Motor for leg structure of humanoid robot and humanoid robot

Abstract

The utility model discloses a motor for a leg structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, and solves the problems that a control unit does not have enough assembly space and the heat dissipation effect of the control unit is affected due to the fact that the motor is a disc type motor. A driving unit, a control unit and a transmission unit are arranged in the shell, the driving unit comprises a stator, a rotor and an output shaft, the shell is in a long strip shape, the transmission unit and the control unit are located at the two ends of the driving unit respectively, and the control unit is electrically connected with the driving unit and used for controlling the rotating speed and torque output by the driving unit. The transmission unit is in transmission connection with the output shaft and used for outputting torque to joints of the legs, the end of the output shaft is directly connected with the transmission unit, and the rotating axis of the output shaft is kept perpendicular to the rotating axis of the transmission unit. The heat dissipation device is mainly used for improving the heat dissipation effect of the control unit.

Description

TECHNICAL FIELD

[0001] The utility model discloses a motor for humanoid robot leg structure and humanoid robot belong to humanoid robot technical field. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, and its deep integration with traditional robot industry, humanoid robots have higher simulation, and the leg structure of humanoid robot as the most important support component and moving component of robot has received more and more attention and research, and the research of leg structure not only has great scientific significance, but also has great potential in practical application.

[0003] For example, the prior art CN118810959A discloses a biped humanoid robot, which comprises a pelvis structure and two leg structures, the pelvis structure is provided with a right thigh motor and a left thigh motor at both ends, the output end of the right thigh motor is connected with the right leg structure, the right thigh motor drives the right thigh to realize the action of swinging forward and backward, the right thigh is provided with a right knee joint motor and a right knee joint rotating connecting rod, the output end of the right knee joint motor is connected with one end of the right knee joint connecting rod, the other end of the right knee joint connecting rod is rotatably connected with the upper end of the right calf, the right knee joint motor drives the right calf to realize the action of swinging forward and backward, the right calf is provided with a right calf motor and a right ankle joint rotating connection, the right calf motor drives the right ankle joint rotating connecting rod to drive the right foot plate to act.

[0004] In the above patent, the thigh motor, the knee joint motor and the ankle joint motor are all disc type motors, and the shape of the disc type motor is round and flat, which causes that the control unit has not enough space for assembly in the motor, so the circuit board of the control unit is arranged in the space surrounded by the middle part of the stator, which affects the heat dissipation of the circuit board, and the size of the circuit board is also affected, and more electronic components cannot be arranged, which finally causes that the output voltage and current are insufficient, and the power of the motor cannot be increased, resulting in that the running speed of the humanoid robot is slow. UTILITY MODEL CONTENTS

[0005] The utility model discloses a motor for humanoid robot leg structure and humanoid robot belong to humanoid robot technical field.

[0006] To solve the above technical problems, the utility model adopts the following technical scheme:

[0007] The utility model discloses a motor for humanoid robot leg structure, including the shell fixed to humanoid robot leg, be equipped with drive unit, control unit and transmission unit in the shell, and drive unit includes stator, rotor and output shaft, the shell is long strip shape, transmission unit and control unit are located two ends of drive unit respectively, control unit with drive unit electricity is connected for control drive unit output's rotating speed and torque, transmission unit with output shaft transmission connects for to the joint of leg output torque, and the end of output shaft is directly connected with transmission unit, and the rotation axis of output shaft keeps perpendicular with the rotation axis of transmission unit.

[0008] The utility model discloses a motor for humanoid robot leg structure, including the shell fixed to humanoid robot leg, be equipped with drive unit, control unit and transmission unit in the shell, and drive unit includes stator, rotor and output shaft, the shell is long strip shape, transmission unit and control unit are located two ends of drive unit respectively, control unit with drive unit electricity is connected for control drive unit output's rotating speed and torque, transmission unit with output shaft transmission connects for to the joint of leg output torque, and the end of output shaft is directly connected with transmission unit, and the rotation axis of output shaft keeps perpendicular with the rotation axis of transmission unit.

[0009] The utility model discloses a motor for humanoid robot leg structure, including the shell fixed to humanoid robot leg, be equipped with drive unit, control unit and transmission unit in the shell, and drive unit includes stator, rotor and output shaft, the shell is long strip shape, transmission unit and control unit are located two ends of drive unit respectively, control unit with drive unit electricity is connected for control drive unit output's rotating speed and torque, transmission unit with output shaft transmission connects for to the joint of leg output torque, and the end of output shaft is directly connected with transmission unit, and the rotation axis of output shaft keeps perpendicular with the rotation axis of transmission unit.

[0010] As preferred, the transmission unit comprises a rotating shaft perpendicular to the output shaft, the end of the rotating shaft is drivingly connected with an inertia disc, the rotating shaft is fixed with a first bevel gear, the end of the output shaft is provided with a second bevel gear meshing with the first bevel gear, and the driving unit drives the inertia disc to rotate through the rotating shaft. With the foregoing technical scheme, the first bevel gear and the second bevel gear can realize the vertical transmission between the transmission shaft and the output shaft, so that the transmission efficiency between the output shaft and the transmission shaft is higher, and the stable transmission of the torque is ensured; in addition, the output shaft and the transmission shaft are directly meshed, so that the connecting rod can be omitted, the space occupied by the driving unit is larger, and then the size of the driving unit can be increased, so that the motor has higher output torque and output power; secondly, the rotating shaft directly outputs the torque through the inertia disc, realizes the linear transmission of the power, and can reduce the constraint stiffness of the transmission unit; compared with the connecting rod transmission scheme in the prior art, the design of the utility model has a larger simulation time step during simulation in the design process, which helps to reduce the training time of the control unit, shorten the research and development time and iteration test time; in addition, the connecting rod transmission is a nonlinear transmission, and few simulation engines can support simulation during simulation, and the solution during simulation is only an approximate solution, which is quite different from the real physical condition; the utility model directly transmits the torque to the joint part, which is a linear transmission, and the solution during simulation is closer to the real physical condition, so that the actual product motion state is closer to the state during simulation; in addition, the linear transmission can reduce the difficulty of inverse kinematics calculation and reduce the calculation cost, which helps to directly use the simulation training control unit for the actual product; in addition, in the prior art, in order to set the connecting rod structure in the limited leg space, the size of the motor has to be reduced, but in the utility model, the torque is directly transmitted to the joint of the leg structure, so the length of the motor can be designed to be close to the length of the leg space, so that the motor has stronger performance and outputs larger torque, improves the motion amplitude of the leg during motion, and improves the motion performance of the humanoid robot.

[0011] As preferred, the transmission unit further comprises a speed reduction mechanism, the speed reduction mechanism comprises a planetary gear and a ring gear, the end of the rotating shaft is provided with a sun gear, the planetary gear is meshed with the ring gear and the sun gear at the same time, the rotating shaft drives the ring gear to rotate through the planetary gear, and the inertia disc is fixedly connected with the ring gear; or, the ring gear is fixedly connected with the shell, the inertia disc is fixedly connected with the planetary gear, and the output shaft drives the inertia disc to rotate through the planetary gear. With the foregoing technical scheme, the speed reduction mechanism can slow down the rotating speed of the rotating shaft, and make the inertia disc have larger output torque, so that the motor can stably drive the motion of the leg structure.

[0012] Preferably, the speed reduction mechanism and the first bevel gear are located at two ends of the rotating shaft respectively. With the foregoing technical scheme, the speed reduction mechanism and the first bevel gear are distributed at two ends of the rotating shaft, so that the overall structure of the transmission unit is more evenly distributed, and the protrusion phenomenon of the side of the motor caused by the speed reduction mechanism and the first bevel gear being located at the same end is avoided, so that the shell of the motor is more regular, which is conducive to the installation and fixation of the motor.

[0013] Preferably, the transmission unit further comprises a box body, the rotating shaft is rotatably installed in the box body, one end of the rotating shaft extends out of the box body, the output shaft extends into the box body and is in transmission connection with the rotating shaft, and the box body is detachably connected with the shell; or the box body and the shell are in an integrated structure. With the foregoing technical scheme, the box body can provide firm support and protection for the rotating shaft, and reduce the possibility of damage of the rotating shaft caused by external impact; in addition, the box body wraps the meshing part of the output shaft and the rotating shaft, so as to avoid foreign matters from entering the meshing part of the output shaft and the rotating shaft, reduce the possibility of wear of the output shaft and the rotating shaft caused by external friction, and help to prolong the service life of the output shaft and the rotating shaft.

[0014] Preferably, the surface of the end of the box body away from the driving unit is a curved surface, and the curved surface is curved along the circumferential direction of the rotating shaft. With the foregoing technical scheme, the rotating shaft is located in the box body, and the rotating shaft rotates to drive the inertia disc to output torque, so as to drive a part of the leg structure to rotate relative to the box body. The curved surface of the surface of the box body can avoid the interference of the box body to the rotation of the leg structure, so that the movement of the leg structure is smoother and more smooth, and the possibility of the leg structure being stuck can be reduced.

[0015] Preferably, the shell comprises a main shell and an end cover detachably installed at one end of the main shell, and a containing cavity for assembling the control unit is formed between the end cover and the main shell. With the foregoing technical scheme, the main shell and the end cover are detachably connected, so that the installation and disassembly of the control unit are facilitated, and the maintenance and testing of the control unit are more simple and convenient; in addition, the end cover forms the containing cavity at one end of the main shell, so that the distance between the control unit and the driving unit is increased, the heat generated by the driving unit is reduced from entering the containing cavity, the temperature rising speed of the control unit is reduced, and the service life of the control unit is prolonged; in addition, the containing cavity is arranged at one end of the main shell, and since the shell is in a strip shape, the length of the shell can be increased to expand the volume of the containing cavity, so that the containing cavity can install a control unit with a larger area, so as to enhance the function of the control unit, and make the leg structure have a faster running speed and a stronger load capacity.

[0016] As preferred, a heat dissipation member is attached to the control unit and abuts against the inner wall of the accommodating cavity to transfer the heat generated by the control unit to the shell.

[0017] As preferred, a support column is arranged in the accommodating cavity, and the control unit is fixed to the support column by the fastener, and a gap is formed between the control unit and the inner wall of the accommodating cavity.

[0018] The humanoid robot comprises a trunk, and a leg structure movably connected to the bottom of the trunk, wherein the motor for the leg structure of the humanoid robot is arranged in the leg structure.

[0019] Other features and advantages of the present application will be illustrated in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0020] The present application will be further described in conjunction with the drawings as follows:

[0021] Figure 1 FIG. 1 is a structural schematic view of the motor for the leg structure of the humanoid robot according to the present application;

[0022] Figure 2 FIG. 2 is an exploded view of the motor for the leg structure of the humanoid robot according to the present application;

[0023] Figure 3 FIG. 3 is a sectional view of the motor for the leg structure of the humanoid robot according to the present application;

[0024] Figure 4 FIG. 4 is a schematic view of the leg structure in the second embodiment of the present application; Figure 3 FIG. 5 is a local enlarged view of part A in FIG. 4;

[0025] Figure 5 FIG. 6 is an exploded view of the speed reduction mechanism in the motor for the leg structure of the humanoid robot according to the present application;

[0026] Figure 6 FIG. 7 is a schematic view of the leg structure in the second embodiment of the present application;

[0027] Figure 7The structure schematic view of the left leg in the second embodiment of the present application.

[0028] Fig. 1 is a schematic view of the hip part; Fig. 2 is a schematic view of the thigh structure; Fig. 3 is a schematic view of the lower leg structure; Fig. 4 is a schematic view of the foot end part; Fig. 5 is a schematic view of the motor; Fig. 51 is a schematic view of the outer shell; Fig. 511 is a schematic view of the main shell; Fig. 512 is a schematic view of the end cover; Fig. 5121 is a schematic view of the accommodating cavity; Fig. 5122 is a schematic view of the supporting column; Fig. 513 is a schematic view of the box body; Fig. 5131 is a schematic view of the curved surface; Fig. 52 is a schematic view of the driving unit; Fig. 521 is a schematic view of the output shaft; Fig. 522 is a schematic view of the second bevel gear; Fig. 53 is a schematic view of the transmission unit; Fig. 531 is a schematic view of the rotating shaft; Fig. 532 is a schematic view of the first bevel gear; Fig. 533 is a schematic view of the inertia disc; Fig. 541 is a schematic view of the sun gear; Fig. 542 is a schematic view of the planetary gear; Fig. 543 is a schematic view of the ring gear; Fig. 544 is a schematic view of the retainer; Fig. 5441 is a schematic view of the connecting column; Fig. 545 is a schematic view of the reduction gearbox; Fig. 55 is a schematic view of the control unit. DETAILED DESCRIPTION

[0029] The technical scheme of the embodiments of the present application is explained and described below in combination with the drawings of the embodiments of the present application, but the following embodiments are only preferred embodiments of the present application, not all. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present application.

[0030] In the description of the present application, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0031] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly limited.

[0032] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0033] Example 1:

[0034] like Figures 1 to 5 As shown, this embodiment illustrates a motor 5 for the leg structure of a humanoid robot, including a housing 51 fixed to the humanoid robot's leg. The housing 51 houses a drive unit 52, a control unit 55, and a transmission unit 53. The housing 51 is generally elongated. The transmission unit 53 and the control unit 55 are located at opposite ends of the drive unit 52. The drive unit 52 includes a stator fixed to the inner wall of the housing 51 and a rotor that rotatably engages with the stator. One end of the rotor forms an output shaft 521. The transmission unit 53 is connected to the output shaft 521. The control unit 55... Located at the end of the housing 51 away from the output shaft 521, the control unit 55 is electrically connected to the drive unit 52 and is used to control the speed and torque output by the drive unit 52. The transmission unit 53 includes a rotating shaft 531 that is directly connected to the output shaft 521. An inertia disk 533 is provided at the end of the rotating shaft 531. The drive unit 52 drives the inertia disk 533 to rotate through the rotating shaft 531 so that the inertia disk 533 outputs torque to the joint of the humanoid robot's leg. The rotation axis 531 line of the output shaft 521 is perpendicular to the rotation axis 531 line of the rotating shaft 531.

[0035] The shell 51 of the motor 5 in the embodiment is long strip-shaped, the transmission unit 53 and the control unit 55 are respectively arranged at two ends of the driving unit 52, that is, the control unit 55 is arranged at one end of the shell 51, so that the control unit 55 can be close to the shell 51, so that the heat generated by the control unit 55 can be dissipated to the outside through the shell 51, thereby the control unit 55 has better heat dissipation effect; in addition, arranging the control unit 55 at the end of the shell 51 can make the control unit 55 away from the driving unit 52, reduce the influence of the heat generated by the driving unit 52 on the control unit 55, help to reduce the temperature rising speed of the environment around the control unit 55, thereby the possibility of the control unit 55 running in high temperature environment for a long time can be reduced; secondly, the long strip-shaped motor 5 is more consistent with the leg structure of the humanoid robot, thereby the motor 5 can be laid along the length direction of the leg structure, so as to fully utilize the internal space of the leg structure, and help to increase the size of the motor 5, thereby the motor 5 has higher output torque and output power, which helps to improve the limit motion performance of the humanoid robot, so that the humanoid robot has faster motion speed and stronger load bearing weight; at this time, arranging the motor 5 in the inside of the leg structure can reduce the volume occupied by the motor 5, so that the overall structure of the leg structure is more compact, which helps to improve the aesthetic property of the leg structure.

[0036] As Figure 2 And Figure 3As shown, the housing 51 in the embodiment includes a main shell 511, a box body 513 and an end cover 512, the box body 513 and the end cover 512 are respectively installed at both ends of the main shell 511, the driving unit 52 is fixed in the main shell 511, the output shaft 521 of the driving unit 52 extends into the box body 513, the transmission unit 53 is installed in the box body 513, the rotating shaft 531 of the transmission unit 53 is rotationally connected with the box body 513, the first bevel gear 532 is fixed on the outer circumferential side of the rotating shaft 531, the end of the output shaft 521 is fixed with the second bevel gear 522, the first bevel gear 532 and the second bevel gear 522 are meshed with each other, the inertia disc 533 is in transmission connection with one end of the rotating shaft 531, and the inertia disc 533 is outside the box body 513, the output shaft 521 drives the rotating shaft 531 to rotate through the first bevel gear 532 and the second bevel gear 522, the rotating shaft 531 drives the inertia disc 533 to rotate, so as to realize the output of the torque, the first bevel gear 532 and the second bevel gear 522 can realize the vertical transmission between the transmission shaft and the output shaft 521, so that the transmission efficiency between the output shaft 521 and the transmission shaft is higher, and the stable transmission of the torque is ensured; in addition, the output shaft 521 is directly meshed with the transmission shaft, so that the connecting rod can be omitted, the space occupied by the driving unit 52 is larger, and then the size of the driving unit 52 can be increased, so that the motor 5 has higher output torque and output power; secondly, the rotating shaft 531 directly outputs the torque through the inertia disc 533, realizes the linear transmission of power, reduces the constraint stiffness of the transmission unit 53, so that the simulation time step is larger, which is helpful to reduce the training time of the control unit 55, shorten the research and development time and iteration test time, and also make the solution of the simulation engine closer to the real physical condition, and improve the simulation of the leg structure; in addition, the linear transmission can reduce the calculation difficulty of inverse kinematics and reduce the calculation cost, which is helpful to directly use the control unit 55 of the simulation training for the real object.

[0037] As shown in Figure 1 and Figure 2 As shown, the box body 513 in the embodiment is curved at one end surface away from the housing 51, and the curved surface 5131 is curved along the circumferential direction of the rotating shaft 531. Since the rotating shaft 531 drives the inertia disc 533 to rotate to output the torque to the joints of the leg structure, the relative rotation between the crotch 1 and the thigh structure 2 or the thigh structure 2 and the lower leg structure 3 or the lower leg structure 3 and the foot end piece 4 is realized, and the rotation direction is the same as that of the rotating shaft 531. That is, when the motor 5 controls the inertia disc 533 to output the torque, the inertia disc 533 drives a part of the leg structure to rotate around the rotating shaft 531 relative to the box body 513. The curved surface 5131 of the surface of the box body 513 can avoid interference of the box body 513 with the rotation of the leg structure, so that the movement of the leg structure is smoother and more smooth, and the possibility of the leg structure being stuck can be reduced.

[0038] As Figure 4 and Figure 5 shown, the transmission unit 53 also includes a reduction mechanism in this embodiment, the reduction mechanism includes a reduction box 545 fixed to one side of the box 513, the reduction box 545 is provided with a sun gear 541, a planetary gear 542 and a ring gear 543, one end of the rotating shaft 531 of the transmission unit 53 is rotatably connected with the box 513, the other end penetrates through the box 513 and extends into the reduction box 545, the sun gear 541 is fixed to the end of the rotating shaft 531 and rotates synchronously with the rotating shaft 531, the ring gear 543 is fixed to the inner wall in the reduction box 545, the planetary gear 542 is meshed with the ring gear 543 and the sun gear 541 at the same time, the outer peripheral side of the end of the rotating shaft 531 extending into the reduction box 545 is sleeved with a shaft sleeve, the shaft sleeve is fixedly connected with the box 513, the outer peripheral side of the shaft sleeve is rotatably connected with a retainer 544, the side of the reduction box 545 away from the rotating shaft 531 is provided with a perforation, the inertia disc 533 is rotatably matched with the perforation through a bearing, the retainer 544 is provided with a connecting column 5441 extending to the inertia disc 533, the retainer 544 is fixedly connected with the inertia disc 533 through the connecting column 5441, the planetary gear 542 has a rotating shaft, the two ends of the rotating shaft are connected to the retainer 544 and the inertia disc 533 respectively, the planetary gear 542 is rotatably arranged between the retainer 544 and the inertia disc 533 through the rotating shaft, the inertia disc 533 has a fastener for connecting the leg structure; after the motor 5 is started, the rotating shaft 531 drives the sun gear 541 to rotate, the sun gear 541 and the ring gear 543 cooperate to drive the planetary gear 542 to rotate circumferentially around the sun gear 541, the planetary gear 542 drives the inertia disc 533 to rotate in the process of rotating around the sun gear 541, so as to realize the output of the torque, the reduction mechanism can slow down the rotating speed of the rotating shaft, and the inertia disc 533 has greater output torque, so that the motor 5 can stably drive the movement of the leg structure.

[0039] In order to make the motor 5 have more beautiful appearance, the reduction mechanism and the first bevel gear 532 are respectively located at the two ends of the rotating shaft 531 in this embodiment, the reduction mechanism and the first bevel gear 532 are distributed at the two ends of the rotating shaft 531, which can make the overall structure of the transmission unit 53 more evenly distributed, avoid the phenomenon that the reduction mechanism and the first bevel gear 532 are at the same end to cause the protrusion of the side of the motor 5, so that the shell 51 of the motor 5 is more regular, which is beneficial to the installation and fixation of the motor 5.

[0040] Of course, it can be understood that in other embodiments, the inertia disc 533 can also be fixedly connected with the ring gear 543, the ring gear 543 is rotatably installed in the reduction box 545, the rotating shaft 531 drives the planetary gear 542 to rotate through the sun gear 541, the planetary gear 542 drives the ring gear 543 to rotate, the ring gear 543 drives the inertia disc 533 to rotate, so as to realize the output of the torque.

[0041] The box 513 in the embodiment can provide firm support and protection for the rotating shaft 531, and reduce the possibility of damage of the rotating shaft 531 due to external impact. In addition, the box 513 wraps the meshing part of the output shaft 521 and the rotating shaft 531, avoids sundries from entering the meshing part of the output shaft 521 and the rotating shaft 531, and reduces the possibility of wear of the output shaft 521 and the rotating shaft 531 due to external friction, which helps to prolong the service life of the output shaft 521 and the rotating shaft 531. Furthermore, the box 513 in the embodiment is detachably connected with the main shell 511, which makes the maintenance of the transmission unit 53 more simple and convenient, and helps to improve the maintenance efficiency of the motor 5.

[0042] As shown in Figure 2 The end of the main shell 511 away from the transmission unit 53 is connected with the end cover 512 to form a containing cavity 5121 for assembling the control unit 55. The containing cavity 5121 is provided with a support column 5122 formed on the inner wall of the containing cavity 5121, and one end of the support column 5122 abuts against the end of the main shell 511. The control unit 55 is detachably connected with the support column 5122 through fasteners. The support column 5122 supports the control unit 55 to form a gap between the control unit 55 and the inner wall of the containing cavity 5121. The main shell 511 is detachably connected with the end cover 512, which facilitates the installation and disassembly of the control unit 55, and makes the maintenance and testing of the control unit 55 more simple and convenient. In addition, the end cover 512 forms the containing cavity 5121 at one end of the main shell 511, which can increase the distance between the control unit 55 and the driving unit 52, reduce the heat generated by the driving unit 52 from entering the containing cavity 5121, and reduce the temperature rising speed of the control unit 55, which helps to prolong the service life of the control unit 55. In addition, the containing cavity 5121 is arranged at one end of the main shell 511. Since the shell 51 is arranged in a strip shape, the volume of the containing cavity 5121 can be expanded by increasing the length of the shell 51, so that the containing cavity 5121 can install a control unit 55 with a larger area, so as to enhance the function of the control unit 55, and make the leg structure have a faster running speed and a stronger load capacity. Furthermore, the support column can elevate the control unit 55, which can further increase the distance between the control unit 55 and the driving unit 52, and reduce the influence of the heat generated by the driving unit 52 on the control unit 55. In addition, the gap between the control unit 55 and the inner wall of the containing cavity 5121 enables the control unit 55 to install electronic components on the side facing the inner wall of the containing cavity 5121, which can increase the installation area of the control unit 55.

[0043] In order to improve the heat dissipation performance of the control unit 55, a heat dissipation member is attached to the control unit 55 in the embodiment, and the heat dissipation member abuts against the inner wall of the accommodating cavity 5121 to transfer the heat of the control unit 55 to the shell 51. The heat dissipation member can transfer the heat generated by the control unit 55 to the shell 51, and dissipate the heat to the outside through the shell 51. Therefore, the heat dissipation of the control unit 55 can be accelerated, the temperature rising speed of the control unit 55 can be reduced, the control unit 55 can be prevented from operating in a high-temperature state for a long time, and the service life of the control unit 55 can be prolonged.

[0044] Embodiment Two

[0045] As shown in Figure 6 and Figure 7 , the embodiment shows a humanoid robot, which includes a trunk, a leg structure movably connected to the bottom of the trunk, the leg structure including a crotch 1, a thigh structure 2, a lower leg structure 3, and a foot end member 4, wherein the crotch 1 is fixedly connected to the trunk, the crotch 1 is rotatably connected to two thigh structures 2, the bottom end of each thigh structure 2 is rotatably connected to one lower leg structure 3, and the foot end member 4 is rotatably connected to the bottom end of the lower leg structure 3. An installation cavity for installing a motor 5 is formed in the inside of the thigh structure 2, and two motors 5 are fixedly connected in the installation cavity of the thigh structure 2. The inertia disc 533 of one motor 5 is fixedly connected to the crotch 1, and the motor 5 drives the inertia disc 533 to rotate after being started, thereby realizing the relative rotation of the crotch 1 and the thigh structure 2. The inertia disc 533 of the other motor 5 is fixedly connected to the top end of the lower leg structure 3, and the motor 5 drives the inertia disc 533 to rotate after being started, thereby realizing the relative rotation of the thigh structure 2 and the lower leg structure 3. An installation cavity for installing a motor 5 is also formed in the inside of the corresponding lower leg structure 3, and one motor 5 is fixedly connected in the installation cavity of the lower leg structure 3. The inertia disc 533 of the motor 5 is fixedly connected to the foot end member 4, and the motor 5 drives the inertia disc 533 to rotate after being started, thereby realizing the relative rotation of the lower leg structure 3 and the foot end member 4. The motor 5 used in the leg structure of the humanoid robot is as described in Embodiment One.

[0046] It should be noted that in order to avoid the weight of the humanoid robot being too large, cavities are arranged on the thigh structure 2 and the calf structure 3 to reduce the load of the motor 5, and the motor 5 is installed in the mounting cavity of the thigh structure 2 and the calf structure 3, so that the internal space of the thigh structure 2 and the calf structure 3 can be fully utilized, and the two motors 5 of the thigh structure 2 are fixed at the upper end of the thigh structure 2, so as to prevent the width of the upper end of the thigh structure 2 from being too large to cause the two thigh structures 2 to be unable to be close together, and in the embodiment, the motor 5 is in the internal of the thigh structure 2, which can minimize the influence of the motor 5 on the volume of the thigh structure 2 and the calf structure 3, so that the overall leg structure has better aesthetic appearance; in addition, the internal space of the thigh structure 2 and the calf structure 3 can provide larger mounting space for the motor 5, so as to increase the volume of the motor 5, so that the motor 5 has higher output torque and output power, which is helpful to improve the limit motion performance of the humanoid robot, so that the humanoid robot has faster motion speed and stronger load bearing weight.

[0047] In addition, in order to make the motor 5 of the leg structure have more durable endurance, the torso of the humanoid robot needs to load a power supply assembly for supplying power to the motor 5, and the power supply assembly has a relatively large weight, and the motor 5 is installed in the mounting cavity, so as to avoid the center of gravity of the humanoid robot being too high to cause the humanoid robot to easily fall down due to the center of gravity deviation, and the embodiment can reduce the center of gravity of the humanoid robot, so that the humanoid robot walks more stably, so that the humanoid robot can adapt to more complex motion environment, easily pass through obstacles, and can withstand greater external force impact.

[0048] Second, the inertia disc 533 of the motor 5 is directly connected with the hip part 1, the lower leg and the foot end part 4, that is, the motor 5 directly outputs the torque to the joint of the leg structure through the inertia disc 533, thereby realizing linear transmission of the power, reducing the constraint stiffness of the transmission unit 53, compared with the existing technology using the connecting rod transmission, in the simulation process, the design of the utility model has a larger simulation time step, which helps to reduce the training time of the control unit 55, shorten the research and development time and iteration test time, in addition, the connecting rod transmission is nonlinear transmission, and the simulation engine can rarely support the simulation when simulating, and the solution when simulating is only an approximate solution, which is quite different from the real physical condition, and the utility model directly transmits the torque to the joint part, which is linear transmission, and the solution when simulating is closer to the real physical condition, so that the actual product motion state is closer to the state when simulating; in addition, the linear transmission can reduce the difficulty of inverse kinematics calculation and reduce the calculation cost, which helps to directly use the simulation training control unit 55 for the actual product; in addition, in the prior art, in order to set the connecting rod structure in the limited leg space, the size of the motor must be reduced, and in the utility model, the torque is directly transmitted to the joint of the leg structure, so that the length of the motor can be designed to be close to the length of the leg space, so that the motor has stronger performance, thereby outputting larger torque, improving the motion amplitude when the leg moves, and improving the motion performance of the humanoid robot.

[0049] The above is only a specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, and those skilled in the art should understand that the utility model includes but is not limited to the contents described in the drawings and the above specific embodiment. Any modification without deviating from the function and structural principle of the utility model will be included in the scope of claims.

Claims

1. A motor for a leg structure of a humanoid robot, comprising a housing fixed to a leg of the humanoid robot, a driving unit, a control unit and a transmission unit being provided in the housing, the driving unit comprising a stator, a rotor and an output shaft, characterized in that, The shell is long strip-shaped, the transmission unit and the control unit are respectively located at two ends of the driving unit, the control unit is electrically connected with the driving unit for controlling the rotation speed and torque output by the driving unit, the transmission unit is in transmission connection with the output shaft for outputting torque to the joint of the leg, and the end of the output shaft is directly connected with the transmission unit, and the rotation axis of the output shaft is perpendicular to the rotation axis of the transmission unit.

2. The motor for a humanoid robot leg structure according to claim 1, characterized by, The transmission unit comprises a rotation axis perpendicular to the output shaft, the end of the rotation axis is in transmission connection with an inertia disc, the rotation axis is fixed with a first bevel gear, the end of the output shaft is provided with a second bevel gear in meshing connection with the first bevel gear, and the driving unit drives the inertia disc to rotate through the rotation axis.

3. The motor for a humanoid robot leg structure according to claim 2, characterized by, The transmission unit further comprises a speed reduction mechanism, the speed reduction mechanism comprises a planetary gear and a gear ring, the end of the rotation axis is provided with a sun gear, the planetary gear is in meshing connection with the gear ring and the sun gear at the same time, the rotation axis drives the gear ring to rotate through the planetary gear, and the inertia disc is fixedly connected with the gear ring; or, the gear ring is fixed relative to the shell, the inertia disc is fixedly connected with the planetary gear, and the output shaft drives the inertia disc to rotate through the planetary gear.

4. The motor for a humanoid robot leg structure according to claim 3, characterized by, The speed reduction mechanism and the first bevel gear are respectively located at two ends of the rotation axis.

5. The motor for a humanoid robot leg structure according to claim 2, characterized by, The transmission unit further comprises a box body, the rotation axis is rotatably installed in the box body, one end of the rotation axis extends out of the box body, the output shaft extends into the box body and is in transmission connection with the rotation axis, and the box body is detachably connected with the shell; or, the box body and the shell are in one-piece structure.

6. The motor for a humanoid robot leg structure according to claim 5, characterized by, The surface of the end of the box body away from the driving unit is a curved surface, and the curved surface is curved along the circumferential direction of the rotation axis.

7. The motor for a humanoid robot leg structure according to claim 1, characterized by, The shell comprises a main shell body and an end cover detachably installed at one end of the main shell body, and the end cover and the main shell body form a containing cavity for assembling the control unit.

8. The motor for a humanoid robot leg structure according to claim 7, characterized by, The control unit is attached with a heat dissipation member, the heat dissipation member abuts against the inner wall of the containing cavity, so as to transfer the heat of the control unit to the shell.

9. The motor for a humanoid robot leg structure according to claim 7, characterized by, The containing cavity is provided with a support column, the control unit is fixed on the support column through a fastener, and a gap is formed between the control unit and the inner wall of the containing cavity.

10. A humanoid robot comprising a trunk, a leg structure movably connected to a bottom of the trunk, characterized in that, The leg structure is provided with the motor for the leg structure of the humanoid robot as claimed in any one of claims 1 to 9.

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