Joint motor module and humanoid robot

Abstract

The utility model provides a joint motor module and a humanoid robot, and belongs to the technical field of humanoid robots, the joint motor module comprises a motor assembly, the motor assembly comprises a motor housing, a motor cover body, a motor stator and a motor rotor shaft, the motor cover body is connected with the motor housing and seals an opening at one side of an accommodating cavity; the harmonic reducer is connected with the motor shell and seals the opening in the other side of the containing cavity. The motor has the advantages that the motor stator can generate a variable magnetic field so that the motor rotor shaft can rotate, power is output by the harmonic output flange through the speed reduction assembly of the harmonic reducer, compared with the prior art, the control precision is high, torque output is large, meanwhile, the harmonic reducer is directly connected with the motor shell, the structure is compact, and cost is low. 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 humanoid robot technical field relates to a joint motor module and humanoid robot. BACKGROUND

[0002] The joint motor module used in the current humanoid robot mainly adopts brushless DC motor, in addition to the motor, it often integrates the reducer, driver and magnetic encoder.

[0003] In the prior art, the combination of brushless DC motor and planetary reducer is the most widely used joint module scheme at present, which is mainly composed of motor body, fastener, structural auxiliary part and planetary reducer gear set. The brushless DC motor outputs torque, and the planetary reducer amplifies the torque, providing output power for the humanoid robot. However, there are problems such as poor control accuracy, small torque output and not compact structure, which have great improvement space. SUMMARY

[0004] The utility model discloses a joint motor module and humanoid robot to solve the above problems existing in the prior art.

[0005] The utility model discloses a joint motor module, which comprises:

[0006] A motor assembly comprises a motor shell, a motor cover, a motor stator and a motor rotor shaft, the motor shell forms a containing cavity, the motor cover is connected with the motor shell and seals one side opening of the containing cavity, and the motor stator is arranged in the containing cavity and connected with the motor shell.

[0007] A harmonic reducer is connected with the motor shell and seals the other side opening of the containing cavity, the harmonic reducer comprises a reduction assembly and a harmonic output flange, the motor rotor shaft is connected with the reduction assembly and can rotate relative to the motor shell, and the motor rotor shaft is connected with the harmonic output flange through the reduction assembly.

[0008] In the above-mentioned joint motor module, the reduction assembly comprises a rigid wheel, a flexible wheel and a wave generator, the rigid wheel is fixed relative to the motor shell, the flexible wheel is located in the rigid wheel and engaged with the rigid wheel, the wave generator is located in the flexible wheel and can drive the flexible wheel to rotate, the motor rotor shaft is connected with the wave generator, and the harmonic output flange is connected with the flexible wheel.

[0009] In the joint motor module, a first encoder is further included, which is connected to a side of the motor cover body away from the shell, the motor rotor shaft extends out of the motor cover body, and the first encoder is used for detecting the rotation angle of the motor rotor shaft.

[0010] In the joint motor module, a second encoder is further included, which is connected to a side of the harmonic reducer away from the shell, and the second encoder is used for detecting the rotation angle of the harmonic output flange.

[0011] In the joint motor module, a first fastening screw is further included, the head of the first fastening screw is in contact with the motor cover body, the tail of the first fastening screw passes through the motor cover body and is threadedly connected with the motor shell.

[0012] In the joint motor module, a second fastening screw is further included, the head of the second fastening screw is in contact with the harmonic reducer, and the tail of the second fastening screw passes through the harmonic reducer and is threadedly connected with the motor shell.

[0013] In the joint motor module, the motor stator and the motor shell are connected through a heat-conducting adhesive.

[0014] Secondly, a humanoid robot comprises the joint motor module.

[0015] Compared with the prior art, the joint motor module has the following beneficial effects:

[0016] 1. The motor stator can generate a variable magnetic field to rotate the motor rotor shaft, and the power is output through the harmonic output flange of the harmonic reducer, which has high control precision and large torque output, and the harmonic reducer is directly connected with the motor shell, so that the structure is compact, the length and volume of the joint module are effectively reduced, and the appearance volume is further reduced under the premise of ensuring the control precision.

[0017] 2. The first encoder is connected to a side of the motor cover body away from the shell, the motor rotor shaft extends out of the motor cover body and aligns the first encoder with the motor rotor shaft, the first encoder can detect the rotation angle of the motor rotor shaft, so as to control the position before speed reduction.

[0018] 3. The second encoder is connected to a side of the harmonic reducer away from the shell, the second encoder aligns the harmonic output flange, and the second encoder can detect the rotation angle of the harmonic output flange, so as to control the position after speed reduction.

[0019] 4、The head of the first fastening screw is in contact with the motor cover body, the tail of the first fastening screw passes through the motor cover body and is in threaded connection with the motor shell, compared with the commonly used hot pressing mode, it is more reliable and durable, can withstand multiple collisions without structural and performance damage; the head of the second fastening screw is in contact with the harmonic reducer, the tail of the second fastening screw passes through the harmonic reducer and is in threaded connection with the motor shell, compared with the commonly used hot pressing mode, it is more reliable and durable, can withstand multiple collisions without structural and performance damage.

[0020] 5、The motor stator is connected between the motor shell through heat-conducting glue, the connection is tight and reliable, and the heat dissipation efficiency can be guaranteed, and the product reliability and service life are improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a structural schematic view of the joint motor module of the utility model.

[0022] Figure 2 It is an explosion view of the joint motor module of the utility model.

[0023] Figure 3 It is a side view of the joint motor module of the utility model.

[0024] Figure 4 It is a sectional view of the A-A perspective of Figure 3 .

[0025] In the figure, 110, motor shell; 120, motor cover body; 130, motor stator; 140, motor rotor shaft; 210, speed reduction assembly; 220, harmonic output flange; 300, first encoder; 400, second encoder; 500, first fastening screw; 600, second fastening screw. DETAILED DESCRIPTION

[0026] The following is a specific embodiment of the utility model and is further described in combination with the drawings, but the utility model is not limited to these embodiments.

[0027] It should be noted that all directionality indications (such as up, down, left, right, front, back, etc.) in the utility model embodiment are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), if the specific posture changes, the directionality indications also change accordingly.

[0028] In addition, the description of "first", "second", "one", etc. in the utility model is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features with "first" and "second" can be explicitly or implicitly included at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0029] In the utility model, unless otherwise specifically defined and limited, the terms "connection", "fixation", etc. should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integrated; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise specifically limited. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0030] In addition, the technical solutions of various embodiments of the utility model can be combined with each other, but it must be based on that the ordinary skilled person in the art can realize, when the combination of technical solutions appears mutual contradiction or cannot be realized, it should be considered that the combination of technical solutions does not exist, also not within the protection scope required by the utility model.

[0031] The specific embodiments described herein are only illustrative of the spirit of the utility model. The person skilled in the art to which the utility model belongs can make various modifications or supplements to the described specific embodiments or replace them with similar ways, but will not deviate from the spirit of the utility model or exceed the scope defined by the appended claims.

[0032] As shown in Figures 1-4 A joint motor module, comprising: a motor assembly and a harmonic reducer.

[0033] The motor assembly comprises a motor shell 110, a motor cover 120, a motor stator 130 and a motor rotor shaft 140, the motor shell 110 is formed with an accommodating cavity, the motor cover 120 is connected with the motor shell 110 and seals one side opening of the accommodating cavity, the motor stator 130 is arranged in the accommodating cavity and connected with the motor shell 110;

[0034] The harmonic reducer is connected with the motor housing 110 and seals the other side opening of the accommodating cavity. The harmonic reducer comprises a reduction assembly 210 and a harmonic output flange 220. The motor rotor shaft 140 is connected with the reduction assembly 210 and can rotate relative to the motor housing 110. The motor rotor shaft 140 is connected with the harmonic output flange 220 through the reduction assembly 210.

[0035] In the embodiment, the motor stator 130 can generate a variable magnetic field to rotate the motor rotor shaft 140, and the power is output by the harmonic output flange 220 through the reduction assembly 210 of the harmonic reducer. Compared with the prior art, the control precision is high, the torque output is large, the harmonic reducer is directly connected with the motor housing 110, the structure is compact, the length and volume of the joint module are effectively reduced, and the overall volume is further reduced under the premise of ensuring the control precision.

[0036] In addition, in order to reduce the overall weight of the joint motor module, in addition to the compact structure design to reduce the weight, the shell thickness is thinned, the reinforcing ribs are increased, and the aluminum alloy 7075-T6 with the highest specific strength is selected. Under the premise of ensuring the strength, the overall weight of the joint motor module is reduced to the maximum extent.

[0037] As shown in FIG. 1, Figures 1-4 As shown in FIG. 1,

[0038] In the embodiment, the rigid wheel, the flexible wheel and the wave generator are all conventional technical means known to those skilled in the art, and will not be described here.

[0039] As shown in FIG. 1, Figures 1-4 As shown in FIG. 1,

[0040] In this embodiment, the first encoder 300 is connected to the side of the motor cover 120 away from the housing. The motor rotor shaft 140 extends out of the motor cover 120 and the first encoder 300 is aligned with the motor rotor shaft 140. The first encoder 300 can detect the rotation angle of the motor rotor shaft 140, thereby controlling the position before deceleration.

[0041] like Figures 1-4 As shown, based on the above embodiment, a second encoder 400 is also included. The second encoder 400 is connected to the side of the harmonic reducer away from the housing. The second encoder 400 is used to detect the rotation angle of the harmonic output flange 220.

[0042] In this embodiment, the second encoder 400 is connected to the side of the harmonic reducer away from the housing. The second encoder 400 is aligned with the harmonic output flange 220. The second encoder 400 can detect the rotation angle of the harmonic output flange 220, thereby controlling the position after deceleration.

[0043] like Figures 1-4 As shown, based on the above embodiment, a first fastening screw 500 is also included. The head of the first fastening screw 500 contacts the motor cover 120, and the tail of the first fastening screw 500 passes through the motor cover 120 and is threadedly connected to the motor housing 110.

[0044] In this embodiment, the head of the first fastening screw 500 contacts the motor cover 120, and the tail of the first fastening screw 500 passes through the motor cover 120 and is threadedly connected to the motor housing 110. This method is more reliable and durable than the commonly used hot pressing method and can withstand multiple impacts without structural or performance damage.

[0045] like Figures 1-4 As shown, based on the above embodiment, a second fastening screw 600 is also included. The head of the second fastening screw 600 contacts the harmonic reducer, and the tail of the second fastening screw 600 passes through the harmonic reducer and is threadedly connected to the motor housing 110.

[0046] In this embodiment, the head of the second fastening screw 600 contacts the harmonic reducer, and the tail of the second fastening screw 600 passes through the harmonic reducer and is threadedly connected to the motor housing 110. This method is more reliable and durable than the commonly used hot pressing method and can withstand multiple impacts without structural or performance damage.

[0047] like Figures 1-4 As shown, based on the above embodiment, the motor stator 130 and the motor housing 110 are connected by thermally conductive adhesive.

[0048] In the embodiment, the motor stator 130 is connected with the motor housing 110 through the heat-conducting glue, the connection is reliable, the heat dissipation efficiency can be guaranteed, and the product reliability and service life are improved.

[0049] As shown in Figures 1-4 A humanoid robot comprising the joint motor module.

Claims

1. A joint motor module, characterized in that, include: A motor assembly includes a motor housing, a motor cover, a motor stator, and a motor rotor shaft. The motor housing forms a receiving cavity. The motor cover is connected to the motor housing and seals one side opening of the receiving cavity. The motor stator is disposed within the receiving cavity and connected to the motor housing. A harmonic reducer is connected to the motor housing and seals the other opening of the receiving cavity. The harmonic reducer includes a reduction assembly and a harmonic output flange. The motor rotor shaft is connected to the reduction assembly and can rotate relative to the motor housing. The motor rotor shaft is connected to the harmonic output flange through the reduction assembly.

2. The joint motor module as described in claim 1, characterized in that: The deceleration 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 it. The wave generator is located inside the flexible wheel and can drive the flexible wheel to rotate. The motor rotor shaft is connected to the wave generator, and the harmonic output flange is connected to the flexible wheel.

3. A joint motor module as described in claim 1, characterized in that: It also includes a first encoder, which is connected to the side of the motor cover away from the housing, and the motor rotor shaft extends out of the motor cover. The first encoder is used to detect the rotation angle of the motor rotor shaft.

4. A joint motor module as described in claim 1, characterized in that: It also includes a second encoder, which is connected to the side of the harmonic reducer away from the housing, and the second encoder is used to detect the rotation angle of the harmonic output flange.

5. A joint motor module as described in claim 1, characterized in that: It also includes a first fastening screw, the head of which contacts the motor cover, and the tail of which passes through the motor cover and is threadedly connected to the motor housing.

6. A joint motor module as described in claim 1, characterized in that: It also includes a second 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.

7. A joint motor module as described in claim 1, characterized in that: The motor stator is connected to the motor housing by thermally conductive adhesive.

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

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