Hollow rotary joint module and humanoid robot

Abstract

The utility model discloses a hollow rotary joint module and a humanoid robot, and relates to the field of robots. The hollow rotary joint module comprises a harmonic reducer, a motor assembly, an encoder magnetic ring assembly and an output flange. The motor assembly comprises a frameless motor and a motor flange, the rotor is rotationally arranged on the inner side of the stator, the rotor is connected with the motor flange to drive the motor flange to rotate, and the motor flange is connected with the wave generator; a first magnetic ring of the encoder magnetic ring assembly is arranged on a first magnetic ring flange, the first magnetic ring flange is connected with a motor flange and a wave generator, a second magnetic ring is arranged on a second magnetic ring flange, and the first magnetic ring and the second magnetic ring are located on the same plane. The output flange comprises a flange part and a straight barrel part, openings are formed in the two opposite ends of the straight barrel part, the straight barrel part penetrates through the harmonic reducer, the first magnetic ring flange and the second magnetic ring flange, and the flange part is connected with the harmonic reducer. The hollow rotary joint module is compact in structure, the overall length of the hollow rotary joint module is reduced, and the size of the hollow rotary joint module is smaller.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a hollow rotary joint module and a humanoid robot. Background Technology

[0002] With the rapid advancement and widespread application of robotics technology, robots have played a crucial role in many fields, including industrial manufacturing, surgery, and home services.

[0003] In related technologies, the rotary joint module of a robot is the actuator that realizes the movement of the robot joint. The current joint module adopts a frameless torque motor, motor shaft, encoder, reducer, magnetic ring of motor magnetic encoder, magnetic ring of output magnetic encoder, and end cap of output magnetic ring. The magnetic ring of output magnetic encoder is connected to the end cap of output magnetic ring. The magnetic ring of motor magnetic encoder and magnetic ring of output magnetic encoder are installed on opposite sides of frameless torque motor, which makes the joint module structure long and the overall size of the joint module large, which is not conducive to the miniaturization of robot joints.

[0004] Therefore, developing a simplified and compact joint module has become an urgent problem for those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a hollow rotary joint module.

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0007] In a first aspect, embodiments of this application provide a hollow rotary joint module, the hollow rotary joint module comprising:

[0008] Harmonic reducer, including wave generator;

[0009] A motor assembly includes a frameless motor and a motor flange. The frameless motor includes a stator and a rotor. The rotor is rotatably disposed inside the stator. The rotor is connected to the motor flange to drive the motor flange to rotate. The motor flange is connected to the wave generator.

[0010] An encoder magnetic ring assembly includes a first magnetic ring, a second magnetic ring, a first magnetic ring flange, and a second magnetic ring flange. The first magnetic ring is disposed on the first magnetic ring flange, which is connected to the motor flange and the wave generator. The second magnetic ring is disposed on the second magnetic ring flange. The first magnetic ring and the second magnetic ring are located on the side of the motor flange away from the wave generator, and the top surface of the first magnetic ring and the top surface of the second magnetic ring are located on the same plane, and / or the bottom surface of the first magnetic ring and the bottom surface of the second magnetic ring are located on the same plane.

[0011] The output flange includes a flange portion and a straight cylindrical portion. The straight cylindrical portion has openings at both ends and passes through the harmonic reducer, the first magnetic ring flange, and the second magnetic ring flange. One end of the straight cylindrical portion is connected to the flange portion, and the other end of the straight cylindrical portion is connected to the second magnetic ring flange. The flange portion is connected to the harmonic reducer.

[0012] The hollow rotary joint module provided in this application has an output flange with openings at both ends of the straight cylindrical part to form a hollow structure, which facilitates the robot's wiring. At the same time, the first magnetic ring and the second magnetic ring are located on the same side of the frameless motor and are on the same plane, making the structure of the joint module more compact, reducing the length and size of the joint module, making it smaller and easier to apply to the joints of humanoid robots and miniaturized automated equipment.

[0013] In addition, the hollow rotary joint module according to this application may also have the following additional technical features:

[0014] In one embodiment of the first aspect, the inner diameter of the motor flange is larger than the outer diameter of the first magnetic ring flange, the outer diameter of the first magnetic ring flange is larger than the outer diameter of the second magnetic ring flange, and a portion of the first magnetic ring flange is located inside the motor flange.

[0015] In one embodiment of the first aspect, a first boss is provided along the circumference of the first magnetic ring flange, and the first magnetic ring is mounted on the first boss; a second boss is provided along the circumference of the second magnetic ring flange, and the second magnetic ring is mounted on the second boss.

[0016] In one embodiment of the first aspect, the hollow rotary joint module further includes:

[0017] The tray has a mounting cavity, the harmonic reducer is connected to the tray, and the wave generator is disposed through the mounting cavity and has a gap between it and the cavity wall of the mounting cavity;

[0018] A first bearing is located in the gap, with its inner ring abutting against the wave generator and its outer ring abutting against the wall of the mounting cavity.

[0019] In one embodiment of the first aspect, the tray is provided with a stepped portion on the side facing the motor flange, and a retaining ring is provided on the stepped portion, a portion of which abuts against the outer ring of the first bearing on the side facing the motor flange;

[0020] An annular boss is provided in the mounting cavity, and a stepped structure is formed on the side of the wave generator away from the straight cylinder. The end of the first bearing away from the motor flange abuts against the annular boss and the stepped structure respectively.

[0021] In one embodiment of the first aspect, a limiting member is provided on the side of the motor flange facing the first bearing, the limiting member abutting against the side of the inner ring of the first bearing facing the motor flange.

[0022] In one embodiment of the first aspect, the limiting member is fixedly connected to or integrally formed with the motor flange.

[0023] In one embodiment of the first aspect, the hollow rotary joint module further includes a housing having a receiving cavity, the motor assembly being disposed within the receiving cavity, and the tray being connected to the housing.

[0024] In one embodiment of the first aspect, the hollow rotary joint module further includes a second bearing and a third bearing, the second bearing and the third bearing being sleeved on the straight cylindrical portion and spaced apart, the side of the second bearing away from the third bearing abutting against the flange portion, and the outer rings of the second bearing and the third bearing abutting against the inner side of the wave generator respectively.

[0025] In one embodiment of the first aspect, a first sealing ring is provided between the inner ring of the second bearing and the straight cylindrical portion, the first sealing ring abutting against the inner ring of the second bearing and the straight cylindrical portion respectively; and / or a second sealing ring is provided between the flange portion and the harmonic reducer, the second sealing ring abutting against the flange portion and the harmonic reducer respectively.

[0026] Secondly, this application also provides a humanoid robot, including a joint body and a hollow rotary joint module as described in any of the above embodiments, wherein the hollow rotary joint module is installed on the joint body.

[0027] The humanoid robot provided in the second aspect of this application includes the hollow rotary joint module described in any of the above embodiments, and therefore has all the beneficial effects of the hollow rotary joint module, which will not be elaborated here. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This application shows a three-dimensional structural schematic diagram of a hollow rotary joint module provided in some embodiments;

[0030] Figure 2 This paper shows a schematic diagram of the hollow rotary joint module provided in some embodiments of this application from one perspective.

[0031] Figure 3 It shows Figure 2 A schematic diagram of the cross-sectional structure along the AA direction shown in the figure;

[0032] Figure 4 It shows Figure 3 A magnified structural diagram of point B shown in the figure;

[0033] Figure 5 It shows Figure 3 A magnified structural diagram at point C shown in the figure;

[0034] Figure 6 It shows Figure 3 A schematic diagram of the motor flange from one perspective;

[0035] Figure 7 It shows Figure 3 A schematic diagram of the first magnetic ring flange from one perspective;

[0036] Figure 8 It shows Figure 3 A schematic diagram of the second magnetic ring flange from one perspective;

[0037] Figure 9 It shows Figure 3 A schematic diagram of the output flange from one perspective is shown below;

[0038] Figure 10 It shows Figure 9 A schematic diagram of the cross-sectional structure along the DD direction shown;

[0039] Figure 11 It shows Figure 3 A schematic diagram of the harmonic reducer shown from one perspective;

[0040] Figure 12 It shows Figure 11 The schematic diagram of the cross-sectional structure along the EE direction shown;

[0041] Figure 13 It shows Figure 1 The diagram shows a structural schematic of the shell body from one perspective.

[0042] Explanation of key component symbols:

[0043] 100-Hollow rotary joint module; 101-Drive board; 110-Harmonic reducer; 111-Wave generator; 1111-Stepped structure; 112-Flexible wheel; 113-Flexible bearing; 114-Rigid wheel; 120-Motor assembly; 121-Frameless motor; 1211-Stator; 1212-Rotor; 122-Motor flange; 1221-Limiting component; 130-Encoder magnetic ring assembly; 131-First magnetic ring; 132-Second magnetic ring; 133-First magnetic ring flange; 1331-First boss; 134-Second magnetic ring flange; 1341-Second boss; 140-Output flange; 141-Flange section; 142-Straight cylinder section; 1421-Hollow structure; 150-Tray; 151-Step section; 152-Retaining ring; 153-Annular boss; 160-First bearing; 161-Second bearing; 162-Third bearing; 163-First sealing ring; 164-Second sealing ring; 165-Third sealing ring; 170-Housing shell; 1701-Accommodation cavity; 1702-Heat dissipation hole; 171-Shell body; 172-End cap; 173-Connecting part; 174-Annular connecting piece; 1741-Wire hole; 175-Transfer platform; 1751-Connecting hole; 180-Heat dissipation device. Detailed Implementation

[0044] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0045] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0047] In this application, unless otherwise expressly 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 part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0048] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0049] In related technologies, robot joint modules include a motor magnetic encoder ring, an integrated control board, a frameless torque motor, an output magnetic ring end cap, an output magnetic encoder circuit board, an output magnetic encoder ring, and a reducer. The frameless torque motor has an integrated control board on its motor end cap, and a motor magnetic encoder ring on its motor shaft, which is connected to the reducer. The reducer has an output magnetic ring end cap and an output magnetic encoder circuit board, with the output magnetic encoder ring on the end cap. The output magnetic encoder circuit board is connected to the integrated control board for data transmission. The integrated control board integrates joint control and drive circuits, an IMU sensor, a temperature sensor circuit, a force sensor acquisition circuit, an external communication circuit, and the chip for the motor magnetic encoder ring, as well as power and motor wiring. The motor magnetic encoder ring, motor shaft, reducer, output magnetic ring end cap, and output magnetic encoder ring are arranged in series, resulting in a relatively long overall length and large overall size of the joint module, which is detrimental to the miniaturization of robot joints.

[0050] like Figure 1 and Figure 2 As shown, in order to solve the above-mentioned technical problems, the embodiments of this application provide a hollow rotary joint module 100 with a simple structure and small size.

[0051] Combination Figure 3 As shown, the hollow rotary joint module 100 includes a harmonic reducer 110, a motor assembly 120, an encoder magnetic ring assembly 130, and an output flange 140.

[0052] The harmonic reducer 110 includes a wave generator 111. The motor assembly 120 includes a frameless motor 121 and a motor flange 122. The frameless motor 121 includes a stator 1211 and a rotor 1212. The rotor 1212 is rotatably disposed inside the stator 1211. The rotor 1212 is connected to the motor flange 122 to drive the motor flange 122 to rotate. The motor flange 122 is also connected to the wave generator 111 to achieve the rotation of the rotor 1212, which in turn drives the wave generator 111 to rotate.

[0053] Combination Figure 3 and Figure 4 As shown, the encoder magnetic ring assembly 130 includes a first magnetic ring 131, a second magnetic ring 132, a first magnetic ring flange 133, and a second magnetic ring flange 134. The first magnetic ring 131 is disposed on the first magnetic ring flange 133, which is connected to the motor flange 122 and the wave generator 111. The second magnetic ring 132 is disposed on the second magnetic ring flange 134. The first magnetic ring 131 and the second magnetic ring 132 are located on the side of the motor flange 122 away from the wave generator 111, and the top surface of the first magnetic ring 131 and the top surface of the second magnetic ring 132 are on the same plane, and / or the bottom surface of the first magnetic ring 131 and the bottom surface of the second magnetic ring 132 are on the same plane. This reduces the longitudinal dimension of the hollow rotary joint module 100, facilitating miniaturization.

[0054] Combination Figure 9 and Figure 10 As shown, the output flange 140 includes a flange portion 141 and a straight cylindrical portion 142. The straight cylindrical portion 142 has openings at both ends to form a hollow structure 1421, facilitating cable routing for the robot. The straight cylindrical portion 142 passes through the harmonic reducer 110, the first magnetic ring flange 133, and the second magnetic ring flange 134. One end of the straight cylindrical portion 142 is connected to the flange portion 141, and the other end is connected to the second magnetic ring flange 134. The end of the straight cylindrical portion 142 away from the flange portion 141 is connected to the second magnetic ring flange 134. The flange portion 141 is connected to the harmonic reducer 110, and the rotation of the harmonic reducer 110 drives the output flange 140 to rotate.

[0055] For example, the flange portion 141 and the straight cylinder portion 142 are integrally formed. Of course, in other embodiments, the flange portion 141 and the straight cylinder portion 142 can also be fixedly connected by screws or welding.

[0056] The hollow rotary joint module 100 provided in this application embodiment integrates a frameless motor 121, a harmonic reducer 110, and an output flange 140 in series. The straight cylindrical portion 142 of the output flange 140 has openings at both ends to form a hollow structure 1421, which facilitates the robot's wiring. At the same time, the first magnetic ring 131 and the second magnetic ring 132 are located on the same side of the frameless motor 121 and are on the same plane, making the structure of the joint module more compact, reducing the overall length and size of the joint module, making it smaller and easier to apply to the joints of humanoid robots and miniaturized automated equipment.

[0057] In some embodiments, the top surface of the first magnetic ring 131 and the top surface of the second magnetic ring 132 are located on the same plane.

[0058] In some embodiments, the bottom surface of the first magnetic ring 131 and the bottom surface of the second magnetic ring 132 are located in the same plane. Of course, in other embodiments, the top surface of the first magnetic ring 131 and the top surface of the second magnetic ring 132 are located in the same plane, and the bottom surface of the first magnetic ring 131 and the bottom surface of the second magnetic ring 132 are located in the same plane.

[0059] It should be noted that, for ease of description of the various embodiments, the top surface of the first magnetic ring 131 and the top surface of the second magnetic ring 132 are... Figure 3 The top surface of the first magnetic ring 131 and the bottom surface of the second magnetic ring 132 are in the vertical direction, which is the axial direction H of the straight cylindrical part 142. Alternatively, the top surface of the first magnetic ring 131 and the top surface of the second magnetic ring 132 are the sides of the first magnetic ring 131 and the second magnetic ring 132 facing the drive plate 101, and the bottom surface of the first magnetic ring 131 and the bottom surface of the second magnetic ring 132 are the sides of the first magnetic ring 131 and the second magnetic ring 132 facing the motor flange 122.

[0060] like Figure 3 and Figure 4 As shown, in some embodiments, the height of the first magnetic ring 131 along the axial direction H of the straight cylindrical portion 142 is h1, and the height of the second magnetic ring 132 along the axial direction H of the straight cylindrical portion 142 is h2, satisfying the relationship: 0mm ≤ |h1-h2| ≤ 5mm, that is, the absolute value of the height difference between the height h1 of the first magnetic ring 131 and the height h2 of the second magnetic ring 132 is in the range of 0 to 5mm. This achieves the hollow rotary joint module 100 in... Figure 3 The overall height in the vertical direction is smaller, reducing its volume and making it easier to miniaturize the hollow rotary joint module 100.

[0061] In some embodiments, for example, the absolute value of the height difference between the height h1 of the first magnetic ring 131 and the height h2 of the second magnetic ring 132 is 0. Of course, in other embodiments, the absolute value of the height difference between the height h1 of the first magnetic ring 131 and the height h2 of the second magnetic ring 132 can also be 1mm, 1.2mm, 1.5mm, 2mm, 2.5mm, 2.8mm, 3mm, 3.2mm, 3.5mm, 4.5mm, or 5mm.

[0062] like Figure 11 and Figure 12 As shown, it should be noted that in some embodiments, the harmonic reducer 110 includes a wave generator 111, a flexible bearing 113, a flexure wheel 112, and a rigid wheel 114 arranged sequentially from the inside to the outside. The flexible bearing 113 is installed between the wave generator 111 and the flexure wheel 112 to provide support and transmit force, while also accommodating the elastic deformation of the flexure wheel 112. The flexure wheel 112 is connected to the output flange 140. The flexure wheel 112 has a thin-walled cup-shaped structure made of alloy steel with external teeth at the open end, which can generate large elastic deformation under the action of the wave generator 111. When the motor flange 122 rotates, it drives the wave generator 111 to rotate, causing the flexure wheel 112 to undergo elastic deformation and mesh with the rigid wheel 114, thereby transmitting motion and power to the flexure wheel 112. The flexure wheel 112 rotates as a driven wheel, driving the output flange 140 to move.

[0063] like Figure 2 As shown, in some embodiments, the inner diameter of the motor flange 122 is larger than the outer diameter of the first magnetic ring flange 133, the outer diameter of the first magnetic ring flange 133 is larger than the outer diameter of the second magnetic ring flange 134, and a portion of the first magnetic ring flange 133 is located inside the motor flange 122. In this embodiment, a portion of the first magnetic ring flange 133 is embedded within the motor flange 122, making its structural layout more compact.

[0064] For example, the motor flange 122, the first magnetic ring flange 133, and the wave generator 111 are fixedly connected by bolts.

[0065] like Figure 7 and Figure 8As shown, in some embodiments, a first boss 1331 is provided circumferentially along the first magnetic ring flange 133, and the first magnetic ring 131 is mounted on the first boss 1331, which is located on the outer side wall of the first magnetic ring flange 133. A second boss 1341 is provided circumferentially along the second magnetic ring flange 134, which is located on the outer side wall of the second magnetic ring flange 134. The second magnetic ring 132 is mounted on the second boss 1341 and located inside the first magnetic ring flange 133, with the top surfaces of the second magnetic ring 132 and the first magnetic ring 131 on the same plane. Of course, the bottom surfaces of the second magnetic ring 132 and the first magnetic ring 131 can also be on the same plane.

[0066] It should be noted that the drive plate 101 of the hollow rotary joint module 100 is disposed opposite to the first magnetic ring 131 and the second magnetic ring 132, and the first magnetic ring 131 and the second magnetic ring 132 are disposed on one side of the back wave generator 111. It should be pointed out that the top surface of the first magnetic ring 131 and the second magnetic ring 132 faces the drive plate 101.

[0067] like Figure 3 and Figure 5 As shown, in some embodiments, the hollow rotary joint module 100 further includes a tray 150 and a first bearing 160. The tray 150 has a mounting cavity, and the harmonic reducer 110 is connected to the tray 150. Specifically, the rigid wheel 114 of the harmonic reducer 110 is fixedly connected to the tray 150 by bolts. The wave generator 111 is disposed through the mounting cavity and has a gap between it and the cavity wall. The first bearing 160 is located in the gap, with its inner ring abutting against the wave generator 111 and its outer ring abutting against the cavity wall to facilitate the rotation of the wave generator 111.

[0068] In this embodiment, the harmonic reducer 110 is fixed on the tray 150. The tray 150 has a simple structure, which facilitates the installation of the harmonic reducer 110.

[0069] In some embodiments, the tray 150 has a stepped portion 151 on the side facing the motor flange 122, and a retaining ring 152 is provided on the stepped portion 151. A portion of the retaining ring 152 abuts against the outer ring of the first bearing 160 on the side facing the motor flange 122. An annular boss 153 is provided in the mounting cavity, and a stepped structure 1111 is formed on the side of the wave generator 111 away from the straight cylindrical portion 142. The end of the first bearing 160 away from the motor flange 122 abuts against the annular boss 153 and the stepped structure 1111.

[0070] In this embodiment, the annular boss 153 and the stepped structure 1111 restrict the first bearing 160 from moving downward along the axial direction of the straight cylindrical portion 142. At the same time, the retaining ring 152 also prevents the first bearing 160 from moving upward along the axial direction of the straight cylindrical portion 142. Under these circumstances, the wave generator 111 is prevented from moving along the axial direction of the straight cylindrical portion 142, thereby improving the accuracy of the hollow rotary joint module 100.

[0071] like Figure 3 and Figure 6 As shown, in the embodiment of the tray 150 described above, a limiting member 1221 is further provided on the side of the motor flange 122 facing the first bearing 160, and the limiting member 1221 abuts against the inner ring of the first bearing 160 on the side facing the motor flange 122. In this embodiment, by the limiting member 1221 further abutting against the inner ring of the first bearing 160, the first bearing 160 is prevented from moving upward along the axial direction of the straight cylindrical portion 142, thereby preventing the wave generator 111 from shifting along the axial direction of the straight cylindrical portion 142.

[0072] In the embodiment of the limiting member 1221 described above, the limiting member 1221 and the motor flange 122 are integrally formed. This integral forming structure facilitates manufacturing and reduces the need for screwing during installation, thus lowering production costs and improving installation efficiency. Furthermore, the integral forming of the limiting member 1221 and the motor flange 122 increases the connection strength between them, improving reliability. Of course, in other embodiments, the limiting member 1221 can also be fixedly connected to the motor flange 122.

[0073] like Figure 3 As shown, in some embodiments, a third sealing ring 165 abuts between the tray 150 and the rigid wheel 114 to improve the sealing between the tray 150 and the rigid wheel 114.

[0074] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, the hollow rotary joint module 100 further includes a housing 170, the housing 170 having a receiving cavity 1701, the motor assembly 120 being disposed within the receiving cavity 1701, the stator 1211 being fixedly connected to the housing 170, and the tray 150 being connected to the housing 170. This facilitates the fixing of the motor assembly 120 and the tray 150, and also facilitates the installation of the harmonic reducer 110 on the tray 150.

[0075] like Figure 3As shown, in some embodiments, the hollow rotary joint module 100 further includes a second bearing 161 and a third bearing 162. The second bearing 161 and the third bearing 162 are sleeved on the straight cylindrical portion 142 and spaced apart. The side of the second bearing 161 facing away from the third bearing 162 abuts against the flange portion 141, and the outer rings of the second bearing 161 and the third bearing 162 abut against the inner side of the wave generator 111, respectively. In this embodiment, by setting the second bearing 161 and the third bearing 162, that is, by setting the second bearing 161 and the third bearing 162 spaced apart along the axial direction of the straight cylindrical portion 142, the radial runout of the straight cylindrical portion 142 during rotation is reduced, and its rotational accuracy is improved.

[0076] like Figure 13 As shown, in some embodiments, the housing 170 has heat dissipation holes 1702 that communicate with the accommodating cavity 1701. A heat dissipation device 180 is installed on the outer wall of the housing 170 at the heat dissipation holes 1702 to dissipate heat from the frameless motor 121. Exemplarily, the heat dissipation device 180 is a cooling fan. The drive plate 101 is fixed to the housing 170.

[0077] like Figure 1 As shown, in some embodiments, the housing 170 includes a housing body 171 and an end cap 172. The end cap 172 covers the opening of the housing body 171 on the side opposite to the output flange 140, and the tray 150 is fixed to the side of the housing body 171 opposite to the end cap 172. Further, the end cap 172 is provided with a connecting portion 173 for connecting to the robot body of the humanoid robot. The connecting portion 173 is integrally formed with the end cap 172; of course, the connecting portion 173 can also be fixedly connected to the end cap 172.

[0078] like Figure 13 As shown, in some embodiments, an annular connecting piece 174 is provided on the side of the housing body 171 facing the end cover 172. The end cover 172 and the annular connecting piece 174 are connected by bolts, and the drive plate 101 is also connected to the annular connecting piece 174 by bolts. Furthermore, a wire hole 1741 is provided on the annular connecting piece 174. The cable of the motor assembly 120 passes through the wire hole 1741 and is electrically connected to the drive plate 101 to realize the control of the motor assembly 120 by the drive plate 101.

[0079] like Figure 1 As shown, in some embodiments, a transition platform 175 is connected to the housing 170. The transition platform 175 is used to connect to the robot body of the humanoid robot, so as to facilitate the fixing of the hollow rotary joint module 100 to the robot body.

[0080] In the above embodiment, the connecting part 173 and the adapter 175 are respectively provided with connecting holes 1751 so as to be fixedly connected to the robot body by bolts.

[0081] like Figure 3 As shown, in some embodiments, a first sealing ring 163 is provided between the inner ring of the second bearing 161 and the straight cylindrical portion 142. The first sealing ring 163 abuts against both the inner ring of the second bearing 161 and the straight cylindrical portion 142. This increases the friction between the inner ring of the second bearing 161 and the straight cylindrical portion 142, facilitating rotation. Simultaneously, the first sealing ring 163 also provides a sealing effect. And / or a second sealing ring 164 is provided between the flange portion 141 and the harmonic reducer 110. The second sealing ring 164 abuts against both the flange portion 141 and the harmonic reducer 110. The provision of the second sealing ring 164 increases the sealing performance between the flange portion 141 and the harmonic reducer 110.

[0082] like Figure 3 As shown, in the above embodiment, exemplarily, a first sealing ring 163 is provided between the inner ring of the second bearing 161 and the straight cylindrical portion 142, and a second sealing ring 164 is provided between the flange portion 141 and the harmonic reducer 110.

[0083] Embodiments of this application also provide a humanoid robot, including a joint body and a hollow rotary joint module 100 as described in any of the above embodiments, wherein the hollow rotary joint module 100 is mounted on the joint body.

[0084] The humanoid robot provided in this embodiment includes the hollow rotary joint module 100 described in any of the above embodiments. Therefore, it has all the beneficial effects of the hollow rotary joint module 100, which will not be elaborated here.

[0085] For example, the joint body is the waist joint of a humanoid robot, and the hollow rotary joint module 100 is disposed at the waist joint. The wiring harness at the waist joint can be threaded through the straight cylindrical part 142 with the hollow structure 1421 for easy wiring. Of course, the joint body can also be a neck joint, arm joint, leg joint, etc.

[0086] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0087] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A hollow rotary joint module, characterized by, include: Harmonic reducer, including wave generator; A motor assembly includes a frameless motor and a motor flange. The frameless motor includes a stator and a rotor. The rotor is rotatably disposed inside the stator. The rotor is connected to the motor flange to drive the motor flange to rotate. The motor flange is connected to the wave generator. An encoder magnetic ring assembly includes a first magnetic ring, a second magnetic ring, a first magnetic ring flange, and a second magnetic ring flange. The first magnetic ring is disposed on the first magnetic ring flange, which is connected to the motor flange and the wave generator. The second magnetic ring is disposed on the second magnetic ring flange. The first magnetic ring and the second magnetic ring are located on the side of the motor flange away from the wave generator, and the top surface of the first magnetic ring and the top surface of the second magnetic ring are located on the same plane, and / or the bottom surface of the first magnetic ring and the bottom surface of the second magnetic ring are located on the same plane. An output flange includes a flange portion and a straight cylindrical portion. The straight cylindrical portion has openings at both ends and passes through the harmonic reducer, the first magnetic ring flange, and the second magnetic ring flange. One end of the straight cylindrical portion is connected to the flange portion, and the other end of the straight cylindrical portion is connected to the second magnetic ring flange. The flange portion is connected to the harmonic reducer.

2. The hollow rotary joint module of claim 1, wherein, The inner diameter of the motor flange is larger than the outer diameter of the first magnetic ring flange, the outer diameter of the first magnetic ring flange is larger than the outer diameter of the second magnetic ring flange, and a portion of the first magnetic ring flange is located inside the motor flange.

3. The hollow rotary joint module of claim 1, wherein, A first boss is provided along the circumference of the first magnetic ring flange, and the first magnetic ring is mounted on the first boss; a second boss is provided along the circumference of the second magnetic ring flange, and the second magnetic ring is mounted on the second boss.

4. Hollow rotary joint module according to any one of claims 1 to 3, characterized in that The hollow rotary joint module also includes: The tray has a mounting cavity, the harmonic reducer is connected to the tray, and the wave generator is disposed through the mounting cavity and has a gap between it and the cavity wall of the mounting cavity; A first bearing is located in the gap, with its inner ring abutting against the wave generator and its outer ring abutting against the wall of the mounting cavity.

5. The hollow rotary joint module of claim 4, wherein, The tray has a stepped portion on the side facing the motor flange, and a retaining ring is provided on the stepped portion. A portion of the retaining ring abuts against the outer ring of the first bearing on the side facing the motor flange. An annular boss is provided inside the mounting cavity, and a stepped structure is formed on the side of the wave generator away from the straight cylinder. The end of the first bearing away from the motor flange abuts against the annular boss and the stepped structure respectively.

6. The hollow rotary joint module of claim 5, wherein, A limiting member is provided on the side of the motor flange facing the first bearing, and the limiting member abuts against the side of the inner ring of the first bearing facing the motor flange.

7. The hollow rotary joint module of claim 4, wherein, The hollow rotary joint module also includes a housing with a receiving cavity, the motor assembly being disposed within the receiving cavity, and the tray being connected to the housing.

8. The hollow rotary joint module of claim 1, wherein, The hollow rotary joint module further includes a second bearing and a third bearing. The second bearing and the third bearing are sleeved on the straight cylindrical part and spaced apart. The side of the second bearing away from the third bearing abuts against the flange part. The outer rings of the second bearing and the third bearing abut against the inner side of the wave generator, respectively.

9. The hollow rotary joint module of claim 8, wherein, A first sealing ring is provided between the inner ring of the second bearing and the straight cylindrical portion, and the first sealing ring abuts against the inner ring of the second bearing and the straight cylindrical portion respectively; and / or a second sealing ring is provided between the flange portion and the harmonic reducer, and the second sealing ring abuts against the flange portion and the harmonic reducer respectively.

10. A humanoid robot, characterized by, It includes a joint body and a hollow rotary joint module as described in any one of claims 1 to 9, wherein the hollow rotary joint module is mounted on the joint body.

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