Magnet assembly for humanoid robot joint

Abstract

The utility model belongs to humanoid robot joint technical field, concretely relates to a magnet subassembly for humanoid robot joint, including joint module, the inner wall of joint module is installed with winding frame, the surface of winding frame is wound with winding, the inside of joint module is installed with rotor, the outside surface of rotor is connected with base, the surface of base is connected with magnetic steel, both sides of base are connected with limit side plate, the utility model discloses through the base is pasted and is installed on the surface of rotor, simultaneously through the utilization locking screw passes through base surface and is connected with rotor, after that, magnetic steel is assembled between two limit side plates and slides, and the side groove of magnetic steel side is along side card and slides and is engaged, simultaneously, the base and magnetic steel are glued and are connected between points, guarantee the stability when magnetic steel uses, avoid the phenomenon that appears and falls off, guarantee humanoid robot joint part precision stability, improve joint module service life simultaneously.

Description

Technical Field

[0001] This utility model belongs to the field of humanoid robot joint technology, specifically relating to a magnet assembly for humanoid robot joints. Background Technology

[0002] Magnet assemblies for humanoid robot joints are one of the core components enabling flexible and precise movement of humanoid robot joints. Primarily made of high-performance permanent magnet materials, they play a crucial role in servo motors, serving as the core component for driving, braking, and control within the humanoid robot joints. In terms of driving, they enable the motor to achieve high-precision torque output, rapid extension and contraction, and precise displacement, allowing the robot joints to rotate flexibly. In the braking system, their high magnetic reluctance characteristics reduce energy loss during motor braking, improve heat dissipation, and enable the robot to stop quickly and smoothly during high-speed movement or emergencies, avoiding inertial loss of control. In the control system, thanks to their high-frequency response characteristics, they allow the motor to respond to commands accurately in real time, ensuring stable and accurate movements.

[0003] Taking a frameless torque motor as an example, its stator is fixed to the outer ring of the robot joint and is covered with electromagnets. The rotor is installed on the inner ring of the joint and consists of a rotating steel ring assembly with permanent magnets. When the robot needs to move, the controller energizes the electromagnets of the stator, generating a magnetic field in a specific direction. The magnetic poles of the stator and the permanent magnets of the rotor generate attractive or repulsive forces. The stator magnetic poles switch rapidly in sequence, forming rotating "magnetic waves" that drive the rotor to rotate continuously, thereby directly driving the joint movement.

[0004] Specifically, during the long-term, high-frequency operation of humanoid robot joint modules, instantaneous impact forces and continuous vibrations are generated when the robot performs actions such as gait switching, sudden stops to grasp heavy objects, and limb collision buffering. These impact forces are transmitted to the surface-mounted magnets through the rotor core. Traditional adhesive fixing methods rely solely on the adhesive's adhesion to connect the magnets to the rotor; however, the adhesive is prone to fatigue cracking and adhesion decay under long-term impact. When the impact force exceeds the adhesive's adhesion threshold, the magnets may experience localized warping, displacement, or even complete detachment. Magnet detachment not only leads to distortion of the motor's air gap magnetic field, causing unstable torque output and reduced joint motion accuracy, but may also cause collisions between the magnets and stator windings, producing abnormal noise and wear. In severe cases, it can directly burn out the motor, leading to the paralysis of the entire joint module, significantly shortening the robot's maintenance cycle and increasing repair costs. Utility Model Content

[0005] The purpose of this invention is to provide a magnet assembly for humanoid robot joints, aiming to solve the problems of traditional adhesive fixing methods that rely solely on the adhesive's viscosity to connect the magnet to the rotor. These methods are prone to fatigue cracking and viscosity decay under long-term impact. When the impact force exceeds the adhesive's adhesion threshold, the magnet may experience localized warping, displacement, or even complete detachment. Magnet detachment not only leads to distortion of the motor's air gap magnetic field, causing unstable torque output and reduced joint motion accuracy, but may also cause collisions between the magnet and the stator windings, resulting in abnormal noise and wear. In severe cases, it can directly burn out the motor, leading to the paralysis of the entire joint module, significantly shortening the robot's maintenance cycle and increasing repair costs.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a magnet assembly for a humanoid robot joint, comprising a joint module, a winding frame installed on the inner wall of the joint module, windings wound on the surface of the winding frame, and a rotor installed inside the joint module;

[0007] The outer surface of the rotor is connected to a base, the surface of the base is connected to a magnet, both sides of the base are connected to limit side plates, one end of the limit side plate is connected to a side clip, the magnet is provided with a side groove on the side near the side clip, and a locking screw is connected through the base on the side near the magnet.

[0008] To prevent the magnet from falling off, as a magnet assembly for the joint of a humanoid robot according to this utility model, preferably, the base is made of aluminum alloy, and the arc shape on one side of the base matches the arc shape of the rotor surface.

[0009] In order to mitigate the impact, as a magnet assembly for a humanoid robot joint according to this utility model, preferably, the base has a reciprocating groove on the side near the rotor.

[0010] To facilitate quick assembly of the magnets, in the present invention, the limiting side plate and the side clip are preferably made of engineering plastic. The limiting side plate and the side clip form a sliding engagement structure with the side groove on the side of the magnet.

[0011] To facilitate stable installation of the base, as a magnet assembly for a humanoid robot joint according to this utility model, preferably, a locking groove is provided on the surface of the rotor near the locking screw, and the locking screw passes through the base and is threadedly connected to the locking groove on the surface of the rotor.

[0012] To ensure stable installation of the magnet, as a magnet assembly for humanoid robot joints according to this utility model, preferably, the curvature of the knob operating end of the locking screw matches the curvature of the base surface.

[0013] To ensure magnetic stability, the locking screw, as a magnet assembly for the joint of a humanoid robot according to this invention, is preferably made of a non-magnetic material, specifically austenitic stainless steel.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] This invention involves attaching a base to the surface of a rotor, connecting the base to the rotor via locking screws that pass through the base surface, then slidably assembling the magnet between two limiting side plates, and sliding the side groove of the magnet along the side clip to engage it. Additionally, adhesive is applied between the base and the magnet to ensure the stability of the magnet during use, prevent detachment, guarantee the precision and stability of the humanoid robot's joints, and extend the service life of the joint module. Attached Figure Description

[0016] 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:

[0017] Figure 1 This is a schematic diagram of the overall assembly structure of the joint module of the magnet assembly for humanoid robot joints.

[0018] Figure 2 This is a schematic diagram of the magnet mounting structure for a magnet assembly used in the joints of a humanoid robot.

[0019] Figure 3 This is an exploded view of the base mounting structure of the magnet assembly for the joints of a humanoid robot.

[0020] Figure 4 This is a schematic diagram showing the disassembled structure of the magnet in the magnet assembly used in the joints of a humanoid robot.

[0021] In the diagram: 1. Joint module; 2. Winding frame; 3. Winding; 4. Rotor; 5. Base; 6. Magnet; 7. Limiting side plate; 8. Side clip; 9. Side groove; 10. Locking screw; 11. Locking slot. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figure 1-4The present invention provides the following technical solution: a magnet assembly for a humanoid robot joint, including a joint module 1, a winding frame 2 installed on the inner wall of the joint module 1, a winding 3 wound on the surface of the winding frame 2, and a rotor 4 installed inside the joint module 1.

[0024] The outer surface of the rotor 4 is connected to the base 5, the surface of the base 5 is connected to the magnet 6, both sides of the base 5 are connected to the limiting side plate 7, one end of the limiting side plate 7 is connected to the inner side of the side plate 7, the magnet 6 is provided with a side groove 9 on the side near the side plate 8, and the base 5 is connected through the magnet 6 on the side near the magnet 6. A locking screw 10 is connected through the base 5.

[0025] Preferably, the base 5 is made of aluminum alloy, and the arc shape on one side of the base 5 matches the arc shape of the rotor 4 surface. In actual use, the base 5 facilitates the absorption of impact forces.

[0026] Preferably, a reciprocating groove is provided on the side of the base 5 near the rotor 4. In actual use, by providing a reciprocating groove on one side of the base 5, the deformation range of the base 5 is increased, thus mitigating the impact force.

[0027] Preferably, both the limiting side plate 7 and the side clip 8 are made of engineering plastic. The limiting side plate 7 and the side groove 9 on the side of the magnet 6 form a sliding fitting structure through the side clip 8. In actual use, the magnet 6 can be quickly assembled by sliding it along the limiting side plate 7 and the side clip 8.

[0028] Preferably, a locking groove 11 is provided on the surface of the rotor 4 near the locking screw 10, and the locking screw 10 passes through the base 5 and is threaded into the locking groove 11 on the surface of the rotor 4. In actual use, by threading the locking screw 10 through the base 5 and connecting it to the rotor 4, it is convenient to install the base 5 stably.

[0029] Preferably, the curvature of the knob operating end of the locking screw 10 matches the curvature of the base 5 surface. In actual use, the knob operating end of the locking screw 10 is designed to be interactive, ensuring a tight fit between the magnet 6 and the rotor 4, thereby ensuring the installation stability of the magnet 6.

[0030] Preferably, the locking screw 10 is made of a non-magnetic material, specifically austenitic stainless steel. In practical use, using austenitic stainless steel locking screws 10 ensures that the screws are completely non-magnetic, will not interfere with the magnetic field distribution of the magnet, and avoids magnetic leakage or magnetic field distortion.

[0031] The working principle of this utility model is as follows: First, the base 5 is attached to the surface of the rotor 4, and the locking screw 10 is connected to the locking groove 11 on the surface of the rotor 4 after passing through the surface of the base 5. Then, the magnet 6 is slidably assembled between the two limiting side plates 7, and the side groove 9 of the magnet 6 is slidably engaged along the side clip 8. At the same time, glue is applied between the base 5 and the magnet 6. When an impact occurs at the joint module, the base 5 elastically buffers the impact and deforms towards the reciprocating groove side, reducing the impact force rigidly acting on the magnet 6, ensuring the stability of the magnet 6 during use, preventing it from falling off, ensuring the precision and stability of the humanoid robot's joints, and improving the service life of the joint module. When the robot needs to move, the controller energizes the electromagnet of the stator to generate a magnetic field in a specific direction. The magnetic poles of the stator and the magnet 6 of the rotor 4 generate attractive or repulsive forces. The stator magnetic poles switch rapidly in sequence, forming a rotating "magnetic wave" that drives the rotor 4 to rotate continuously, thereby directly driving the joint movement, and thus enabling the robot to mimic humanoid walking.

[0032] 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 magnet assembly for a humanoid robot joint, comprising a joint module (1), characterized in that: The inner wall of the joint module (1) is equipped with a winding frame (2), the surface of the winding frame (2) is wound with a winding (3), and the inside of the joint module (1) is equipped with a rotor (4). The outer surface of the rotor (4) is connected to a base (5), the surface of the base (5) is connected to a magnet (6), both sides of the base (5) are connected to a limiting side plate (7), one end of the limiting side plate (7) is connected to a side clip (8), the magnet (6) is provided with a side groove (9) on the side near the side clip (8), and a locking screw (10) is connected through the base (5) on the side near the magnet (6).

2. The magnet assembly for a humanoid robot joint according to claim 1, characterized in that: The base (5) is made of aluminum alloy, and the arc shape on one side of the base (5) is adapted to the arc shape on the surface of the rotor (4).

3. The magnet assembly for a humanoid robot joint according to claim 1, characterized in that: The base (5) has a reciprocating groove on the side near the rotor (4).

4. A magnet assembly for a humanoid robot joint according to claim 1, characterized in that: The limiting side plate (7) and the side clip (8) are both made of engineering plastic. The limiting side plate (7) forms a sliding fitting structure with the side groove (9) on the side of the magnet (6) through the side clip (8).

5. A magnet assembly for a humanoid robot joint according to claim 1, characterized in that: The rotor (4) has a locking groove (11) on its surface near the locking screw (10), and the locking screw (10) passes through the base (5) and is threadedly connected to the locking groove (11) on the surface of the rotor (4).

6. A magnet assembly for a humanoid robot joint according to claim 1, characterized in that: The curvature of the knob operation end of the locking screw (10) matches the curvature of the base (5) surface.

7. A magnet assembly for a humanoid robot joint according to claim 1, characterized in that: The locking screw (10) is made of a non-magnetic material, specifically austenitic stainless steel.

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