Humanoid robot joint motor rotor yoke
By designing annular fixing bracket, spacer protrusion and limit structure in the rotor yoke of the humanoid robot joint motor, the problem of the magnet being easily thrown off when rotating at high speed is solved, and better magnetic steel fixing effect and rotor stability are achieved.
Patent Information
- Application Number
- CN202421693353.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-17
- Publication Date
- 2025-06-13
- Estimated Expiration
- 2034-07-17
AI Technical Summary
The magnetic steel of the rotor of the humanoid robot joint motor is easily thrown off when rotating at high speed, resulting in unstable installation.
A humanoid robot joint motor rotor yoke is designed, using an annular fixed bracket, with multiple spacer protrusions on the outer wall to form a placement groove, magnetic steel is installed in the placement groove, and a limit structure and rubber injection ring are set on one side of the magnet to prevent throwing out.
It effectively prevents the magnet from being thrown out when rotating at high speed, improves the fixing effect of the magnet and ensures the stability of the rotor.
Smart Images
Figure CN222981311U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of motors, and particularly relates to a rotor yoke of a joint motor of a humanoid robot. Background Art
[0002] The rotor of a joint motor of a humanoid robot refers to the rotating part of the motor. A plurality of permanent magnets are fixed on the circumferential side of the rotor core of the motor. That is, the rotor is mainly composed of a turntable with good magnetic conductivity and permanent magnets. The permanent magnets are evenly distributed around the turntable at a specific angle. Most of the permanent magnets are directly fixed on the rotor core with glue. When the rotor core rotates at a high speed, the permanent magnets are easily thrown off. Therefore, it is very important to obtain a rotor yoke of a joint motor of a humanoid robot with stable installation. Content of the Utility Model
[0003] To solve at least one of the above technical problems, the utility model provides a rotor yoke of a joint motor of a humanoid robot, which includes an annular fixing bracket. A plurality of partition protrusions are evenly arranged on the outer wall of the annular fixing bracket. A placement groove for placing permanent magnets is formed between two adjacent partition protrusions. At least two permanent magnets are installed in the placement groove. A limiting structure is arranged between at least one side of the permanent magnet and the placement groove.
[0004] As a preferred mode above, it further includes a glue injection ring, which is sleeved outside the permanent magnet and contacts the outer wall of the permanent magnet.
[0005] Through the above technical solution, the setting of the glue injection ring can provide a block on the outside of the permanent magnet to prevent the permanent magnet from being thrown out of the placement groove due to centrifugal force.
[0006] As a preferred mode above, the permanent magnet is glued to the bottom surface of the placement groove.
[0007] As a preferred mode above, the limiting structure includes a groove opened inward on the side wall of the partition protrusion and a protrusion opened on the side wall of the permanent magnet and matching with the groove.
[0008] Through the above technical solution, the opening of the limiting structure can prevent the permanent magnet from being thrown out under the action of centrifugal force.
[0009] As a preferred mode above, the groove is triangular and is opened on both sides of the partition protrusion so that the cross section of the partition protrusion forms an inverted isosceles trapezoid. Or, the cross section of the permanent magnet is elliptical, and the groove is a concave arc surface matching the ellipse.
[0010] Through the above technical solution, the cross section of the permanent magnet is elliptical, and the groove is a concave arc surface matching the ellipse. On the one hand, the setting of the arc surface can prevent the relatively short partition protrusion from breaking during processing. On the other hand, the cooperation of the ellipse and the concave arc surface can prevent the permanent magnet from coming out.
[0011] As a preferred embodiment as described above, it further includes a support member fixed to the inner ring of the fixed bracket, which is provided with a concentric perforation. An installation ring groove is provided on the periphery of the concentric perforation, and at least one installation hole is provided on the installation ring groove. A plurality of circular perforations are provided on the support member on the periphery of the concentric perforation.
[0012] Another rotor can be installed on the installation hole to form a dual-rotor structure.
[0013] As a preferred embodiment as described above, the upper surface portion of the partition strip protrusion is higher than the outer wall of the permanent magnet.
[0014] Compared with the prior art, the advantages of the present utility model are as follows: the structure of the present utility model is simple, and it has the advantages of good permanent magnet fixing effect and easy processing. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 is a perspective view of the present utility model;
[0016] Figure 2 is a perspective view of removing the glue injection ring and part of the permanent magnets;
[0017] Figure 3 is a cross-sectional schematic view of another embodiment of the present utility model;
[0018] Reference numerals:
[0019] 1 fixed bracket; 101 partition strip protrusion; 102 placement groove; 103 permanent magnet; 104 inclined surface;
[0020] 2 glue injection ring;
[0021] 301 groove; 302 protrusion; 303 ellipse; 304 concave arc surface;
[0022] 401 support member; 402 concentric perforation; 403 installation ring groove; 404 installation hole; 405 circular perforation. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0023] In order to enable those skilled in the art to better understand the present utility model and thus more clearly define the scope of protection required by the present utility model, the present utility model will be described in detail below with reference to certain specific embodiments of the present utility model. It should be noted that the following are only some specific embodiments of the concept of the present utility model, and only a part of the embodiments of the present utility model. The specific and direct descriptions of the relevant structures are only for the convenience of understanding the present utility model, and each specific feature does not of course and directly limit the scope of implementation of the present utility model.
[0024] As shown in the attached drawings, the present utility model adopts the following technical solutions. A rotor yoke of a joint motor of a humanoid robot includes an annular fixing bracket 1. A plurality of partition ribs 101 are evenly arranged on the outer wall of the annular fixing bracket 1. A placing groove 102 for placing a magnet 103 is formed between two adjacent partition ribs 101. At least two magnets 103 are installed in the placing groove 102. A limiting structure is provided between at least one side of the magnet 103 and the placing groove 102. A slope 104 is provided on one side of the fixing bracket 1.
[0025] As a preferred mode of the above, it further includes a glue injection ring 2 sleeved outside the magnet 103 and contacting the outer wall of the magnet 103.
[0026] Through the above technical solution, the setting of the glue injection ring 2 can provide a block on the outside of the magnet 103 to prevent the magnet 103 from being thrown out of the placing groove 102 due to centrifugal force.
[0027] As a preferred mode of the above, the magnet 103 is adhesively bonded to the bottom surface of the placing groove 102.
[0028] As a preferred mode of the above, the limiting structure includes a groove 301 opened inward on the side wall of the partition rib 101 and a protrusion 302 opened on the side wall of the magnet 103 and cooperating with the groove 301.
[0029] Through the above technical solution, the opening of the limiting structure can prevent the magnet 103 from being thrown out under the action of centrifugal force.
[0030] As a preferred mode of the above, the groove 301 is triangular and is opened on both sides of the partition rib 101 so that the cross-section of the partition rib 101 forms an inverted isosceles trapezoid. Or, the cross-section of the magnet 103 is an ellipse 303, and the groove 301 is a concave arc surface 304 cooperating with the ellipse 303.
[0031] Through the above technical solution, the cross-section of the magnet 103 is an ellipse 303, and the groove 301 is a concave arc surface 304 cooperating with the ellipse 303. On the one hand, the setting of the arc surface can prevent the relatively short partition rib 101 from breaking during processing. On the other hand, the cooperation between the ellipse 303 and the concave arc surface 304 can prevent the magnet 103 from coming out.
[0032] As a preferred mode of the above, it further includes a support member 401 fixed to the inner ring of the fixing bracket 1, on which a concentric perforation 402 is opened. An installation ring groove 403 is opened on the periphery of the concentric perforation 402, and at least one installation hole 404 is opened on the installation ring groove 403. A plurality of circular perforations 405 are opened on the support member 401 on the periphery of the concentric perforation 402.
[0033] Another rotor can be installed on the installation hole 404 to form a dual-rotor structure.
[0034] As a preferred mode described above, the upper surface portion of the partition rib protrusion 101 is higher than the outer wall of the permanent magnet 103.
[0035] Compared with the prior art, the advantages of the present utility model are as follows: The structure of the present utility model is simple, and it has the advantages of good fixing effect of the permanent magnet 103 and easy processing.
[0036] So far, the technical solution of the present utility model has been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present utility model is obviously not limited to these specific embodiments. Without departing from the principle of the present utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present utility model.
Claims
1. A humanoid robot joint motor rotor yoke, characterized in that: The invention comprises an annular fixed bracket (1), wherein a plurality of spacer protrusions (101) are evenly arranged on the outer wall of the annular fixed bracket (1), a placement groove (102) for placing a magnetic steel (103) is formed between two adjacent spacer protrusions (101), at least two magnetic steels (103) are installed in the placement groove (102), and a limiting structure is provided between at least one side of the magnetic steel (103) and the placement groove (102).
2. The humanoid robot joint motor rotor yoke according to claim 1, characterized in that: It also includes a rubber injection ring (2) which is sleeved outside the magnetic steel (103) and contacts the outer wall of the magnetic steel (103).
3. The humanoid robot joint motor rotor yoke according to claim 1, characterized in that: The magnetic steel (103) is glued to the bottom surface of the placement groove (102).
4. The humanoid robot joint motor rotor yoke according to claim 1, characterized in that: The limiting structure comprises a groove (301) formed inwardly on the side wall of the partition bar protrusion (101), and a protrusion (302) formed on the side wall of the magnetic steel (103) and cooperating with the groove (301).
5. The humanoid robot joint motor rotor yoke according to claim 4, characterized in that: The groove (301) is triangular in shape and is provided on both sides of the spacer protrusion (101) so that the cross section of the spacer protrusion (101) forms an inverted isosceles trapezoid.
6. The humanoid robot joint motor rotor yoke according to claim 4, characterized in that: The cross section of the magnetic steel (103) is an ellipse (303), and the groove (301) is a concave arc surface (304) matching the ellipse (303).
7. The humanoid robot joint motor rotor yoke according to claim 1, characterized in that: It also includes a support member (401) fixed to the inner ring of the fixed bracket (1), on which a concentric through hole (402) is provided, a mounting ring groove (403) is provided on the circumference of the concentric through hole (402), and at least one mounting hole (404) is provided on the mounting ring groove (403).
8. The humanoid robot joint motor rotor yoke according to claim 7, characterized in that: A plurality of annular through holes (405) are provided on the support member (401) located on the peripheral side of the concentric through hole (402).
9. The humanoid robot joint motor rotor yoke according to claim 1, characterized in that: The upper surface of the spacer protrusion (101) is higher than the outer wall of the magnetic steel (103).