A humanoid robot joint motor with adaptive pre-tightening force

Abstract

The application discloses a humanoid robot joint motor with adaptive pre-tightening force and relates to the technical field of humanoid robots.The humanoid robot joint motor with adaptive pre-tightening force comprises a motor module and a bearing.The one side of the motor module is connected with an encoder base, the inner side of the encoder base is clamped and installed with a driving plate, the one side of the encoder base, on which the driving plate is installed, is fixedly connected with a dustproof end cover, the other side of the motor module is connected with a speed reducer module, and the side, away from the motor module, of the speed reducer module is connected with an output end.The humanoid robot joint motor with adaptive pre-tightening force is characterized in that when the output end rotates under the transmission of the rotating shaft, the elastic element outside the bearing automatically compensates the bearing pre-tightening structure of the gap, the insulating rods on the two sides of the connecting block can move in the limiting grooves by means of the spring one and the spring two, so that compensation is realized, the motor can always keep stable transmission in flexion, rotation and other actions, mechanical wear is reduced, and the service life of the motor is prolonged.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, specifically to a humanoid robot joint motor with adaptive preload. Background Technology

[0002] Humanoid robots are intelligent robots designed to mimic human form, structure, and function. They typically possess human-like body structures, including a head, torso, and limbs, and are capable of performing human-like actions and tasks. Due to their unique form and function, they are widely used in various fields such as service, rescue, entertainment, education, and scientific research. Furthermore, with continuous technological advancements and cost reductions, humanoid robots will gradually enter people's daily lives and work, becoming important assistants and partners to humans.

[0003] From a technical perspective, humanoid robots consist of five parts: mechanical structure, drive system, perception system, control system, and energy system. The mechanical structure typically includes a skeleton, joints, and external covering materials (such as silicone or plastic, used to simulate human skin). The electric motors installed at the various joints of the humanoid robot to drive joint movement and provide the necessary power and precision are called joint motors. These motors typically feature high torque, high precision, low noise, and a compact design to meet the humanoid robot's requirements for joint flexibility, range of motion, and load capacity, forming the foundation for the humanoid robot to achieve various movements.

[0004] Robot joint motors convert or transmit electrical energy based on the law of electromagnetic induction. Their primary function is to generate driving torque, serving as a power source for electrical appliances or various machines. The motor end cover is the cover of the motor housing, and bearings need to be installed on the end cover. The preload of the motor bearing is a special force acting on the bearing. It is the pressure generated by preload elements (such as spring washers, tapered sleeves, etc.) to counteract the effects of motor load and axial force, ensuring the normal operation of the bearing. The magnitude of the preload directly affects the bearing's lifespan and the motor's operating efficiency.

[0005] However, in actual use, existing humanoid robot joint motors often lack the bearing preload structure to automatically compensate for clearances. As a result, the motor cannot transmit power stably during flexion, extension, rotation and other movements, which increases mechanical wear, shortens the robot's service life, and may even cause the joints to loosen during movement, thereby affecting the robot's stability and motion accuracy. Summary of the Invention

[0006] The purpose of this invention is to provide a humanoid robot joint motor with adaptive preload to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a humanoid robot joint motor with adaptive preload force, comprising a motor module and a bearing. An encoder base is connected to one side of the motor module, and a drive plate is engaged and installed on the inner side of the encoder base. A dustproof end cover is fixedly connected to the side of the encoder base where the drive plate is installed. A reducer module is connected to the other side of the motor module, and an output end is connected to the side of the reducer module away from the motor module. The bearing is disposed between the reducer module and the output end, and the inner side of the bearing is fixedly connected to the outer surface of the output end. An elastic element is fixedly connected to the outer side of the bearing. The bearing is connected to the reducer module through the elastic element, and the elastic element is arranged in a ring array at equal intervals on the outer side of the bearing.

[0008] Furthermore, the motor module includes a housing and a motor core, with the motor core installed inside the housing.

[0009] Furthermore, the mechanism includes a rotating shaft, a rotor core, and rotor magnets. The rotor core is sleeved on the outer surface of the rotating shaft, and rotor magnets are fixedly connected to the outer wall of the rotor core. There are four rotor magnets, which are arranged alternately on the outside of the rotor core with S and N poles.

[0010] Furthermore, the mechanism also includes a stator yoke, a stator tooth body, a stator winding, a stator tooth tip, and an air gap. The stator yoke is fixed to the inside of the housing, and the inner surface of the stator yoke is fixedly connected to the stator tooth body. The outer surface of the stator tooth body is uniformly wound with the stator winding, and the end of the stator tooth body is fixedly connected to the stator tooth tip. An air gap is left between the stator tooth tip and the rotor magnet.

[0011] Furthermore, the encoder base includes a base platform and a drive gear. The base platform is movably connected to the rotating shaft, and the base platform and the rotating shaft form a through structure. The drive gear is sleeved on the outer wall of the rotating shaft.

[0012] Furthermore, the encoder base also includes a magnet one, a driven gear one, a magnet two, and a driven gear two. Magnet one is movably installed on the side of the base platform near the drive plate, and driven gear one is sleeved on the outer wall of magnet one. Magnet two is movably installed on the side of the base platform near the drive plate, and driven gear two is sleeved on the outer wall of magnet two.

[0013] Furthermore, the driving gear meshes with driven gear one and driven gear two respectively, and driven gear one and driven gear two have different numbers of teeth, which is used to realize the encoding of absolute position. Driven gear one is a motor encoder responsible for FOC calculation. Driven gear two has a tooth ratio with driven gear one, which is used to simulate the output shaft angle.

[0014] Furthermore, the reducer module includes a body, a connecting seat, a mounting groove, and a limiting groove. The body and the connecting seat are fixedly connected by screws, and the side of the connecting seat away from the body is welded to the end of the rotating shaft. The inner side of the body is provided with a mounting groove, and the inner wall of the mounting groove is provided with a limiting groove.

[0015] Furthermore, the elastic element includes a connecting block, an insulating rod, and an end plate. The connecting block is fixed to the outer wall of the bearing, and insulating rods are symmetrically fixed on both sides of the connecting block. One end of the insulating rod is fixedly connected to the outer wall of the connecting block, and the other end of the insulating rod is submerged in the limiting groove and fixedly connected to the end plate.

[0016] Furthermore, the elastic element also includes a first spring and a second spring. One end of the first spring is fixedly connected to the inner wall of the limiting groove, and the other end of the first spring is fixedly connected to the end plate. The end plate is kept connected to the inner wall of the limiting groove through the first spring. The second spring is disposed outside the insulating rod, and one end of the second spring is fixedly connected to the outer wall of the connecting block, and the other end of the second spring is fixedly connected to the inner wall of the mounting groove.

[0017] This invention provides a humanoid robot joint motor with adaptive preload, which has the following advantages: 1. This invention is equipped with an elastic element. When the output end rotates under the transmission of the rotating shaft, the elastic element on the outside of the bearing will automatically compensate for the bearing preload structure of the clearance. Using spring one and spring two, the insulating rods on both sides of the connecting block can move in the limiting groove, thereby achieving compensation. The improved joint motor can automatically compensate for the bearing preload structure of the clearance through the spring force, ensuring that the motor always maintains stable transmission during bending, extension, rotation and other actions, reducing mechanical wear and extending the service life of the motor.

[0018] 2. This invention drives the driving gear to rotate via a rotating shaft, and through meshing transmission, drives the driven gear one and driven gear two to rotate respectively, so that the driven gear one and driven gear two are offset by a number of teeth. With the synchronous rotation of magnet one and magnet two, the drive board can realize detection through magnetism. The improved joint motor can not only detect the rotation speed, but also the rotation direction. Each position corresponds to a unique code. After power failure, the position information can be restored without re-finding the origin. Even if the motor suddenly stops due to power failure, the current angle of the motor can be detected immediately after power is restored.

[0019] 3. The present invention is equipped with a motor module, which uses electromagnetic induction to drive the shaft to rotate, converting electrical energy into mechanical energy. At the same time, the stator yoke provides a closed magnetic circuit, reducing magnetic leakage. The components formed by the stator tooth body, stator winding, and stator tooth tip are arranged in a ring array at equal intervals, ensuring uniform air gap, thereby achieving stable magnetic field transmission, improving efficiency and reducing vibration and noise, and further enhancing the performance of the joint motor. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the appearance of a humanoid robot joint motor with adaptive preload according to the present invention; Figure 2 This is a structural breakdown diagram of a humanoid robot joint motor with adaptive preload according to the present invention; Figure 3 This is a schematic diagram showing the disassembled structure of the encoder base-drive board of a humanoid robot joint motor with adaptive preload force according to the present invention. Figure 4 This is a schematic diagram of the core structure of a humanoid robot joint motor with adaptive preload force according to the present invention; Figure 5 This is a schematic diagram showing the body-connecting seat structure of a humanoid robot joint motor with adaptive preload force according to the present invention. Figure 6 This is a schematic cross-sectional view of the body structure of a humanoid robot joint motor with adaptive preload force according to the present invention; Figure 7 This invention relates to a humanoid robot joint motor with adaptive preload. Figure 6 Enlarged schematic diagram of the structure at point A in the middle.

[0021] In the diagram: 1. Motor module; 101. Housing; 102. Mechanism; 1021. Shaft; 1022. Rotor core; 1023. Rotor magnet; 1024. Stator yoke; 1025. Stator tooth body; 1026. Stator winding; 1207. Stator tooth tip; 1208. Air gap; 2. Encoder base; 201. Base platform; 202. Drive gear; 203. Magnet one; 204. Driven gear one; 205. Magnet two; 206. Driven gear two; 3. Drive plate; 4. Dustproof end cover; 5. Reducer module; 501. Body; 502. Connecting seat; 503. Mounting slot; 504. Limiting slot; 6. Output end; 7. Bearing; 8. Elastic element; 801. Connecting block; 802. Insulating rod; 803. End plate; 804. Spring one; 805. Spring two. Detailed Implementation

[0022] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0023] like Figures 1-7As shown, a humanoid robot joint motor with adaptive preload includes a motor module 1 and a bearing 7. An encoder base 2 is connected to one side of the motor module 1, and a drive plate 3 is fitted onto the inner side of the encoder base 2. A dustproof end cover 4 is fixedly connected to the side of the encoder base 2 where the drive plate 3 is mounted. The motor module 1 includes a housing 101 and a core 102, with the core 102 installed inside the housing 101. The core 102 includes a rotating shaft 1021, a rotor core 1022, and rotor magnets 1023. The rotor core 1022 is fitted onto the outer surface of the rotating shaft 1021, and rotor magnets 1023 are fixedly connected to the outer wall of the rotor core 1022. There are four rotor magnets 1023, arranged in a specific configuration. The rotor core 1022 has alternating S and N poles on its outer side. The core 102 also includes a stator yoke 1024, stator teeth 1025, stator windings 1026, stator tooth tips 1207, and an air gap 1208. The stator yoke 1024 is fixed to the wall inside the housing 101, and the stator teeth 1025 are fixedly connected to the inner surface of the stator yoke 1024. The stator windings 1026 are evenly wound on the outer surface of the stator teeth 1025, and the stator tooth tips 1207 are fixedly connected to the ends of the stator teeth 1025. An air gap 1208 is left between the stator tooth tips 1207 and the rotor magnets 1023. A reducer module 5 is connected to the other side of the motor module 1, and the output end is connected to the side of the reducer module 5 furthest from the motor module 1. 6. The reducer module 5 includes a body 501, a connecting seat 502, a mounting groove 503, and a limiting groove 504. The body 501 and the connecting seat 502 are fixedly connected by screws, and the side of the connecting seat 502 away from the body 501 is welded to the end of the rotating shaft 1021. The inner side of the body 501 has a mounting groove 503, and the inner wall of the mounting groove 503 has a limiting groove 504. The bearing 7 is disposed between the reducer module 5 and the output end 6, and the inner side of the bearing 7 is fixedly connected to the outer surface of the output end 6. An elastic element 8 is fixedly connected to the outer side of the bearing 7. The bearing 7 is connected to the reducer module 5 through the elastic element 8, and the elastic element 8 is arranged in a ring array at equal intervals on the outer side of the bearing 7. The elastic element 8 includes a connecting block 801, an insulating... The bearing 7 has a connecting block 801 fixed to the outer wall of the bearing 7, and insulating rods 802 are symmetrically fixed on both sides of the connecting block 801. One end of the insulating rod 802 is fixedly connected to the outer wall of the connecting block 801, and the other end of the insulating rod 802 is inserted into the limiting groove 504 and fixedly connected to the end plate 803. The elastic element 8 also includes a first spring 804 and a second spring 805. One end of the first spring 804 is fixedly connected to the inner wall of the limiting groove 504, and the other end of the first spring 804 is fixedly connected to the end plate 803. The end plate 803 is connected to the inner wall of the limiting groove 504 through the first spring 804. The second spring 805 is disposed outside the insulating rod 802, and one end of the second spring 805 is fixedly connected to the outer wall of the connecting block 801.Furthermore, the other end of spring 805 is fixedly connected to the inner wall of mounting groove 503; The specific operation is as follows: After an alternating current is applied to the stator winding 1026, a stator magnetic field is generated according to Ampere's circuital law. That is, the periodic change of the current generates a rotating magnetic field. At the same time, the stator tooth body 1025 and the stator tooth tip 1207 form a magnetic circuit, guiding the magnetic field to concentrate and enter the rotor part through the air gap 1208. The rotor magnet 1023 interacts with the stator magnetic field. The fixed magnetic field of the rotor magnet 1023 is synchronized with the rotating magnetic field of the stator. Due to the attraction / repulsion between the magnetic poles, torque is generated. The electromagnetic torque acts on the rotor core 1022, driving the rotating shaft 1021 to rotate, converting electrical energy into mechanical energy. In this process, the stator yoke 1024 provides a closed magnetic circuit path, reducing magnetic leakage. The equidistant arrangement of the components formed by the stator tooth body 1025, stator winding 1026, and stator tooth tip 1207 in a ring array ensures that the air gap 1208 is uniform, enabling stable magnetic field transmission, improving efficiency and reducing vibration noise. The rotational force of the shaft 1021 is transmitted to the reducer module 5, and then to the output end 6. While the output end 6 rotates, the elastic element 8 on the outside of the bearing 7 will automatically compensate for the preload of the gap. That is, by using spring 1 804 and spring 2 805, the insulating rods 802 on both sides of the connecting block 801 can move within the limiting groove 504, thereby achieving compensation and ensuring that the motor maintains stable transmission during bending, stretching, and rotation, and reducing mechanical wear.

[0024] like Figures 1-3As shown, an encoder base 2 is connected to one side of the motor module 1, and a drive plate 3 is fitted inside the encoder base 2. A dustproof end cover 4 is fixedly connected to the side of the encoder base 2 where the drive plate 3 is installed. The encoder base 2 includes a base platform 201 and a drive gear 202. The base platform 201 is movably connected to the rotating shaft 1021, and the base platform 201 and the rotating shaft 1021 form a through structure. The drive gear 202 is sleeved on the outer wall of the rotating shaft 1021. The encoder base 2 also includes a magnet 203, a driven gear 204, a magnet 205, and a driven gear 206. A magnet 203 is movably installed on the side of the base platform 201 near the drive plate 3, and a driven gear 204 is sleeved on the outer wall of the magnet 203. The device is equipped with a magnet 205, and a driven gear 206 is fitted on the outer wall of the magnet 205. The driving gear 202 meshes with the driven gear 1 204 and the driven gear 206 respectively. The number of teeth of the driven gear 1 204 and the driven gear 206 are different, which is used to realize the encoding of absolute position. The driven gear 1 204 is a motor encoder, which is responsible for FOC calculation. The driven gear 206 and the driven gear 1 204 have a tooth ratio, which is used to simulate the output shaft angle. The other side of the motor module 1 is connected to the reducer module 5, and the side of the reducer module 5 away from the motor module 1 is connected to the output end 6. The bearing 7 is set between the reducer module 5 and the output end 6, and the inner side of the bearing 7 is fixedly connected to the outer surface of the output end 6. The outer side of the bearing 7 is fixedly connected to the elastic element 8. The specific operation is as follows: the drive board 3 sends an electrical signal to control the motor module 1 to start, so that the rotating shaft 1021 performs a rotation operation according to the command, thereby driving the drive gear 202 to rotate. Through meshing transmission, it drives the driven gear 1 204 and driven gear 2 206 to rotate respectively. Each time it rotates, driven gear 1 204 and driven gear 2 206 are offset by one tooth. In this way, there is an absolute position after multiple rotations. At the same time, driven gear 1 204 drives magnet 1 203 and driven gear 2 206 drives magnet 2 205 to rotate synchronously. The drive board 3 realizes detection through magnetism. It can detect not only the rotation speed but also the rotation direction. Each position corresponds to a unique code. After power failure, the position information can be restored without finding the origin again. This allows the motor to immediately detect the current angle of the motor after power is restored, even if the motor suddenly stops due to power failure.

[0025] In summary, combining Figures 1-7As shown, the working principle of the humanoid robot joint motor with adaptive preload is as follows: First, the drive board 3 sends an electrical signal to control the motor module 1 to start, passing an alternating current into the stator winding 1026 to generate a stator magnetic field. Simultaneously, the stator teeth 1025 and stator tooth tips 1207 form a magnetic circuit, guiding the magnetic field to concentrate and enter the rotor section through the air gap 1208. The rotor magnet 1023 interacts with the stator magnetic field to generate torque, which acts on the rotor core 1022, driving the rotating shaft 1021 to rotate. The rotational force of the rotating shaft 1021 is transmitted to the reducer module 5, and then to the output end 6. While the output end 6 rotates, the elastic element 8 on the outside of the bearing 7 automatically compensates for the preload of the gap, i.e., using spring 1 804 and spring 2 805, allowing the insulating rods 802 on both sides of the connecting block 801 to move within the limiting groove 504, thereby achieving compensation. Simultaneously, the rotating shaft 1021 drives the driving gear 202 to rotate, and through meshing transmission, drives the driven gear 1 204 and driven gear 206 to rotate respectively. With each rotation, driven gear 1 204 and driven gear 206 are offset by one tooth. Driven gear 1 204 drives magnet 1 203 and driven gear 2 206 drives magnet 2 205 to rotate synchronously. The drive board 3 detects the speed and direction of rotation through magnetism, and each position corresponds to a unique code. After power failure, the position information can be restored without finding the origin again.

[0026] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A humanoid robot joint motor with adaptive preload, comprising a motor module (1) and a bearing (7), characterized in that, One side of the motor module (1) is connected to an encoder base (2), and a drive plate (3) is installed on the inner side of the encoder base (2). A dustproof end cover (4) is fixedly connected to the side of the encoder base (2) where the drive plate (3) is installed. The other side of the motor module (1) is connected to a reducer module (5), and an output end (6) is connected to the side of the reducer module (5) away from the motor module (1). The bearing (7) is located between the reducer module (5) and the output end (6). The inner side of the bearing (7) is fixedly connected to the outer surface of the output end (6), and an elastic element (8) is fixedly connected to the outer side of the bearing (7). The bearing (7) is connected to the reducer module (5) through the elastic element (8), and the elastic element (8) is arranged in a ring array at equal intervals on the outer side of the bearing (7).

2. The humanoid robot joint motor with adaptive preload according to claim 1, characterized in that, The motor module (1) includes a housing (101) and a motor core (102), with the motor core (102) installed inside the housing (101).

3. A humanoid robot joint motor with adaptive preload according to claim 2, characterized in that, The mechanism (102) includes a rotating shaft (1021), a rotor core (1022), and rotor magnets (1023). The rotor core (1022) is sleeved on the outer surface of the rotating shaft (1021), and the rotor magnets (1023) are fixedly connected to the outer wall of the rotor core (1022). There are four rotor magnets (1023), and the four rotor magnets (1023) are arranged on the outside of the rotor core (1022) with alternating S and N poles.

4. A humanoid robot joint motor with adaptive preload according to claim 3, characterized in that, The mechanism (102) also includes a stator yoke (1024), a stator tooth body (1025), a stator winding (1026), a stator tooth tip (1207), and an air gap (1208). The stator yoke (1024) is fixed to the inside of the housing (101) against the wall, and the stator tooth body (1025) is fixedly connected to the inner surface of the stator yoke (1024). The stator winding (1026) is evenly wound on the outer surface of the stator tooth body (1025), and the stator tooth tip (1207) is fixedly connected to the end of the stator tooth body (1025). An air gap (1208) is left between the stator tooth tip (1207) and the rotor magnet (1023).

5. A humanoid robot joint motor with adaptive preload according to claim 1, characterized in that, The encoder base (2) includes a base platform (201) and a drive gear (202). The base platform (201) is movably connected to the rotating shaft (1021), and the base platform (201) and the rotating shaft (1021) form a through structure. The drive gear (202) is sleeved on the outer wall of the rotating shaft (1021).

6. A humanoid robot joint motor with adaptive preload according to claim 5, characterized in that, The encoder base (2) also includes a magnet (203), a driven gear (204), a magnet (205), and a driven gear (206). The magnet (203) is movably installed on the side of the base platform (201) near the drive plate (3), and the driven gear (204) is sleeved on the outer wall of the magnet (203). The magnet (205) is movably installed on the side of the base platform (201) near the drive plate (3), and the driven gear (206) is sleeved on the outer wall of the magnet (205).

7. A humanoid robot joint motor with adaptive preload according to claim 6, characterized in that, The driving gear (202) meshes with driven gear one (204) and driven gear two (206) respectively, and the number of teeth of driven gear one (204) and driven gear two (206) is different, which is used to realize the encoding of absolute position. Driven gear one (204) is a motor encoder responsible for FOC calculation. Driven gear two (206) has a tooth ratio with driven gear one (204), which is used to simulate the output shaft angle.

8. A humanoid robot joint motor with adaptive preload according to claim 1, characterized in that, The reducer module (5) includes a body (501), a connecting seat (502), a mounting groove (503), and a limiting groove (504). The body (501) and the connecting seat (502) are fixedly connected by screws, and the side of the connecting seat (502) away from the body (501) is welded to the end of the rotating shaft (1021). The inner side of the body (501) is provided with a mounting groove (503), and the inner wall of the mounting groove (503) is provided with a limiting groove (504).

9. A humanoid robot joint motor with adaptive preload according to claim 1, characterized in that, The elastic element (8) includes a connecting block (801), an insulating rod (802) and an end plate (803). The connecting block (801) is fixed to the outer wall of the bearing (7), and the insulating rods (802) are symmetrically fixed on both sides of the connecting block (801). One end of the insulating rod (802) is fixedly connected to the outer wall of the connecting block (801), and the other end of the insulating rod (802) is inserted into the limiting groove (504) and fixedly connected to the end plate (803).

10. A humanoid robot joint motor with adaptive preload according to claim 9, characterized in that, The elastic element (8) further includes a first spring (804) and a second spring (805). One end of the first spring (804) is fixedly connected to the inner wall of the limiting groove (504), and the other end of the first spring (804) is fixedly connected to the end plate (803). The end plate (803) is connected to the inner wall of the limiting groove (504) through the first spring (804). The second spring (805) is disposed outside the insulating rod (802), and one end of the second spring (805) is fixedly connected to the outer wall of the connecting block (801), and the other end of the second spring (805) is fixedly connected to the inner wall of the mounting groove (503).

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