Compact motor reducer and joint module for humanoid robot

Abstract

The invention relates to a compact motor reducer and joint module for a humanoid robot. The compact motor reducer comprises a planet magnetic gear composite motor and a secondary planet wheel assembly. The planetary magnetic gear composite motor comprises a stator winding, a magnetic gear ring and a primary planetary magnetic gear transmission mechanism, and the primary planetary magnetic gear transmission mechanism is magnetically coupled with the stator winding and the magnetic gear ring respectively; the second-stage planet wheel assembly comprises a second-stage sun wheel, a second-stage planet wheel, a second-stage inner gear ring and a second-stage planet carrier, the second-stage sun wheel is in transmission connection with the output end of the first-stage planet magnetic gear transmission mechanism, and the second-stage sun wheel, the second-stage planet wheel and the second-stage inner gear ring are sequentially in meshing transmission to form a gear planet transmission pair. The planetary magnetic gear composite motor and the second-stage planetary gear assembly are arranged in series in the axial direction. The motor and a primary planetary transmission mechanism are integrated, and magnetic gear transmission is adopted, so that the axial size is shortened, the weight is reduced, the transmission efficiency is improved, the back clearance is reduced, and the operation noise can be reduced.

Description

Technical Field

[0001] This invention belongs to the field of humanoid robots, specifically relating to a compact motor reducer and joint module for humanoid robots. Background Technology

[0002] The field of humanoid robots is developing rapidly. As the core transmission component of robots, the joints directly affect the overall operating efficiency, accuracy, and reliability of the robot. Currently, most mainstream robot joint transmission components adopt the form of planetary reducers plus frameless torque motors or harmonic reducers plus frameless torque motors. However, these have drawbacks such as short service life, low transmission efficiency, large axial dimensions, and poor impact resistance. Furthermore, the joint structure of planetary reducers plus frameless torque motors also suffers from the disadvantages of large backlash, large volume, and large axial dimensions.

[0003] like Figure 1 As shown, the existing solution employs a joint structure of a two-stage planetary reducer and a frameless torque motor. This structure integrates the motor assembly and the two-stage planetary gear assembly within the planetary reducer. The motor drives the reducer's sun gear to rotate, which in turn drives multiple planetary gears to mesh with the internal ring gear, thereby achieving power transmission and speed reduction. This structure offers high internal space utilization and provides a long service life, high transmission efficiency, and high rigidity while ensuring high rated torque.

[0004] However, due to the inherent characteristics of planetary gear transmissions, existing designs require at least two stages of transmission to ensure adequate output torque, resulting in significant overall weight and axial dimensions, which has become a bottleneck in further miniaturization and lightweight designs. Furthermore, gear meshing inevitably generates considerable vibration and noise, and the inherent backlash in planetary gear transmissions is difficult to eliminate effectively. These shortcomings severely restrict further improvements in the joint performance of humanoid robots. Summary of the Invention

[0005] To address the aforementioned problems in the prior art, this invention provides a compact motor reducer and joint module for humanoid robots. The technical problem to be solved by this invention is achieved through the following technical solution: This invention provides a compact motor reducer for humanoid robots, comprising: A planetary magnetic gear composite motor includes a stator winding, a magnetic gear ring, and a first-stage planetary magnetic gear transmission mechanism, wherein the first-stage planetary magnetic gear transmission mechanism is magnetically coupled to the stator winding and the magnetic gear ring respectively; The secondary planetary gear assembly includes a secondary sun gear, secondary planet gears, a secondary internal gear ring, and a secondary planet carrier. The secondary sun gear is connected to the output end of the primary planetary magnetic gear transmission mechanism. The secondary sun gear, secondary planet gears, and secondary internal gear ring mesh sequentially to form a gear planetary transmission pair. The secondary planet gears are rotatably mounted on the secondary planet carrier. The planetary magnetic gear composite motor and the secondary planetary gear assembly are arranged in series along the axial direction. The primary planetary magnetic gear transmission mechanism is used to convert the input of the stator winding into a primary torque output. The secondary sun gear receives the primary torque and transmits the power from the secondary planet carrier through the meshing of the secondary planetary gears and the secondary internal gear ring.

[0006] In one embodiment of the present invention, a compact motor reducer for humanoid robots further includes a housing and a rear end cover. The stator winding, the magnetic gear ring, and the secondary internal gear ring are all fixedly disposed within the housing. The rear end cover is disposed near the secondary planetary gear assembly and is fixedly connected to the housing.

[0007] In one embodiment of the present invention, the primary planetary magnetic gear transmission mechanism includes: a primary magnetic sun gear, a primary planet carrier, and a plurality of primary magnetic planet gears; The stator winding is arranged around the first-stage magnetic sun gear, and the first-stage magnetic sun gear, the first-stage magnetic planet gear, and the magnetic gear ring are magnetically coupled in sequence to form a first-stage magnetic gear planetary transmission pair; multiple first-stage magnetic planet gears are rotatably arranged on the first-stage planet carrier; The primary magnetic sun gear is arranged opposite to the stator winding to form the motor rotor. The primary magnetic sun gear drives the multiple primary magnetic planetary gears to rotate, and the multiple primary magnetic planetary gears drive the primary planetary carrier to rotate.

[0008] In one embodiment of the present invention, the planetary magnetic gear composite motor further includes a secondary sun gear, which is connected to the primary planetary carrier via a spline. The secondary sun gear serves as the output end of the primary planetary magnetic gear transmission mechanism.

[0009] In one embodiment of the present invention, the primary planetary magnetic gear transmission mechanism further includes: a primary planetary spindle, wherein the primary planetary spindle is configured in a one-to-one correspondence with the primary magnetic planetary gears, and each primary magnetic planetary gear is rotatably mounted on the primary planetary carrier via the primary planetary spindle.

[0010] In one embodiment of the present invention, a first-stage needle roller is evenly distributed in the central hole of the first-stage magnetic planetary gear, and the two ends of the first-stage needle roller are limited by a first-stage retaining ring. The first-stage planetary mandrel passes through the inner side of the first-stage needle roller.

[0011] In one embodiment of the present invention, the secondary planetary gear assembly further includes multiple secondary planetary spindles, and the secondary planetary gears are provided in multiple ways, with each secondary planetary spindle corresponding to one of the secondary planetary gears; each secondary planetary gear is rotatably mounted on the secondary planetary carrier via the secondary planetary spindle.

[0012] In one embodiment of the present invention, secondary needle rollers are evenly distributed in the central hole of the secondary planetary gear, and the two ends of the secondary needle rollers are limited by secondary retaining rings, and the secondary planetary mandrel passes through the inner side of the secondary needle rollers.

[0013] In one embodiment of the present invention, bearings are provided between the primary magnetic sun gear and the primary planetary carrier, between the primary planetary carrier and the secondary planetary carrier, and between the secondary sun gear and the secondary planetary carrier; a crossed roller bearing is provided between the secondary planetary gear assembly and the housing.

[0014] The present invention also provides a humanoid robot joint module, including the above-mentioned compact motor reducer for humanoid robots.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention relates to a compact motor reducer for humanoid robots. By arranging a planetary magnetic gear composite motor and a secondary planetary gear assembly in series axially, and integrating the motor with a primary planetary transmission mechanism, the stator windings are directly magnetically coupled to the primary planetary magnetic gear transmission mechanism. This eliminates the need for additional motor shafts and connecting parts, significantly shortening the axial dimension of the joint and reducing the overall weight. Simultaneously, the primary transmission employs a magnetic gear structure, eliminating the inherent backlash of traditional gear meshing through a non-contact transmission method. This avoids energy loss and vibration noise caused by tooth surface friction and meshing collisions, improving transmission efficiency and reducing operating noise while maintaining output stiffness. The secondary planetary gear assembly retains the planetary gear transmission, ensuring the load-bearing capacity and reliability of the humanoid robot joint.

[0016] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the structure of a conventional two-stage planetary reducer joint for a motor provided in an embodiment of the present invention; Figure 2 This is a structural schematic diagram (first view) of a compact motor reducer for a humanoid robot provided in an embodiment of the present invention; Figure 3 This is a structural schematic diagram (second view) of a compact motor reducer for humanoid robots provided in an embodiment of the present invention; Figure 4 This is a structural cross-sectional view of the compact motor reducer for humanoid robots provided in an embodiment of the present invention; Figure 5 This is a structural cross-sectional view of the planetary magnetic gear composite motor provided in an embodiment of the present invention; Figure 6 This is a structural cross-sectional view of the secondary planetary gear assembly provided in an embodiment of the present invention.

[0018] Reference numerals in the attached diagram: 1-Planetary magnetic gear composite motor; 101-Stator winding; 102-Magnetic gear ring; 103-First-stage magnetic sun gear; 104-Second-stage sun gear; 105-First-stage magnetic planetary gear; 106-First-stage planetary carrier; 107-First-stage planetary spindle; 108-First-stage retaining ring; 109-First-stage needle roller; 2-Second-stage planetary gear assembly; 201-Second-stage planetary gear; 202-Second-stage planetary carrier; 203-Second-stage planetary spindle; 204-Second-stage internal gear ring; 205-Second-stage needle roller; 206-Second-stage retaining ring; 3-Housing; 4-Rear end cover; 5-Crossed roller bearing. Detailed Implementation

[0019] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description of a compact motor reducer and joint module for humanoid robots according to the present invention is provided in conjunction with the accompanying drawings and specific embodiments.

[0020] The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of specific embodiments in conjunction with the accompanying drawings. Through the description of the specific embodiments, a more in-depth and concrete understanding can be gained of the technical means and effects adopted by the present invention to achieve its intended purpose. However, the accompanying drawings are for reference and illustration only and are not intended to limit the technical solutions of the present invention.

[0021] Example 1 To address the bottlenecks encountered in the miniaturization and weight reduction of existing planetary reducer joint structures, as well as their drawbacks such as high noise, large backlash, and limited transmission efficiency, this invention provides a compact motor reducer for humanoid robots, such as... Figures 2 to 6 As shown, Figure 2This is a structural schematic diagram (first view) of a compact motor reducer for a humanoid robot provided in an embodiment of the present invention; Figure 3 This is a structural schematic diagram (second view) of a compact motor reducer for humanoid robots provided in an embodiment of the present invention; Figure 4 This is a structural cross-sectional view of the compact motor reducer for humanoid robots provided in an embodiment of the present invention; Figure 5 This is a structural cross-sectional view of the planetary magnetic gear composite motor provided in an embodiment of the present invention; Figure 6 This is a structural cross-sectional view of the secondary planetary gear assembly provided in an embodiment of the present invention.

[0022] In this embodiment, the compact motor reducer for humanoid robots includes a planetary magnetic gear composite motor 1, a two-stage planetary gear assembly 2, a housing 3, a rear end cover 4, and a crossed roller bearing 5.

[0023] Specifically, the planetary magnetic gear composite motor 1 includes a stator winding 101, a magnetic gear ring 102, and a first-stage planetary magnetic gear transmission mechanism; the first-stage planetary magnetic gear transmission mechanism is magnetically coupled to the stator winding 101 and the magnetic gear ring 102 respectively; the second-stage planetary gear assembly 2 includes a second-stage sun gear 104, a second-stage planetary gear 201, a second-stage internal gear ring 204, and a second-stage planetary carrier 202. The second-stage sun gear 104 is connected to the output end of the first-stage planetary magnetic gear transmission mechanism. The second-stage sun gear 104, the second-stage planetary gear 201, and the second-stage internal gear ring 204 mesh sequentially to form a planetary gear transmission pair. The second-stage planetary gear 201 is rotatably mounted on the second-stage planetary carrier 202.

[0024] In terms of overall layout, the housing 3 serves as the supporting structure, with the planetary magnetic gear composite motor 1 and the secondary planetary gear assembly 2 arranged in series along the axial direction. The stator winding 101, the magnetic gear ring 102, and the secondary internal gear ring 204 are all fixedly installed inside the housing 3. The rear end cover 4 is located near the secondary planetary gear assembly 2 and is fixedly connected to the housing 3. The crossed roller bearing 5 is located between the secondary planetary gear assembly 2 and the housing 3 to support the secondary planetary gear assembly 2 and the housing 3. With this structure, the input of the stator winding 101 is converted into a primary torque output through the primary planetary magnetic gear transmission mechanism. The secondary sun gear 104 receives the primary torque, and the power is output from the secondary planetary carrier 202 through the meshing transmission between the secondary planetary gear 201 and the secondary internal gear ring 204 in the secondary planetary gear assembly 2.

[0025] For example, the crossed roller bearing 5 is disposed between the secondary planetary carrier 202 and the housing 3 to support the rotation of the secondary planetary carrier 202 relative to the housing 3. The crossed roller bearing 5 has high rigidity, high rotational accuracy, and the ability to withstand complex loads. It can effectively withstand the external load on the output end of the secondary planetary carrier 202 while ensuring the rotational accuracy of the output end, thus meeting the requirements of humanoid robot joints for high dynamic response and high load capacity.

[0026] In one optional embodiment, the primary planetary magnetic gear transmission mechanism includes a primary magnetic sun gear 103, a primary planetary carrier 106, and multiple primary magnetic planetary gears 105. The stator winding 101 is arranged around the primary magnetic sun gear 103. The primary magnetic sun gear 103, the primary magnetic planetary gears 105, and the magnetic gear ring 102 are sequentially magnetically coupled to form a primary magnetic gear planetary transmission pair. The multiple primary magnetic planetary gears 105 are rotatably mounted on the primary planetary carrier 106. The primary magnetic sun gear 103 is positioned opposite to the stator winding 101, and the primary magnetic sun gear 103 acts as the motor rotor, driving the multiple primary magnetic planetary gears 105 to rotate. The multiple primary magnetic planetary gears 105, in turn, drive the primary planetary carrier 106 to rotate.

[0027] Furthermore, the planetary magnetic gear composite motor 1 also includes a secondary sun gear 104, which is connected to the primary planetary carrier 106 via a spline. The secondary sun gear 104 serves as the output end of the primary planetary magnetic gear transmission mechanism.

[0028] In an optional embodiment, in order to realize the rotational connection between the planetary gears and the planetary carrier, the primary planetary magnetic gear transmission mechanism further includes a primary planetary spindle 107. The primary planetary spindle 107 is arranged in a one-to-one correspondence with the primary magnetic planetary gears 105. Each primary magnetic planetary gear 105 is rotatably mounted on the primary planetary carrier 106 through the primary planetary spindle 107. Primary needle rollers 109 are evenly distributed in the central hole of the primary magnetic planetary gears 105. The two ends of the primary needle rollers 109 are limited by primary retaining rings 108. The primary planetary spindle 107 passes through the inner side of the primary needle rollers 109.

[0029] Similarly, the secondary planetary gear assembly 2 also includes multiple secondary planetary spindles 203. Multiple secondary planetary gears 201 are provided, and each secondary planetary spindle 203 corresponds to one secondary planetary gear 201. Each secondary planetary gear 201 is rotatably mounted on the secondary planetary carrier 202 via a secondary planetary spindle 203. Secondary needle rollers 205 are evenly distributed within the central hole of each secondary planetary gear 201. The two ends of each secondary needle roller 205 are limited by secondary retaining rings 206, and the secondary planetary spindles 203 pass through the inner side of the secondary needle rollers 205.

[0030] It is worth noting that the compact motor reducer of this invention effectively avoids the use of additional connecting parts and achieves further compression of axial space by integrating the motor and the first-stage planetary transmission mechanism into one unit. Specifically, in the joint structure of traditional motor reducers, a coupling, flange, or additional shaft is usually required to connect the motor rotor and the first-stage sun gear of the reducer, which not only increases the number of parts but also occupies a considerable axial length. In this invention, the first-stage magnetic sun gear 103 is arranged opposite to the stator winding 101, directly forming the motor rotor, eliminating the need for the motor output shaft and its connecting parts with the reducer; at the same time, the first-stage magnetic sun gear 103 and the first-stage planetary carrier 106, and the first-stage planetary carrier 106 and the second-stage sun gear 104 are directly connected by splines, without the need for additional transition parts. By integrating the motor and the first-stage reduction mechanism, the multiple connection gaps and axial redundant space in the traditional structure are reduced, thereby integrating motor drive and first-stage reduction functions within the same or smaller axial length, which is suitable for the requirements of humanoid robots for joint miniaturization and lightweighting.

[0031] Furthermore, the first-stage planetary magnetic gear transmission mechanism employs magnetic gear technology, where the first-stage magnetic sun gear 103, the first-stage magnetic planetary gears 105, and the magnetic gear ring 102 achieve non-contact transmission through magnetic field force. Compared to the traditional two-stage planetary reducer with frameless torque motor joint, where both stages involve gear meshing, tooth surface friction and meshing collisions inevitably lead to increased energy loss, thus reducing transmission efficiency. Simultaneously, vibrations and noise generated during gear meshing are difficult to eliminate. Furthermore, accumulated errors during parts machining create significant transmission backlash, further affecting the joint's control precision. This invention, by employing a magnetic gear structure in the first-stage transmission, utilizes magnetic field coupling to replace physical contact, fundamentally avoiding tooth surface friction and meshing collisions. This significantly reduces energy loss in the first-stage transmission process, improving transmission efficiency. Since there is no physical contact, the magnetic gear transmission does not generate mechanical vibration or meshing noise, greatly reducing overall machine operating noise. Simultaneously, the magnetic gear transmission relies on magnetic field force to transmit power, eliminating the inherent backlash caused by machining errors and assembly clearances in traditional gear meshing, resulting in minimal backlash in the transmission system and effectively improving the joint's control precision.

[0032] In an optional embodiment, to ensure smooth rotation of each rotating component, bearings are provided between the primary magnetic sun gear 103 and the primary planetary carrier 106, between the primary planetary carrier 106 and the secondary planetary carrier 202, and between the secondary sun gear 104 and the secondary planetary carrier 202. Preferably, deep groove ball bearings can be used between the primary magnetic sun gear 103 and the primary planetary carrier 106, between the primary planetary carrier 106 and the secondary planetary carrier 202, and between the secondary sun gear 104 and the secondary planetary carrier 202.

[0033] Specifically, the first-stage magnetic sun gear 103 is supported within the first-stage planetary carrier 106 by deep groove ball bearings. The first-stage planetary carrier 106 is supported within the inner cavity of one end of the second-stage planetary carrier 202 by deep groove ball bearings, forming interstage support. The front end of the second-stage sun gear 104 is fixedly installed within the first-stage planetary carrier 106, and the rear end is supported within the inner cavity of the other end of the second-stage planetary carrier 202 by deep groove ball bearings, ensuring the high-speed rotational stability of the second-stage sun gear 104. This structure, using deep groove ball bearings to provide radial and axial support to each rotating component, ensures smooth relative rotation between the transmission components.

[0034] Preferably, the primary planetary spindle 107 is axially fixed by a set screw. Specifically, a threaded hole corresponding to the primary planetary spindle 107 is provided on the side wall of the primary planetary carrier 106, and the set screw passes through the threaded hole and abuts against the outer circumferential surface of the primary planetary spindle 107. After the primary magnetic planetary gear 105, the primary needle roller 109, and the primary retaining ring 108 are sequentially assembled into the primary planetary carrier 106, and the primary planetary spindle 107 is inserted into the inner side of the primary needle roller 109, the set screw is tightened so that its end presses against the primary planetary spindle 107, thereby restricting the axial movement and circumferential rotation of the primary planetary spindle 107 relative to the primary planetary carrier 106.

[0035] Similarly, the secondary planetary spindle 203 is also axially fixed by a set screw. Specifically, the side wall of the secondary planetary carrier 202 has a threaded hole corresponding to the secondary planetary spindle 203, and the set screw passes through the threaded hole and abuts against the outer circumferential surface of the secondary planetary spindle 203. After the secondary planetary gear 201, the secondary needle roller 205, and the secondary retaining ring 206 are sequentially assembled into the secondary planetary carrier 202, and the secondary planetary spindle 203 is inserted into the inner side of the secondary needle roller 205, the set screw is tightened so that its end presses against the secondary planetary spindle 203, thereby restricting the axial movement and circumferential rotation of the secondary planetary spindle 203 relative to the secondary planetary carrier 202.

[0036] This structure ensures the positional accuracy and operational stability of the first-stage magnetic planetary gear 105 and the second-stage planetary gear 201 during operation through set screws, while also simplifying the assembly process and facilitating disassembly and maintenance.

[0037] To enable those skilled in the art to fully understand and implement this invention, the assembly and working processes of this invention are described below.

[0038] During assembly, firstly, the primary needle rollers 109 are evenly inserted into the center holes of the primary magnetic planetary gears 105, with primary retaining rings 108 on both sides for restraint. The primary magnetic planetary gears 105 are then inserted into the primary planetary carrier 106 and secured using the primary planetary mandrel 107. The secondary sun gear 104 is then connected to the primary planetary carrier 106 via a spline. The stator winding 101, the magnetic gear ring 102, and the assembled primary planetary assembly are then installed into the housing 3. Next, the secondary needle rollers 205 are evenly inserted into the center holes of the secondary planetary gears 201, with secondary retaining rings 206 on both sides for restraint. The secondary planetary gears 201 are then inserted into the secondary planetary carrier 202 and secured using the secondary planetary mandrel 203. The secondary internal gear ring 204, the secondary planetary gear assembly 2, and the crossed roller bearings 5 ​​are then sequentially installed into the housing 3. Finally, the rear end cover 4 is fixedly connected to the housing 3.

[0039] During operation, the stator winding 101 generates a rotating magnetic field after being energized. The primary magnetic sun gear 103, acting as the rotor, rotates under the influence of this magnetic field. The primary magnetic sun gear 103 drives the primary magnetic planetary gear 105 to rotate within the magnetic gear ring 102 via magnetic force in a non-contact manner. The revolution of the primary magnetic planetary gear 105 drives the primary planetary carrier 106 to rotate. The primary planetary carrier 106 transmits power to the secondary sun gear 104 via splines. The secondary sun gear 104 drives the secondary planetary gear 201 to rotate within the secondary internal gear ring 204 via gear meshing. The revolution of the secondary planetary gear 201 drives the secondary planetary carrier 202 to rotate, ultimately outputting power through the secondary planetary carrier 202.

[0040] The present invention also provides a humanoid robot joint module, including the above-mentioned compact motor reducer for humanoid robots.

[0041] Example 2 By rationally configuring the number of magnetic pole pairs of the first-stage magnetic gear transmission pair and the number of teeth of the second-stage mechanical gear transmission pair, the total transmission ratio of the reducer is kept consistent with that of the existing two-stage planetary gear reducer, thereby achieving in-situ replacement without changing other structures of the joint module.

[0042] Specifically, let the total transmission ratio of the existing two-stage planetary gear reducer be... The expression for the total transmission ratio of the first-stage transmission unit 2 and the second-stage transmission unit 3 of the present invention is as follows: ; in, The transmission ratio of a single-stage magnetic gear planetary transmission pair is determined by the ratio of its magnetic pole pairs. , The number of pole pairs of the first-order magnetic internal gear ring 203; The number of magnetic pole pairs of the first-stage magnetic sun gear 201; The transmission ratio of a two-stage mechanical gear transmission pair is determined by its gear ratio. ; The number of teeth on the secondary internal gear ring 303; This refers to the number of teeth on the second-stage sun gear 301.

[0043] With total transmission ratio Taking 20 as an example, the number of pole pairs of the first-stage magnetic sun gear 201 can be set to 4, and the number of pole pairs of the first-stage magnetic internal gear ring 203 can be set to 20. Simultaneously, the number of teeth on the secondary sun gear 301 is set to 20, and the number of teeth on the secondary internal gear ring 303 is set to 60. .

[0044] If other transmission ratios are required, they can be flexibly configured by adjusting the number of pole pairs or the number of teeth, which will not be elaborated here.

[0045] By setting the transmission ratio as described above, this invention achieves complete compatibility in terms of external dimensions, installation interface, and output performance while maintaining the same total transmission ratio as the original two-stage planetary gear reducer. It can directly replace the reducer in the existing joint module without changing the motor selection, housing structure, or assembly process, thus reducing upgrade costs and facilitating widespread application.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that an article or device comprising a list of elements includes not only those elements but also other elements not expressly listed. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device comprising said element. Terms such as "connected" or "linked" are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect. The orientations or positional relationships indicated by terms such as "upper," "lower," "left," and "right" are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0047] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A compact motor reducer for humanoid robots, characterized in that, include: A planetary magnetic gear composite motor includes a stator winding, a magnetic gear ring, and a first-stage planetary magnetic gear transmission mechanism, wherein the first-stage planetary magnetic gear transmission mechanism is magnetically coupled to the stator winding and the magnetic gear ring respectively; The secondary planetary gear assembly includes a secondary sun gear, secondary planet gears, a secondary internal gear ring, and a secondary planet carrier. The secondary sun gear is connected to the output end of the primary planetary magnetic gear transmission mechanism. The secondary sun gear, secondary planet gears, and secondary internal gear ring mesh sequentially to form a gear planetary transmission pair. The secondary planet gears are rotatably mounted on the secondary planet carrier. The planetary magnetic gear composite motor and the secondary planetary gear assembly are arranged in series along the axial direction. The primary planetary magnetic gear transmission mechanism is used to convert the input of the stator winding into a primary torque output. The secondary sun gear receives the primary torque and transmits the power from the secondary planet carrier through the meshing of the secondary planetary gears and the secondary internal gear ring.

2. The compact motor reducer for humanoid robots according to claim 1, characterized in that, It also includes a housing and a rear end cover. The stator winding, the magnetic gear ring and the secondary internal gear ring are all fixedly disposed in the housing. The rear end cover is disposed close to the secondary planetary gear assembly and is fixedly connected to the housing.

3. The compact motor reducer for humanoid robots according to claim 2, characterized in that, The primary planetary magnetic gear transmission mechanism includes: a primary magnetic sun gear, a primary planet carrier, and multiple primary magnetic planet gears; The stator winding is arranged around the first-stage magnetic sun gear, and the first-stage magnetic sun gear, the first-stage magnetic planet gear, and the magnetic gear ring are magnetically coupled in sequence to form a first-stage magnetic gear planetary transmission pair; multiple first-stage magnetic planet gears are rotatably arranged on the first-stage planet carrier; The primary magnetic sun gear is arranged opposite to the stator winding to form the motor rotor. The primary magnetic sun gear drives the multiple primary magnetic planetary gears to rotate, and the multiple primary magnetic planetary gears drive the primary planetary carrier to rotate.

4. The compact motor reducer for humanoid robots according to claim 3, characterized in that, The planetary magnetic gear composite motor also includes a secondary sun gear, which is connected to the primary planetary carrier via a spline. The secondary sun gear serves as the output end of the primary planetary magnetic gear transmission mechanism.

5. The compact motor reducer for humanoid robots according to claim 3, characterized in that, The primary planetary magnetic gear transmission mechanism further includes: a primary planetary spindle, which is configured to correspond one-to-one with the primary magnetic planetary gears, and each primary magnetic planetary gear is rotatably mounted on the primary planetary carrier via the primary planetary spindle.

6. The compact motor reducer for humanoid robots according to claim 5, characterized in that, The first-stage magnetic planetary gear has a first-stage needle roller evenly distributed in the center hole. The two ends of the first-stage needle roller are limited by a first-stage retaining ring. The first-stage planetary spindle passes through the inside of the first-stage needle roller.

7. The compact motor reducer for humanoid robots according to claim 1, characterized in that, The secondary planetary gear assembly also includes multiple secondary planetary spindles. There are multiple secondary planetary gears, and each secondary planetary spindle is arranged in a one-to-one correspondence with a secondary planetary gear. Each secondary planetary gear is rotatably mounted on the secondary planetary carrier via the secondary planetary spindle.

8. The compact motor reducer for humanoid robots according to claim 1, characterized in that, Secondary needle rollers are evenly distributed in the central hole of the secondary planetary gear. The two ends of the secondary needle rollers are limited by secondary retaining rings, and the secondary planetary mandrel passes through the inner side of the secondary needle rollers.

9. The compact motor reducer for humanoid robots according to claim 3, characterized in that, Bearings are provided between the first-stage magnetic sun gear and the first-stage planetary carrier, between the first-stage planetary carrier and the second-stage planetary carrier, and between the second-stage sun gear and the second-stage planetary carrier; A crossed roller bearing is provided between the secondary planetary gear assembly and the housing.

10. A humanoid robot joint module, characterized in that, Including the compact motor reducer for humanoid robots as described in any one of claims 1 to 9.

Images