A motor for a robot, a mechanical leg and a humanoid robot

Abstract

The utility model discloses a kind of motor for robot, mechanical leg and humanoid robot.One kind of motor for robot, including motor body and gear box, the end of motor body and the end of gear box are separately provided with first boss and second boss that project radially outwards along motor shaft, first boss is butt-jointed with second boss;Further including connecting piece, connecting piece is equipped with connecting groove, first boss and second boss are inserted into connecting groove, the groove wall of connecting groove is matched with first boss and second boss, to limit the relative displacement of motor body and gear box in butt-joint direction;Connecting piece is connected with motor body and gear box.It also discloses a kind of mechanical leg, using the motor of any one of above-mentioned scheme.It also discloses a kind of humanoid robot, using above-mentioned mechanical leg.Advantages are: make the connection flange structure of motor body and gear box become very light and thin compact, realize the size minimization and lightest of entire drive unit under the premise of guaranteeing superhigh reliability.

Description

Technical Field

[0001] This utility model relates to the field of robot drive technology, specifically to a robot motor, mechanical legs, and humanoid robot. Background Technology

[0002] Robots, especially humanoid robots, quadruped robots, or other mobile robots, need to withstand extremely high and frequent axial impact loads and radial tensile loads when performing dynamic actions such as running, jumping, falling, or being subjected to load impacts. This drive unit typically consists of two parts: a motor that provides power and a gearbox that reduces speed and amplifies torque. Currently, the industry commonly uses bolts to connect the motor and gearbox as a single unit.

[0003] This traditional bolted connection method has an inherent technical contradiction: to ensure reliable connection and the ability to transmit enormous impact forces without being sheared, the connecting bolts must have sufficient strength, stiffness, and quantity. This usually means using bolts with larger diameters and higher performance grades, and designing thicker flange structures to provide sufficient thread engagement length and support strength. However, all of this directly leads to an increase in the radial and axial dimensions and weight of the entire motor structure. This runs counter to the core goals of robot joint design: lightweight, compact, and high power density.

[0004] In other words, the existing connection methods between the motor and gearbox present an irreconcilable contradiction between ensuring connection strength and controlling the size of the structure. To meet the reliability requirements of robots under high dynamic performance, it is often necessary to sacrifice size and weight. Therefore, there is an urgent need in this field for an innovative connection structure that can fundamentally optimize the force transmission path, effectively reducing the overall size and weight of the drive unit while ensuring or even improving connection reliability. Utility Model Content

[0005] The purpose of this invention is to provide a robot motor, mechanical leg, and humanoid robot that can effectively solve the problem that the connection between the motor body and gearbox of existing robot motors is too large, resulting in an increase in the overall circumferential size of the robot.

[0006] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution: A robot motor includes a motor body and a gearbox. The gearbox is fixed to one end of the motor body. The end of the motor body is provided with a first boss that protrudes radially outward along the motor shaft. The end of the gearbox is provided with a second boss that protrudes radially outward along the motor shaft. The first boss and the second boss are mated together. It also includes a connector with a connecting groove, the first boss and the second boss being inserted into the connecting groove together, the groove wall of the connecting groove cooperating with the first boss and the second boss to limit the relative displacement of the motor body and the gearbox in the docking direction; the connector is connected to the motor body and the gearbox.

[0007] In the aforementioned robot motor, connecting ears are provided at both ends of the connecting groove along the docking direction between the motor body and the gearbox. The connecting ears are detachably connected to the corresponding motor body and gearbox by bolts.

[0008] In the above-mentioned robot motor, a first fixing groove is formed on the end face of the motor body, a second fixing groove is formed on the end face of the gearbox, and a connecting piece is also included. The connecting piece is inserted into the first fixing groove and the second fixing groove, and a threaded hole adapted to the bolt is formed on the connecting piece.

[0009] In the aforementioned robot motor, each connecting ear is connected to two bolts, and correspondingly, there are also two first fixing slots, two fixing slots, and two connecting pieces.

[0010] In the aforementioned robot motor, the side wall of the motor body and the side wall of the gearbox are respectively provided with clearance grooves, and the connecting lug of the connector is placed in the corresponding clearance groove.

[0011] In the aforementioned robot motor, the first boss, the second boss, and the connector form a connection structure, and there are multiple connection structures that are evenly distributed circumferentially around the motor shaft.

[0012] In the aforementioned robot motor, the end face of the motor body is provided with a positioning boss extending toward the gearbox, and the end face of the gearbox is provided with a positioning groove that mates with the positioning boss.

[0013] In the aforementioned robot motor, the connecting groove has a first groove wall and a second groove wall arranged opposite to each other along the docking direction. The first groove wall abuts against the end face of the first boss away from the second boss, and the second groove wall abuts against the end face of the second boss away from the first boss.

[0014] In the aforementioned robot motor, the first groove wall and the end face of the first boss away from the second boss are in surface contact, and the second groove wall and the end face of the second boss away from the first boss are in surface contact.

[0015] In the aforementioned robot motor, the end face of the first boss facing away from the second boss is a first inclined surface, and the end face of the second boss facing away from the first boss is a second inclined surface, such that the thickness of the first boss and the second boss after docking gradually decreases in the direction away from the center of the motor; the first groove wall is a third inclined surface adapted to the first inclined surface, and the second groove wall is a fourth inclined surface adapted to the second inclined surface, such that the connecting groove has a structure with a large opening and a small interior.

[0016] A robotic leg was also disclosed, employing the motor described in any of the aforementioned solutions. Applying this motor to the knee, hip, and other joints of the robotic leg can significantly improve the joint's output torque and response speed without increasing joint size and weight. This is the material basis for enabling robots to run at high speeds, jump high, and carry heavy loads.

[0017] A humanoid robot using the aforementioned mechanical legs was also disclosed. The humanoid robot can achieve faster walking speed, more flexible turning, higher jump height and greater crossing distance, and its movement posture is more natural, smooth and closer to that of a human.

[0018] Compared with the prior art, the advantages of this utility model are: When the motor is subjected to impact force, the axial impact force is borne and transmitted by the end faces of the first and second bosses that are directly connected, forming an efficient surface-to-surface bearing path with a short and direct force flow; when the motor is subjected to tension force, the axial tension force is transmitted by the groove wall of the connector and the opposite end faces of the bosses abutting against each other, forming a reliable surface-to-surface pulling path.

[0019] Under the aforementioned mechanical path, the connection methods between the connector and the motor body / gearbox, such as welding and bolting, no longer function as components bearing the main working loads (tensile or impact forces). Their role is limited to providing preload to fix the relative position of the connector and the motor body / gearbox, ensuring that the groove wall and the boss end face are always in a contact state that can effectively transmit loads. Thus, if bolting is used, the bolts only serve a positioning and preload function, without requiring high shear strength, allowing for the selection of smaller, lower-grade bolts. Furthermore, the boss no longer needs through holes for bolts, avoiding strength reduction and allowing for a smaller radial dimension. This structure makes the connecting flange structure between the motor body and gearbox very thin and compact, achieving minimization of the entire drive unit's size and weight while ensuring ultra-high reliability.

[0020] Furthermore, along the mating direction between the motor body and the gearbox, connecting ears are provided at both ends of the connecting groove. These connecting ears are detachably connected to the corresponding motor body and gearbox via bolts. As an extension of the connecting component, the connecting ears provide an ideal installation position for the bolts. The tightening force of the bolts not only fixes the connecting component but also further presses the first and second bosses tightly within the connecting groove, eliminating potential gaps and forming a pre-tightened, more rigid whole.

[0021] Furthermore, a first fixing groove is formed on the end face of the motor body, and a second fixing groove is formed on the end face of the gearbox. A connecting piece is also included, inserted into the first and second fixing grooves, and has a threaded hole adapted to the bolt. The connecting piece spans the mating surfaces of the motor body and the gearbox, and the bolt applies pressure through the hole in the connecting piece. The connecting piece converts this concentrated pressure into a uniform surface pressure across the entire fixing groove. This significantly increases the force-bearing area and significantly reduces the load per unit area, effectively protecting the housings of the motor and gearbox.

[0022] Furthermore, each connecting lug is connected to two bolts, and correspondingly, the first fixing groove, the second fixing groove, and the connecting piece are also configured in pairs. A single bolt would cause load concentration and may cause slight warping of the connecting lug due to torque. The symmetrical arrangement of the two bolts can evenly distribute the load on the connecting lug and the connecting piece. This balanced load distribution effectively suppresses warping deformation of the connecting lug, ensures that the connecting groove and the boss always maintain a tight surface contact, thereby maintaining the high rigidity and stability of the entire connection structure and further extending the fatigue life of the system.

[0023] Furthermore, the sidewalls of the motor body and the gearbox are respectively provided with clearance grooves, and the connecting lugs of the connector are accommodated within the corresponding clearance grooves. The clearance grooves specifically provided on the sidewalls of the motor body and gearbox, with the connecting lugs of the connector housed within these grooves, ensure that the connecting lugs and their bolts do not exceed the original outer contour of the motor housing after installation. This maintains a reduction in the radial dimension of the motor, and the motor's outer contour is a continuous and regular cylindrical surface, greatly facilitating the integration of the motor with other components, reducing interference risks that need to be considered during design and assembly, and providing greater freedom for the overall layout of the robot joints.

[0024] Furthermore, the first boss, the second boss, and the connector form a connection structure, and there are multiple connection structures evenly distributed circumferentially around the motor shaft. These multiple connection structures, evenly distributed around the motor axis, clamp and position the motor body and gearbox from multiple directions. This multi-point, symmetrical constraint method automatically averages machining and assembly errors, forcing both to maintain extremely high coaxiality.

[0025] Furthermore, the end face of the motor body is provided with a positioning boss extending toward the gearbox, and the end face of the gearbox has a positioning groove that mates with the positioning boss. Inserting the positioning boss into the positioning groove instantly achieves high-precision alignment between the motor body and the gearbox, which ensures perfect alignment of all subsequent connection structures from the source, laying a solid foundation for achieving high coaxiality.

[0026] Furthermore, the connecting groove has a first groove wall and a second groove wall arranged opposite to each other along the mating direction. The first groove wall abuts against the end face of the first boss away from the second boss, and the second groove wall abuts against the end face of the second boss away from the first boss. Through the double-groove wall design of the connecting groove, the axial tensile force between the motor body and the gearbox is directly converted into surface contact pressure between the connector and the boss, achieving extremely high axial stiffness and impact resistance, while effectively protecting the bolts used for fixing.

[0027] Furthermore, the first groove wall and the end face of the first boss away from the second boss are in surface contact, and the second groove wall and the end face of the second boss away from the first boss are in surface contact. Surface contact distributes the tensile force evenly across the entire contact surface, minimizing the stress per unit area. This is the most effective way to prevent material fatigue and avoid structural failure, especially for robot motors that need to withstand long-term, repeated impact loads; it is the fundamental guarantee for ensuring their long lifespan and high reliability.

[0028] Furthermore, the end face of the first boss facing away from the second boss is a first inclined surface, and the end face of the second boss facing away from the first boss is a second inclined surface, so that the thickness of the first and second bosses after docking gradually decreases in the direction away from the center of the motor; the first groove wall is a third inclined surface adapted to the first inclined surface, and the second groove wall is a fourth inclined surface adapted to the second inclined surface, so that the connecting groove has a structure with a large opening and a small interior. When installing the connector, precise alignment is not required, as the inclined surfaces will automatically guide the connector to slide into the correct position. Under the action of bolt preload, the inclined surface fit can naturally pull the motor body and gearbox to the tightest state, simplifying the assembly process and ensuring the uniformity of preload. Attached Figure Description

[0029] Figure 1 This is a perspective view of a robot motor according to the present invention; Figure 2 This utility model relates to an explosion of a robot motor. Figure 1 ; Figure 3 This utility model relates to an explosion of a robot motor. Figure 2 ; Figure 4 This is a top view of a robot motor according to the present invention; Figure 5 for Figure 4 Sectional view of AA; Figure 6 This utility model relates to an explosion of a robot motor. Figure 3 ; Figure 7 This is a perspective view of a mechanical leg according to the present invention.

[0030] The attached figures are labeled as follows: Motor 100; Motor body 110, first boss 111, first inclined surface 1111, first fixing groove 112, motor shaft 113, positioning boss 114; Gearbox 120, second boss 121, second inclined surface 1211, second fixing groove 122, positioning groove 123; Connector 130, connecting groove 131, first groove wall 1311, second groove wall 1312, connecting lug 132; Connecting piece 140, threaded hole 141; Bolt 150; 160mm clearance groove. Detailed Implementation

[0031] A robot motor includes a motor body 110 and a gearbox 120. The gearbox 120 is fixed to one end of the motor body 110. The end of the motor body 110 is provided with a first boss 111 that protrudes radially outward along the motor shaft 113. The end of the gearbox 120 is provided with a second boss 121 that protrudes radially outward along the motor shaft 113. The first boss 111 and the second boss 121 are connected. It also includes a connector 130, which has a connecting groove 131. The first boss 111 and the second boss 121 are inserted into the connecting groove 131. The groove wall of the connecting groove 131 cooperates with the first boss 111 and the second boss 121 to limit the relative displacement of the motor body 110 and the gearbox 120 in the docking direction. The connector 130 is connected to the motor body 110 and the gearbox 120.

[0032] When the motor is subjected to impact force, the axial impact force on the motor is borne and transmitted by the end faces of the first boss 111 and the second boss 121 that are directly connected, forming an efficient surface-to-surface bearing path with a short and direct force flow; when the motor is subjected to tension force, the axial tension force on the motor is transmitted by the groove wall of the connector 130 and the opposite end faces of the bosses abutting against each other, forming a reliable surface-to-surface pulling path.

[0033] Under the aforementioned mechanical path, the connection method between connector 130 and motor body 110 / gearbox 120, such as welding or bolt 150 connection, no longer serves as a component bearing the main working load (tensile or impact force). Its function is limited to providing preload to fix the relative position of connector 130 and motor body 110 / gearbox 120, ensuring that the groove wall and boss end face are always in an abutment state that can effectively transmit load. Thus, if bolt 150 connection is used, bolt 150 only serves a positioning and preload function, without requiring huge shear strength, so smaller size and lower grade bolt 150 can be selected. Furthermore, the boss no longer needs to open through holes for bolt 150 to pass through, avoiding strength reduction and allowing its radial dimension to be designed to be smaller. Through the above structure, the connection flange structure between motor body 110 and gearbox 120 becomes very thin and compact, achieving minimization of size and weight of the entire drive unit while ensuring ultra-high reliability.

[0034] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0035] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0036] 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0037] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," 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, an electrical connection, or a connection that allows communication between them; 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0038] See Figures 1 to 6 This invention relates to an embodiment of a robot motor. The robot motor includes a motor body 110 and a gearbox 120. The motor body 110 has a motor shaft 113 extending towards the gearbox 120. After extending into the gearbox 120, the motor shaft 113 connects with a drive gear inside the gearbox 120, and power is output to the output shaft of the gearbox 120 through a meshing gear set within the gearbox 120. To facilitate the connection between the motor body 110 and the gearbox 120, both the connecting end faces of the motor body 110 and the gearbox 120 are typically made flat.

[0039] The motor body 110 has a first boss 111 protruding radially outward along the motor shaft 113 at its end, and the gearbox 120 has a second boss 121 protruding radially outward along the motor shaft 113 at its end. The first boss 111 and the second boss 121 are mated together. In this embodiment, the mating of the first boss 111 and the second boss 121 means that the end face of the first boss 111 facing the second boss 121 abuts against the end face of the second boss 121 facing the first boss 111.

[0040] In the traditional installation method, bolt holes 150 are made on the first boss 111 and the second boss 121. The motor body 110 and the gearbox 120 are connected together by bolts 150 passing through the bolt holes along the motor shaft 113. This requires the first boss 111 and the second boss 121 to protrude outward by a sufficient length to ensure that the first boss 111 and the second boss 121 have sufficient strength after the bolt holes 150 are made. This setting increases the outward protrusion length of the first boss 111 and the second boss 121, resulting in a larger diameter of the entire motor.

[0041] In this embodiment, the motor further includes a connector 130. The connector 130 has a connecting groove 131. A first boss 111 and a second boss 121 are inserted into the connecting groove 131. The groove wall of the connecting groove 131 cooperates with the first boss 111 and the second boss 121 to limit the relative displacement of the motor body 110 and the gearbox 120 in the mating direction. The connector 130 connects the motor body 110 and the gearbox 120. In this embodiment, for ease of description, the motor body 110 is defined as above and the gearbox 120 as below. After the first boss 111 and the second boss 121 are mated, they are inserted into the connecting groove 131. The upward-facing surface of the first boss 111 abuts against the top surface of the connecting groove 131, and the downward-facing surface of the second boss 121 abuts against the bottom surface of the connecting groove 131. The connector 130 prevents the motor body 110 and the gearbox 120 from separating in the vertical direction.

[0042] When the motor is subjected to axial impact force, the axial impact force is borne and transmitted by the end faces of the first boss 111 and the second boss 121 that directly abut against each other; when the motor is subjected to axial tension force, the force is transmitted by the groove wall of the connector 130 abutting against the first boss 111 and the second boss 121. In this way, as long as the connector 130 and the bosses have sufficient strength, compared to setting bolt holes 150 on the bosses for bolt connection, the length of the bosses extending radially along the motor shaft 113 can be significantly reduced, thereby reducing the overall radial dimension of the motor. Furthermore, the connection point between the connector 130 and the motor body 110 or gearbox 120 only needs to ensure the relative position of the connector 130 and the motor body 110 or gearbox 120, and does not need to bear the impact or tension force on the motor.

[0043] Furthermore, along the docking direction of the motor body 110 and the gearbox 120, that is, along the vertical direction, connecting ears 132 are respectively provided at both ends of the connecting groove 131. The connecting ears 132 are detachably connected to the corresponding motor body 110 and gearbox 120 by bolts 150. The width of the connecting ears 132 can be the same as the width of the connecting groove 131, and the length of the connecting ears 132 should be determined according to the strength of the connecting member 130 to ensure that the connecting ears 132 will not deform after the bolts 150 pass through. As an extension of the connecting member 130, the connecting ears 132 provide an ideal installation position for the bolts 150. The tightening force of the bolts 150 not only fixes the connecting member 130, but also further enables the connecting member 130 to apply a radially inward abutting force to the first boss 111 and the second boss 121 from multiple directions, pressing the first boss 111 and the second boss 121 in the connecting groove 131, eliminating potential gaps, and forming a pre-tightened, more rigid whole. During assembly, the motor body 110 and gearbox 120 can be initially positioned by the boss and the connecting groove 131. At this time, the relative positions of the two have been determined. Then, the bolts 150 on the connecting lug 132 can be tightened to complete the final fixation.

[0044] Furthermore, the motor body 110 has a first fixing groove 112 on its end face, and the gearbox 120 has a second fixing groove 122 on its end face. The motor also includes a connecting piece 140, which is inserted into the first fixing groove 112 and the second fixing groove 122. The connecting piece 140 has a threaded hole 141 that matches the bolt 150. That is, the length of the connecting piece 140 is equal to the sum of the depths of the first fixing groove 112 and the second fixing groove 122, so that the end faces of the motor body 110 and the gearbox 120 can fit together completely. Directly tapping and screwing the bolt 150 into the thin-walled housing of the motor body 110 or the gearbox 120 will cause the preload and working load of the bolt 150 to be highly concentrated around the threaded hole 141, which can easily lead to the housing material being crushed or cracked, especially on light metal materials such as aluminum alloys. The connecting piece 140 spans the mating surfaces of the motor body 110 and the gearbox 120, and the bolt 150 applies pressure through the threaded hole 141 on the connecting piece 140. The connecting piece 140 converts this pressure into uniform surface pressure on the groove walls of the first fixing groove 112 and the second fixing groove 122, greatly increasing the force-bearing area and significantly reducing the load per unit area, effectively protecting the housings of the motor and gearbox 120. In addition, the connecting piece 140 effectively functions as an internal flange. Because the connecting piece 140 is positioned within the fixing groove, the motor body 110 and gearbox 120 do not need to be designed with heavy flange faces to provide thread support, thus achieving a high-strength connection while maintaining a compact and lightweight overall shape.

[0045] In the above embodiment, each connecting lug 132 is provided with two bolts 150, and the corresponding first fixing groove 112, second fixing groove 122, and connecting piece 140 are also provided in twos, that is, each connecting piece 140 is provided with two threaded holes 141. One threaded hole 141 is connected to the bolt 150 passing through the motor body 110, and the other threaded hole 141 is connected to the bolt 150 passing through the gearbox 120. By adopting a double bolt 150 design on each connecting lug 132, a high degree of redundancy and balanced load distribution of the connection structure are achieved, thereby greatly improving the failure resistance, stability, and safety of the entire connection system. Providing two bolts 150 on a single connecting lug 132 forms a double insurance; even in extreme cases, if one bolt 150 fails due to fatigue or accident, the other bolt 150 can still continue to bear the load, preventing the connection structure from collapsing instantly. This provides valuable safety redundancy for the robot when performing critical tasks, avoiding catastrophic consequences. In addition, a single bolt 150 can cause load concentration and may cause slight warping of the connecting lug 132 due to torque. The symmetrical arrangement of the two bolts 150 can distribute the load evenly on the connecting lug 132 and the connecting piece 140. This balanced load distribution effectively suppresses the warping deformation of the connecting lug 132 and ensures that the connecting groove 131 and the boss always maintain a tight surface contact, thereby maintaining the high rigidity and stability of the entire connection structure and further extending the fatigue life of the system.

[0046] Furthermore, after connection via bolt 150, the head of bolt 150 can easily protrude from the motor body 110 or gearbox 120, affecting the motor's dimensions or potentially causing interference with other components. Therefore, clearance grooves 160 are provided on the side walls of the motor body 110 and gearbox 120, with the connecting lug 132 of the connector 130 housed within the corresponding clearance groove 160. By providing clearance grooves 160 on the housing, the connector 130 is completely concealed, minimizing the impact of the connection structure on the overall motor dimensions and ultimately achieving an extremely compact design.

[0047] Components such as bolts 150, nuts, or connecting lugs 132 inevitably protrude from the motor body, increasing the space occupied by the device and potentially interfering with other parts in confined spaces. To address this, clearance grooves 160 are specially provided on the side walls of the motor body 110 and gearbox 120, concealing the connecting lugs 132 of the connector 130 within these grooves. This design ensures that the connecting lugs 132 and their bolts 150, after installation, do not extend beyond the original outer contour of the motor housing. This greatly facilitates the integration of the motor with other components, reduces interference risks that need to be considered during design and assembly, and provides greater freedom for the overall layout of the robot joints.

[0048] Based on the above embodiments, the first boss 111, the second boss, and the connector 130 form a connection structure. Multiple connection structures are evenly distributed circumferentially around the motor shaft 113. In this embodiment, four sets of connection structures are actually provided. By arranging multiple evenly distributed connection structures circumferentially, symmetrical and uniform load distribution is achieved, thereby significantly improving the coaxiality, overall rigidity, and torsional resistance of the connection. Traditional connection methods, using a small number of bolts 150, are prone to uneven force distribution or machining errors, leading to eccentricity between the motor body 110 and the gearbox 120 axis, affecting transmission accuracy and bearing life. Now, through multiple connection structures evenly distributed circumferentially around the motor shaft 113, the motor body 110 and gearbox 120 are clamped and positioned from multiple directions. This multi-point, symmetrical constraint method can automatically average machining and assembly errors, forcing the motor body 110 and gearbox 120 to maintain a high degree of coaxiality. Furthermore, in this structure, the torque output by the motor and the reaction torque from the external load are shared by all the connecting structures. This significantly increases the torsional section modulus of the entire connection system, enabling it to transmit much greater torque than single-point or few-point connections. This is a crucial performance indicator for robot joint motors that require frequent starts, stops, and reversals.

[0049] In this embodiment, the end face of the motor body 110 is provided with a positioning boss 114 extending toward the gearbox 120, and the end face of the gearbox 120 is provided with a positioning groove 123 that mates with the positioning boss 114. In the circumferential direction surrounding the axis of the motor shaft 113, the positioning boss 114 and the first boss 111 can be spaced apart, and the positioning groove 123 and the second boss 121 can also be spaced apart. Through the cooperation of the positioning boss 114 and the positioning groove 123, the motor body 110 and the gearbox 120 are further positioned in the circumferential direction surrounding the axis of the motor shaft 113, preventing relative rotation between them in the circumferential direction. When assembling the motor body 110 and the gearbox 120, inserting the positioning boss 114 into the positioning groove 123 instantly completes the high-precision alignment of the motor body 110 and the gearbox 120. This ensures perfect alignment of all subsequent connection structures from the source, laying a solid foundation for achieving high coaxiality.

[0050] Based on the above embodiments, the connecting groove 131 has a first groove wall 1311 and a second groove wall 1312 arranged opposite to each other along the docking direction. The first groove wall 1311 abuts against the end face of the first boss 111 away from the second boss 121, and the second groove wall 1312 abuts against the end face of the second boss 121 away from the first boss 111. Through the double groove wall design of the connecting groove 131, the axial tensile force between the motor body 110 and the gearbox 120 is directly converted into the contact pressure between the connector 130 and the boss, achieving extremely high axial stiffness and impact resistance, while effectively protecting the bolts 150 used for fixing.

[0051] Furthermore, the end face of the first groove wall 1311 opposite to the end face of the first boss 111 and the end face of the second boss 121 opposite to the end face of the second groove wall 1312 and the end face of the second boss 121 opposite to the end face of the first boss 111 is in surface contact. This maximizes the contact area of ​​the connecting surfaces, thereby achieving optimal stress distribution and significantly improving the fatigue resistance and long-term reliability of the connection structure. Surface contact evenly distributes tensile force across the entire contact surface, minimizing the stress per unit area. This is the most effective way to prevent material fatigue and avoid structural failure, especially for robot motors that need to withstand long-term, repeated impact loads. This is the fundamental guarantee for ensuring their long lifespan and high reliability.

[0052] Furthermore, the end face of the first boss 111 facing away from the second boss 121 is a first inclined surface 1111, and the end face of the second boss 121 facing away from the first boss 111 is a second inclined surface 1211, so that the thickness of the first boss 111 and the second boss 121 after docking gradually decreases in the direction away from the center of the motor; the first groove wall 1311 is a third inclined surface adapted to the first inclined surface 1111, and the second groove wall 1312 is a fourth inclined surface adapted to the second inclined surface 1211, so that the connecting groove 131 has a structure with a large opening and a small interior. When installing the connector 130, no precise alignment is required, and the inclined surfaces will automatically guide the connector 130 to slide into the correct position. Under the preload of the bolt 150, the inclined surface fit can naturally pull the motor body 110 and the gearbox 120 to the tightest state, simplifying the assembly process and ensuring the uniformity of preload.

[0053] During installation, the motor body 110 and gearbox 120 are assembled vertically. The connecting piece 140 is inserted into the second fixing groove 122, and the output shaft of the motor body 110 is aligned with the connecting hole of the gearbox 120. At the same time, the positioning boss 114 on the bottom surface of the motor body 110 is aligned with the positioning groove 123 on the top surface of the gearbox 120. The positioning boss 114 is inserted into the positioning groove 123, and the connecting piece 140 is also inserted into the first fixing groove 112. After the initial docking of the motor body 110 and the gearbox 120 is completed, the bottom surface of the first boss 111 and the top surface of the second boss 121 are tightly fitted together. Subsequently, the connecting groove 131 of the connector 130 is pushed radially inward toward the first boss 111 and the second boss 121, so that the first boss 111 and the second boss 121 are inserted into the connecting groove 131. During insertion, since the first boss 111, the second boss 121 and the groove wall of the connecting groove 131 are all inclined surfaces, precise alignment is not required to insert the outer ends of the first boss 111 and the second boss 121 into the connecting groove 131. As the connector 130 is pushed radially toward the center of the motor, the inclined surfaces can automatically complete the alignment of the connecting groove 131. After the connecting groove 131 is pushed to the bottom, the bolt 150 passes through the connecting ear 132 of the connector 130 and engages with the threaded groove of the connecting piece 140 to achieve a fixed connection between the connector 130 and the motor body 110 and the gearbox 120, thus completing the motor assembly.

[0054] This invention systematically resolves the inherent contradictions between strength, size, and reliability in traditional motor connection schemes through a highly collaborative and innovative design. It abandons the heavy flanges and through bolts 150, instead employing a compact external connection structure. Through surface contact, the axial load is directly borne by the structural components, achieving a high-strength connection with zero radial increment. The uniform circumferential distribution of multiple connection points, coupled with independent high-precision positioning references, ensures excellent coaxiality, overall rigidity, and torsional resistance between the motor and gearbox 120. Furthermore, through detailed optimizations such as the connecting piece 140, double bolts 150, and clearance groove 160, this solution achieves high reliability and ease of maintenance while protecting the thin-walled shell and avoiding stress concentration. Ultimately, it constructs an integrated connection system that balances extreme compactness, ultra-high strength, dynamic self-locking, and long-term reliability, perfectly meeting the application requirements of high power density and high dynamic response, such as in robotics.

[0055] like Figure 7 As shown, this embodiment also discloses a mechanical leg that uses the motor 100 described in any of the above solutions. Applying this motor to the knee joint, hip joint, and other parts of the mechanical leg can significantly improve the joint's output torque and response speed without increasing the joint's size and weight. This is the material basis for realizing the robot's high-speed running, high jumping height, and strong load-bearing capacity.

[0056] In addition, this embodiment also discloses a humanoid robot that uses the aforementioned mechanical legs. The humanoid robot can achieve faster walking speed, more flexible turning, higher jumping height and greater crossing distance, and its movement posture is more natural, smooth and closer to that of a human.

[0057] The above description is only a specific embodiment of the present utility model, but the technical features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A robot motor, comprising a motor body and a gearbox, wherein the gearbox is fixed to one end of the motor body, characterized in that: The end of the motor body is provided with a first boss that protrudes outward along the motor shaft radially, and the end of the gearbox is provided with a second boss that protrudes outward along the motor shaft radially, with the first boss and the second boss being connected. It also includes a connector, which has a connecting groove. The first boss and the second boss are inserted into the connecting groove together. The groove wall of the connecting groove cooperates with the first boss and the second boss to limit the relative displacement of the motor body and the gearbox in the docking direction. The connector is connected to the motor body and the gearbox.

2. The robot motor according to claim 1, characterized in that: Along the docking direction between the motor body and the gearbox, each end of the connecting groove is provided with a connecting lug, which is detachably connected to the corresponding motor body and gearbox by bolts.

3. The robot motor according to claim 2, characterized in that: The motor body has a first fixing groove on its end face and the gearbox has a second fixing groove on its end face. The robot motor also includes a connecting piece, which is inserted into the first fixing groove and the second fixing groove, and the connecting piece has a threaded hole that matches the bolt.

4. The robot motor according to claim 3, characterized in that: Each connecting lug is connected to two bolts, and correspondingly, there are two first fixing slots, two fixing slots, and two connecting pieces.

5. The robot motor according to claim 2, characterized in that: The side wall of the motor body and the side wall of the gearbox are respectively provided with clearance grooves, and the connecting lug of the connector is placed in the corresponding clearance groove.

6. The robot motor according to claim 1, characterized in that: The first boss, the second boss, and the connector form a connection structure, and there are multiple connection structures that are evenly distributed circumferentially around the motor shaft.

7. The robot motor according to claim 1, characterized in that: The end face of the motor body is provided with a positioning boss extending toward the gearbox, and the end face of the gearbox is provided with a positioning groove that mates with the positioning boss.

8. The robot motor according to claim 1, characterized in that: The connecting groove has a first groove wall and a second groove wall arranged opposite to each other along the docking direction. The first groove wall abuts against the end face of the first boss away from the second boss, and the second groove wall abuts against the end face of the second boss away from the first boss.

9. The robot motor according to claim 8, characterized in that: The first groove wall and the end face of the first boss away from the second boss are in surface contact, and the second groove wall and the end face of the second boss away from the first boss are in surface contact.

10. The robot motor according to claim 8, characterized in that: The end face of the first boss away from the second boss is a first inclined surface, and the end face of the second boss away from the first boss is a second inclined surface, so that the thickness of the first boss and the second boss after docking gradually decreases in the direction away from the center of the motor. The first groove wall is a third inclined surface adapted to the first inclined surface, and the second groove wall is a fourth inclined surface adapted to the second inclined surface, so that the connecting groove has a structure with a large opening and a small interior.

11. A mechanical leg, characterized in that, The motor used is any one of claims 1 to 10.

12. A humanoid robot, characterized in that, The mechanical leg described in claim 11 is used.

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