Humanoid robot linear actuator and preparation method thereof

Abstract

The invention discloses a humanoid robot linear actuator and a preparation method thereof, and the humanoid robot linear actuator comprises a fixed cylinder body, and a frameless motor, an execution device and a detection unit which are arranged in the fixed cylinder body; the execution device is arranged in the fixed cylinder body through driving of a frameless motor, and the detection unit is used for controlling the execution device to move; the frameless motor is coaxially arranged outside a curved-surface lead screw of the execution device in a sleeving mode, and the two ends of the curved-surface lead screw are rotationally arranged in the fixed cylinder body. The invention discloses a humanoid robot linear actuator which is compact in structure, excellent in driving performance and capable of achieving high-precision motion control and a preparation method of the humanoid robot linear actuator.

Description

Technical Field

[0001] The present invention relates to the field of transmission devices in humanoid robots, and in particular to a humanoid robot linear actuator and a preparation method thereof. Background Art

[0002] In the continuous development of humanoid robot technology, improving motion performance is a key breakthrough point, and linear actuators, as the core of its motion control, directly affect the robot's flexibility, accuracy and load capacity.

[0003] Traditional linear actuators have many defects that are difficult to ignore when applied to humanoid robots. The common ball screw transmission method has a certain transmission efficiency, but it cannot achieve high-precision linear displacement control in the face of the complex and diverse movement requirements of humanoid robots. In actual operation, due to structural design problems, mechanical errors are easily generated, which greatly reduces the accuracy of robot movements, limiting its application in scenarios with high precision requirements such as precision operations and complex dance movements. In addition, existing linear actuators generally have the problems of bulky structure and low power density. The internal space of humanoid robots is limited. This type of actuator not only occupies a lot of space, but also increases the overall weight of the robot, which is not conducive to improving energy efficiency and movement flexibility. In addition, traditional actuators have poor integration, and it is difficult to efficiently integrate motors, transmission devices, and detection devices, which increases the complexity of the system and reduces reliability.

[0004] With the continuous expansion of the application field of humanoid robots, higher requirements are placed on the performance of linear actuators. How to design a linear actuator with compact structure, excellent driving performance and high-precision motion control has become a technical problem that needs to be solved urgently in the current development of humanoid robot technology. Summary of the invention

[0005] The present invention overcomes the deficiencies of the prior art and provides a humanoid robot linear actuator with a compact structure, excellent driving performance and capable of achieving high-precision motion control, and a preparation method thereof.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a humanoid robot linear actuator, including a fixed cylinder body, and a frameless motor, an actuator and a detection unit arranged in the fixed cylinder body; the actuator is driven by the frameless motor and arranged in the fixed cylinder body, and the detection unit is used to control the movement of the actuator; the frameless motor is coaxially sleeved on the outside of the curved lead screw of the actuator, and the two ends of the curved lead screw are rotatably arranged in the fixed cylinder body.

[0007] In a preferred embodiment of the present invention, the fixed cylinder body includes a cavity cylinder body, a front end cover, a rear end cover, a cavity cylinder body, a rear end cover plate and studs; the front end cover and the rear end cover are respectively installed at both ends of the cavity cylinder body, and the rear end cover plate is fixed on the rear end cover; the actuator, the frameless motor and the detection unit are all arranged inside the fixed cylinder body.

[0008] In a preferred embodiment of the present invention, the actuator includes a curved lead screw, a support housing coaxially sleeved on the curved lead screw, and a support housing end cover fixedly mounted on the support housing; The curved lead screw is embedded in the support housing through angular contact bearing 1 and angular contact bearing 2, and the retaining sleeve is coaxially sleeved on the curved lead screw and is located between the angular contact bearing 1 and angular contact bearing 2, and is coaxially matched with the retaining sleeve; A needle roller bearing 1 and a needle roller bearing 2 are also sleeved between the retaining sleeve and the supporting shell, and the retaining sleeve is in rolling contact with the needle roller bearing 1 and the needle roller bearing 2 through rollers movably embedded in the roller holes on the retaining sleeve; Needle roller bearing 1 and needle roller bearing 2 are connected to the support shell through eccentric fit, angular contact bearing 1 and angular contact bearing 2 are symmetrically installed on the outer sides of needle roller bearing 1 and needle roller bearing 2, and limit ring 1 and limit ring 2 are symmetrically installed on the outer sides of angular contact bearing 1 and angular contact bearing 2.

[0009] In a preferred embodiment of the present invention, the curved screw is connected to the front end cover through a sliding bearing 1, the actuator is connected to the fixed cylinder body through a large thrust angular contact bearing 1, a large thrust angular contact bearing 2 and a deep groove ball bearing, and the large thrust angular contact bearing 1 and the large thrust angular contact bearing 2 are limited to the front end cover by washers and limit nuts.

[0010] In a preferred embodiment of the present invention, the frameless motor comprises a stator, a rotor and a control unit; The stator is embedded and fixed in the cavity of the fixed cylinder as a fixed end, and the rotor is a patch rotor, which is arranged outside the supporting shell of the actuator; The control unit is arranged on the stator, including a drive plate, an encoder and a drive cover plate arranged in the cavity cylinder body. The control unit is responsible for controlling the frameless motor. The encoder is fixed on the drive plate, the drive plate is fixed inside the drive cover plate, and the drive cover plate is fixed to one end of the stator.

[0011] In a preferred embodiment of the present invention, the detection unit includes an angle encoder, a second sliding bearing and a rear end gasket; the second sliding bearing is embedded in the rear end cover, the angle encoder and the second sliding bearing are both arranged on the end cover of the supporting housing of the actuator, and one end of the end cover of the supporting housing passes through the bearing hole of the second sliding bearing, and the rear end gasket is arranged between the angle encoder on the second sliding bearing and the rear end cover.

[0012] In a preferred embodiment of the present invention, the curved surface screw of the actuator can be selected from roller curved surface screw and ball curved surface screw according to different types of rollers; When the curved screw is a roller curved screw, the roller surface of the curved screw includes a central cylindrical surface and a spiral surface, and the parametric equation of the central cylindrical surface is: ; in, is the radius of the roller distribution circle, is the correction value of the roller position, is the angle parameter, the value range is , is the roller radius, is the correction amount of the roller radius, is the eccentricity, is the number of rollers, is the number of teeth of the curved screw projection profile, and Satisfies the relationship: , is the stretching length, is the angle occupied by each roller during the rotation of the whole system, It is the rotation angle between the roller track and the spiral part, which is used to adjust the relative position between the two. The expression is as follows: ; The parametric equation of the helical surface is: ; Among them, t is the spiral angle, which determines the number of spiral turns, and m is the width factor, which ranges from , n is the height factor, the value range is , is the pitch coefficient, and its expression is: ,P is the pitch, and the value of P is ; and / or, When the curved surface screw is a ball curved surface screw, the ball curved surface of the ball curved surface screw is composed of a central cylindrical surface, a spiral surface and a hemispherical surface. The parametric equation of the central cylinder surface is: ; in, is the radius of the roller distribution circle, is the correction value of the roller position, is the angle parameter, the value range is , is the roller radius, is the correction amount of the roller radius, is the eccentricity, is the number of rollers, is the number of teeth of the curved screw projection profile, and Satisfies the relationship: , is the stretching length, is the angle occupied by each roller during the rotation of the whole system, The expression is as follows: ; The parametric equation of the helical surface is: ; Among them, t is the spiral angle, which determines the number of spiral turns, and m is the width factor, which ranges from , n is the height factor, the value range is , is the pitch coefficient, and its expression is: ,P is the pitch, and the value of P is ; The parametric equation of the hemispherical surface is: ; in, is an angle parameter, representing the arc of a semicircle, and its value range is .

[0013] In a preferred embodiment of the present invention, the center of the curved screw and the center of the roller distribution circle differ by an eccentric distance , the rollers are evenly distributed, and the meshing equation between the curved lead screw and the rollers is: ; in, is the correction amount, For the Roller, is the angle between every two adjacent rollers, expressed as , is the sampling parameter, is the maximum value of the sampling parameter; and / or, When the center of the curved screw and the rollers are double-row rollers, the meshing equation of the first row of rollers is: ; in, is the correction amount, For the Roller, is the angle between every two adjacent rollers, expressed as , is the sampling parameter (i.e. the number of samples), is the maximum value of the sampling parameter; The meshing equation of the second row of rollers is: .

[0014] In a preferred embodiment of the present invention, the retaining sleeve provides support and limiting functions for the roller, converting the rotational motion of the roller into linear motion of the curved lead screw. The position of the roller hole is determined by the spiral parameter equation of the curved lead screw, ensuring that the roller can achieve precise fit during movement.

[0015] The spiral parameter equation for the roller hole position is: or ; And / or, the wall thickness of the retaining sleeve is required to be greater than or equal to the roller radius and less than or equal to the difference between twice the roller radius and twice the eccentricity, and the wall thickness is an integer.

[0016] And / or, needle roller bearing 1 and needle roller bearing 2 are eccentrically mounted to the support housing, and needle roller bearing 1 and needle roller bearing 2 are 180° out of phase with each other.

[0017] and / or the difference between the number of rollers and the number of teeth of the projected profile of the curved screw is 1, .

[0018] And / or, according to the odd or even number of rollers, it can be divided into single-row rollers and double-row rollers. If the number of rollers is an odd number, it is a double-row roller; if the number of rollers is an even number, it is a single-row roller.

[0019] And / or, by setting the pitch and the number of rollers of the curved lead screw, the linear movement distance per unit of the curved lead screw can be changed, and the specific relationship is: .

[0020] In a preferred embodiment of the present invention, a method for preparing a linear actuator of a humanoid robot comprises the following steps: Step S1, installing the second needle roller bearing, the second angular contact bearing, and the second limit ring into the support housing from the left end of the support housing in sequence; Step S2, assemble the curved lead screw and the retaining sleeve coaxially, ensure that the starting roller hole on the retaining sleeve is in the same position as the tooth top of the curved lead screw; install the roller corresponding to the roller hole position on the retaining sleeve; then install it in the support shell pre-assembled in step S1, ensure that the roller is in contact with needle roller bearing 1, and the retaining sleeve is in contact with angular contact bearing 2; install needle roller bearing 1, angular contact bearing 1, and limit ring 1 in the support shell from the right end of the support shell in sequence, ensure that the roller is in contact with needle roller bearing 1, and the retaining sleeve is in contact with angular contact bearing 1; Step S3, assembling the support housing end cover and the support housing by bolts; thus, the installation of the actuator is completed; Step S4, pre-install the rotor at a set position on the support shell, install the stator, large thrust angular contact bearing 1 and large thrust angular contact bearing 2 at set positions in the cavity cylinder, with one end of the stator fixing control unit facing the right end of the cavity cylinder; assemble the above two pre-installed components to ensure that the limit designs in the two components are installed in place; assemble the washer and the limit nut from the right end of the support shell to the outer surface of the support shell in sequence; Step S5, assembling the front end cover with the cavity cylinder body and the sliding bearing, assembling the deep groove ball bearing with the support housing end cover, and then assembling the rear end cover with the cavity cylinder body, and locking and fixing the front end cover, the rear end cover and the cavity cylinder body with studs; Step S6, assemble the second sliding bearing with the rear end gasket, and then assemble it with the hole corresponding to the rear end cover; install the angle encoder at the rightmost end of the support housing end cover, and assemble the rear end cover plate with the rear end cover through bolts; Step S7, respectively install the power interface 1 and the power interface 2 in the corresponding installation holes on the outer surface of the cavity cylinder body and the rear end cover, thereby completing the assembly of the humanoid robot linear actuator.

[0021] The present invention solves the defects existing in the technical background, and the beneficial technical effects of the present invention are: The present invention provides a humanoid robot linear actuator and a preparation method thereof. Each unit is highly integrated in a fixed cylinder body, with a compact structure, saving space, reducing weight, and improving the robot's movement flexibility and energy efficiency. The curved lead screw and the roller are precisely matched, and the position is determined according to the parameter equation, which reduces mechanical errors and meets the high-precision movement requirements of the humanoid robot.

[0022] The humanoid robot linear actuator of the present invention has eccentrically mounted needle bearings 1 and 2, which optimizes force transmission, reasonably sets parameters, outputs large driving force, high power density, and enhances load capacity. Different types of lead screws and adjustment parameters can be selected to adapt to a variety of scenarios; precise control and real-time monitoring ensure stable and reliable operation.

[0023] The humanoid robot linear actuator of the present invention is easy to install, disassemble and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Figure 1 is a three-dimensional cross-sectional view of a humanoid robot linear actuator according to a preferred embodiment of the present invention; Figure 2 is a full cross-sectional view of a humanoid robot linear actuator according to a preferred embodiment of the present invention; Figure 3 is an exploded schematic diagram of a humanoid robot linear actuator according to a preferred embodiment of the present invention; Figure 4 It is a structural schematic diagram of a curved lead screw of a humanoid robot linear actuator according to a preferred embodiment of the present invention; Figure 5 It is a structural schematic diagram of a curved lead screw and a nut assembly of a humanoid robot linear actuator according to a preferred embodiment of the present invention; Figure 6 It is a schematic diagram of a roller curved surface of a curved lead screw of a linear actuator of a humanoid robot according to a preferred embodiment of the present invention; Figure 7 It is a schematic diagram of a ball curved surface of a curved lead screw of a humanoid robot linear actuator according to a preferred embodiment of the present invention; Figure 8 is a schematic diagram of an embodiment of a humanoid robot linear actuator according to a preferred embodiment of the present invention; In the figure: 100, fixed cylinder, 200, actuator, 300, frameless motor, 400, detection unit, 1, curved screw, 2, sliding bearing 1, 3, limit ring 1, 4, angular contact bearing 1, 5, needle bearing 1, 6, retaining sleeve, 7, needle bearing 2, 8, angular contact bearing 2, 9, limit ring 2, 10, support shell, 11, power interface 1, 12, rear end gasket, 13, power interface 2, 14, rear end cover plate, 15, Angle encoder, 16, sliding bearing 2, 17, rear end cover, 18, deep groove ball bearing, 19, support housing end cover, 20, control unit, 21, cavity cylinder, 22, rotor, 23, stator, 24, roller, 25, large thrust angular contact bearing 1, 26, large thrust angular contact bearing 2, 27, washer, 28, limit nut, 29, front end cover, 30, stud, 61, center cylinder surface, 62, spiral surface, 63, hemispherical surface. DETAILED DESCRIPTION

[0026] The present invention will now be further described in detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0027] It should be noted that if there are directional indications (such as up, down, bottom, top, etc.) involved in the embodiments of the present invention, the directional indication is only used to explain the relative position relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. Unless otherwise clearly specified and defined, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Embodiment 1

[0028] This embodiment discloses Figure 1-Figure 8 The linear actuator of a humanoid robot shown in the figure comprises: a fixed cylinder 100, and a frameless motor 300, an actuator 200 and a detection unit 400 arranged in the fixed cylinder 100; the actuator 200 is driven by the frameless motor 300 and arranged in the fixed cylinder 100, and the actuator 200 is controlled and connected with the detection unit 400. The embodiments of the present invention are further described below in conjunction with the accompanying drawings: like Figure 1 , Figure 2 , Figure 3 As shown, the fixed cylinder body 100 includes a front end cover 29, a rear end cover 17, a cavity cylinder body 21, a rear end cover plate 14 and a stud 30; the cavity cylinder body 21 is located between the front end cover 29 and the rear end cover 17, and is locked and fixed by the stud 30, the rear end cover plate 14 and the rear end cover 17 are fixedly connected by bolts, and there are power supply interface 2 13 and power supply interface 1 11 on the rear end cover 17 and the cavity cylinder body 21 respectively, and the two power ports are power supply interfaces of the frameless motor 300 and the detection unit 400 respectively, and the actuator 200, the frameless motor 300 and the detection unit 400 are all arranged inside the fixed cylinder body 100.

[0029] Specifically, the actuator 200 includes a curved lead screw 1 and a nut accessory assembled with the curved lead screw 1, the nut accessory includes a limit ring 3 and a limit ring 9, an angular contact bearing 4 and an angular contact bearing 8, a needle bearing 5 and a needle bearing 7, a retaining sleeve 6, a support housing 10, a support housing end cover 19, and a roller 24. The support housing 10 and the support housing end cover 19 are fixedly connected by bolts, and the remaining components are arranged inside. The curved lead screw 1 is connected to the support housing 10 through the angular contact bearing 4 and the angular contact bearing 8, and is coaxially connected with the retaining sleeve 6. The roller 24 is connected to the curved lead screw 1, the retaining sleeve 6, and the needle bearing 5 and the needle bearing 7 through the roller hole on the retaining sleeve 6. Needle bearing 1 5 and needle bearing 2 7 are connected to the support shell 10 through eccentric fit, angular contact bearing 1 4 and angular contact bearing 2 8 are symmetrically installed on the outside of needle bearing 1 5 and needle bearing 2 7, and limit ring 1 3 and limit ring 2 9 are symmetrically installed on the outside of angular contact bearing 1 4 and angular contact bearing 2 8. The curved screw 1 is connected to the front end cover 29 through the sliding bearing 1 2, and the actuator 200 is connected to the fixed cylinder body 100 through the large thrust angular contact bearing 1 25 and the large thrust angular contact bearing 2 26 and the deep groove ball bearing 18. The large thrust angular contact bearing 1 25 and the large thrust angular contact bearing 2 26 are limited by the gasket 27 and the limit nut 28 with the front end cover 29. Furthermore, the roller 24 can be a roller or a ball. In this embodiment, if Figure 6 , Figure 8 As shown, the roller 24 is a roller, and the curved surface screw 1 is a roller curved surface screw.

[0030] Specifically, the frameless motor 300 is an inner rotor frameless motor, including a stator 23, a rotor 22 and a control unit 20, wherein the stator 23 is a fixed end connected to the cavity cylinder 21 of the fixed cylinder 100, and the rotor 22 is a patch rotor connected to the support housing 10 of the actuator 200. Further, the control unit 20 can adopt the inner rotor frameless motor drive control mechanism in the prior art, including a drive plate, an encoder and a drive cover plate arranged in the cavity cylinder 21, and the control unit 20 is responsible for the control of the frameless motor 300, the encoder is fixed on the drive plate, the drive plate is fixed inside the drive cover plate, the drive cover plate is fixed to one end of the stator 23, and the stator 23 and the control unit 20 are fixed as a whole. The drive plate, the encoder and the drive cover plate can directly adopt the products in the inner rotor frameless motor drive control mechanism in the prior art, and the selection of models will not be repeated and listed here, as long as the inner rotor frameless motor drive control in the present invention can be basically realized.

[0031] Specifically, the detection unit 400 includes an angle encoder 15 , a second sliding bearing 16 and a rear end gasket 12 . The angle encoder 15 and the second sliding bearing 16 are both connected to the support housing end cover 19 of the actuator 200 , and the rear end gasket 12 is connected to the second sliding bearing 16 . Embodiment 2

[0032] Based on the first embodiment, Figure 5 , Figure 7 As shown, the roller 24 is a ball, and the curved surface screw 1 is a ball curved surface screw. Embodiment 3

[0033] Based on the first embodiment, Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 8 As shown, the curved lead screw 1 of the actuator 200 of the humanoid robot linear actuator is divided into a roller curved lead screw and a ball curved lead screw according to different types of rollers 24 (rollers or balls) to achieve different load characteristics and motion accuracy.

[0034] In this embodiment, if Figure 2 , Figure 4 , Figure 6 , Figure 8 As shown, the roller surface of the roller surface screw is composed of a central cylindrical surface 61 and a spiral surface 62. The parameter equation of the central cylindrical surface 61 is: ; in, is the radius of the roller distribution circle, is the correction value of the roller position, is the angle parameter, the value range is , is the roller radius, is the correction amount of the roller radius, is the eccentricity, is the number of rollers, is the number of teeth of the projected profile of the curved screw 1, and Satisfies the relationship: , is the stretching length, is the angle occupied by each roller during the rotation of the whole system, It is the rotation angle between the roller track and the spiral part, which is used to adjust the relative position between the two. The expression is as follows: ; The parametric equation of the helical surface 62 is: ; Among them, t is the spiral angle, which determines the number of spiral turns, and m is the width factor, which ranges from , n is the height factor, the value range is , is the pitch coefficient, and its expression is: ,P is the pitch, P is generally taken as . Embodiment 4

[0035] Based on the second embodiment, Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 8 As shown, the curved lead screw 1 of the actuator 200 of the humanoid robot linear actuator is divided into a roller curved lead screw and a ball curved lead screw according to different types of rollers 24 to achieve different load characteristics and motion accuracy.

[0036] In this embodiment, if Figure 1~Figure 5 , Figure 7 As shown, the roller 24 is a ball, the curved screw 1 is a ball curved screw, and the ball surface of the curved screw 1 is composed of a central cylindrical surface 61, a spiral surface 62 and a hemispherical surface 63, that is, a hemispherical surface 63 is added on the basis of the roller surface of the third embodiment.

[0037] The parametric equation of the central cylindrical surface 61 is: ; in, is the radius of the roller distribution circle, is the correction value of the roller position, is the angle parameter, the value range is , is the rolling radius, is the correction amount of the roller radius, is the eccentricity, is the number of rollers, is the number of teeth of the projected profile of the curved screw 1, and Satisfies the relationship: , is the stretching length, is the angle occupied by each roller during the rotation of the whole system, It is the rotation angle between the roller track and the spiral part, which is used to adjust the relative position between the two. The expression is as follows: ; The parametric equation of the helical surface 62 is: ; Among them, t is the spiral angle, which determines the number of spiral turns, and m is the width factor, which ranges from , n is the height factor, the value range is , is the pitch coefficient, and its expression is: ,P is the pitch, P is generally taken as .

[0038] The parametric equation of the hemispherical surface 63 is: ; in, is an angle parameter, representing the arc of a semicircle, and its value range is . Embodiment 5

[0039] On the basis of the third or fourth embodiment, the center of the curved screw 1 and the center of the distribution circle of the roller 24 differ by an eccentric distance , rollers 24 are evenly distributed, and the meshing equation between the curved screw 1 and the rollers 24 is:

[0040] in, is the correction amount, For the Roller, is the angle between every two adjacent rollers, expressed as , is the sampling parameter, is the maximum value of the sampling parameter. Embodiment 6

[0041] On the basis of the fifth embodiment, double rows of rollers are used, including a first row of rollers and a second row of rollers.

[0042] Then the meshing equation of the first row of rollers is: The meshing equation is:

[0043] in, is the correction amount, For the Roller, is the angle between every two adjacent rollers, expressed as , is the sampling parameter, is the maximum value of the sampling parameter.

[0044] The meshing equation of the second row of rollers is: The retaining sleeve 6 provides support and limiting function for the roller 24, converting the rotational motion of the roller 24 into the linear motion of the curved screw 1. The position of the roller hole is determined by the spiral parameter equation of the curved screw 1, ensuring that the roller 24 can achieve precise fit during the movement.

[0045] The spiral parameter equation for the roller hole position is: or .

[0046] The wall thickness of the retaining sleeve 6 is required to be greater than or equal to the roller radius and less than or equal to the difference between twice the roller radius and twice the eccentricity, and the wall thickness is an integer. The needle bearing 1 5 and the needle bearing 2 7 are eccentrically mounted with the support housing 10, and the needle bearing 1 5 and the needle bearing 2 7 are 180° out of phase. The difference between the number of rollers and the number of teeth of the projected profile of the curved screw 1 is 1, that is, According to the odd or even number of rollers, it can be divided into single-row rollers and double-row rollers. If the number of rollers is an odd number, it is a double-row roller; if the number of rollers is an even number, it is a single-row roller. By setting the pitch and the number of rollers of the curved screw 1, the linear movement distance per unit of the curved screw 1 can be changed. The specific relationship is: . Embodiment 7

[0047] Based on any one of the first to sixth embodiments, a humanoid robot linear actuator is provided, which highly integrates an actuator 200, a frameless motor 300 and a detection unit 400 in a fixed cylinder 100 to form an integrated high-power density linear motion power component.

[0048] It should be noted that when describing "installed at", "set position" and involving directions (such as "left end", "right end", etc.), you can refer to Figure 1 , Figure 2 The position distribution and placement direction.

[0049] The method for preparing the humanoid robot linear actuator of this embodiment comprises the following steps: Step S1, install the second needle bearing 7, the second angular contact bearing 8, and the second limit ring 9 into the support housing 10 from the left end of the support housing 10 in sequence; Step S2, assemble the curved screw 1 and the retaining sleeve 6 coaxially, ensuring that the starting roller hole on the retaining sleeve 6 is at the same position as the tooth top of the curved screw 1. Install the rollers 24 one by one in the corresponding roller holes on the retaining sleeve 6. Then install it in the support shell 10 where some parts are pre-installed in step S1, ensuring that the rollers 24 are in contact with the needle bearing 5, and the retaining sleeve 6 is in contact with the angular contact bearing 8. Install the needle bearing 5, the angular contact bearing 4, and the limit ring 3 in the support shell 10 from the right end of the support shell 10 in sequence, ensuring that the rollers 24 are in contact with the needle bearing 5, and the retaining sleeve 6 is in contact with the angular contact bearing 4.

[0050] Step S3, assemble the support housing end cover 19 and the support housing 10 by bolts. Thus, the installation of the actuator is completed.

[0051] Step S4, pre-install the rotor 22 at the set position on the support housing 10, and install the stator 23, the large thrust angular contact bearing 1 25 and the large thrust angular contact bearing 2 26 at the set position in the cavity cylinder 21, with one end of the stator 23 fixing the control unit 20 facing the right end of the cavity cylinder 21. Assemble the two pre-installed components above to ensure that the limit designs in the two components are installed in place. Assemble the washer 27 and the limit nut 28 from the right end of the support housing 10 to the outer surface of the support housing 10 in sequence.

[0052] Step S5, assemble the front end cover 29 with the cavity cylinder body 21 and the sliding bearing 2, assemble the deep groove ball bearing 18 with the support shell end cover 19, and then assemble the rear end cover 17 with the cavity cylinder body 21, and lock and fix the front end cover 29, the rear end cover 17 and the cavity cylinder body 21 with the stud 30.

[0053] Step S6, assemble the second sliding bearing 16 with the rear end gasket 12, and then assemble with the corresponding hole position of the rear end cover 17. Install the angle encoder 15 at the rightmost end of the support housing end cover 19, and assemble the rear end cover plate 14 with the rear end cover 17 by bolts.

[0054] Step S7, installing the power interface 1 11 and the power interface 2 13 in the corresponding mounting holes on the outer surface of the cavity cylinder body 21 and the rear end cover 17 respectively, completing the assembly of the entire humanoid robot linear actuator.

[0055] Working principle: A humanoid robot linear actuator and a preparation method thereof of the present invention, each unit is highly integrated in a fixed cylinder body 100, with a compact structure, saving space, reducing weight, and improving the robot's movement flexibility and energy efficiency. The curved lead screw 1 and the roller 24 are precisely matched, and the position is determined according to the parameter equation, reducing mechanical errors, and meeting the high-precision movement requirements of the humanoid robot. In the humanoid robot linear actuator of the present invention, the needle bearing 1 5 and the needle bearing 2 7 are eccentrically installed to optimize force transmission, reasonably set parameters, output large driving force, high power density, and enhance load capacity. The present invention can select different types of curved lead screws 1 and adjust parameters according to the type of roller 24 to adapt to a variety of scenarios; precise control and real-time monitoring ensure stable and reliable operation. The humanoid robot linear actuator of the present invention is easy to install, disassemble and maintain.

[0056] The present invention mainly consists of a fixed cylinder 100, an actuator 200, a frameless motor 300 and a detection unit 400. The curved screw 1 of the actuator 200 cooperates with different types of rollers 24 (balls or rollers), and the raceway is determined by a parametric equation, and they cooperate closely with each other. The retaining sleeve 6 determines the position of the roller hole according to the spiral parameter equation of the curved screw 1 to ensure accurate cooperation, and the wall thickness meets the design range requirements. The needle bearing 1 5 and the needle bearing 2 7 are eccentrically installed with the support housing 10 and staggered by 180°. The difference between the number of rollers and the number of teeth of the projected profile of the curved screw 1 is 1, and they are divided into single-row rollers or double-row rollers according to the odd and even. By setting the pitch and number of rollers of the curved screw 1, the linear movement distance per unit of the curved screw 1 can be adjusted. The fixed cylinder 100 wraps the internal components, and the frameless motor 300 is an inner rotor frameless motor. Its control unit realizes precise control, and the detection unit is used to monitor the motion state. The present invention integrates various devices compactly to achieve large driving force and high power density. The eccentric motion of the curved lead screw 1 and the roller 24 is used to achieve high-precision linear displacement control, which can meet the high-precision requirements of humanoid robots in complex motion scenes, and has the characteristics of compact structure and excellent driving performance.

[0057] The above specific implementation methods are specific support for the scheme ideas proposed in the present invention, and cannot be used to limit the protection scope of the present invention. Any equivalent changes or equivalent modifications made on the basis of this technical scheme in accordance with the technical ideas proposed in the present invention still fall within the scope of protection of the technical scheme of the present invention.

Claims

1. A humanoid robot linear actuator, characterized in that: It includes a fixed cylinder body, and a frameless motor, an actuator and a detection unit arranged in the fixed cylinder body; the actuator is driven by the frameless motor and arranged in the fixed cylinder body, and the detection unit is used to control the movement of the actuator; the frameless motor is coaxially sleeved on the outside of the curved lead screw of the actuator, and the two ends of the curved lead screw are rotatably arranged in the fixed cylinder body.

2. A humanoid robot linear actuator according to claim 1, characterized in that: The fixed cylinder body includes a cavity cylinder body, a front end cover, a rear end cover, a cavity cylinder body, a rear end cover plate and studs; the front end cover and the rear end cover are respectively installed at both ends of the cavity cylinder body, and the rear end cover plate is fixedly arranged on the rear end cover; the actuator, the frameless motor and the detection unit are all arranged inside the fixed cylinder body.

3. A humanoid robot linear actuator according to claim 2, characterized in that: The actuator comprises a curved lead screw, a support housing coaxially sleeved on the curved lead screw, and a support housing end cover fixedly mounted on the support housing; The curved lead screw is embedded in the support housing through angular contact bearing 1 and angular contact bearing 2, and the retaining sleeve is coaxially sleeved on the curved lead screw and is located between the angular contact bearing 1 and angular contact bearing 2, and is coaxially matched with the retaining sleeve; A needle roller bearing 1 and a needle roller bearing 2 are also sleeved between the retaining sleeve and the supporting shell, and the retaining sleeve is in rolling contact with the needle roller bearing 1 and the needle roller bearing 2 through rollers movably embedded in the roller holes on the retaining sleeve; Needle roller bearing 1 and needle roller bearing 2 are connected to the support shell through eccentric fit, angular contact bearing 1 and angular contact bearing 2 are symmetrically installed on the outer sides of needle roller bearing 1 and needle roller bearing 2, and limit ring 1 and limit ring 2 are symmetrically installed on the outer sides of angular contact bearing 1 and angular contact bearing 2.

4. The humanoid robot linear actuator according to claim 3, characterized in that: The curved lead screw is connected to the front end cover through a sliding bearing 1, the actuator is connected to the fixed cylinder body through a large thrust angular contact bearing 1, a large thrust angular contact bearing 2 and a deep groove ball bearing, and the large thrust angular contact bearing 1 and the large thrust angular contact bearing 2 are limited by washers and limit nuts to the front end cover.

5. The humanoid robot linear actuator according to claim 4, characterized in that: The frameless motor includes a stator, a rotor and a control unit; The stator is embedded and fixed in the cavity of the fixed cylinder as a fixed end, and the rotor is a patch rotor, which is arranged outside the supporting shell of the actuator; The control unit is arranged on the stator, including a drive plate, an encoder and a drive cover plate arranged in the cavity cylinder body. The control unit is responsible for controlling the frameless motor. The encoder is fixed on the drive plate, the drive plate is fixed inside the drive cover plate, and the drive cover plate is fixed to one end of the stator.

6. The humanoid robot linear actuator according to claim 5, characterized in that: The detection unit includes an angle encoder, a second sliding bearing and a rear end gasket; the second sliding bearing is embedded in the rear end cover, the angle encoder and the second sliding bearing are both arranged on the support shell end cover of the actuator, and one end of the support shell end cover passes through the bearing hole of the second sliding bearing, and the rear end gasket is arranged between the angle encoder on the second sliding bearing and the rear end cover.

7. The humanoid robot linear actuator according to claim 6, characterized in that: The curved screw of the actuator can be selected from roller curved screw and ball curved screw according to the different types of rollers; When the curved screw is a roller curved screw, the roller surface of the curved screw includes a central cylindrical surface and a spiral surface, and the parametric equation of the central cylindrical surface is: ； in, is the radius of the roller distribution circle, is the correction value of the roller position, is the angle parameter, the value range is , is the roller radius, is the correction amount of the roller radius, is the eccentricity, is the number of rollers, is the number of teeth of the curved screw projection profile, and Satisfies the relationship: , is the stretching length, is the angle occupied by each roller during the rotation of the whole system, is the rotation angle between the roller track and the spiral part, which is used to adjust the relative position between the two. The expression is as follows: ； The parametric equation of the helical surface is: ； Among them, t is the spiral angle, which determines the number of spiral turns, and m is the width factor, which ranges from , n is the height factor, the value range is , is the pitch coefficient, and its expression is: ,P is the pitch, and the value of P is ; and / or, When the curved surface screw is a ball curved surface screw, the ball curved surface of the ball curved surface screw is composed of a central cylindrical surface, a spiral surface and a hemispherical surface. The parametric equation of the central cylinder surface is: ； in, is the radius of the roller distribution circle, is the correction value of the roller position, is the angle parameter, the value range is , is the roller radius, is the correction amount of the roller radius, is the eccentricity, is the number of rollers, is the number of teeth of the curved screw projection profile, and Satisfies the relationship: , is the stretching length, is the angle occupied by each roller during the rotation of the whole system, The expression is as follows: ； The parametric equation of the helical surface is: ； Among them, t is the spiral angle, which determines the number of spiral turns, and m is the width factor, which ranges from , n is the height factor, the value range is , is the pitch coefficient, and its expression is: ,P is the pitch, P is generally taken as ; The parametric equation of the hemispherical surface is: ； in, is an angle parameter, representing the arc of a semicircle, and its value range is .

8. The humanoid robot linear actuator according to claim 7, characterized in that: The center of the curved screw is eccentric to the center of the roller distribution circle. , the rollers are evenly distributed, and the meshing equation between the curved lead screw and the rollers is: ； in, is the correction amount, For the Roller, is the angle between every two adjacent rollers, expressed as , is the sampling parameter, is the maximum value of the sampling parameter; and / or, When the center of the curved screw and the rollers are double-row rollers, the meshing equation of the first row of rollers is: ； in, is the correction amount, For the Roller, is the angle between every two adjacent rollers, expressed as , is the sampling parameter, is the maximum value of the sampling parameter; The meshing equation of the second row of rollers is: 。 9. The humanoid robot linear actuator according to claim 8, characterized in that: The retaining sleeve provides support and limiting function for the roller, converts the rotational motion of the roller into the linear motion of the curved lead screw, and the position of the roller hole is determined by the spiral parameter equation of the curved lead screw, ensuring that the roller can achieve precise matching during the movement; And / or, the helical parameter equation for the roller hole position is: or ; And / or, the wall thickness of the retaining sleeve is required to be greater than or equal to the roller radius and less than or equal to the difference between twice the roller radius and twice the eccentricity, and the wall thickness is an integer; And / or, the needle roller bearing 1 and the needle roller bearing 2 are eccentrically mounted to the support housing, and the needle roller bearing 1 and the needle roller bearing 2 are 180° out of phase with each other; And / or, the difference between the number of rollers and the number of teeth of the projected profile of the curved screw is 1, that is ; And / or, according to the odd or even number of rollers, it can be divided into single-row rollers and double-row rollers. If the number of rollers is an odd number, it is a double-row roller; if the number of rollers is an even number, it is a single-row roller; And / or, by setting the pitch and the number of rollers of the curved lead screw, the linear movement distance per unit of the curved lead screw can be changed, and the specific relationship is: .

10. A method for preparing a linear actuator of a humanoid robot, characterized in that: Used to prepare a humanoid robot linear actuator as claimed in any one of claims 1 to 9; the preparation method comprises the following steps: Step S1, installing the second needle roller bearing, the second angular contact bearing, and the second limit ring into the support housing from the left end of the support housing in sequence; Step S2, assemble the curved lead screw and the retaining sleeve coaxially, ensure that the starting roller hole on the retaining sleeve is in the same position as the tooth top of the curved lead screw; install the roller corresponding to the roller hole position on the retaining sleeve; then install it in the support shell pre-assembled in step S1, ensure that the roller is in contact with needle roller bearing 1, and the retaining sleeve is in contact with angular contact bearing 2; install needle roller bearing 1, angular contact bearing 1, and limit ring 1 in the support shell from the right end of the support shell in sequence, ensure that the roller is in contact with needle roller bearing 1, and the retaining sleeve is in contact with angular contact bearing 1; Step S3, assembling the support housing end cover and the support housing by bolts; thus, the installation of the actuator is completed; Step S4, pre-install the rotor at a set position on the support shell, install the stator, large thrust angular contact bearing 1 and large thrust angular contact bearing 2 at set positions in the cavity cylinder, with one end of the stator fixing control unit facing the right end of the cavity cylinder; assemble the above two pre-installed components to ensure that the limit designs in the two components are installed in place; assemble the washer and the limit nut from the right end of the support shell to the outer surface of the support shell in sequence; Step S5, assembling the front end cover with the cavity cylinder body and the sliding bearing, assembling the deep groove ball bearing with the support housing end cover, and then assembling the rear end cover with the cavity cylinder body, and locking and fixing the front end cover, the rear end cover and the cavity cylinder body with studs; Step S6, assemble the second sliding bearing with the rear end gasket, and then assemble it with the hole corresponding to the rear end cover; install the angle encoder at the rightmost end of the support housing end cover, and assemble the rear end cover plate with the rear end cover through bolts; Step S7, respectively install the power interface 1 and the power interface 2 in the corresponding installation holes on the outer surface of the cavity cylinder body and the rear end cover, thereby completing the assembly of the humanoid robot linear actuator.

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