CN-122008170-A - Compact motor reducer for humanoid robot and joint module

CN122008170ACN 122008170 ACN122008170 ACN 122008170ACN-122008170-A

Abstract

The invention relates to a compact motor reducer for a humanoid robot and a joint module, comprising a planetary magnetic gear composite motor and a secondary planetary gear assembly, wherein the planetary magnetic gear composite motor comprises a stator winding, a magnetic gear ring and a primary planetary magnetic gear transmission mechanism, the primary planetary magnetic gear transmission mechanism is respectively and magnetically coupled with the stator winding and the magnetic gear ring, the secondary planetary gear assembly comprises a secondary sun gear, a secondary planetary gear, a secondary annular gear and a secondary planet carrier, the secondary sun gear is in transmission connection with the output end of the primary planetary magnetic gear transmission mechanism, and the secondary sun gear, the secondary planetary gear and the secondary annular gear are sequentially meshed and transmitted to form a gear planetary transmission pair. The planetary magnetic gear compound motor and the secondary planet wheel assembly are axially arranged in series. The invention integrates the motor and the primary planetary transmission mechanism into a whole, adopts magnetic gear transmission, shortens the axial size, reduces the weight, realizes the improvement of transmission efficiency, reduces back clearance and can reduce running noise.

Inventors

SHAN QILEI
YANG GANG
DENG ZHENHUA
WANG BO
ZHAO HAILONG
ZHENG YAN
GAO BO

Assignees

陕西智莱特具身智能科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260409

Claims (10)

1. A compact motor reducer for a humanoid robot, comprising: The planetary magnetic gear compound motor comprises a stator winding, a magnetic gear ring and a primary planetary magnetic gear transmission mechanism, wherein the primary planetary magnetic gear transmission mechanism is respectively and magnetically coupled with the stator winding and the magnetic gear ring; The secondary planet wheel assembly comprises a secondary sun wheel, a secondary planet wheel, a secondary annular gear and a secondary planet carrier, wherein the secondary sun wheel is in transmission connection with the output end of the primary planet magnetic gear transmission mechanism, the secondary sun wheel, the secondary planet wheel and the secondary annular gear are sequentially meshed and transmitted to form a gear planet transmission pair, and the secondary planet wheel is rotatably arranged on the secondary planet carrier; wherein the planetary magnetic gear compound motor and the secondary planetary gear assembly are axially arranged in series; The primary planetary magnetic gear transmission mechanism is used for converting the input of the stator winding into primary torque output, the secondary sun gear receives the primary torque, and power is output by the secondary planet carrier through meshing transmission of the secondary planet gear and the secondary annular gear.
2. The compact motor reducer for a humanoid robot of claim 1, further comprising a housing and a rear end cover, wherein the stator winding, the magnetic gear ring and the secondary ring gear are fixedly arranged in the housing, and the rear end cover is arranged close to the secondary planetary gear assembly and fixedly connected with the housing.
3. The compact motor reducer for humanoid robots according to claim 2, wherein the primary planetary magnetic gear transmission mechanism comprises a primary magnetic sun gear, a primary planet carrier and a plurality of primary magnetic planet gears; The stator winding is arranged around the primary magnetic sun gear, and the primary magnetic sun gear, the primary magnetic planet gears and the magnetic gear ring are sequentially magnetically coupled and driven to form a primary magnetic gear planetary transmission pair; The first-stage magnetic sun gear and the stator winding are oppositely arranged to form a motor rotor, the first-stage magnetic sun gear drives a plurality of first-stage magnetic planet gears to rotate, and the first-stage magnetic planet gears drive the first-stage planet carrier to rotate.
4. The compact motor reducer for humanoid robots according to claim 3, wherein the planetary magnetic gear compound motor further comprises a secondary sun gear, and the secondary sun gear is in fit connection with the primary planet carrier through a spline; The second-stage sun gear is used as the output end of the first-stage planetary magnetic gear transmission mechanism.
5. The compact motor reducer for humanoid robots according to claim 3, wherein the primary planetary magnetic gear transmission mechanism further comprises a primary planetary spindle, the primary planetary spindle is arranged in one-to-one correspondence with the primary magnetic planetary gears, and each primary magnetic planetary gear is rotatably mounted on the primary planetary carrier through the primary planetary spindle.
6. The compact motor reducer for humanoid robots according to claim 5, wherein primary rolling pins are uniformly distributed in the central hole of the primary magnetic planet wheel, two ends of the primary rolling pin are limited by primary check rings, and the primary planetary mandrel is arranged on the inner side of the primary rolling pin in a penetrating manner.
7. The compact motor reducer for the humanoid robot according to claim 1, wherein the secondary planet wheel assembly further comprises a plurality of secondary planet wheel spindles, the secondary planet wheel spindles are arranged in a one-to-one correspondence with the secondary planet wheels, and each secondary planet wheel is rotatably mounted on the secondary planet carrier through the secondary planet spindle.
8. The compact motor reducer for the humanoid robot according to claim 1, wherein secondary rolling pins are uniformly distributed in a central hole of the secondary planet wheel, two ends of each secondary rolling pin are limited by a secondary retainer ring, and the secondary planet mandrel penetrates through the inner side of each secondary rolling pin.
9. A compact motor reducer for humanoid robots as claimed in claim 3, wherein bearings are provided between the primary magnetic sun gear and the primary planet carrier, between the primary planet carrier and the secondary planet carrier, and between the secondary sun gear and the secondary planet carrier; and a crossed roller bearing is arranged between the secondary planet wheel assembly and the shell.
10. A humanoid robot joint module comprising a compact motor reducer for a humanoid robot as claimed in any one of claims 1 to 9.

Description

Compact motor reducer for humanoid robot and joint module Technical Field The invention belongs to the field of humanoid robots, and particularly relates to a compact motor reducer and a joint module for a humanoid robot. Background The current humanoid robot field is rapidly developed, the joint is used as a core transmission component of the robot, and the performance of the joint directly influences the running efficiency, precision and reliability of the whole robot. The existing mainstream robot joint transmission part mostly adopts a mode of adding a frameless moment motor to a planetary reducer or adding a frameless moment motor to a harmonic reducer, but has the defects of short service life, low transmission efficiency, large axial size, poor shock resistance and the like, and the disadvantages of large back clearance, large volume and large axial size of the joint structure of the planetary reducer and the frameless moment motor are difficult to avoid. As shown in fig. 1, the existing scheme adopts a joint structure of a two-stage planetary reducer and a frameless torque motor, wherein a motor assembly and a two-stage planetary gear assembly are integrated in the planetary reducer, and a sun gear of the reducer is driven to rotate by a motor to drive a plurality of planetary gears to be meshed with an inner gear ring, so that power transmission and speed reduction are realized. The internal space utilization rate of this kind of structure is higher, can provide longer life and higher transmission efficiency and rigidity when guaranteeing higher rated torque. However, limited by the inherent features of planetary gear drives, the structure of the prior art solution requires at least two stages of drive to ensure a good output torque, resulting in a large overall weight and axial dimensions, and a bottleneck has been reached in further miniaturized, lightweight designs. Meanwhile, gear meshing inevitably generates larger vibration noise, and the inherent backlash of the planetary gear transmission structure is difficult to effectively eliminate, so that the defects seriously restrict the further improvement of the joint performance of the humanoid robot. Disclosure of Invention In order to solve the problems in the prior art, the invention provides a compact motor reducer for a humanoid robot and a joint module. The technical problems to be solved by the invention are realized by the following technical scheme: The invention provides a compact motor reducer for a humanoid robot, which comprises: The planetary magnetic gear compound motor comprises a stator winding, a magnetic gear ring and a primary planetary magnetic gear transmission mechanism, wherein the primary planetary magnetic gear transmission mechanism is respectively and magnetically coupled with the stator winding and the magnetic gear ring; The secondary planet wheel assembly comprises a secondary sun wheel, a secondary planet wheel, a secondary annular gear and a secondary planet carrier, wherein the secondary sun wheel is in transmission connection with the output end of the primary planet magnetic gear transmission mechanism, the secondary sun wheel, the secondary planet wheel and the secondary annular gear are sequentially meshed and transmitted to form a gear planet transmission pair, and the secondary planet wheel is rotatably arranged on the secondary planet carrier; wherein the planetary magnetic gear compound motor and the secondary planetary gear assembly are axially arranged in series; The primary planetary magnetic gear transmission mechanism is used for converting the input of the stator winding into primary torque output, the secondary sun gear receives the primary torque, and power is output by the secondary planet carrier through meshing transmission of the secondary planet gear and the secondary annular gear. In one embodiment of the invention, the compact motor reducer for the humanoid robot further comprises a shell and a rear end cover, wherein the stator winding, the magnetic gear ring and the secondary annular gear are fixedly arranged in the shell, and the rear end cover is arranged close to the secondary planetary gear assembly and fixedly connected with the shell. In one embodiment of the invention, the primary planetary magnetic gear transmission mechanism comprises a primary magnetic sun gear, a primary planet carrier and a plurality of primary magnetic planet gears; The stator winding is arranged around the primary magnetic sun gear, and the primary magnetic sun gear, the primary magnetic planet gears and the magnetic gear ring are sequentially magnetically coupled and driven to form a primary magnetic gear planetary transmission pair; The first-stage magnetic sun gear and the stator winding are oppositely arranged to form a motor rotor, the first-stage magnetic sun gear drives a plurality of first-stage magnetic planet gears to rotate, and the first-stage magnetic planet gears drive the first-stage planet ca