Joint module of humanoid robot

Abstract

The invention provides a joint module of a humanoid robot, and relates to the technical field of robot joints, the joint module comprises a joint driving mechanism, the joint driving mechanism comprises a module lower shell, a module upper shell, a radial adjusting end, a frameless torque motor, a harmonic reducer and an encoder; and the frameless torque motor is detachably mounted in the module lower shell. The radial distance adjusting mechanism is matched with the synchronous pushing mechanism, accurate adjustment of the radial distance and the position of the radial adjusting end is achieved, the driving unit controls the power switching assembly, power of the frameless torque motor is transmitted to the screw rod through the speed reduction transmission assembly, the limiting embracing ring is driven to ascend and descend, and therefore the position of the radial adjusting end is accurately adjusted; meanwhile, the infrared distance detection assembly detects distance data in real time and feeds back the distance data to the control system, data support is provided for accurate adjustment, and the problem that in the prior art, a joint module cannot meet the requirement for complex operation accuracy is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joints, and in particular to a joint module of a humanoid robot. Background Art

[0002] With the rapid development of humanoid robot technology, the performance of its joint modules plays a decisive role in the flexibility, precision, and stability of the robot. Existing humanoid robot joint modules have many problems: First, the adjustment accuracy of the joint modules is difficult to meet the requirements of complex operations. The radial spacing and position of the joints cannot be adjusted in real time according to the actual task, resulting in large operational errors. For example, in scenarios such as precision assembly and fine grasping, traditional joint modules lack a dynamic adjustment mechanism and are difficult to adapt to millimeter-level precision operations, which in turn affects the quality of task completion. On the other hand, the joints lack stability during operation, and the output end of the frameless torque motor lacks an effective rotational support structure, which makes the joints prone to bending and deformation. When the robot performs heavy load handling or walks on complex terrain, the radial force and torque borne by the joints will cause structural deformation, which not only affects the accuracy of the motion trajectory, but also shortens the service life of the joint module and reduces the reliability of the robot's operation.

[0003] Therefore, there is an urgent need for a humanoid robot joint module with high-precision adjustment and strong stability. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a joint module for a humanoid robot, which can adjust the radial spacing of the joint module to meet some complex operations and provide rotational support at the joints to solve the problems that the adjustment accuracy of the existing joint modules is difficult to meet the requirements of complex operations, and the output end of the frameless torque motor lacks an effective rotational support structure.

[0005] To achieve the above object, the present invention is implemented through the following technical solutions: a joint module of a humanoid robot, comprising a joint drive mechanism, wherein the joint drive mechanism comprises a module lower shell, a module upper shell, a radial adjustment end, a frameless torque motor, a harmonic reducer and an encoder; The frameless torque motor is detachably mounted inside the lower shell of the module, the bottom of the upper shell of the module and the top of the lower shell of the module are detachably mounted through mounting ears, the radial adjustment end is rotatably mounted on the top of the upper shell of the module and is transmission-coordinated with the output end of the frameless torque motor, the harmonic reducer is fixedly mounted on the bottom of the inner wall of the upper shell of the module, the encoder is fixedly mounted on the top of the inner wall of the upper shell of the module, and the output end of the frameless torque motor is fixedly mounted on the bottom of the harmonic reducer, the output end of the harmonic reducer is transmission-mounted with the encoder, and a drive shaft is fixedly mounted through the encoder; The radial spacing adjustment mechanism is provided at the bottom of the module lower shell and is used to adjust the distance between the radial adjustment end and the module upper shell to adapt to the real-time operation accuracy of the robot; A synchronous pushing mechanism is provided on the outside of the radial adjustment end and is used to adjust the radial position of the radial adjustment end during the rotation process; The spacing adjustment anti-bending mechanism is provided between the radial adjustment end and the upper shell of the module and is used to provide rotational support for the top output end of the frameless torque motor; The infrared distance detection component is arranged on one side of the upper shell of the module and is used to detect the distance data between the radial adjustment end and the upper shell of the module.

[0006] Furthermore, the radial spacing adjustment mechanism includes a drive cover, a deceleration drive assembly and a power switching assembly. The drive cover is fixedly mounted on the bottom of the lower shell of the module and is used to limit the deceleration drive assembly. A limiting frame is fixedly mounted on one side of the center of the inner wall of the drive cover. The deceleration drive assembly is arranged inside the drive cover and is used to link the output end of the frameless torque motor to drive the synchronous push mechanism, so as to facilitate the adjustment of the radial adjustment end in cooperation with the synchronous push mechanism. The power switching assembly is arranged at the bottom of the drive cover and is used to switch the power source of the deceleration drive assembly and perform position adjustment control on the radial adjustment end.

[0007] Furthermore, the reduction drive assembly includes a driving gear, a radial adjustment shaft, a large gear plate 1, a small gear, a support shaft and a large gear plate 2. The driving gear can be longitudinally slidably installed on the top of the radial adjustment shaft surface, the radial adjustment shaft is rotatably installed inside the limit frame, the support shaft is provided with two groups, and is symmetrically rotatably installed on both sides of the inside of the driving cover, the large gear plate 1 is fixedly installed on the top of the support shaft surface, the small gear is fixedly installed on the bottom of the support shaft surface, the large gear plate 1 is meshed with the driving gear, and the large gear plate 2 is rotatably installed on both sides of the inside of the driving cover and meshed with the small gear.

[0008] Furthermore, the power switching assembly includes a driven bevel gear, a driving bevel gear sleeve, a lifting frame, a limit plate, a limit sleeve and a drive unit. The driven bevel gear is fixedly mounted on the top of the radial adjustment shaft, and the driving bevel gear sleeve is fixedly mounted on the bottom output end of the frameless torque motor. The driven bevel gear and the driving bevel gear sleeve are in transmission cooperation. The lifting frame rotation sleeve is arranged at the bottom of the radial adjustment shaft. The limit plate is provided in two groups and is fixedly mounted on the radial adjustment shaft at the top and bottom of the lifting frame. The limit sleeve is fixedly mounted on the bottom of the drive cover and is used to limit the rotation of the radial adjustment shaft. The drive unit is arranged at the bottom of the drive cover and is used to drive the radial adjustment shaft to rise and fall, so as to facilitate the control of the rotation and stop of the drive gear.

[0009] Furthermore, the drive unit includes a servo, a mounting seat, an L-shaped drive arm, a drive frame, a sliding sleeve and a sliding rod, the servo is fixedly mounted on the bottom of the mounting seat, the mounting seat is fixedly mounted on the bottom of the drive cover, the L-shaped drive arm is fixedly mounted on the output end of the servo, the shaft end of the L-shaped drive arm is slidingly matched with the drive frame, the right side of the drive frame is fixedly connected to the sliding sleeve, the bottom of the sliding sleeve is fixedly mounted on the lifting frame, and the sliding rod is fixedly mounted on the bottom of the drive cover and is used for sliding matching of the sliding sleeve.

[0010] Furthermore, the synchronous pushing mechanism includes a stabilizing sleeve, a limiting sleeve, a screw sleeve, a screw, a limiting ring and a limiting ring. The stabilizing sleeve is provided in two groups and is symmetrically installed on both sides of the lower shell of the module. The screw is rotatably installed inside the stabilizing sleeve, and the bottom passes through the stabilizing sleeve and the drive cover and is fixedly installed with the large gear disk 2. The limiting ring is fixedly installed on the surface of the radial adjustment end. The limiting ring is provided in two groups and is symmetrically installed up and down and can be removably installed through the mounting ears. The screw sleeve is fixedly installed on both sides of the limiting ring and is threadedly connected to the screw. The limiting sleeve is fixedly installed at the inner center of the radial adjustment end and a limiting groove is opened inside. The limiting groove and the drive shaft are slidably connected through the groove, and the limiting ring rotates and limits.

[0011] Furthermore, the adjustment spacing anti-bending mechanism includes a limiting pressure cover, a driven stable rotating seat, a limiting sliding hole and a sliding pin. The limiting pressure cover can be detachably installed on the top of the module upper shell and is used to limit the axial rotation of the driven stable rotating seat. The limiting sliding holes are provided in six groups and are equidistantly distributed in an annular manner inside the driven stable rotating seat. The sliding pins are provided in six groups and are slidably engaged with the limiting sliding holes.

[0012] Furthermore, the infrared distance detection component includes a mounting plate and an infrared proximity sensor. The mounting plate is fixedly mounted on one side of the lower shell of the module, and the infrared proximity sensor is fixedly mounted on the top of the mounting plate and is used to detect the distance data between the upper shell of the module and the radial adjustment end.

[0013] Furthermore, a spring is provided on the surface of the limiting sleeve, the top of the spring is fixedly mounted to the bottom of the radial adjustment end, and the bottom of the spring is fixedly mounted to the top of the driven stable rotating seat. When the radial adjustment end moves axially, the spring generates axial elastic force through the contact end surface to eliminate the adjustment gap, and the spring is configured to have an energy dissipation function.

[0014] Furthermore, a plurality of heat dissipation fins are fixed in a ring shape on the surface of the lower shell of the module, a plurality of heat dissipation holes are opened inside the lower shell of the module and are used to dissipate heat for the frameless torque motor, and a fixing seat is fixedly installed on one side of the lower shell of the module close to the mounting plate and is used to connect an external robot joint.

[0015] Beneficial effects of the present invention: The present invention realizes precise adjustment of the radial spacing and position of the radial adjustment end by cooperating with the radial spacing adjustment mechanism and the synchronous pushing mechanism. The driving unit controls the power switching component so that the power of the frameless torque motor is transmitted to the screw through the reduction transmission component, driving the limit ring to rise and fall, thereby precisely adjusting the position of the radial adjustment end. At the same time, the infrared spacing detection component detects the spacing data in real time and feeds back to the control system, providing data support for precise adjustment, effectively solving the problem in the prior art that the joint module cannot meet the requirements of complex operation accuracy, and can ensure that the robot has extremely small errors when performing fine operations; The setting of the adjustable spacing anti-bending mechanism greatly improves the stability of the joint module. The limit gland limits the axial rotation of the driven stable rotating seat. The cooperation between the driven stable rotating seat and the sliding pin provides multiple guides during the rotation of the radial adjustment end, avoiding structural tilt and collision, effectively resisting the bending force generated by the frameless torque motor during operation, and preventing the joint from bending and deformation. Compared with the existing technology, the reliability and service life of the joint module are significantly improved. In addition, the stabilizing sleeve provides stable support for the screw, reducing its rotational jitter, and further enhancing the stability of the overall structure during the adjustment process. The polyurethane spring mounted on the surface of the limiting sleeve generates axial elastic force when the radial adjustment end moves axially, effectively eliminating the adjustment gap and ensuring the accuracy after axial adjustment. This design makes up for the defect of gap in the traditional joint module during the adjustment process, making the movement of the robot joint more precise and stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings: Figure 1 It is a structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention when viewed from above; Figure 3 This is a schematic diagram of a partially half-cut exploded structure of the present invention; Figure 4 This is a schematic diagram of a side-view half-section exploded three-dimensional structure of the present invention; Figure 5 This is a schematic diagram of a half-section structure of the drive cover of the present invention; Figure 6 for Figure 4 A magnified view of middle A; Figure 7 It is a schematic diagram of the horizontal axial explosion three-dimensional structure of the present invention.

[0017] Figure: 1. Module lower shell; 11. Fixing seat; 12. Heat dissipation fins; 13. Heat dissipation holes; 101. Drive cover; 102. Limiting frame; 103. Drive gear; 1031. Large gear plate 1; 1032. Small gear; 1033. Support shaft; 1034. Large gear plate 2; 104. Radial adjustment shaft; 1041. Driven bevel gear; 1042. Drive bevel gear sleeve; 105. Servo; 1051. Mounting seat; 1052. L-shaped drive arm; 1053. Drive frame; 1054. Sliding sleeve; 1055. Lifting frame; 1056 , limit plate; 1057, slide rod; 1058, limit sleeve; 106, shaft stabilizing sleeve; 2, module upper shell; 21, limit pressure cover; 22, mounting plate; 221, infrared proximity sensor; 3, radial adjustment end; 31, limit sleeve; 311, limit groove; 312, drive shaft; 32, screw sleeve; 33, screw; 34, limit ring; 35, limit ring; 36, driven stable rotating seat; 361, limit sliding hole; 362, sliding pin; 301, spring; 4, frameless torque motor; 5, harmonic reducer; 6, encoder. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0019] See also Figure 1 , Figure 1 It is a structural schematic diagram of the present invention.

[0020] A joint module of a humanoid robot includes a joint drive mechanism, wherein the joint drive mechanism includes a module lower shell 1, a module upper shell 2, a radial adjustment end 3, a frameless torque motor 4, a harmonic reducer 5 and an encoder 6; The frameless torque motor 4 is detachably mounted inside the module lower shell 1, the bottom of the module upper shell 2 and the top of the module lower shell 1 are detachably mounted through mounting ears, the radial adjustment end 3 is rotatably mounted on the top of the module upper shell 2 and is transmission-coordinated with the output end of the frameless torque motor 4, the harmonic reducer 5 is fixedly mounted on the bottom of the inner wall of the module upper shell 2, the encoder 6 is fixedly mounted on the top of the inner wall of the module upper shell 2, and the output end of the frameless torque motor 4 is fixedly mounted on the bottom of the harmonic reducer 5, the output end of the harmonic reducer 5 is transmission-mounted with the encoder 6, and a drive shaft 312 is fixedly mounted through the encoder 6; See also Figures 2 to 7 , Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention when viewed from above; Figure 3 This is a schematic diagram of a partially half-cut exploded structure of the present invention; Figure 4 This is a schematic diagram of a side-view half-section exploded three-dimensional structure of the present invention; Figure 5 This is a schematic diagram of a half-section structure of the drive cover of the present invention; Figure 6 for Figure 4 A magnified view of middle A; Figure 7 It is a schematic diagram of the horizontal axial explosion three-dimensional structure of the present invention.

[0021] The radial spacing adjustment mechanism is arranged at the bottom of the module lower shell 1, and is used to adjust the distance between the radial adjustment end 3 and the module upper shell 2 to adapt the real-time operation accuracy of the robot; the radial spacing adjustment mechanism includes a drive cover 101, a deceleration drive assembly and a power switching assembly. The drive cover 101 is fixedly installed at the bottom of the module lower shell 1, and is used to limit the deceleration drive assembly. A limit frame 102 is fixedly installed on one side of the center of the inner wall of the drive cover 101. The deceleration drive assembly is arranged inside the drive cover 101 and is used to link the output end of the frameless torque motor 4 to drive the synchronous push mechanism, so as to facilitate the adjustment of the radial adjustment end 3 by cooperating with the synchronous push mechanism. The power switching assembly is arranged at the bottom of the drive cover 101 and is used to switch the power source of the deceleration drive assembly to perform position adjustment control on the radial adjustment end 3; The drive cover 101 can protect the reduction drive component to avoid external environmental interference, such as dust and debris entering and affecting the engagement of the gears, and can control the clutch drive of the reduction drive component through the drive unit in conjunction with the power switching component (clutch drive control refers to disconnecting the transmission connection and merging the transmission connection), which can be carried out synchronously during the operation of the frameless torque motor 4, without the need for a separate external drive structure, and can achieve self-drive force follow-up adjustment, and can be selectively disconnected and connected.

[0022] The reduction drive assembly includes a driving gear 103, a radial adjustment shaft 104, a large toothed disc 1031, a small gear 1032, a support shaft 1033 and a large toothed disc 2 1034. The driving gear 103 is longitudinally slidably mounted on the top of the surface of the radial adjustment shaft 104. The radial adjustment shaft 104 is rotatably mounted inside the limit frame 102. Two groups of support shafts 1033 are provided and symmetrically rotated on both sides of the inside of the driving cover 101. The large toothed disc 1031 is fixedly mounted on the top of the surface of the support shaft 1033. The small gear 1032 is fixedly mounted on the bottom of the surface of the support shaft 1033. The large toothed disc 1031 is meshed with the driving gear 103. The large toothed disc 2 1034 is rotatably mounted on both sides of the inside of the driving cover 101 and is meshed with the small gear 1032. The driving gear 103 can be limited by the limiting frame 102, so that the driving gear 103 can always be kept in a position where it can mesh with the two groups of large toothed discs 1031, and the clutch control of the separate radial adjustment shaft 104 at the center will not affect the meshing synchronization of the driving gear 103 and the two groups of large toothed discs 1031, ensuring that the two groups of large toothed discs 1031 can be stably driven by the driving gear 103 during the switching process. At the same time, after the large toothed disc 1031 rotates, the small gear 1032 coaxially fixed with it can drive the large toothed disc 2 1034 to rotate. At this time, the rotation directions of the two groups of large toothed discs 2 1034 are the same, so that the corresponding screws 33 can rotate synchronously, and then the entire synchronous pushing mechanism can be driven to rise and fall through the rotation of the screw 33 to complete the adjustment effect.

[0023] The power switching assembly includes a driven bevel gear 1041, a driving bevel gear sleeve 1042, a lifting frame 1055, a limiting piece 1056, a limiting sleeve 1058 and a driving unit. The driven bevel gear 1041 is fixedly mounted on the top of the radial adjustment shaft 104, and the driving bevel gear sleeve 1042 is fixedly mounted on the bottom output end of the frameless torque motor 4. The driven bevel gear 1041 and the driving bevel gear sleeve 1042 are matched with each other in transmission. The lifting frame 1055 is rotatably sleeved on the bottom of the radial adjustment shaft 104. The limiting piece 1056 is provided with two groups and is fixedly mounted on the surface of the radial adjustment shaft 104 at the top and bottom of the lifting frame 1055. The limiting sleeve 1058 is fixedly mounted on the bottom of the driving cover 101 and is used to limit the rotation of the radial adjustment shaft 104. The driving unit is arranged at the bottom of the driving cover 101 and is used to drive the radial adjustment shaft 104 to rise and fall, so as to facilitate the control of the rotation and stop of the driving gear 103. When the driven bevel gear 1041 and the driving bevel gear sleeve 1042 are meshed with each other for transmission, the bottom output force of the frameless torque motor 4 can be transmitted to the radial adjustment shaft 104, and then the driving gear 103 is driven to rotate through the slidable transmission matching relationship between the radial adjustment shaft 104 and the driving gear 103. At this time, the rotating radial adjustment shaft 104 can still be driven up and down by 1044 through the rotation limiting relationship between the bottom limiting piece 1056 and the lifting frame 1055, thereby controlling the meshing state of the driven bevel gear 1041 and the driving bevel gear sleeve 1042 at the top of the radial adjustment shaft 104. When the movable bevel gear sleeve 1042 is separated, the driving gear 103 loses the driving force of the radial adjustment shaft 104, thereby achieving disconnection, preventing the frameless torque motor 4 from interfering with the adjustment of the radial adjustment end 3 during the startup process, and the limit sleeve 1058 can make the adjustment process of the radial adjustment shaft 104 rotating and sliding up and down more stable, avoiding the transmission gap of the radial adjustment shaft 104, improving the stability of the radial adjustment shaft 104 driving the driving gear 103, and facilitating the lifting frame 1055 to control the lifting of the radial adjustment shaft 104, preventing the lifting frame 1055 and the bottom of the radial adjustment shaft 104 from being mechanically stuck after the radial adjustment shaft 104 tilts.

[0024] The drive unit includes a servo 105, a mounting base 1051, an L-shaped drive arm 1052, a drive frame 1053, a sliding sleeve 1054, and a slide rod 1057. The servo 105 is fixedly mounted on the bottom of the mounting base 1051, and the mounting base 1051 is fixedly mounted to the bottom of the drive cover 101. The L-shaped drive arm 1052 is fixedly mounted on the output end of the servo 105. The shaft end of the L-shaped drive arm 1052 is slidably engaged with the drive frame 1053. The right side of the drive frame 1053 is fixedly connected to the sliding sleeve 1054. The bottom of the sliding sleeve 1054 is fixedly mounted to the lifting frame 1055. The slide rod 1057 is fixedly mounted on the bottom of the drive cover 101 and is used for sliding engagement with the sliding sleeve 1054. The servo 105 can drive the L-shaped drive arm 1052, so that the L-shaped drive arm 1052 can drive the drive frame 1053 up and down through the shaft end, thereby ensuring the stability of the jacking drive, and the mounting seat 1051 can facilitate the installation and disassembly maintenance of the servo 105, and facilitate the maintenance of the drive part. At the same time, the slide rod 1057 can make the sliding sleeve 1054 rise and fall stably, so that it can further improve the stability of the lifting frame 1055 driving the radial adjustment shaft 104.

[0025] The synchronous pushing mechanism is arranged on the outside of the radial adjustment end 3 and is used to adjust the radial position of the radial adjustment end 3 during the rotation process; the synchronous pushing mechanism includes a stabilizing sleeve 106, a limiting sleeve 31, a screw sleeve 32, a screw 33, a limiting ring 34 and a limiting ring 35. The stabilizing sleeve 106 is provided with two groups and is symmetrically installed on both sides of the module lower shell 1. The screw 33 is rotatably installed inside the stabilizing sleeve 106, and the bottom passes through the stabilizing sleeve 106 and the drive cover 101 and is fixedly installed on the large toothed disc 1034. The limiting ring 34 is fixedly installed on the surface of the radial adjustment end 3. Two groups of positioning rings 35 are provided, and are symmetrically installed up and down and can be detachably installed through mounting ears. The screw sleeves 32 are fixedly installed on both sides of the limiting rings 35 and are threadedly connected to the screw rod 33. The limiting shaft sleeve 31 is fixedly installed at the center of the radial adjustment end 3 and has a limiting groove 311 inside. The limiting groove 311 and the drive shaft 312 are slidably connected through a groove. The limiting rings 35 and the limiting ring 34 are rotationally limited (which can facilitate the radial position of the adjusting end 3 to be limited during the rotation of the adjusting end 3, thereby preventing the radial position of the adjusting end 3 from spontaneously deviating during rotation). The stabilizing sleeve 106 can make the bottom of the screw 33 more stable. When the screw 33 rotates, the bottom can enhance the anti-bending force of the screw 33 and increase the area of ​​supporting the screw 33, thereby reducing the jitter coefficient when the screw 33 rotates. It can stably cooperate with the thread of the screw sleeve 32, so that after the screw 33 rotates, it can stably drive the screw sleeve 32 to rise and fall, thereby driving the limiting ring 35 fixed to the screw sleeve 32 to rise and fall, and then lift the limiting ring 34 that is limited in rotation with it through the limiting ring 35, so that the radial adjustment end 3 can be lifted and adjusted without affecting the rotation of the radial adjustment end 3, and then dynamic adjustment can be made during the output of the radial adjustment end 3 to improve the use effect.

[0026] The spacing adjustment anti-bending mechanism is arranged between the radial adjustment end 3 and the module upper shell 2, and is used to rotatably support the top output end of the frameless torque motor 4; the spacing adjustment anti-bending mechanism includes a limit cover 21, a driven stable rotating seat 36, a limit sliding hole 361 and a sliding latch 362. The limit cover 21 is detachably mounted on the top of the module upper shell 2 and is used to limit the axial rotation of the driven stable rotating seat 36. The limit sliding holes 361 are provided in six groups and are annularly and equidistantly distributed inside the driven stable rotating seat 36. The sliding latch 362 is provided in six groups and slides with the limit sliding holes 361. The limiting pressure cover 21 can limit the bottom of the driven stabilizing rotating seat 36 to prevent the driven stabilizing rotating seat 36 from escaping the restriction of the limiting pressure cover 21, and at the same time can facilitate the driven stabilizing rotating seat 36 to rotate synchronously with the radial adjustment end 3, and further improve the anti-bending performance of the space between the radial adjustment end 3 and the module upper shell 2, to ensure that the intermediate structure is not easy to bend and deform during the adjustment process. At the same time, the plug-in cooperation of the limiting sliding hole 361 and the sliding pin 362 can synchronize the driven stabilizing rotating seat 36 with the radial adjustment end 3 during its rotation, and can ensure that the adjustment distance between the radial adjustment end 3 and the driven stabilizing rotating seat 36 has a multiple guide structure to avoid tilting and colliding between the bottom of the radial adjustment end 3 and the top of the driven stabilizing rotating seat 36.

[0027] The infrared distance detection component is provided on one side of the module upper shell 2 and is used to detect the distance data between the radial adjustment end 3 and the module upper shell 2; the infrared distance detection component includes a mounting plate 22 and an infrared proximity sensor 221. The mounting plate 22 is fixedly mounted on one side of the module lower shell 1, and the infrared proximity sensor 221 is fixedly mounted on the top of the mounting plate 22. The detection end surface of the infrared proximity sensor 221 is consistent with the top cross-section of the module upper shell 2. The detection end detects the laser irradiated to the bottom of the limit ring 35 to detect the fit, thereby obtaining the distance detection data, and is used to detect the distance data between the module upper shell 2 and the radial adjustment end 3; The mounting piece 22 can fix the infrared proximity sensor 221. At the same time, the connection between the bottom of the infrared proximity sensor 221 and the mounting piece 22 can be adjusted to the longitudinal detection position through a nut of a standard accessory, which is convenient for calibration in later use. The distance between the dynamic radial adjustment end 3 and the module upper shell 2 can be digitized to make the adjustment more reliable. According to the needs of digitization, it can be accurately corrected to the required axial position. At the same time, some errors after installation can be compensated to improve the accuracy of the robot joint during later use. When the detection end of the infrared proximity sensor 221 is aligned with the bottom of the limit ring 35, the accurate real-time spacing data can be determined to avoid unclear spacing, which in turn affects the operation results after driving, and the situation where large operation errors affect the completion of instructions.

[0028] A spring 301 is sleeved on the surface of the limiting sleeve 31. The top of the spring 301 is fixedly installed with the bottom of the radial adjustment end 3, and the bottom of the spring 301 is fixedly installed with the top of the driven stable rotating seat 36. When the radial adjustment end 3 moves axially, the spring 301 generates axial elastic force by contacting the end surface to eliminate the adjustment gap; the spring 301 is made of polyurethane spring, which has the characteristics of resistance to low-frequency vibration and medium load buffering. When the position of the radial adjustment end 3 is adjusted, the adjustment gap can be eliminated by the spring 301 to ensure the accuracy after axial adjustment.

[0029] Several groups of heat dissipation fins 12 are fixed in a ring shape on the surface of the module lower shell 1, and several groups of heat dissipation holes 13 are opened inside the module lower shell 1 and are used to dissipate heat for the frameless torque motor 4. A fixing seat 11 is fixedly installed on one side of the module lower shell 1 close to the mounting plate 22, and is used to connect an external robot joint; the heat dissipation fins 12 and the heat dissipation holes 13 can improve the heat dissipation performance of the frameless torque motor 4, and then it is convenient to connect to the joint through the fixing seat 11.

[0030] Example 1: High-precision grabbing operation example When a humanoid robot performs the task of grasping small parts with high precision, the joint module needs to have extremely high adjustment accuracy and stable operating performance; Startup and initial detection: After the robot is started, the infrared proximity sensor 221 detects the distance between the radial adjustment end 3 and the module upper shell 2 in real time and feeds the data back to the control system. If it is detected that the distance does not meet the preset initial position requirements, the control system issues a command to start the radial distance adjustment mechanism; Power switching and reduction transmission: The servo 105 in the drive unit starts working, driving the radial adjustment shaft 104 upward through the L-shaped drive arm 1052, drive frame 1053, sliding sleeve 1054 and lifting frame 1055, so that the driven bevel gear 1041 engages with the driving bevel gear sleeve 1042, and the power of the frameless torque motor 4 is transmitted to the radial adjustment shaft 104. After the radial adjustment shaft 104 rotates, the drive gear 103 engages with the large gear plate 1 1031, and the power is transmitted to the large gear plate 2 1034 through the small gear 1032, realizing reduction transmission and providing stable and appropriate power output for subsequent spacing adjustment; Precise adjustment of spacing and position: the large toothed disc 1034 drives the screw 33 to rotate, and the limit ring 35 is raised and lowered through the screw sleeve 32, thereby adjusting the radial spacing of the radial adjustment end 3 to a position suitable for grasping small parts. During the grasping process, if the radial position of the radial adjustment end 3 needs to be dynamically adjusted due to fine-tuning of the part position, the synchronous pushing mechanism works again, and the screw 33 continues to rotate to achieve precise radial position adjustment. The limit pressure cover 21, the driven stable rotating seat 36, the limit sliding hole 361 and the sliding pin 362 in the spacing anti-bending mechanism work together to ensure that the joint module structure is stable during the entire adjustment process, and no bending deformation will occur to affect the grasping accuracy; Grasping and feedback: When the radial adjustment end 3 is adjusted to the appropriate position, the frameless torque motor 4 drives the radial adjustment end 3 to perform a grasping action through the harmonic reducer 5, encoder 6 and drive shaft 312. After the grasping is completed, the infrared proximity sensor 221 detects the spacing data again and feeds it back to the control system to provide data reference for the next operation.

[0031] Example 2: Heavy-load handling operation example When a humanoid robot needs to carry heavy objects, the joint module needs to provide strong torque and good stability; Pre-adjustment and power transmission: Before the handling task begins, the control system pre-adjusts the distance between the radial adjustment end 3 and the module upper shell 2 through the radial spacing adjustment mechanism based on information such as the object weight and the handling path, thereby enhancing the support capacity of the joint module. The frameless torque motor 4 is started, and the power is transmitted to the encoder 6 and the drive shaft 312 after being decelerated and torque-increased by the harmonic reducer 5, driving the radial adjustment end 3 to drive the robot arm to approach the heavy object; Stable adjustment under heavy load: During the process of grabbing heavy objects, if the force on the joint module changes due to the weight of the heavy object, the position of the radial adjustment end 3 needs to be adjusted to maintain balance. At this time, the power switching component connects the radial adjustment shaft 104 to the frameless torque motor 4, the reduction transmission component works, the large gear plate 1034 drives the screw 33 to rotate, and the synchronous pushing mechanism adjusts the radial position of the radial adjustment end 3 to ensure that the robot arm can grab heavy objects stably. The spacing adjustment anti-bending mechanism plays a key role under heavy load conditions. The limit pressure cover 21 and the driven stable rotating seat 36 and other structures effectively resist the bending force of the joint module caused by the heavy object, ensuring stable operation of the joint; Transportation and heat dissipation guarantee: During the transportation process, the frameless torque motor 4 continues to operate at high load. The heat dissipation fins 12 on the surface of the module lower shell 1 and the internal heat dissipation holes 13 work together to dissipate the heat generated by the generator in time, ensuring that the motor operates at an appropriate temperature. At the same time, the polyurethane spring 301 eliminates the adjustment gap caused by the pressure of the heavy object and the movement of the joint, ensuring the operation accuracy and stability of the joint until the heavy object is transported to the designated position.

[0032] Example 3: Complex Terrain Walking Operation Example When a humanoid robot walks on complex terrain, the joint module needs to be constantly adjusted to adapt to the terrain changes to ensure walking stability and flexibility; Real-time terrain perception and preliminary adjustment: The robot obtains information about the surrounding terrain through its own terrain perception sensor. The control system determines the need to adjust the joint module based on the terrain data. The infrared proximity sensor 221 detects the distance between the radial adjustment end 3 and the module upper shell 2 in real time. If the distance does not meet the current terrain walking requirements, the radial distance adjustment mechanism is activated. Through steps such as power switching, deceleration transmission and distance adjustment, the radial distance of the radial adjustment end 3 is adjusted to enable the robot's leg joints to adapt to changes in terrain slope. Dynamic adjustment during walking: During walking, when the robot encounters an obstacle that needs to be crossed or bypassed, or the uneven ground causes uneven force on the joints, the synchronous pushing mechanism and the spacing adjustment anti-bending mechanism work together. The synchronous pushing mechanism adjusts the radial position of the radial adjustment end 3 in real time through the transmission of the screw 33 and the screw sleeve 32 according to the control system instructions, so that the robot legs can flexibly adjust their posture to adapt to changes in terrain. The spacing adjustment anti-bending mechanism ensures that the joints will not bend or deform in the case of frequent adjustments and uneven force, thereby maintaining the stability of the robot's walking. At the same time, the frameless torque motor 4 provides appropriate power to the joints through the harmonic reducer 5 and the encoder 6, driving the robot to complete the walking action; Continuous monitoring and feedback optimization: The infrared proximity sensor 221 continuously monitors the distance data and feeds it back to the control system. The control system continuously optimizes the adjustment strategy of the joint module based on the feedback information and real-time terrain changes to ensure that the robot can move stably and flexibly in complex terrain.

[0033] Working principle: Power transmission and overall drive: The frameless torque motor 4 serves as the power source and is detachably mounted inside the module lower shell 1. Its output end is fixedly connected to the bottom of the harmonic reducer 5 to transmit power to the harmonic reducer 5. After the harmonic reducer 5 decelerates and increases the torque of the power, the power is transmitted to the encoder 6 and output through the drive shaft 312 that passes through the encoder 6 to realize the basic drive of the radial adjustment end 3, so that the radial adjustment end 3 can rotate; Radial spacing adjustment: Power switching: When the distance between the radial adjustment end 3 and the module upper shell 2 needs to be adjusted, the drive unit starts to work, and the servo 105 in the drive unit is fixedly installed at the bottom of the mounting seat 1051, and the mounting seat 1051 is connected to the bottom of the drive cover 101. The servo 105 drives the L-shaped drive arm 1052 to rotate, and the shaft end of the L-shaped drive arm 1052 toggles the drive frame 1053, driving the sliding sleeve 1054 and the lifting frame 1055 connected to the drive frame 1053 to rise along the slide rod 1057. The lifting frame 1055 drives the radial adjustment shaft 104 to rise through the limit plate 1056, so that the driven bevel gear 1041 at the top of the radial adjustment shaft 104 engages with the driving bevel gear sleeve 1042 at the bottom output end of the frameless torque motor 4, thereby transmitting the power of the frameless torque motor 4 to the radial adjustment shaft 104; Reduction drive: After the radial adjustment shaft 104 rotates, the driving gear 103 installed on the top of its surface for longitudinal sliding transmission is limited by the limiting frame 102 and engages with the large toothed disc 1031 symmetrically installed on the supporting shafts 1033 on both sides of the driving cover 101. The rotation of the large toothed disc 1031 drives the coaxially fixed small gear 1032 to rotate, and the small gear 1032 then drives the large toothed disc 2 1034 engaged with it to rotate, and the two sets of large toothed discs 1034 rotate in the same direction; Spacing adjustment: The large toothed disc 1034 rotates synchronously with the screw 33 which is rotatably mounted inside the shaft stabilizing sleeve 106 and fixed to it at the bottom. The screw 33 is threadedly connected with the screw sleeves 32 fixed on both sides of the limiting ring 35. When the screw 33 rotates, the limiting ring 35 is driven to rise and fall through the screw sleeves 32. The limiting ring 35 then lifts the limiting ring 34 which is matched with the limiting ring in rotation, thereby adjusting the radial spacing of the radial adjustment end 3 to adapt to the real-time operation accuracy of the robot. Synchronous promotion and radial position adjustment: During the rotation of the radial adjustment end 3, when the radial position needs to be adjusted, the screw 33 rotates to drive the screw sleeve 32 and the limiting ring 35 to rise and fall through the transmission of the above-mentioned radial spacing adjustment mechanism. Since the limiting ring 35 and the limiting ring 34 are rotated and limited, and the limiting ring 34 is fixed to the surface of the radial adjustment end 3, the dynamic adjustment of the radial position of the radial adjustment end 3 is achieved without affecting the rotation of the radial adjustment end 3. The stabilizing sleeves 106 are symmetrically installed on both sides of the module lower shell 1 to provide stable support for the bottom of the screw 33, increase the bending resistance of the screw 33, reduce rotational jitter, ensure stable cooperation with the screw sleeve 32, and achieve precise radial position adjustment; Adjusting the spacing and resisting bending: An adjusting spacing and resisting bending mechanism is provided between the radial adjusting end 3 and the upper shell 2 of the module. The limiting pressure cover 21 is detachably mounted on the top of the upper shell 2 of the module to limit the axial rotation of the driven stable rotating seat 36 to prevent it from being out of the limit. Six groups of limiting sliding holes 361 are equidistantly distributed in an annular shape inside the driven stable rotating seat 36, which slide with six groups of sliding pins 362. When the radial adjusting end 3 rotates, the driven stable rotating seat 36 rotates synchronously with the cooperation of the sliding pins 362 and the limiting sliding holes 361. The multiple guiding structure avoids the tilting and collision between the bottom of the radial adjusting end 3 and the top of the driven stable rotating seat 36, while improving the anti-bending performance of the space between the two, ensuring that the structure is not easily deformed during the adjustment process. Distance detection and feedback: The infrared distance detection component is used to detect the distance data between the radial adjustment end 3 and the module upper shell 2. The mounting plate 22 is fixed to one side of the module lower shell 1. The infrared proximity sensor 221 is installed on the top of the mounting plate 22. The connection between its bottom and the mounting plate 22 can be adjusted to the longitudinal detection position through a standard accessory nut for easy calibration. When the detection end of the infrared proximity sensor 221 is aligned with the bottom of the limit ring 35, accurate real-time distance data can be obtained and the data can be fed back to the control system. The control system determines whether it is necessary to adjust the radial adjustment end 3 through the radial distance adjustment mechanism and the synchronous push mechanism according to the preset operation accuracy requirements to ensure the operation accuracy of the joint module; Eliminate adjustment gap and heat dissipation: The polyurethane spring 301 sleeved on the surface of the limiting sleeve 31 generates axial elastic force by contacting the end surface when the radial adjustment end 3 moves axially, thereby eliminating the adjustment gap and ensuring the accuracy after axial adjustment. Several groups of heat dissipation fins 12 fixed in an annular manner on the surface of the module lower shell 1 cooperate with several groups of heat dissipation holes 13 opened inside to improve the heat dissipation performance of the frameless torque motor 4 and ensure that the motor runs stably at an appropriate temperature.

[0034] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from all points of view, the embodiments should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and range of equivalents of the claims are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0035] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A joint module of a humanoid robot, characterized by: The joint drive mechanism comprises a module lower shell (1), a module upper shell (2), a radial adjustment end (3), a frameless torque motor (4), a harmonic reducer (5) and an encoder (6); The frameless torque motor (4) is detachably mounted inside the module lower shell (1), the bottom of the module upper shell (2) and the top of the module lower shell (1) are detachably mounted via mounting ears, the radial adjustment end (3) is rotatably mounted on the top of the module upper shell (2) and is transmission-coordinated with the output end of the frameless torque motor (4), the harmonic reducer (5) is fixedly mounted on the bottom of the inner wall of the module upper shell (2), the encoder (6) is fixedly mounted on the top of the inner wall of the module upper shell (2), and the output end of the frameless torque motor (4) is fixedly mounted on the bottom of the harmonic reducer (5), the output end of the harmonic reducer (5) is transmission-mounted with the encoder (6), and a drive shaft (312) is fixedly mounted through the encoder (6); A radial spacing adjustment mechanism is provided at the bottom of the module lower shell (1) and is used to adjust the distance between the radial adjustment end (3) and the module upper shell (2) to adapt the real-time operation accuracy of the robot; A synchronous pushing mechanism is arranged outside the radial adjustment end (3) and is used to adjust the radial position of the radial adjustment end (3) during the rotation process; The spacing adjustment anti-bending mechanism is arranged between the radial adjustment end (3) and the module upper shell (2), and is used to provide rotational support for the top output end of the frameless torque motor (4); The infrared distance detection component is arranged on one side of the module upper shell (2) and is used to detect the distance data between the radial adjustment end (3) and the module upper shell (2).

2. The joint module of a humanoid robot according to claim 1, characterized in that: The radial spacing adjustment mechanism includes a drive cover (101), a deceleration drive component and a power switching component. The drive cover (101) is fixedly mounted on the bottom of the module lower shell (1) and is used to limit the deceleration drive component. A limiting frame (102) is fixedly mounted on one side of the center of the inner wall of the drive cover (101). The deceleration drive component is arranged inside the drive cover (101) and is used to drive the synchronous push mechanism by linking the output end of the frameless torque motor (4) to facilitate the adjustment of the radial adjustment end (3) in conjunction with the synchronous push mechanism. The power switching component is arranged at the bottom of the drive cover (101) and is used to switch the power source of the deceleration drive component and perform position adjustment control on the radial adjustment end (3).

3. The joint module of a humanoid robot according to claim 2, characterized in that: The reduction drive assembly comprises a driving gear (103), a radial adjustment shaft (104), a large toothed disc (1031), a small gear (1032), a support shaft (1033) and a large toothed disc (1034), wherein the driving gear (103) is longitudinally slidably mounted on the top of the surface of the radial adjustment shaft (104), the radial adjustment shaft (104) is rotatably mounted inside the limit frame (102), the support shaft (1033) is provided with two groups and symmetrically rotatably mounted on both sides inside the driving cover (101), the large toothed disc (1031) is fixedly mounted on the top of the surface of the support shaft (1033), the small gear (1032) is fixedly mounted on the bottom of the surface of the support shaft (1033), the large toothed disc (1031) and the driving gear (103) are meshed with each other, and the large toothed disc (1034) is rotatably mounted on both sides inside the driving cover (101) and is meshed with the small gear (1032).

4. The joint module of a humanoid robot according to claim 3, characterized in that: The power switching assembly comprises a driven bevel gear (1041), a driving bevel gear sleeve (1042), a lifting frame (1055), a limiting plate (1056), a limiting sleeve (1058) and a driving unit, wherein the driven bevel gear (1041) is fixedly mounted on the top of the radial adjustment shaft (104), the driving bevel gear sleeve (1042) is fixedly mounted on the bottom output end of the frameless torque motor (4), the driven bevel gear (1041) and the driving bevel gear sleeve (1042) are in transmission cooperation, and the lifting frame (1055) is a rotating sleeve arranged on The bottom of the radial adjustment shaft (104), the limiting plates (1056) are provided in two groups and are fixedly installed on the radial adjustment shaft (104) at the top and bottom of the lifting frame (1055), the limiting sleeve (1058) is fixedly installed on the bottom of the driving cover (101), and is used to limit the rotation of the radial adjustment shaft (104), the driving unit is provided at the bottom of the driving cover (101) and is used to drive the radial adjustment shaft (104) to rise and fall, so as to facilitate the control of the rotation and stop of the driving gear (103).

5. The joint module of a humanoid robot according to claim 4, characterized in that: The driving unit comprises a steering gear (105), a mounting seat (1051), an L-shaped driving arm (1052), a driving frame (1053), a sliding sleeve (1054) and a sliding rod (1057). The steering gear (105) is fixedly mounted on the bottom of the mounting seat (1051), the mounting seat (1051) is fixedly mounted on the bottom of the driving cover (101), the L-shaped driving arm (1052) is fixedly mounted on the output end of the steering gear (105), the shaft end of the L-shaped driving arm (1052) is slidably matched with the driving frame (1053), the right side of the driving frame (1053) is fixedly connected to the sliding sleeve (1054), the bottom of the sliding sleeve (1054) is fixedly mounted on the lifting frame (1055), and the sliding rod (1057) is fixedly mounted on the bottom of the driving cover (101) and is used for slidably matching with the sliding sleeve (1054).

6. The joint module of a humanoid robot according to claim 3, characterized in that: The synchronous pushing mechanism comprises a stabilizing sleeve (106), a limiting sleeve (31), a screw sleeve (32), a screw rod (33), a limiting ring (34) and a limiting ring (35), wherein the stabilizing sleeve (106) is provided with two groups and is symmetrically mounted on both sides of the module lower shell (1), the screw rod (33) is rotatably mounted inside the stabilizing sleeve (106), and the bottom thereof passes through the stabilizing sleeve (106) and the driving cover (101) and is fixedly mounted on the large toothed disc 2 (1034), and the limiting ring (34) is fixedly mounted on the radial adjustment end ( 3), the limiting ring (35) is provided with two groups, and is symmetrically mounted up and down and can be detachably mounted through mounting ears, the screw sleeve (32) is fixedly mounted on both sides of the limiting ring (35) and is threadedly connected to the screw rod (33), the limiting shaft sleeve (31) is fixedly mounted at the inner center of the radial adjustment end (3), and a limiting groove (311) is provided inside, the limiting groove (311) and the driving shaft (312) are slidably connected through a groove, and the limiting ring (35) and the limiting ring (34) are rotationally limited.

7. The joint module of a humanoid robot according to claim 1, characterized in that: The spacing adjustment anti-bending mechanism comprises a limiting pressure cover (21), a driven stable rotating seat (36), a limiting sliding hole (361) and a sliding latch (362). The limiting pressure cover (21) is detachably mounted on the top of the module upper shell (2) and is used to limit the axial rotation of the driven stable rotating seat (36). The limiting sliding holes (361) are provided in six groups and are annularly and equidistantly distributed inside the driven stable rotating seat (36). The sliding latch (362) is provided in six groups and is slidably matched with the limiting sliding holes (361).

8. The joint module of a humanoid robot according to claim 1, characterized in that: The infrared distance detection component comprises a mounting plate (22) and an infrared proximity sensor (221), wherein the mounting plate (22) is fixedly mounted on one side of the module lower shell (1), and the infrared proximity sensor (221) is fixedly mounted on the top of the mounting plate (22), and the detection end surface of the infrared proximity sensor (221) is consistent with the top cross section of the module upper shell (2), and the detection end detects the laser irradiated to the bottom of the limit ring (35) for detection and fit, thereby obtaining distance detection data, and is used to detect the distance data between the module upper shell (2) and the radial adjustment end (3).

9. The joint module of a humanoid robot according to claim 6, characterized in that: The surface of the limiting sleeve (31) is provided with a spring (301), the top of the spring (301) is fixedly mounted to the bottom of the radial adjustment end (3), and the bottom of the spring (301) is fixedly mounted to the top of the driven stable rotating seat (36). When the radial adjustment end (3) moves axially, the spring (301) generates an axial elastic force by contacting the end surface to eliminate the adjustment gap.

10. The joint module of a humanoid robot according to claim 8, characterized in that: A plurality of heat dissipation fins (12) are fixed in an annular shape on the surface of the module lower shell (1), a plurality of heat dissipation holes (13) are provided inside the module lower shell (1) and are used to dissipate heat from the frameless torque motor (4), and a fixing seat (11) is fixedly installed on one side of the module lower shell (1) close to the mounting plate (22) and is used to connect to an external robot joint.

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