Bionic robot joint module

Abstract

The invention relates to the technical field of robots, in particular to a bionic robot joint module. The joint module structure comprises a front cover, a control assembly, an encoder, a heat dissipation assembly, a stator assembly and a speed reduction assembly, and solves the technical problems of performance attenuation and precision reduction caused by heat accumulation due to low efficiency of a heat dissipation structure and insufficient connection rigidity of a stator and a speed reducer of an existing bionic robot joint module. The L-shaped staggered fins are arranged in the heat dissipation assembly, the first heat dissipation fins and the second heat dissipation fins are L-shaped and staggered in installation direction, one heat dissipation fin and one heat dissipation fin extend from inside to outside, the other heat dissipation fin and the other heat dissipation fin extend from outside to inside, and the heat dissipation surface area is greatly increased in a limited space; and the fins are arranged in a point-line scattering manner by taking the matched lantern ring as a circle, so that a complicated heat dissipation cavity is formed, the turbulence of air or a cooling medium is increased, the heat exchange coefficient is improved, air flow or liquid flow can be effectively guided, and heat dissipation dead angles are avoided.

Description

A biomimetic robot joint module Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a biomimetic robot joint module. Background Technology

[0002] In the development of biomimetic robots (such as humanoid bipedal robots and quadrupedal robot dogs), the joint module is the core component that determines its mobility. To achieve flexible movement similar to that of a living organism, the joint module not only needs to integrate motors, reducers, sensors, and controllers within a limited space, but also must possess excellent heat dissipation capabilities and structural rigidity. Especially when the robot is running, jumping, or carrying heavy loads, the stator components inside the joint will generate a large amount of Joule heat due to the large current flowing through them.

[0003] Currently, Chinese patent application number 201610872628.X discloses a biomimetic composite-driven robot joint. This solution combines an electric drive component with a pneumatic drive component, introducing pneumatic assistance on top of the electric motor drive to address the challenge of balancing high precision and heavy load. However, this solution has a relatively complex structure and primarily focuses on the composite drive method, without optimizing the connection rigidity and thermal management of the core transmission components inside the joint (such as the stator and reducer). In high-dynamic motion scenarios, its connection structure may struggle to effectively suppress fretting wear caused by impact loads, thus affecting transmission accuracy.

[0004] Furthermore, Chinese Utility Model Patent Application No. 202221816930.0 discloses a joint structure and robot, which uses a flange and fasteners to lock and fix the motor assembly and the reducer assembly to achieve power transmission. Although this connection method is simple to assemble, under the complex working conditions of frequent start-stop, jumping, or lateral force application in biomimetic robots, the flange connection surface is prone to loosening or wear due to long-term vibration, resulting in increased transmission backlash. In addition, this solution mainly relies on the natural heat dissipation of the outer shell and lacks an efficient internal heat conduction path design, making it difficult to quickly dissipate the large amount of heat generated by the motor stator under high load, which can easily lead to excessive temperature rise and thus affect motor performance and lifespan.

[0005] Existing bionic robot joint modules still have significant shortcomings in terms of structural connection stability under high dynamic conditions and heat dissipation efficiency during high power density operation.

[0006] Therefore, there is an urgent need for a biomimetic robot joint module that can improve the mechanical rigidity and thermal management capabilities of the joint module. Summary of the Invention

[0007] Therefore, in response to the above problems, this invention proposes a bionic robot joint module, which solves the technical problems of heat accumulation caused by inefficient heat dissipation structure and insufficient rigidity of connection between stator and reducer in existing bionic robot joint modules, thereby causing performance degradation and accuracy reduction.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: The joint module includes a front cover, a control component, an encoder, a heat dissipation component, a stator component, and a reduction component; the front cover, control component, encoder, heat dissipation component, stator component, and reduction component are installed sequentially from top to bottom; the heat dissipation component has a receiving cavity in the middle, the stator component is located in the receiving cavity, a flange is provided at the bottom of the stator component, screw holes are provided on the edge of the flange surface, a recessed positioning step surface is provided on the flange surface, an internal threaded hole is provided in the middle of the flange for rotational engagement with the reduction component, a limit step is provided on the inner wall of the internal threaded hole, a protruding external threaded post is provided in the middle of the reduction component, the external threaded post and the internal threaded hole are engaged by rotational engagement, a mating threaded hole is provided on the surface of the reduction component at a position corresponding to the screw hole, the mating threaded hole and the screw hole are connected by rotational engagement. The components are bolted together; the heat dissipation assembly includes a heat-conducting outer cylinder, a heat dissipation plate mounted on the surface of the outer cylinder, and evenly distributed heat dissipation openings on the surface of the heat dissipation plate. A rotor magnet ring that mates with the stator assembly is mounted on the inner wall of the outer cylinder. A fitting post is located in the middle of the heat dissipation plate, inside the outer cylinder. An installation ring frame is located inside the outer cylinder near the heat dissipation plate. A first heat dissipation fin, a second heat dissipation fin, and a heat dissipation cavity are arranged inside the installation ring frame. A heat dissipation cavity is formed between the first and second heat dissipation fins. A mating collar connecting the first and second heat dissipation fins is located in the middle of the installation ring frame. The first and second heat dissipation fins are arranged in a point-to-line radiating pattern starting from the center of the mating collar, and their ends are fixed to the inner wall of the installation ring frame. Both the first and second heat dissipation fins are L-shaped structures, and their installation directions are staggered.

[0009] Furthermore, the flange is fitted to the surface of the deceleration assembly, and the surface of the deceleration assembly is provided with a raised frustum for positioning and engaging with the positioning step surface.

[0010] Furthermore, the outer diameter of the external threaded post is the same as the diameter of the limiting step, and both the external threaded post and the limiting step have a threading hole of the same diameter in the middle.

[0011] Furthermore, the L-shaped structure of the first heat dissipation fin includes a first extension and a second extension that are perpendicular to each other. The first extension is connected to the surface of the mating collar, and the second extension extends radially outward.

[0012] Furthermore, the L-shaped structure of the second heat dissipation fin includes a third extension and a fourth extension that are perpendicular to each other. The third extension is connected to the inner wall of the mounting ring frame, and the fourth extension extends radially inward.

[0013] Furthermore, the heat dissipation vents on the heat sink are arranged in a honeycomb hexagonal array.

[0014] Furthermore, the inner wall of the heat dissipation port is provided with a flow guiding slope.

[0015] Furthermore, the mounting ring frame is interference-fitted with the inner wall of the heat-conducting outer cylinder, and the outer circumferential surface of the mounting ring frame is provided with a positioning groove extending along the axial direction, and the inner wall of the heat-conducting outer cylinder is correspondingly provided with positioning ribs.

[0016] By adopting the aforementioned technical solution, the beneficial effects of the present invention are as follows: The present invention sets L-shaped staggered fins in the heat dissipation assembly. The first heat dissipation fin and the second heat dissipation fin are both L-shaped and installed in opposite directions. One extends from the inside to the outside, and the other extends from the outside to the inside. This greatly increases the heat dissipation surface area in a limited space. Furthermore, since the fins are arranged in a point-line scattering pattern with the matching collar as a circle, a complex heat dissipation cavity is formed. This layout not only increases the turbulence of air or cooling medium and improves the heat exchange coefficient, but also effectively guides airflow or liquid flow and avoids heat dissipation dead zones.

[0017] Furthermore, the heat dissipation vents on the heat sink adopt a honeycomb hexagonal array and are designed with a flow guide slope. While ensuring structural strength, the flow guide slope guides the external airflow to enter the interior more smoothly. Together with the internal L-shaped fins, it forms an efficient air duct or flow channel, which greatly reduces the temperature rise of the stator assembly when operating under high load and prevents the risk of performance degradation or demagnetization caused by motor overheating.

[0018] To facilitate quick-release maintenance and replacement of the stator assembly, this invention employs a composite connection method between the stator assembly and the reduction gear assembly, utilizing a central large thread engagement and peripheral bolts for auxiliary locking, along with a positioning step and frustum engagement. The flange fits against the surface of the reduction gear assembly, and the raised frustum engages with the positioning step surface. This stop-positioning structure effectively withstands the radial force and overturning moment generated during robot movement, ensuring transmission accuracy. The engagement of the central external threaded post with the internal threaded hole provides the main axial preload, while the peripheral bolt locking provides anti-loosening protection. This structure is particularly suitable for components such as the hip and knee joints that need to withstand high torque and severe impact, effectively preventing connection loosening caused by long-term vibration. Attached Figure Description

[0019] Figure 1 is a schematic diagram of the disassembled structure of the joint module of the present invention; Figure 2 is a schematic diagram of the structure of the stator assembly of the present invention; Figure 3 is a schematic diagram of the structure of the heat dissipation assembly of the present invention; Figure 4 is a schematic diagram of the disassembled structure of the heat dissipation assembly of the present invention; Figure 5 is a schematic diagram of the cross-sectional structure of the mounting ring frame of the present invention; In the figures: front cover-1, control assembly-2, encoder-3, heat dissipation assembly-4, stator assembly-5, deceleration assembly-6, flange-501, screw hole-502, positioning step surface-503, internal threaded hole-504, limiting step-505, external threaded post-601, raised frustum-603, mating threaded hole-602, heat-conducting outer cylinder-401, heat dissipation plate-402, heat dissipation port-403, rotor magnet ring-404, fitting post-405, mounting ring frame-406, first heat dissipation fin-407, second heat dissipation fin-408, heat dissipation cavity-409, mating collar-4010. Detailed Implementation

[0020] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. Embodiment 1

[0021] Referring to Figures 1-5, this embodiment provides a biomimetic robot joint module, the structure of which includes the following technical solution: the joint module includes a front cover 1, a control component 2, an encoder 3, a heat dissipation component 4, a stator component 5, and a reduction component 6; the front cover 1, control component 2, encoder 3, heat dissipation component 4, stator component 5, and reduction component 6 are coaxially mounted sequentially from top to bottom. The front cover 1 is made of 7075 aluminum alloy, and its outer circumference has a sealing ring groove, in which a nitrile rubber sealing ring is embedded to form a seal with the top end face of the heat dissipation component 4. The control component 2 includes an integrated circuit board assembly, which includes a drive layer and a control layer. A MOSFET power transistor is disposed on the drive layer, and an STM32 series microcontroller is disposed on the control layer. The drive layer and the control layer are electrically connected via a board-to-board connector, and thermal grease is filled between the two layers. Encoder 3 is a magnetoelectric absolute encoder, including a permanent magnet ring disposed at the end of the motor rotor shaft, and a magnetic encoder chip (model AS5047P) fixed on the control component 2, used to detect the absolute angular position of the rotor in real time.

[0022] The heat dissipation assembly 4 has a receiving cavity in the middle, and the stator assembly 5 is located in the receiving cavity. Specifically, the heat dissipation assembly 4 includes a heat-conducting outer cylinder 401, and a heat dissipation plate 402 is mounted on the surface of the heat-conducting outer cylinder 401. The heat dissipation plate 402 and the heat-conducting outer cylinder 401 are fixedly connected by screws, and thermal grease is applied between them. The surface of the heat dissipation plate 402 has uniformly distributed heat dissipation holes 403. In this embodiment, the heat dissipation holes 403 on the heat dissipation plate 402 are arranged in a honeycomb hexagonal array, and the inner wall of the heat dissipation hole 403 is provided with a flow guiding slope. The angle between the flow guiding slope and the plane of the heat dissipation plate 402 is 15°.

[0023] The inner wall of the heat-conducting outer cylinder 401 is fitted with a rotor magnet ring 404 that mates with the stator assembly 5. This rotor magnet ring 404 is formed by multiple neodymium iron boron permanent magnets attached to the inner wall of the heat-conducting outer cylinder 401, with adjacent magnets having alternating polarities. A fitting post 405 is integrally formed in the center of the heat dissipation plate 402, located inside the heat-conducting outer cylinder 401. A through hole for cable passage is provided at the center of the fitting post 405. An installation ring frame 406 is provided inside the heat-conducting outer cylinder 401 near the heat dissipation plate 402. The installation ring frame 406 has a circular structure with an axially extending positioning groove on its outer circumference. Corresponding positioning ribs are provided on the inner wall of the heat-conducting outer cylinder 401. The installation ring frame 406 is circumferentially positioned by the engagement of the positioning groove and the positioning ribs, and is interference-fitted with the inner wall of the heat-conducting outer cylinder 401.

[0024] The mounting ring frame 406 is internally provided with a first heat dissipation fin 407, a second heat dissipation fin 408, and a heat dissipation cavity 409. The heat dissipation cavity 409 is formed between the first heat dissipation fin 407 and the second heat dissipation fin 408. A mating collar 4010 is provided in the middle of the mounting ring frame 406 to connect with the first heat dissipation fin 407 and the second heat dissipation fin 408. The first heat dissipation fin 407 and the second heat dissipation fin 408 are arranged in a point-to-line radiating pattern with the center of the mating collar 4010 as the starting point, and their ends are fixed to the inner wall of the mounting ring frame 406. The mating collar 4010 is fitted around the outer periphery of the fitting post 405, and thermally conductive adhesive is filled between the two.

[0025] Both heat dissipation fin 407 and heat dissipation fin 408 are L-shaped structures, and their installation directions are staggered. Specifically, the L-shaped structure of heat dissipation fin 407 includes a first extension and a second extension that are perpendicular to each other. The first extension is connected to the surface of the mating collar 4010, and the second extension extends radially outward. The L-shaped structure of heat dissipation fin 408 includes a third extension and a fourth extension that are perpendicular to each other. The third extension is connected to the inner wall of the mounting ring frame 406, and the fourth extension extends radially inward. The number of heat dissipation fins 407 and 408 is the same, and they are radially alternately distributed starting from the center of the mating collar 4010. Adjacent heat dissipation fins 407 and 408 form a meandering heat dissipation cavity 409. Both heat dissipation fins 407 and 408 are made of pure copper and have a nickel-plated layer with a thickness of 1.2 mm. The specific structure and materials of heat dissipation fin 407 and heat dissipation fin 408 can be selected according to the actual application.

[0026] The stator assembly 5 is located in the receiving cavity inside the heat-conducting outer cylinder 401 and is radially opposite to the rotor magnet ring 404. The stator assembly 5 includes a stator core and coil windings wound on the stator core. This structure is prior art and will not be elaborated further. Specifically, a flange 501 is provided at the bottom of the stator assembly 5. The flange 501 and the stator core of the stator assembly 5 are integrally formed. Screw holes 502 are provided on the edge of the surface of the flange 501. A positioning step surface 503 with a depth of 1mm is provided on the surface of the flange 501. An internal threaded hole 504 is provided in the middle of the flange 501, which is screwed to engage with the reduction assembly 6. A limiting step 505 is provided on the inner wall of the internal threaded hole 504. The limiting step 505 is an annular step surface that protrudes radially inward in the middle of the internal threaded hole 504 and has an inner diameter of 8mm.

[0027] The reduction assembly 6 is a harmonic reducer, comprising a rigid wheel, a flexible wheel, and a wave generator. A raised external threaded post 601 is located in the center of the reduction assembly 6. The external threaded post 601 engages with the internal threaded hole 504 via a threaded rotation, and the end face of the external threaded post 601 abuts against the limiting step 505. A wire-passing hole with a diameter of 5mm is formed at the center of the external threaded post 601. This wire-passing hole has the same diameter as the wire-passing hole in the center of the limiting step 505 and is coaxially arranged, together forming a hollow channel for the cable to pass through. A mating threaded hole 602 is provided on the surface of the reduction assembly 6 at a position corresponding to the screw hole 502. The mating threaded hole 602 and the screw hole 502 are locked together by bolts 7. Specifically, the bolts 7 are M3×8 socket head cap screws, which pass through the screw hole 502 and lock into the mating threaded hole 602, thus fixing the flange 501 to the surface of the reduction assembly 6.

[0028] Furthermore, the flange 501 is fitted to the surface of the reduction assembly 6, and the surface of the reduction assembly 6 is provided with a raised frustum 603 for positioning and engaging with the positioning step surface 503. The height of the raised frustum 603 is 0.95mm, and its outer circumferential surface is in clearance fit with the inner circumferential surface of the positioning step surface 503, with a clearance of 0.05mm.

[0029] Through the aforementioned double locking structure and positioning and fitting structure, a stable connection and precise alignment between the stator assembly 5 and the reduction assembly 6 are achieved. Simultaneously, the heat dissipation assembly 4, through the heat-conducting outer cylinder 401, conducts the heat generated by the stator assembly 5 and the rotor magnet ring 404 to the heat dissipation plate 402 and internal heat dissipation fins. The L-shaped structure of the staggered arrangement of the first heat dissipation fin 407 and the second heat dissipation fin 408 forms a tortuous heat dissipation cavity 409 within a limited space, effectively increasing the heat dissipation area and promoting air turbulence, significantly improving heat dissipation efficiency and ensuring the continuous and stable operation of the joint module under heavy load conditions. Example 2

[0030] A biomimetic robot, which is a bipedal humanoid robot, includes multiple joint modules as described in Example 1.

[0031] Specifically, multiple joint modules are provided at the hip, knee, and ankle joints of the robot. Each leg has three joint modules at the hip joint, corresponding to the forward swing, lateral swing, and rotational degrees of freedom; each leg has one joint module at the knee joint, corresponding to the flexion and extension degrees of freedom; and each leg has two joint modules at the ankle joint, corresponding to the pitch and tilt degrees of freedom.

[0032] Because of the joint modules described in Embodiment 1, during the movement of this bionic robot, each joint module can withstand the impact loads generated during walking, running and jumping through the double locking structure of the stator assembly 5 and the deceleration assembly 6, ensuring the stability of power transmission. At the same time, the heat dissipation assembly 4 of the joint module can quickly dissipate the large amount of heat generated by the motor during operation, avoiding magnet demagnetization or failure of the control assembly 2 due to excessive temperature rise, thereby ensuring that the robot can execute complex motion commands for a long time and with high dynamics.

[0033] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A biomimetic robot joint module, characterized in that, The joint module includes a front cover (1), a control component (2), an encoder (3), a heat dissipation component (4), a stator component (5), and a reduction component (6). The front cover (1), control component (2), encoder (3), heat dissipation component (4), stator component (5), and reduction component (6) are installed sequentially from top to bottom. The heat dissipation component (4) has a receiving cavity in the middle, and the stator component (5) is located in the receiving cavity. A flange (501) is provided at the bottom of the stator component (5). Screw holes (502) are provided on the edge of the surface of the flange (501), and an inwardly recessed positioning step surface is provided on the surface of the flange (501). (503), the flange (501) has an internal threaded hole (504) in the middle that is screwed into the deceleration assembly (6) and has a limit step (505) on the inner wall of the internal threaded hole (504). The deceleration assembly (6) has a protruding external threaded post (601) in the middle. The external threaded post (601) is screwed into the internal threaded hole (504) and has a mating threaded hole (602) on the surface of the deceleration assembly (6) at a position corresponding to the screw hole (502). The mating threaded hole (602) and the screw hole (502) are locked together by bolts (7). The heat dissipation assembly (4) includes a heat-conducting outer cylinder ( 401), a heat dissipation plate (402) is installed on the surface of the heat-conducting outer cylinder (401), and the surface of the heat dissipation plate (402) is provided with uniformly distributed heat dissipation vents (403). The inner wall of the heat-conducting outer cylinder (401) is equipped with a rotor magnet ring (404) that cooperates with the stator assembly (5). A fitting column (405) is provided in the middle of the heat dissipation plate (402). The fitting column (405) is located inside the heat-conducting outer cylinder (401). An installation ring frame (406) is provided inside the heat-conducting outer cylinder (401) on the side near the heat dissipation plate (402). The installation ring frame (406) is provided with a first heat dissipation fin (407) and a second heat dissipation fin (408) inside. 08) and heat dissipation cavity (409), heat dissipation cavity (409) is formed between the first heat dissipation fin (407) and the second heat dissipation fin (408), a mating collar (4010) is provided in the middle of the mounting ring frame (406) to connect with the first heat dissipation fin (407) and the second heat dissipation fin (408), the first heat dissipation fin (407) and the second heat dissipation fin (408) are arranged in a point-line radiating pattern with the center of the mating collar (4010) as the starting point, and the ends are fixed to the inner wall of the mounting ring frame (406); the first heat dissipation fin (407) and the second heat dissipation fin (408) are both L-shaped structures, and the installation directions are staggered.

2. The bionic robot joint module according to claim 1, characterized in that: The flange (501) is fitted to the surface of the deceleration assembly (6), and the surface of the deceleration assembly (6) is provided with a raised frustum (603) for positioning and cooperating with the positioning step surface (503).

3. The bionic robot joint module according to claim 1, characterized in that: The outer diameter of the external threaded post (601) is the same as the diameter of the limiting step (505), and both the external threaded post (601) and the limiting step (505) have a thread hole of the same diameter in the middle.

4. The bionic robot joint module according to claim 1, characterized in that: The L-shaped structure of the first heat dissipation fin (407) includes a first extension and a second extension that are perpendicular to each other. The first extension is connected to the surface of the mating collar (4010), and the second extension extends outward in a radial direction.

5. The bionic robot joint module according to claim 1, characterized in that: The L-shaped structure of the second heat dissipation fin (408) includes a third extension and a fourth extension that are perpendicular to each other. The third extension is connected to the inner wall of the mounting ring frame (406), and the fourth extension extends radially inward.

6. The bionic robot joint module according to claim 1, characterized in that: The heat dissipation vents (403) on the heat sink (402) are arranged in a honeycomb hexagonal array.

7. The bionic robot joint module according to claim 6, characterized in that: The inner wall of the heat dissipation port (403) is provided with a flow guiding slope.

8. The bionic robot joint module according to claim 1, characterized in that: The mounting ring (406) is interference-fitted with the inner wall of the heat-conducting outer cylinder (401), and the outer circumferential surface of the mounting ring (406) is provided with a positioning groove extending along the axial direction, and the inner wall of the heat-conducting outer cylinder (401) is provided with a corresponding positioning rib.

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