Brushless hollow cup direct current motor unit for humanoid robot dexterous hand

Abstract

The utility model discloses a brushless coreless DC motor unit for a humanoid robot dexterous hand, which comprises a motor body, a speed reducer and a driver, the motor body comprises a motor stator, a motor rotor, a front end cover and a rear end cover, the motor stator is sleeved outside the motor rotor, and the speed reducer is sleeved outside the front end cover. The front end cover and the rear end cover are respectively arranged at two end parts of the motor rotor, one end of the motor rotor is bonded with encoder magnetic steel by adopting anaerobic adhesive, the outer part of the rear end cover is bonded with a leading-out wire protection seat by adopting anaerobic adhesive, and a leading-out wire on the motor stator is connected to the leading-out wire protection seat through a buckle connecting assembly; according to the utility model, the outgoing line on the motor stator on the motor body is fixed by adopting the buckle connecting assembly, so that the condition that the outgoing line is wound in the high-speed rotation process of the unit is avoided, and the reliability of the unit is improved; a traditional circuit board and outgoing line leading-out mode is replaced by the FPC flexible flat cable, so that axial space is saved, and space is provided for realization of performance indexes of the motor body.

Description

Technical Field

[0001] This utility model relates to the technical field of hollow cup motors, specifically a brushless hollow cup DC motor unit for a humanoid robot's dexterous hand. Background Technology

[0002] The unique structure of brushless coreless motors gives them advantages such as low torque fluctuation, smooth linear operation, fast response, and light weight. As an actuator, this type of motor is widely used in aviation, aerospace, industrial robotics, and other fields. However, as an actuator for humanoid robot dexterity hands with an outer diameter of only 8mm, this brushless coreless DC motor unit presents challenges such as complex structure, small size, and high operational difficulty. Therefore, it poses great challenges to the design and manufacturing process, especially when the motor leads pass through the high-speed rotating encoder magnet, it is necessary to avoid the motor leads getting tangled in the encoder magnet.

[0003] Currently, the basic methods used are potting, perforation, and mechanical tightening. This not only increases the difficulty and cost of manufacturing, but also hinders mass production. Furthermore, similar units generally use lead wires or DuPont wiring methods for wiring, which makes the interfaces and lead wires relatively complex and unfavorable for market promotion and application. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this utility model provides a brushless hollow cup DC motor unit for the dexterous hand of a humanoid robot.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0006] This utility model discloses a brushless hollow cup DC motor unit for a humanoid robot's dexterous hand, comprising a motor body, a reducer, and a driver. The motor body includes a motor stator, a motor rotor, a front cover, and a rear cover. The motor stator is fitted onto the outside of the motor rotor. The front cover and the rear cover are respectively located at both ends of the motor rotor. An encoder magnet is bonded to one end of the motor rotor using anaerobic adhesive. A lead wire protection seat is bonded to the outside of the rear cover using anaerobic adhesive. The lead wires on the motor stator are connected to the lead wire protection seat via a snap-fit ​​connection assembly. An encoder chip and an FPC flexible flat cable are provided on the right end face of the lead wire protection seat. The encoder chip is soldered onto the FPC flexible flat cable. The lead wires on the motor stator are soldered to designated locations on the FPC flexible flat cable. The connection between the FPC flexible flat cable and the lead wire protection seat is sealed with UV adhesive. A rear cover is bonded to the outer wall of the lead wire protection seat using anaerobic adhesive. A sun gear is fixedly connected to the end of the motor rotor away from the encoder magnet using a heat-fitting method.

[0007] As a preferred technical solution of this utility model, the snap-fit ​​connection assembly includes three snap-fit ​​grooves on the inner wall of the lead wire protection seat that are annular and equidistantly distributed, through which the lead wires of the motor stator pass.

[0008] As a preferred technical solution of this utility model, the snap-fit ​​connection assembly further includes three support platforms that are arranged in a ring shape and are equidistantly distributed on the inner wall of the lead wire protection seat to support the FPC flexible flat cable, and each of the support platforms is located between two adjacent snap-fit ​​slots.

[0009] As a preferred technical solution of this utility model, a two-stage planetary reducer is threadedly connected to the outer end of the front cover of the motor body.

[0010] As a preferred technical solution of this utility model, the interface of the FPC flexible flat cable adopts a universal 12-pin type, and the spacing adopts a 0.5-inch bent pin standard component, and the encoder magnet is set on the FPC flexible flat cable.

[0011] As a preferred technical solution of this utility model, the outer wall of the encoder magnet is provided with a welding connection groove through which the lead wires on the motor stator pass and are welded, and the encoder chip is located in the middle of the encoder magnet.

[0012] As a preferred technical solution of this utility model, the welding wiring groove is provided in three places, and the three welding wiring grooves are arranged in a ring and are equally spaced on the outer wall of the encoder magnet.

[0013] As a preferred embodiment of this utility model, both the front end cover and the rear end cover are connected to both ends of the motor rotor via bearings.

[0014] As a preferred embodiment of this utility model, both ends of the motor rotor are fitted with nylon sleeves located between the bearing and the motor stator.

[0015] As a preferred technical solution of this utility model, the motor body is made of high-saturation soft magnetic material and high-performance magnetic material.

[0016] The beneficial effects of this utility model are:

[0017] 1. This type of humanoid robot dexterous hand uses a brushless hollow cup DC motor unit. By employing a snap-fit ​​connection assembly to fix the lead wires on the motor stator of the motor body, it avoids the lead wires from getting tangled during high-speed rotation, thereby improving the reliability of the unit, reducing manufacturing difficulty and cost, and facilitating mass production. By using FPC flexible flat cables instead of traditional circuit boards and lead wire lead-out methods, axial space is saved, providing space for the performance indicators of the motor body to be achieved.

[0018] 2. This type of humanoid robot dexterous hand uses a brushless hollow cup DC motor unit. By opening three locking slots on the lead wire protection seat, the three lead wires on the motor body can be locked. The three support platforms support the FPC flexible flat cable, making the FPC flexible flat cable lay flat and ensuring that the encoder chip on the FPC flexible flat cable is parallel to the encoder magnet end face. This is conducive to the normal output of the motor body signal, reduces the possibility of damage to the unit's lead wires, and improves the reliability of the product.

[0019] 3. This type of humanoid robot dexterous hand uses a brushless hollow cup DC motor unit. The FPC flexible flat cable uses a universal 12-pin interface with a 0.5mm pitch bent pin standard component, which can avoid the limitations of the axial and spatial dimensions of the unit, replace the traditional circuit board and lead wire lead-out method, save axial space, provide space for the performance indicators of the motor body, and adopt a standard conversion interface to facilitate market application and promotion.

[0020] 4. This type of humanoid robot dexterous hand uses a brushless hollow cup DC motor unit. Through the nylon sleeve, the axial clearance of the unit is adjusted by using the shrinkage of thermoplastic material. The design and processing ensure the span of the bearing stops at both ends of the rotor, avoiding the current situation of limited space, small shaft diameter, and small axial impact force that the unit can withstand. This reduces the need for axial clearance adjustment and improves work efficiency.

[0021] 5. The brushless hollow cup DC motor unit for the dexterous hand of this humanoid robot, due to the use of highly saturated soft magnetic materials and high-performance magnetic materials in the motor body, can achieve a rated torque of 1.5mN·m and an efficiency of over 75%, thus avoiding space limitations and the situation where the current silicon steel sheet material cannot meet the product performance requirements. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0023] Figure 1 This is a cross-sectional view of the motor unit of a brushless hollow cup DC motor unit for a humanoid robot's dexterous hand according to this utility model;

[0024] Figure 2 This is a side view of the lead wire protection seat of a brushless hollow cup DC motor unit for a humanoid robot's dexterous hand, according to this utility model.

[0025] Figure 3 This is a schematic diagram of the FPC flexible flat cable structure of a brushless hollow cup DC motor unit for a humanoid robot's dexterous hand according to this utility model;

[0026] Figure 4 This is a cross-sectional view of the encoder magnet and lead wire protection seat connection of a brushless hollow cup DC motor unit for a humanoid robot dexterous hand according to this utility model.

[0027] In the diagram: 1. Motor body; 2. Motor stator; 3. Motor rotor; 4. Front cover; 5. Rear cover; 6. Encoder magnet; 7. Lead wire protection seat; 8. Snap-fit ​​connection assembly; 801. Snap-fit ​​slot; 802. Support platform; 9. Encoder chip; 10. FPC flexible flat cable; 1001. Welding wiring slot; 11. Rear cover; 12. Sun gear; 13. Two-stage planetary reducer; 14. Bearing; 15. Nylon sleeve. Detailed Implementation

[0028] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0029] Example: Figure 1 , Figure 2 and Figure 3 As shown, this utility model discloses a brushless hollow cup DC motor unit for a humanoid robot's dexterous hand, comprising a motor body 1. The motor body 1 includes a motor stator 2, a motor rotor 3, a front end cover 4, and a rear end cover 5. The motor stator 2 is sleeved on the outside of the motor rotor 3. The front end cover 4 and the rear end cover 5 are respectively located at both ends of the motor rotor 3. An encoder magnet 6 is bonded to one end of the motor rotor 3 using anaerobic adhesive. A lead wire protection seat 7 is bonded to the outside of the rear end cover 5 using anaerobic adhesive. The lead wires on the motor stator 2 are connected to the lead wire protection seat 7 via a snap-fit ​​connection assembly 8. An encoder chip 9 and an FPC flexible flat cable 10 are provided on the right end face of the lead wire protection seat 7. The encoder chip 9 is soldered onto the FPC flexible flat cable 10. The lead wires on the motor stator 2 are connected to the FPC flexible flat cable 10. The FPC flexible flat cable 10 and the lead wire protection seat 7 are welded at designated locations. The connection between them is sealed with UV glue. The outer wall of the lead wire protection seat 7 is bonded with an anaerobic adhesive and a back cover 11 is attached. The end of the motor rotor 3 away from the encoder magnet 6 is fixedly connected to the sun gear 12 by a heat fitting. The outer end of the front cover 4 of the motor body 1 is threaded with a two-stage planetary reducer 13. The lead wires on the motor stator on the motor body are fixed by using a snap-fit ​​connection assembly, which avoids the lead wires from getting tangled during high-speed rotation of the unit, improves the reliability of the unit, reduces manufacturing difficulty and cost, and facilitates mass production. By using FPC flexible flat cables instead of traditional circuit boards and lead wire lead-out methods, axial space is saved, providing space for the performance indicators of the motor body to be realized.

[0030] The snap-fit ​​connection assembly 8 includes three snap-fit ​​slots 801 on the inner wall of the lead wire protection seat 7, arranged in a ring and equidistantly, through which the lead wires of the motor stator 2 pass. The snap-fit ​​connection assembly 8 also includes three support platforms 802 on the inner wall of the lead wire protection seat 7, arranged in a ring and equidistantly, to support the FPC flexible flat cable 10. Each support platform 802 is located between two adjacent snap-fit ​​slots 801. By providing three snap-fit ​​slots 801 on the lead wire protection seat 7, the three lead wires on the motor body 1 can be locked. The three support platforms 802 support the FPC flexible flat cable 10, making the FPC flexible flat cable 10 lay flat and ensuring that the encoder chip 9 on the FPC flexible flat cable 10 is parallel to the end face of the encoder magnet 6. This is beneficial for the normal output of signals from the motor body 1, reduces the possibility of damage to the unit's lead wires, and improves the reliability of the product.

[0031] The FPC flexible flat cable 10 uses a universal 12-pin interface with a 0.5mm pitch bent pin standard. The encoder magnet 6 is mounted on the FPC flexible flat cable 10. The outer wall of the encoder magnet 6 has a welding wiring groove 1001 for the lead wires on the motor stator 2 to pass through and be welded. The encoder chip 9 is located in the middle of the encoder magnet 6. There are three welding wiring grooves 1001, which are arranged in a ring and equidistantly on the outer wall of the encoder magnet 6. The FPC flexible flat cable 10 uses a universal 12-pin interface with a 0.5mm pitch bent pin standard, which can avoid the axial and spatial size limitations of the unit, replace the traditional circuit board and lead wire lead-out method, save axial space, provide space for the performance indicators of the motor body 1, and use a standard conversion interface to facilitate market application and promotion.

[0032] The front cover 4 and the rear cover 5 are both connected to the two ends of the motor rotor 3 via bearings 14. The two ends of the motor rotor 3 are fitted with nylon sleeves 15 located between the bearings 14 and the motor stator 2. The axial clearance of the unit is adjusted by using the shrinkage of thermoplastic material through the nylon sleeves 15. The design and processing ensure the span of the bearings 14 at both ends of the rotor, avoiding the current situation of tight space, small shaft diameter, and small axial impact force that the unit can withstand. This reduces the need for axial clearance adjustment and improves work efficiency.

[0033] The motor body 1 is made of high-saturation soft magnetic material and high-performance magnetic material. Because the motor body 1 is made of high-saturation soft magnetic material and high-performance magnetic material, its performance indicators can achieve a rated torque of 1.5mN·m and an efficiency of over 75%, which avoids space limitations and avoids the situation where the current silicon steel sheet material cannot meet the product performance requirements.

[0034] Specifically, such as Figure 4As shown, the encoder magnet 6 is bonded to the lead wire protection seat 7 with anaerobic adhesive. The inner wall of the lead wire protection seat 7 is provided with several V-shaped adhesive storage grooves 16. The end of the encoder magnet 6 is provided with a connecting ring 17. The inner wall of the lead wire protection seat 7 is provided with a mating ring 18 with an L-shaped cross-section that is threadedly connected to the connecting ring 17. A sealing gasket 19 is embedded in the inner wall of the connecting ring 17. The addition of a threaded connection structure on the basis of anaerobic adhesive bonding improves long-term reliability and reduces the risk of detachment.

[0035] Add either a silicone sheath or a corrugated tube to the outer layer of the FPC flexible flat cable 10, or design an arc-shaped guide groove in the wiring path to reduce stress concentration and extend service life.

[0036] During operation, this type of humanoid robot uses a brushless hollow cup DC motor unit. By employing a snap-fit ​​connection assembly to secure the lead wires on the motor stator, it prevents lead wire entanglement during high-speed rotation, improving the unit's reliability, reducing manufacturing difficulty and cost, and facilitating mass production. By using FPC flexible flat cables instead of traditional circuit boards and lead wires, axial space is saved, providing space for achieving the motor's performance specifications. Three snap-fit ​​slots 801 on the lead wire protection seat 7 lock the three lead wires on the motor body 1. Three support platforms 802 support the FPC flexible flat cable 10, ensuring it lies flat and that the encoder chip 9 on the FPC flexible flat cable 10 is parallel to the encoder magnet 6 end face. This facilitates normal signal output from the motor body 1, reduces the possibility of damage to the unit's lead wires, and improves product reliability. The flexible flat cable 10 uses a universal 12-pin connector with a 0.5mm pitch bent pin standard, which avoids the limitations of axial and spatial dimensions of the unit, replacing the traditional circuit board and lead wire lead-out method, saving axial space and providing space for the performance indicators of the motor body 1. The standard conversion interface facilitates market application and promotion. The axial clearance of the unit is adjusted by using the shrinkage of the thermoplastic material through the nylon sleeve 15. The design and processing ensure the span of the bearings 14 at both ends of the rotor, avoiding the current situation of tight space, small shaft diameter, and low axial impact force, reducing the need for axial clearance adjustment and improving efficiency. Since the motor body 1 uses high-saturation soft magnetic material and high-performance magnetic material, its performance indicators can achieve a rated torque of 1.5mN·m and an efficiency of over 75%, avoiding space limitations and the situation where the current silicon steel sheet material cannot meet the product performance requirements.

[0037] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A brushless hollow cup DC motor unit for humanoid robot dexterous hand, characterized by, The motor body (1) comprises a motor stator (2), a motor rotor (3), a front end cover (4) and a rear end cover (5), the motor stator (2) is sleeved outside the motor rotor (3), the front end cover (4) and the rear end cover (5) are arranged at the two end portions of the motor rotor (3) respectively, one end of the motor rotor (3) is adhesively connected with an encoder magnetic steel (6) by anaerobic adhesive, the outer portion of the rear end cover (5) is adhesively connected with a lead wire protection seat (7) by anaerobic adhesive, the lead wire on the motor stator (2) is connected on the lead wire protection seat (7) through a buckle connection assembly (8), the right end face of the lead wire protection seat (7) is provided with an encoder chip (9) and an FPC flexible flat cable (10), the encoder chip (9) is welded on the FPC flexible flat cable (10), the lead wire on the motor stator (2) is welded on the specified position of the FPC flexible flat cable (10), the connection position of the FPC flexible flat cable (10) and the lead wire protection seat (7) is sealed by UV adhesive, the outer wall of the lead wire protection seat (7) is adhesively connected with a rear cover (11) by anaerobic adhesive, and one end of the motor rotor (3) away from the encoder magnetic steel (6) is fixedly connected with a sun gear (12) in a hot-joint mode.

2. The brushless hollow cup DC motor unit for humanoid robot dexterous hand according to claim 1, characterized in that, The buckle connection assembly (8) comprises three buckle grooves (801) which are annular and equidistantly distributed on the inner wall of the lead wire protection seat (7) and through which the lead wire of the motor stator (2) of the motor body (1) passes.

3. The brushless hollow cup DC motor set for humanoid robot dexterous hand according to claim 2, characterized in that, The buckle connection assembly (8) further comprises three support platforms (802) which are annular and equidistantly distributed on the inner wall of the lead wire protection seat (7) and support the FPC flexible flat cable (10), and each support platform (802) is located between two adjacent buckle grooves (801).

4. The brushless hollow cup DC motor set for humanoid robot dexterous hand according to claim 1, characterized in that, The outer end portion of the front end cover (4) of the motor body (1) is threadedly connected with a two-stage planetary reducer (13).

5. The brushless hollow cup DC motor set for humanoid robot dexterous hand according to claim 1, characterized in that, The interface of the FPC flexible flat cable (10) adopts a universal 12PIN, the interval adopts a 0.5 bending pin standard part, and the encoder magnetic steel (6) is arranged on the FPC flexible flat cable (10).

6. A brushless hollow cup DC motor set for a humanoid robot dexterous hand according to claim 5, characterized in that, The outer wall of the encoder magnetic steel (6) is provided with a welding wire slot (1001) through which the lead wire on the motor stator (2) passes and is welded, and the encoder chip (9) is arranged at the middle portion of the encoder magnetic steel (6).

7. The brushless hollow cup DC motor set for humanoid robot dexterous hand according to claim 6, characterized in that, The welding wire slot (1001) is provided with three welding wire slots (1001) which are annular and equidistantly arranged on the outer wall of the encoder magnetic steel (6).

8. The brushless hollow cup DC motor set for humanoid robot dexterous hand according to claim 1, characterized in that, The front end cover (4) and the rear end cover (5) are connected to the two ends of the motor rotor (3) through bearings (14).

9. The brushless hollow cup DC motor set for humanoid robot dexterous hand according to claim 1, characterized in that, The two end portions of the motor rotor (3) are sleeved with nylon sleeves (15) between the bearings (14) and the motor stator (2).

10. The brushless hollow cup DC motor set for humanoid robot dexterous hand according to claim 1, characterized in that, The motor body (1) adopts high-saturation soft magnetic material and high-performance magnetic material.

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