leg and humanoid robot

Abstract

The invention discloses a motor for a robot, a mechanical leg and a humanoid robot. A motor for a robot comprises a motor body and a gear box, the end portion of the motor body and the end portion of the gear box are provided with a first boss and a second boss which protrude outwards in the radial direction of a motor shaft respectively, and the first boss is in butt joint with the second boss; the motor further comprises a connecting piece, a connecting groove is formed in the connecting piece, the first boss and the second boss are jointly inserted into the connecting groove, and the groove wall of the connecting groove is matched with the first boss and the second boss so as to limit relative displacement of the motor body and the gear box in the butt joint direction. The connecting piece is connected with the motor body and the gearbox. The invention further discloses a mechanical leg which adopts the motor of any scheme. The invention further discloses a humanoid robot which adopts the mechanical leg. The driving unit has the advantages that the connecting flange structure of the motor body and the gear box is very light, thin and compact, and the size minimization and the weight lightest of the whole driving unit are realized on the premise of ensuring ultrahigh reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot driving technology, in particular to a motor for robot, a mechanical leg and a humanoid robot. BACKGROUND

[0002] When performing dynamic actions such as running, jumping, falling or load impact, the joint driving unit of the robot, especially the humanoid robot, the quadruped robot or other mobile robots, needs to bear great and frequent axial impact load and radial tensile load. The driving unit is usually composed of a motor body providing power and a gear box reducing speed and increasing torque. Currently, the industry generally adopts the bolt fastening method to connect the motor body and the gear box into a whole.

[0003] This traditional bolt connection method has inherent technical contradictions: in order to ensure reliable connection and transmit great impact force without being sheared and damaged, the connecting bolts must have sufficient strength, stiffness and quantity, which usually means that bolts with larger diameter and higher performance level are selected, and thicker flange structure is designed to provide sufficient thread engagement length and support strength. However, all this directly leads to the increase of the radial and axial dimensions and the weight of the entire motor structure. This is contrary to the core goal of lightweight, compactness and high power density pursued in the design of robot joints.

[0004] In other words, the connection method of the motor and the gear box in the prior art has an irreconcilable contradiction between ensuring the connection strength and controlling the structure size. In order to meet the reliability requirements under high dynamic performance of the robot, the size and weight have to be sacrificed. Therefore, there is an urgent need in the field for an innovative connection structure that can fundamentally optimize the force transmission path, while ensuring or even improving the connection reliability, effectively reducing the overall size and weight of the driving unit. SUMMARY

[0005] The purpose of the present application is to provide a motor for robot, a mechanical leg and a humanoid robot, which can effectively solve the problem of the large size of the connection between the motor body and the gear box of the existing motor for robot, causing the increase of the overall circumferential size of the robot.

[0006] In order to solve the above technical problems, the present application is realized by the following technical scheme: A motor for robot, comprising a motor body and a gear box, the gear box is fixed at one end of the motor body, the end of the motor body is provided with a first boss protruding radially outward along the motor shaft, the end of the gear box is provided with a second boss protruding radially outward along the motor shaft, and the first boss is in butt joint with the second boss. Further comprising a connecting piece, the connecting piece is provided with a connecting groove, the first boss and the second boss are inserted into the connecting groove, the groove wall of the connecting groove is matched with the first boss and the second boss to limit the relative displacement of the motor body and the gear box in the butt joint direction; the connecting piece is connected with the motor body and the gear box.

[0007] In the above-mentioned motor for robot, along the butt joint direction of the motor body and the gear box, both ends of the connecting groove are respectively provided with connecting ears, the connecting ears are detachably connected with the corresponding motor body and gear box through bolts.

[0008] In the above-mentioned motor for robot, the end surface of the motor body is provided with a first fixing groove, the end surface of the gear box is provided with a second fixing groove, further comprising a connecting piece, the connecting piece is inserted into the first fixing groove and the second fixing groove, and the connecting piece is provided with a threaded hole matched with the bolt.

[0009] In the above-mentioned motor for robot, two bolts are connected to each connecting ear, and the corresponding first fixing groove, second fixing groove and connecting piece are also provided with two.

[0010] In the above-mentioned motor for robot, the side wall of the motor body and the side wall of the gear box are respectively provided with an avoiding groove, and the connecting ear of the connecting piece is accommodated in the corresponding avoiding groove.

[0011] In the above-mentioned motor for robot, the first boss, the second boss and the connecting piece form a connecting structure, and the connecting structure is multiple and uniformly distributed around the circumference of the motor shaft.

[0012] In the above-mentioned motor for robot, the end surface of the motor body is provided with a positioning boss extending towards the gear box, and the end surface of the gear box is provided with a positioning groove matched with the positioning boss.

[0013] In the above-mentioned motor for robot, the connecting groove has a first groove wall and a second groove wall oppositely arranged along the butt joint direction, the first groove wall abuts against the end surface of the first boss away from the second boss, and the second groove wall abuts against the end surface of the second boss away from the first boss.

[0014] In the above-mentioned motor for robot, the first groove wall abuts against the end surface of the first boss away from the second boss, and the second groove wall abuts against the end surface of the second boss away from the first boss.

[0015] In the motor for robot, the end face of the first boss away from the second boss is a first inclined surface, the end face of the second boss away from the first boss is a second inclined surface, so that the thickness of the first boss and the second boss after abutting gradually decreases in the direction away from the center of the motor; the first slot wall is a third inclined surface matched with the first inclined surface, and the second slot wall is a fourth inclined surface matched with the second inclined surface, so that the connecting slot has an open structure with a large opening and a small inner part.

[0016] Also disclosed is a mechanical leg adopting the motor of any of the above-mentioned solutions. The application of the motor to the knee joint, hip joint and other parts of the mechanical leg can greatly improve the output torque and response speed of the joint without increasing the size and weight of the joint. This is the material basis for realizing high-speed running, high jumping height and strong load capacity of the robot.

[0017] Also disclosed is a humanoid robot adopting the mechanical leg. The humanoid robot can realize faster walking speed, more flexible turning, higher jumping height and longer crossing distance, and the motion posture is more natural and smooth, closer to human beings.

[0018] Compared with the prior art, the motor has the following advantages: When the motor bears impact force, the axial impact force borne by the motor is borne and transmitted by the end face directly abutting between the first boss and the second boss, forming an efficient face-to-face pressure path, and the force flow is short and direct; when the motor bears tension, the axial tension borne by the motor is transmitted by the end faces of the slot wall and the boss away from each other, forming a reliable face-to-face pulling path.

[0019] Under the above mechanical path, the connection mode of the connecting piece and the motor body / gearbox, such as welding, bolt connection and the like, no longer serves as a component bearing the main working load (tension or impact force), and its role is limited to providing pre-tightening force to fix the relative position of the connecting piece and the motor body / gearbox, and to ensure that the slot wall and the end face of the boss are always in the abutting state of effectively transmitting load. In this way, if a bolt connection is used, the bolt only serves as positioning and pre-tightening, without requiring huge shear strength, so that a smaller size and lower grade bolt can be selected. Moreover, the boss does not need to have a through hole for passing through the bolt, avoiding strength weakening and allowing the radial size to be designed smaller. Through the above structure, the connection flange structure of the motor body and the gearbox becomes very light, thin and compact, realizing the minimization of the size and the lightest of the weight of the entire drive unit under the premise of ensuring ultra-high reliability.

[0020] Further, along the direction of the interface between the motor body and the gear box, both ends of the connecting groove are respectively provided with a connecting lug, which is detachably connected with the motor body and the gear box through bolts. The connecting lug, as an extension of the connecting piece, provides an ideal mounting position for the bolts. The fastening force of the bolts not only fixes the connecting piece, but also further presses the first and second bosses in the connecting groove, eliminating potential gaps and forming a pre-tightened, more rigid whole.

[0021] Further, the end face of the motor body is provided with a first fixing groove, and the end face of the gear box is provided with a second fixing groove. A connecting piece is inserted into the first and second fixing grooves, and the connecting piece is provided with a threaded hole adapted to the bolt. The connecting piece spans the interface between the motor body and the gear box, and the bolt exerts pressure through the hole in the connecting piece. The connecting piece converts this concentrated pressure into uniform surface pressure on the entire fixing groove. The force area is greatly increased, and the unit area load is significantly reduced, effectively protecting the housings of the motor and the gear box.

[0022] Further, two bolts are connected to each connecting lug, and the corresponding first and second fixing grooves and connecting pieces are also provided with two. A single bolt can cause load concentration and may cause the connecting lug to warp slightly due to the moment. The symmetrical arrangement of the two bolts can evenly distribute the load on the connecting lug and the connecting piece. This balanced load distribution effectively suppresses the warping deformation of the connecting lug, ensuring that the connecting groove and the boss always maintain close surface contact, thereby maintaining the high rigidity and stability of the entire connecting structure, further prolonging the fatigue life of the system.

[0023] Further, the side walls of the motor body and the gear box are respectively provided with a relief groove, and the connecting lug of the connecting piece is accommodated in the corresponding relief groove. The side walls of the motor body and the gear box are specially provided with relief grooves, and the connecting lug of the connecting piece is accommodated in these grooves. This design ensures that the connecting lug and the bolts on it do not exceed the original outer contour of the motor housing after installation. Not only does it reduce the radial size of the motor, but the external contour of the motor is a continuous and regular cylindrical surface, greatly facilitating the integration of the motor with other components and reducing the risk of interference that needs to be considered during design and assembly, providing higher freedom for the overall layout of the robot joint.

[0024] Further, the first and second bosses and the connecting piece form a connecting structure, and a plurality of connecting structures are evenly distributed around the circumference of the motor shaft. Multiple connecting structures are evenly distributed around the motor shaft, clamping and positioning the motor body and the gear box from multiple directions. This multi-point, symmetrical constraint method can automatically average the machining and assembly errors and force the two to maintain a very high degree of coaxiality.

[0025] Further, the end face of the motor body is provided with a positioning boss extending towards the gear box, and the end face of the gear box is provided with a positioning groove matched with the positioning boss. The positioning boss is inserted into the positioning groove, so that the high-precision centering of the motor body and the gear box is completed instantaneously, which guarantees that all subsequent connecting structures can be perfectly aligned from the source, laying a solid foundation for realizing high coaxiality.

[0026] Further, the connecting groove has a first groove wall and a second groove wall oppositely arranged along the butt joint direction, the first groove wall abuts against the end face of the first boss away from the second boss, and the second groove wall abuts against the end face of the second boss away from the first boss. Through the double-groove wall design of the connecting groove, the axial tension between the motor body and the gear box is directly converted into the surface contact pressure between the connecting piece and the boss, realizing extremely high axial stiffness and impact resistance, and effectively protecting the bolts used for fixation.

[0027] Further, the end face of the first boss away from the second boss is in surface contact with the first groove wall, and the end face of the second boss away from the first boss is in surface contact with the second groove wall. The surface contact uniformly distributes the tension on the entire contact surface, so that the stress per unit area is minimized. This is the most effective way to prevent material fatigue and avoid structural failure, and is the fundamental guarantee for ensuring the long service life and high reliability of the robot motor which needs to bear impact load for a long time and repeatedly.

[0028] Further, the end face of the first boss away from the second boss is a first inclined surface, the end face of the second boss away from the first boss is a second inclined surface, so that the thickness of the first boss and the second boss after butt joint gradually decreases away from the center of the motor; the first groove wall is a third inclined surface matched with the first inclined surface, and the second groove wall is a fourth inclined surface matched with the second inclined surface, so that the connecting groove has an open structure with a large opening and a small interior. When the connecting piece is installed, the inclined surface can automatically guide the connecting piece to slide into the correct position. Under the action of the bolt pre-tightening force, the inclined surface cooperation can naturally pull the motor body and the gear box to the closest state, simplifying the assembly process and ensuring the uniformity of pre-tightening. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a perspective view of the robot motor of the present application; Figure 2 It is an exploded view of the robot motor of the present application; Figure 1 ; Figure 3 It is an exploded view of the robot motor of the present application; Figure 2 ; Figure 4 It is a top view of the robot motor of the present application; Figure 5 As Figure 4 A-A section view of the present invention; Figure 6 An explosion of a motor for a robot of the present invention Figure 3 ; Figure 7 A perspective view of a mechanical leg of the present invention.

[0030] Reference signs are: Motor 100; Motor body 110, first boss 111, first inclined surface 1111, first fixing groove 112, motor shaft 113, positioning boss 114; Gearbox 120, second boss 121, second inclined surface 1211, second fixing groove 122, positioning groove 123; Connecting piece 130, connecting groove 131, first groove wall 1311, second groove wall 1312, connecting lug 132; Connecting piece 140, threaded hole 141; Bolt 150; Avoidance groove 160. DETAILED DESCRIPTION

[0031] A motor for a robot, comprising a motor body 110 and a gearbox 120, the gearbox 120 is fixed at one end of the motor body 110, the end of the motor body 110 is provided with a first boss 111 protruding radially outward along the motor shaft 113, the end of the gearbox 120 is provided with a second boss 121 protruding radially outward along the motor shaft 113, the first boss 111 and the second boss 121 are in butt joint; Further comprising a connecting piece 130, the connecting piece 130 is provided with a connecting groove 131, the first boss 111 and the second boss 121 are inserted into the connecting groove 131 together, the groove wall of the connecting groove 131 cooperates with the first boss 111 and the second boss 121 to limit the relative displacement of the motor body 110 and the gearbox 120 in the butt joint direction; the connecting piece 130 is connected with the motor body 110 and the gearbox 120.

[0032] When the motor bears impact force, the axial impact force borne by the motor is borne and transmitted by the end face directly butt jointed by the first boss 111 and the second boss 121, forming an efficient face-to-face pressure path, and the force flow is short and direct; when the motor bears tension, the axial tension borne by the motor is transmitted by the end face of the groove wall of the connecting piece 130 and the boss away from each other, forming a reliable face-to-face pulling path.

[0033] Under the above mechanical path, the connection mode of the connecting piece 130 and the motor body 110 / gear box 120, such as welding, bolt 150 connection, etc., the connection point is no longer used as a component bearing the main working load (tension or impact force), and its role is limited to providing pre-tightening force to fix the relative position of the connecting piece 130 and the motor body 110 / gear box 120, and to ensure that the groove wall and the boss end face are always in the abutting state of effective load transmission. In this way, if a bolt 150 is used for connection, the bolt 150 only plays a positioning and pre-tightening role, and does not require a large shear strength, so a smaller size and lower grade bolt 150 can be selected. Moreover, the boss does not need to be provided with a through hole for passing through the bolt 150, avoiding strength weakening and allowing the radial size to be designed smaller. Through the above structure, the connecting flange structure of the motor body 110 and the gear box 120 becomes very light, thin and compact, realizing the minimization of the size and the lightest weight of the entire drive unit under the premise of ensuring ultra-high reliability.

[0034] Embodiments of the present application will be described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0035] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0036] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0037] In the present application, unless otherwise clearly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection or communication with each other; it can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements or interaction relationship between two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] Referring to Figures 1 to 6 For an embodiment of a motor for a robot of the present application, a motor for a robot includes a motor body 110 and a gear box 120, the motor body 110 is provided with a motor shaft 113 extending towards the gear box 120, the motor shaft 113 is connected with a driving gear in the gear box 120 after extending into the gear box 120, and the power is output to the output shaft of the gear box 120 through the meshing gear set in the gear box 120. In order to facilitate the connection of the motor body 110 and the gear box 120, the connecting end faces of the motor body 110 and the gear box 120 are generally made into plane.

[0039] A first boss 111 is provided on the end of the motor body 110, which protrudes radially outward along the motor shaft 113, and a second boss 121 is provided on the end of the gear box 120, which protrudes radially outward along the motor shaft 113, and the first boss 111 and the second boss 121 are in butt joint. In this embodiment, the butt joint of the first boss 111 and the second boss 121 means that the end face of the first boss 111 facing the second boss 121 abuts against the end face of the second boss 121 facing the first boss 111.

[0040] In the traditional installation mode, bolt holes 150 are opened on the first boss 111 and the second boss 121, and the motor body 110 and the gear box 120 are connected together by the bolt 150 passing through the bolt hole 150 along the motor shaft 113 in the axial direction, which requires the first boss 111 and the second boss 121 to protrude outward with sufficient length to ensure that the first boss 111 and the second boss 121 have sufficient strength after the bolt hole 150 is opened. Such arrangement will increase the length of the first boss 111 and the second boss 121 protruding outward, resulting in the increase of the diameter of the entire motor.

[0041] In the embodiment, the motor further comprises a connecting piece 130, the connecting piece 130 is provided with a connecting groove 131, the first boss 111 and the second boss 121 are jointly inserted into the connecting groove 131, the groove wall of the connecting groove 131 cooperates with the first boss 111 and the second boss 121 to limit the relative displacement of the motor body 110 and the gear box 120 in the butt joint direction, and the connecting piece 130 is connected with the motor body 110 and the gear box 120. In the embodiment, for the convenience of description, it is defined that the motor body 110 is on the top and the gear box 120 is on the bottom. After the first boss 111 and the second boss 121 are butted on the top and the bottom and are inserted into the connecting groove 131, the upward face of the first boss 111 abuts against the top face of the connecting groove 131, and the downward face of the second boss 121 abuts against the bottom face of the connecting groove 131. The motor body 110 and the gear box 120 are limited from being separated along the vertical direction by the connecting piece 130.

[0042] When the motor is subjected to an axial impact force, the axial impact force received by the motor is borne and transmitted by the end face directly butted by the first boss 111 and the second boss 121; when the motor is subjected to an axial pulling force, the pulling force is transmitted by the mutual abutment of the groove wall of the connecting piece 130 and the first boss 111 and the second boss 121. In this way, as long as the connecting piece 130 and the boss have sufficient strength, the length of the boss extending along the radial direction of the motor shaft 113 can be greatly reduced, compared with the arrangement of the bolt hole on the boss and the connection by the bolt 150, so as to reduce the radial dimension of the whole motor. The connecting point of the connecting piece 130 and the motor body 110 or the gear box 120 only needs to ensure the relative position of the connecting piece 130 and the motor body 110 or the gear box 120, and does not need to bear the impact force or the pulling force received by the motor.

[0043] Further, along the direction of the abutment of the motor body 110 and the gear box 120, that is, along the vertical direction, both ends of the connecting groove 131 are respectively provided with connecting ears 132, which are detachably connected with the corresponding motor body 110 and gear box 120 through bolts 150. The width of the connecting ear 132 can be the same as that of the connecting groove 131, and the length of the connecting ear 132 is determined according to the strength of the connecting piece 130 to ensure that the connecting ear 132 will not deform after the bolt 150 is passed through. The connecting ear 132, as an extension of the connecting piece 130, provides an ideal mounting position for the bolt 150, and the fastening force of the bolt 150 not only fixes the connecting piece 130, but also further enables the connecting piece 130 to exert a radial inward abutting force on the first boss 111 and the second boss 121, thereby pressing the first boss 111 and the second boss 121 tightly in the connecting groove 131 from multiple directions, eliminating potential gaps, and forming a pre-tightened and more rigid whole. During assembly, the motor body 110 and the gear box 120 can be initially positioned through the boss and the connecting groove 131, at which time the relative positions of the two have been determined, and then the bolts 150 on the connecting ears 132 can be tightened to complete the final fixation.

[0044] Still further, a first fixing groove 112 is opened on the end face of the motor body 110, a second fixing groove 122 is opened on the end face of the gear box 120, and the motor further comprises a connecting piece 140 inserted into the first fixing groove 112 and the second fixing groove 122, and a threaded hole 141 adapted to the bolt 150 is opened on the connecting piece 140. That is, the length of the connecting piece 140 is equal to the depth of the first fixing groove 112 and the second fixing groove 122, so that the end face of the motor body 110 and the end face of the gear box 120 can be completely fitted. Directly tapping and screwing the bolt 150 on the thin-walled shell of the motor body 110 or the gear box 120, the pre-tightening force and working load of the bolt 150 will be highly concentrated around the threaded hole 141, which is easy to cause the shell material to be crushed or cracked, especially on light metal materials such as aluminum alloy. The connecting piece 140 spans the abutment surface of the motor body 110 and the gear box 120, and the bolt 150 exerts pressure through the threaded hole 141 on the connecting piece 140. The connecting piece 140 converts this pressure into uniform surface pressure on the groove walls of the first fixing groove 112 and the second fixing groove 122, greatly increases the stress area, and significantly reduces the unit area load, effectively protecting the shells of the motor and the gear box 120. In addition, the connecting piece 140 actually plays the role of an internal flange, and the connecting piece 140 is arranged in the fixing groove, so that the motor body 110 and the gear box 120 do not need to be designed as thick flange surfaces to provide support for the threads, thereby achieving a higher strength connection while still maintaining a compact and lightweight overall appearance.

[0045] In the above embodiment, two bolts 150 are provided on each connecting lug 132, and the corresponding first fixing groove 112, second fixing groove 122 and connecting plate 140 are also provided in two, that is, two threaded holes 141 are provided on each connecting plate 140, one threaded hole 141 is connected with the bolt 150 passing through the motor body 110, and the other threaded hole 141 is connected with the bolt 150 passing through the gear box 120. By adopting the double-bolt 150 design on each connecting lug 132, the high redundancy of the connecting structure and the balanced distribution of the load are realized, thereby greatly improving the anti-failure capability, stability and safety of the entire connecting system. By providing two bolts 150 on a single connecting lug 132, a double insurance is formed, and even in an extreme case, if one of the bolts 150 fails due to fatigue or accident, the other bolt 150 can still continue to bear the load, preventing the connecting structure from collapsing instantaneously. This provides valuable safety redundancy for the robot when performing critical tasks, avoiding disastrous consequences. In addition, a single bolt 150 will cause the load to concentrate and may cause the connecting lug 132 to produce a slight warping due to the moment effect. The symmetrical arrangement of the double bolts 150 can evenly distribute the load on the connecting lug 132 and the connecting plate 140. This balanced load distribution effectively suppresses the warping deformation of the connecting lug 132, ensures that the connecting groove 131 and the boss always maintain close surface contact, thereby maintaining the high rigidity and stability of the entire connecting structure, and further prolonging the fatigue life of the system.

[0046] In addition, after being connected by the bolts 150, the heads of the bolts 150 are likely to protrude from the motor body 110 or the gear box 120, which may affect the size of the motor or interfere with other components. Therefore, an avoidance groove 160 is formed on the side wall of the motor body 110 and the side wall of the gear box 120, and the connecting lug 132 of the connecting piece 130 is accommodated in the corresponding avoidance groove 160. By providing the avoidance groove 160 on the housing, the completely concealed installation of the connecting piece 130 is realized, thereby minimizing the impact of the connecting structure on the overall size of the motor, and finally achieving an extremely compact design.

[0047] The connecting bolts 150, nuts or connecting lugs 132 and other components are inevitably protruded from the motor body, which increases the occupied space of the equipment and may interfere with other parts in a narrow space. The avoidance grooves 160 are specially formed on the side walls of the motor body 110 and the gear box 120, and the connecting lugs 132 of the connecting piece 130 are hidden in these grooves. This design makes the connecting lugs 132 and the bolts 150 thereon not exceed the original outer contour of the motor housing after installation. This greatly facilitates the integration of the motor with other components, reduces the interference risk that needs to be considered during design and assembly, and provides higher freedom for the overall layout of the robot joint.

[0048] On the basis of the above embodiment, the first boss 111, the second boss and the connecting piece 130 form a connecting structure, and the connecting structure is multiple and uniformly distributed around the circumference of the motor shaft 113. In this embodiment, actually four groups of connecting structures are provided, and by arranging multiple uniformly distributed connecting structures in the circumferential direction, the symmetric and uniform distribution of the load is achieved, thereby significantly improving the coaxiality of the connection, the overall rigidity and the torsional capacity. In the traditional connection mode, a few bolts 150 are arranged for connection, and the eccentricity of the motor body 110 and the gear box 120 axis is prone to occur due to uneven force or machining error, thereby affecting the transmission accuracy and the bearing life. Now, by arranging multiple connecting structures uniformly distributed around the circumference of the motor shaft 113, the motor body 110 and the gear box 120 are clamped and positioned from multiple directions. This multi-point and symmetric constraint mode can automatically average the machining and assembly errors and force the motor body 110 and the gear box 120 to maintain a high coaxiality. In addition, the torque output by the above structure motor and the torque of the external load reaction are borne by all the connecting structures, which greatly increases the torsional section modulus of the entire connecting system and can transmit much larger torque than single-point or few-point connection. For the robot joint motor which needs to be frequently started and stopped and reversed, this is a crucial performance indicator.

[0049] In addition, in this embodiment, the end surface of the motor body 110 is provided with a positioning boss 114 extending towards the gear box 120, and the end surface of the gear box 120 is provided with a positioning groove 123 matched with the positioning boss 114. The positioning boss 114 and the first boss 111 can be arranged at intervals around the circumference of the motor shaft 113, and the positioning groove 123 and the second boss 121 can also be arranged at intervals. Through the cooperation of the positioning boss 114 and the positioning groove 123, the motor body 110 and the gear box 120 are further positioned around the circumference of the motor shaft 113, so that the relative rotation of the two in the circumferential direction is avoided. When the motor body 110 and the gear box 120 are assembled, the positioning boss 114 is inserted into the positioning groove 123, so that the high-precision centering of the motor body 110 and the gear box 120 can be completed instantly, which guarantees that all the subsequent connecting structures can be perfectly aligned from the source, thereby laying a solid foundation for realizing high coaxiality.

[0050] On the basis of the above embodiment, the connecting groove 131 has a first groove wall 1311 and a second groove wall 1312 arranged opposite to each other in the butt joint direction, the first groove wall 1311 abuts against the end surface of the first boss 111 away from the second boss 121, and the second groove wall 1312 abuts against the end surface of the second boss 121 away from the first boss 111. Through the double-groove-wall design of the connecting groove 131, the axial tension between the motor body 110 and the gear box 120 is directly converted into the contact pressure between the connecting piece 130 and the boss, thereby realizing extremely high axial rigidity and impact resistance, and effectively protecting the bolts 150 for fixation.

[0051] Further, the first slot wall 1311 is in surface contact with the end face of the first boss 111 facing away from the second boss 121, and the second slot wall 1312 is in surface contact with the end face of the second boss 121 facing away from the first boss 111, maximizing the contact area of the connecting surface, thereby achieving optimal dispersion of stress and significantly improving the fatigue resistance and long-term reliability of the connecting structure. Surface contact evenly distributes tension on the entire contact surface, minimizing the stress per unit area. This is the most effective way to prevent material fatigue and avoid structural failure, especially for robot motors that need to withstand impact loads for a long time and repeatedly. It is the fundamental guarantee to ensure their long service life and high reliability.

[0052] Still further, the end face of the first boss 111 facing away from the second boss 121 is a first inclined surface 1111, and the end face of the second boss 121 facing away from the first boss 111 is a second inclined surface 1211, so that the thickness of the first boss 111 and the second boss 121 after abutting gradually decreases in the direction away from the center of the motor; the first slot wall 1311 is a third inclined surface adapted to the first inclined surface 1111, and the second slot wall 1312 is a fourth inclined surface adapted to the second inclined surface 1211, so that the connecting slot 131 has an open structure that is large on the outside and small on the inside. When installing the connecting piece 130, no precise alignment is required, and the inclined surface will automatically guide the connecting piece 130 to slide into the correct position. Under the action of the pre-tightening force of the bolt 150, the inclined surface cooperation can naturally pull the motor body 110 and the gear box 120 to the closest state, simplifying the assembly process and ensuring the uniformity of pre-tightening.

[0053] In the installation, the motor body 110 and the gear box 120 are assembled upward and downward, the connecting piece 140 is inserted into the second fixing groove 122, the output shaft of the motor body 110 is aligned with the connecting hole of the gear box 120, the positioning boss 114 on the bottom surface of the motor body 110 is aligned with the positioning groove 123 on the top surface of the gear box 120, the positioning boss 114 is inserted into the positioning groove 123, and the connecting piece 140 is also inserted into the first fixing groove 112. After the preliminary butt joint of the motor body 110 and the gear box 120 is completed, the bottom surface of the first boss 111 is tightly attached to the top surface of the second boss 121. Then, the connecting groove 131 of the connecting piece 130 is pushed to the first boss 111 and the second boss 121 along the radial direction, so that the first boss 111 and the second boss 121 are inserted into the connecting groove 131. When being inserted, the first boss 111, the second boss 121 and the groove wall of the connecting groove 131 are all inclined surfaces, so that the outer ends of the first boss 111 and the second boss 121 can be inserted into the connecting groove 131 without accurate alignment. With the pushing of the connecting piece 130 along the radial direction towards the center of the motor, the alignment of the connecting groove 131 can be automatically completed by using the inclined surfaces. After the connecting groove 131 is pushed to the bottom, the fixing connection of the connecting piece 130 with the motor body 110 and the gear box 120 is realized by the cooperation connection of the connecting lug 132 of the connecting piece 130 and the threaded groove of the connecting piece 140 through the bolt 150, and the assembly of the motor is completed.

[0054] The application solves the inherent contradiction between strength, size and reliability of the traditional motor connection scheme by a set of highly coordinated innovative design. It discards the thick flange and the through bolt 150, and instead adopts a compact external connection structure to directly bear the axial load by the structural member through surface contact, realizing high-strength connection with zero radial increment. The uniform distribution of multiple connection points in the circumferential direction, combined with independent high-precision positioning reference, ensures excellent coaxiality, overall rigidity and torsional capacity between the motor and the gear box 120. At the same time, through the optimization of details such as the connecting piece 140, the double bolt 150 and the avoiding groove 160, the scheme realizes high reliability and easy maintenance while protecting the thin-walled shell and avoiding stress concentration, finally building an integrated connection system that takes into account extreme compactness, ultra-high strength, dynamic self-locking and long-term reliability, perfectly meeting the application requirements of high power density and high dynamic response of robots and the like.

[0055] As shown in Figure 7 The embodiment also discloses a mechanical leg adopting the motor 100 of any of the above-mentioned schemes. The application of such a motor to the knee joint, hip joint and the like of the mechanical leg can greatly improve the output torque and response speed of the joint without increasing the size and weight of the joint. This is the material basis for realizing high-speed running, high-jumping height and strong load capacity of robots.

[0056] In addition, the embodiment also discloses a humanoid robot adopting the mechanical leg. The humanoid robot can realize faster walking speed, more flexible turning, higher jumping height and longer jumping distance, and the motion posture is more natural and smooth, and is closer to human beings.

[0057] The above merely provides the specific embodiments of the present application, but the technical features of the present application are not limited to this. Any changes or modifications made by those skilled in the art within the scope of the present application are included in the patent range of the present application.

Claims

1. A motor for a robot, comprising a motor body and a gear box fixed at one end of the motor body, characterized in that: the end of the motor body is provided with a first boss protruding radially outward along the motor shaft, the end of the gear box is provided with a second boss protruding radially outward along the motor shaft, and the first boss and the second boss are in abutment; further comprising a connecting piece provided with a connecting groove, the first boss and the second boss are inserted into the connecting groove, and the groove wall of the connecting groove cooperates with the first boss and the second boss to limit the relative displacement of the motor body and the gear box in the abutment direction; the connecting piece is connected with the motor body and the gear box. In the abutment direction of the motor body and the gear box, both ends of the connecting groove are respectively provided with connecting ears, and the connecting ears are detachably connected with the corresponding motor body and gear box through bolts. The end surface of the motor body is provided with a first fixing groove, the end surface of the gear box is provided with a second fixing groove, and the motor for a robot further comprises a connecting piece inserted into the first fixing groove and the second fixing groove, and the connecting piece is provided with a threaded hole matched with the bolt. Each connecting ear is connected with two bolts, and the corresponding first fixing groove, second fixing groove and connecting piece are also provided with two.

2. The electric motor for robots according to claim 1, characterized in that: The side wall of the motor body and the side wall of the gear box are respectively provided with an avoiding groove, and the connecting ear of the connecting piece is accommodated in the corresponding avoiding groove.

3. The electric motor for robots according to claim 2, characterized in that: The first boss, the second boss and the connecting piece form a connecting structure, and the connecting structure is multiple and uniformly distributed around the circumference of the motor shaft.

4. The electric motor for robots according to claim 3, characterized in that: The end surface of the motor body is provided with a positioning boss extending towards the gear box, and the end surface of the gear box is provided with a positioning groove matched with the positioning boss.

5. The motor for robots according to claim 2, characterized in that: The connecting groove has a first groove wall and a second groove wall oppositely arranged in the abutment direction, the first groove wall abuts against the end surface of the first boss away from the second boss, and the second groove wall abuts against the end surface of the second boss away from the first boss.

6. The electric motor for robots according to claim 1, characterized in that: The first groove wall and the end surface of the first boss away from the second boss are in surface contact, and the second groove wall and the end surface of the second boss away from the first boss are in surface contact.

7. The electric motor for robots according to claim 1, characterized in that: The end surface of the first boss away from the second boss is a first inclined surface, and the end surface of the second boss away from the first boss is a second inclined surface, so that the thickness of the first boss and the second boss after abutment gradually decreases away from the center of the motor.

8. The electric motor for robots according to claim 1, characterized in that: The first groove wall is a third inclined surface matched with the first inclined surface, and the second groove wall is a fourth inclined surface matched with the second inclined surface, so that the connecting groove has an open large and inner small structure.

9. The electric motor for robots according to claim 8, characterized in that: The motor of any one of claims 1 to 10 is adopted.

10. The electric motor for robots according to claim 8, characterized in that: The mechanical leg of claim 11 is adopted. ​ 11. A mechanical leg, characterized by ​ 12. A humanoid robot, characterized by ​

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