Joint motor module for humanoid robot and humanoid robot

Abstract

The utility model provides a joint motor module for a humanoid robot and the humanoid robot, and belongs to the technical field of humanoid robots, and the joint motor module comprises a motor assembly which comprises a motor housing, a motor stator and a motor rotor; the harmonic reducer is connected with the motor shell and seals an opening in one side of the accommodating cavity; the driver is connected with the motor shell and seals the opening in the other side of the containing cavity. The beneficial effects of the utility model are that the driver can make the motor stator generate a variable magnetic field so as to make the motor rotor rotate, and the harmonic output shaft outputs power through the deceleration assembly of the harmonic reducer, compared with the prior art, the control precision is high, the torque output is large, and the reliability is high. Meanwhile, the harmonic output shaft is distributed from the speed reduction assembly to the driver and penetrates through the motor rotor and the driver, the structure is compact, the length and the size of the joint module are effectively reduced, and the appearance size is further reduced on the premise that the control precision is guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of humanoid robots and relates to a joint motor module for a humanoid robot and the humanoid robot. Background Art

[0002] The joint motor modules currently used in humanoid robots mainly use brushless DC motors. In addition to the motors, they often also integrate reducers, drivers, magnetic encoders, etc.

[0003] The most widely used joint module solution currently is the combination of a brushless DC motor and a planetary reducer. This solution primarily consists of a motor, fasteners, auxiliary components, and a planetary reducer gear set. While the brushless DC motor outputs torque, which is amplified by the planetary reducer to provide power for humanoid robots, this approach suffers from poor control accuracy, low torque output, and a less compact structure, leaving significant room for improvement. Summary of the Invention

[0004] The purpose of the present invention is to address the above-mentioned problems existing in the prior art and to propose a joint motor module for a humanoid robot and a humanoid robot.

[0005] The purpose of the utility model can be achieved through the following technical solutions: A joint motor module for a humanoid robot, comprising:

[0006] A motor assembly comprising a motor housing, a motor stator, and a motor rotor, wherein the motor housing is formed with a receiving cavity, the motor stator is disposed in the receiving cavity and connected to the motor housing;

[0007] A harmonic reducer connected to the motor housing and sealing one side opening of the accommodating cavity, the harmonic reducer comprising a reduction assembly and a harmonic output shaft, the motor rotor being connected to the reduction assembly and rotatable relative to the motor housing, the motor rotor being connected to the harmonic output shaft via the reduction assembly;

[0008] A driver is connected to the motor housing and seals the other side opening of the accommodating cavity. The motor stator is electrically connected to the driver. The driver can cause the motor stator to generate a changing magnetic field to rotate the motor rotor. The harmonic output shaft is distributed from the reduction assembly toward the driver and passes through the motor rotor and the driver.

[0009] In the above-mentioned joint motor module for a humanoid robot, the reduction assembly includes a rigid wheel, a flexible wheel and a wave generator. The rigid wheel is fixed relative to the motor housing, the flexible wheel is located inside the rigid wheel and meshes with the rigid wheel, the wave generator is located inside the flexible wheel and can drive the flexible wheel to rotate, the motor rotor is connected to the wave generator, and the harmonic output shaft is connected to the flexible wheel.

[0010] The above-mentioned joint motor module for a humanoid robot further includes a dual encoder connected to the driver, and the dual encoder is used to simultaneously detect the rotation angles of the motor rotor and the harmonic output shaft.

[0011] In the above-mentioned joint motor module for a humanoid robot, the dual encoder is arranged on a side of the driver close to the motor housing and is located in the accommodating cavity.

[0012] The above-mentioned joint motor module for a humanoid robot further includes a first fastening screw, the head of which contacts the harmonic reducer, and the tail of which passes through the harmonic reducer and is threadedly connected to the motor housing.

[0013] The above-mentioned joint motor module for a humanoid robot further includes a second fastening screw, the head of the second fastening screw contacts the driver, and the tail of the second fastening screw passes through the driver and is threadedly connected to the motor housing.

[0014] In the above-mentioned joint motor module for a humanoid robot, the motor stator and the motor housing are connected by thermally conductive adhesive.

[0015] Secondly, a humanoid robot includes the joint motor module for the humanoid robot.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The driver can make the motor stator generate a changing magnetic field to rotate the motor rotor, and output power from the harmonic output shaft through the reduction assembly of the harmonic reducer. Compared with the existing technology, it has high control accuracy and large torque output. At the same time, the harmonic output shaft is distributed from the reduction assembly toward the driver and passes through the motor rotor and driver. The structure is compact, which effectively reduces the length and volume of the joint module, and further reduces the external volume while ensuring control accuracy.

[0018] 2. The dual encoders simultaneously detect the rotation angles of the motor rotor and the harmonic output shaft, thereby achieving higher position accuracy and being able to record the position even in the event of a power outage.

[0019] 3. The dual encoders are set on the side of the driver close to the motor housing and located in the accommodating cavity, which can provide good protection for the dual encoders and effectively reduce the length and volume of the joint module, further reducing the external volume while ensuring control accuracy.

[0020] 4. The head of the first fastening screw contacts the harmonic reducer, and the tail of the first fastening screw passes through the harmonic reducer and is threadedly connected to the motor housing. It is more reliable and durable than the commonly used hot pressing method and can withstand multiple collisions without structural and performance damage; the head of the second fastening screw contacts the driver, and the tail of the second fastening screw passes through the driver and is threadedly connected to the motor housing. It is more reliable and durable than the commonly used hot pressing method and can withstand multiple collisions without structural and performance damage.

[0021] 5. The motor stator and motor housing are connected by thermal conductive glue, which is tight and reliable, and can ensure heat dissipation efficiency and improve product reliability and life. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a structural diagram of a joint motor module for a humanoid robot according to the present invention.

[0023] Figure 2 This is an exploded view of the joint motor module for a humanoid robot of the present invention.

[0024] Figure 3 This is a side view of the joint motor module for a humanoid robot according to the present invention.

[0025] Figure 4 for Figure 3 Cross-sectional view from the AA perspective.

[0026] In the figure, 110 is the motor housing; 120 is the motor stator; 130 is the motor rotor; 210 is the reduction assembly; 220 is the harmonic output shaft; 300 is the driver; 400 is the dual encoder; 500 is the first fastening screw; and 600 is the second fastening screw. DETAILED DESCRIPTION

[0027] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0028] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0029] In addition, terms such as "first," "second," and "an" in this utility model are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0030] In this utility model, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0031] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this utility model.

[0032] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

[0033] like Figure 1-Figure 4 As shown, a joint motor module for a humanoid robot includes: a motor assembly, a harmonic reducer and a driver 300.

[0034] The motor assembly includes a motor housing 110 , a motor stator 120 and a motor rotor 130 . The motor housing 110 is formed with an accommodating cavity. The motor stator 120 is disposed in the accommodating cavity and connected to the motor housing 110 .

[0035] In which, the harmonic reducer is connected to the motor housing 110 and seals one side opening of the accommodating cavity. The harmonic reducer includes a reduction assembly 210 and a harmonic output shaft 220. The motor rotor 130 is connected to the reduction assembly 210 and can rotate relative to the motor housing 110. The motor rotor 130 is connected to the harmonic output shaft 220 through the reduction assembly 210.

[0036] Among them, the driver 300 is connected to the motor housing 110 and seals the other side opening of the accommodating cavity. The motor stator 120 is electrically connected to the driver 300. The driver 300 can cause the motor stator 120 to generate a changing magnetic field so as to rotate the motor rotor 130. The harmonic output shaft 220 is distributed from the reduction assembly 210 toward the driver 300 and passes through the motor rotor 130 and the driver 300.

[0037] In this embodiment, the driver 300 can cause the motor stator 120 to generate a changing magnetic field so that the motor rotor 130 rotates, and output power from the harmonic output shaft 220 through the reduction assembly 210 of the harmonic reducer. Compared with the existing technology, the control accuracy is high and the torque output is large. At the same time, the harmonic output shaft 220 is distributed from the reduction assembly 210 toward the driver 300 and passes through the motor rotor 130 and the driver 300. The structure is compact, which effectively reduces the length and volume of the joint module, and further reduces the external volume while ensuring the control accuracy.

[0038] In addition, in order to reduce the overall weight of the joint motor module, in addition to adopting the above-mentioned compact structural design to achieve weight reduction, the shell thickness is thinned, reinforcing ribs are added, and the aluminum alloy 7075-T6 with the highest specific strength is selected. While ensuring strength, the overall weight of the joint motor module is reduced to the greatest extent.

[0039] like Figure 1-Figure 4 As shown, based on the above embodiment, the reduction assembly 210 includes a rigid wheel (not shown in the figure), a flexible wheel (not shown in the figure) and a wave generator (not shown in the figure), the rigid wheel is fixed relative to the motor housing 110, the flexible wheel is located in the rigid wheel and meshes with the rigid wheel, the wave generator is located in the flexible wheel and can drive the flexible wheel to rotate, the motor rotor 130 is connected to the wave generator, and the harmonic output shaft 220 is connected to the flexible wheel.

[0040] In this embodiment, the rigid wheel, the flexible wheel and the wave generator are conventional technical means well known to those skilled in the art and are not described in detail here.

[0041] like Figure 1-Figure 4 As shown, based on the above embodiment, a dual encoder 400 is further included. The dual encoder 400 is connected to the driver 300 and is used to simultaneously detect the rotation angles of the motor rotor 130 and the harmonic output shaft 220.

[0042] In this embodiment, the dual encoder 400 is used to simultaneously detect the rotation angles of the motor rotor 130 and the harmonic output shaft 220 , thereby achieving higher position accuracy and being able to record the position even when the power is off.

[0043] like Figure 1-Figure 4 As shown, based on the above embodiment, the dual encoder 400 is arranged on a side of the driver 300 close to the motor housing 110 and is located in the accommodating cavity.

[0044] In this embodiment, the dual encoder 400 is arranged on the side of the driver 300 close to the motor housing 110 and is located in the accommodating cavity, which can provide good protection for the dual encoder 400, while effectively reducing the length and volume of the joint module, and further reducing the external volume while ensuring control accuracy.

[0045] like Figure 1-Figure 4 As shown, based on the above embodiment, it also includes a first fastening screw 500, the head of the first fastening screw 500 contacts the harmonic reducer, and the tail of the first fastening screw 500 passes through the harmonic reducer and is threadedly connected to the motor housing 110.

[0046] In this embodiment, the head of the first fastening screw 500 contacts the harmonic reducer, and the tail of the first fastening screw 500 passes through the harmonic reducer and is threadedly connected to the motor housing 110. It is more reliable and durable than the commonly used hot pressing method and can withstand multiple collisions without structural and performance damage.

[0047] like Figure 1-Figure 4 As shown, based on the above embodiment, a second fastening screw 600 is further included, the head of the second fastening screw 600 contacts the driver 300, and the tail of the second fastening screw 600 passes through the driver 300 and is threadedly connected to the motor housing 110.

[0048] In this embodiment, the head of the second fastening screw 600 contacts the driver 300, and the tail of the second fastening screw 600 passes through the driver 300 and is threadedly connected to the motor housing 110. It is more reliable and durable than the commonly used hot pressing method and can withstand multiple collisions without structural and performance damage.

[0049] like Figure 1-Figure 4 As shown, based on the above embodiment, the motor stator 120 and the motor housing 110 are connected by thermal conductive glue (not shown in the figure).

[0050] In this embodiment, the motor stator 120 and the motor housing 110 are connected by thermally conductive adhesive, which is tight and reliable, and can ensure heat dissipation efficiency, thereby improving product reliability and lifespan.

[0051] Secondly, a humanoid robot includes the joint motor module for the humanoid robot.

Claims

1. A joint motor module for a humanoid robot, characterized in that: include: A motor assembly comprising a motor housing, a motor stator, and a motor rotor, wherein the motor housing is formed with a receiving cavity, the motor stator is disposed in the receiving cavity and connected to the motor housing; A harmonic reducer connected to the motor housing and sealing one side opening of the accommodating cavity, the harmonic reducer comprising a reduction assembly and a harmonic output shaft, the motor rotor being connected to the reduction assembly and rotatable relative to the motor housing, the motor rotor being connected to the harmonic output shaft via the reduction assembly; A driver is connected to the motor housing and seals the other side opening of the accommodating cavity. The motor stator is electrically connected to the driver. The driver can cause the motor stator to generate a changing magnetic field to rotate the motor rotor. The harmonic output shaft is distributed from the reduction assembly toward the driver and passes through the motor rotor and the driver.

2. The joint motor module for a humanoid robot according to claim 1, characterized in that: The reduction assembly includes a rigid wheel, a flexible wheel, and a wave generator. The rigid wheel is fixed relative to the motor housing. The flexible wheel is located inside the rigid wheel and meshes with the rigid wheel. The wave generator is located inside the flexible wheel and can drive the flexible wheel to rotate. The motor rotor is connected to the wave generator, and the harmonic output shaft is connected to the flexible wheel.

3. The joint motor module for a humanoid robot according to claim 1, wherein: It also includes a dual encoder connected to the driver, and the dual encoder is used to simultaneously detect the rotation angles of the motor rotor and the harmonic output shaft.

4. The joint motor module for a humanoid robot according to claim 3, wherein: The dual encoder is arranged on a side of the driver close to the motor housing and is located in the accommodating cavity.

5. The joint motor module for a humanoid robot according to claim 1, wherein: The motor further comprises a first fastening screw, wherein the head of the first fastening screw contacts the harmonic reducer, and the tail of the first fastening screw passes through the harmonic reducer and is threadedly connected to the motor housing.

6. The joint motor module for a humanoid robot according to claim 1, wherein: The motor further comprises a second fastening screw, wherein the head of the second fastening screw contacts the driver, and the tail of the second fastening screw passes through the driver and is threadedly connected to the motor housing.

7. The joint motor module for a humanoid robot according to claim 1, wherein: The motor stator and the motor housing are connected via heat-conducting adhesive.

8. A humanoid robot, characterized in that: It comprises a joint motor module for a humanoid robot as described in any one of claims 1-7.

Images