A humanoid robot arm assembly

Abstract

The application relates to a humanoid robot arm assembly which comprises a first joint mechanism, a second joint mechanism and a push-pull rod joint mechanism, the first joint mechanism comprises a first connecting support, joint motor modules and a second connecting support, the first connecting support comprises two fixed discs, the output ends of the two joint motor modules are fixed with the two fixed discs respectively, the second connecting support comprises a first connecting disc and a fixed ring B, the fixed ring B is sleeved and fixed on one joint motor module, and the first connecting disc is fixed with the output end of a third joint motor module; the push-pull rod joint mechanism comprises joint motor modules, a pull rod and a suspension support assembly, the suspension assembly makes the two joint motor modules perpendicular to each other, and the two ends of the pull rod are connected with the two joint motor modules respectively; the joint motor module comprises a motor, a harmonic reducer and a controller assembly, the assembly of the application has good heat dissipation effect; installation is convenient, and the whole arm movement is more flexible.

Description

Technical Field

[0001] This invention belongs to the field of humanoid robot technology, and particularly relates to a humanoid robot arm assembly. Background Technology

[0002] The rapid development of robotics has brought about revolutionary changes in many fields, from manufacturing to healthcare and everyday life. As robotics advances rapidly, people's demands for robot functionality continue to increase, no longer satisfied with the traditional, clumsy concept. Therefore, the biomimetic properties of robots are becoming increasingly important, enabling them to highly simulate the joint movements of humans or animals.

[0003] For service robots, a suitable humanoid robotic arm is crucial. Robotic arms have the advantages of high precision and stability of mechanical motion mechanisms, strong adaptability to human arms, and aesthetics. They can perform behaviors that are structurally satisfactory but functionally unsatisfactory for human arms, such as cyclical movements over long periods of time and maintaining movement under long-term loads.

[0004] However, many existing robotic arms have some shortcomings. Currently, the structure of robotic arms is complex and lacks flexibility. In addition, the bearings between the motor shaft and the housing in the joint motor module of existing robots require interference fit, which can easily cause damage to components if not handled properly. Furthermore, because existing joint motors contain many components, the motor and reducer need to be assembled separately before being connected together, making the entire installation process cumbersome and affecting assembly efficiency. Moreover, most existing joint motors do not have torque information detection function at the output end (reducer output end), which cannot improve control progress. Even if a few joint motors are equipped with torque sensors, it will increase the size of the joint motor, make the structure more complex, and make assembly more cumbersome.

[0005] In addition, the controller assembly is the core control component that enables the precise movement of the joint motor module. Existing controller assemblies have complex structures and poor heat dissipation performance, which affects the stability of the joint motor performance. Summary of the Invention

[0006] To address the aforementioned technical problems, the first objective of this invention is to provide a humanoid robot arm assembly that is compact in structure, capable of more flexible movements, and whose joint motor modules are easy to install, precisely controlled, compact in structure, have good heat dissipation, and stable performance.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: A humanoid robot arm assembly includes a first joint mechanism, a second joint mechanism, and a push-pull rod joint mechanism. The first joint mechanism includes a first connecting bracket, joint motor modules, and a second connecting bracket. The first connecting bracket includes two mutually perpendicular fixed plates, with the output ends of two joint motor modules respectively fixed to the two fixed plates. The second connecting bracket includes a first connecting plate and a fixing ring B vertically fixed to the first connecting plate. The fixing ring B is sleeved and fixed to one of the power-off motor modules. The first connecting plate is fixed to the output end of a third joint motor module. The second joint mechanism includes two joint motor modules connected by the first connecting bracket. The push-pull rod joint mechanism includes a joint motor module, a pull rod, and a suspension bracket assembly. One end of the suspension bracket assembly is annular and sleeved and fixed to the joint motor module. The other end of the suspension bracket assembly is a semi-circular plate, with both ends of the semi-circular plate rotatably connected to the sides of another joint motor module. The suspension assembly makes the two joint motor modules perpendicular to each other. One end of the pull rod is fixed to the first connecting plate. The output end of the joint motor module in the fixed ring is connected, and the other end is connected to the side wall of another joint motor module; the first joint mechanism and the second joint mechanism, and the second joint mechanism and the push-pull rod joint mechanism are all connected by a third connecting bracket; the joint motor module includes a motor, a harmonic reducer and a controller assembly, the motor includes an end plate, a housing, a stator core, a rotating shaft and a rotor core, the end plate is fixed to one end of the housing, and the two ends of the rotating shaft are rotatably connected to the end plate and the housing through bearings A and B respectively, the harmonic reducer includes a wave generator, a flexible wheel and a steel wheel, and the controller assembly is fixed to the end plate. The controller assembly includes a controller cover, a first circuit board, a second circuit board, and supporting rods. The outer edge of the second circuit board has multiple positioning notches, and the lower parts of the supporting rods are respectively engaged in the corresponding positioning notches and fixed to the end plate. The first circuit board is located on top of the supporting rods and is fixed with bolts. The first circuit board is a communication board, and the second circuit board is a control board, with the communication board and control board connected via a board-to-board connector. The controller cover is fixed to the end plate and covers the first and second circuit boards. At least a portion of the top surface of the controller cover is recessed to form a heat dissipation contact surface. The first circuit board has a fan-shaped notch, and the heat dissipation contact surface passes through the fan-shaped notch and contacts the components on the second circuit board; the other end face of the housing has a through hole, and the outer ring of the through hole has a raised ring. One side of the outer ring of the bearing B is locked in the raised ring, and the other side of the outer ring of the bearing B is also fastened with a bearing pressure plate. The bearing pressure plate is fixed to the inner end face of the housing by bolts, and the bolts pass through the inner end face of the housing and are fixed to the steel wheel. A sealing ring D is also provided between the contact surface of the steel wheel and the housing. The rotating shaft passes through the through hole and is fixed to the wave generator; a torque sensor is also connected to one side of the steel wheel through a crossed roller bearing.

[0008] As a preferred embodiment: the crossed roller bearing includes an inner bearing ring and an outer bearing ring that are nested together and rotatably disposed, the steel wheel is fixed to the inner bearing ring, and a sealing ring is provided between the steel wheel and the outer bearing ring, the torque sensor includes an elastic matrix, a signal conditioning module and a strain gauge, the outer ring of the elastic matrix is ​​fixed to the outer bearing ring, and the inner ring of the elastic matrix is ​​fixed to the flexible wheel.

[0009] As a preferred embodiment: a through hole A is provided in the middle of the first circuit board, and a wire harness fixing block B is also embedded in the through hole A. The wire harness fixing block B includes an upper limit part and a lower locking part. The outer wall of the lower locking part is provided with a protrusion. The outer edge of the through hole A is provided with a notch that cooperates with the protrusion. The wire harness fixing block B is also provided with a through hole B, and the wire harness passes through the through hole B.

[0010] As a preferred embodiment: multiple stepped connecting blocks are spaced apart along the outer edge of the end plate; a first connecting hole is provided on the upper part of the side wall of the connecting block; a second connecting hole is provided on the lower part of the side wall of the connecting block; the first connecting hole and the second connecting hole are respectively located on the outer side wall of the two steps; the controller cover is fastened to the outside of the connecting block and fixed to the first connecting hole by a connector that penetrates the controller cover; the end plate is embedded in the housing and fixed to the second connecting hole by a connector that penetrates the housing.

[0011] As a preferred embodiment: the outer circumference of the end plate is also provided with a plurality of positioning protrusions at intervals, the positioning protrusions are offset from the connecting block, and the inner side of the upper edge of the housing is also provided with a plurality of limiting notches that cooperate with the positioning protrusions.

[0012] As a preferred embodiment: magnetic ring A and magnetic ring B are respectively provided on the upper and lower sides of the second circuit board. Magnetic ring A is fixed to the output end of the harmonic reducer through the intermediate tube, and magnetic ring B is fixed to the rotating shaft of the motor. A magnetic sensor and signal processor that cooperate with magnetic ring A are provided on the upper end surface of the second circuit board; a magnetic sensor and signal processor that cooperate with magnetic ring B are provided on the lower end surface of the second circuit board.

[0013] As a preferred embodiment: a T-shaped shaft is also fixed to the outside of the torque sensor. The T-shaped shaft includes an integrally formed intermediate tube and a second connecting plate. The second connecting plate is disposed at one end of the intermediate tube. The middle part of the second connecting plate is also provided with a through hole communicating with the intermediate tube. The intermediate tube passes through the torque sensor, the harmonic reducer and the rotating shaft.

[0014] As a preferred embodiment: the outer ring of the elastic matrix is ​​an outer flange, the inner ring of the elastic matrix is ​​an inner flange, the two are connected by a strain beam, the strain gauge is set on the strain beam, one end of the intermediate tube is fixed to the outer flange by a second connecting plate, and one end of the intermediate tube is supported in the motor shaft by a bearing.

[0015] As a preferred embodiment: the end face of the outer flange is provided with a raised edge near the periphery, and the outer wall of the second connecting plate abuts against the inner wall of the raised edge.

[0016] As a preferred embodiment, the suspension bracket assembly includes two symmetrically arranged semi-circular hanging rings, each of which is composed of an integrally formed fixing ring A and an arc-shaped connecting plate.

[0017] As a preferred embodiment: the third connecting bracket includes a limiting sleeve and a fixing ring C fixed to one end of the limiting sleeve. A triangular reinforcing plate B is also provided at the connection between the limiting sleeve and the fixing ring C. A triangular reinforcing plate A is also provided at the connection between the first connecting plate of the second connecting bracket and the fixing ring B. The arc-shaped connecting plate, the triangular reinforcing plate A, the triangular reinforcing plate B and the fixing plate are all provided with mounting holes for installing wire harness fixing components.

[0018] As a preferred embodiment: the joint motor module in the push-pull rod joint mechanism is connected to the arc-shaped connecting plate through a rotating bracket assembly. The rotating bracket assembly includes a fixed collar, which is sleeved and fixed on the joint motor module. The outer wall of the fixed collar is provided with two rotating shaft columns spaced 180° apart, and the two rotating shaft columns are rotatably connected to both ends of the arc-shaped connecting plate.

[0019] As a preferred embodiment: the fixed collar is further provided with a connecting plate, the extension direction of the connecting plate is consistent with the axial direction of the joint motor module, one of the rotating shaft columns is provided on the connecting plate, and a hinge column that is rotatably connected to the pull rod is also provided on one side of the connecting plate located on the rotating shaft column.

[0020] The arm assembly of the present invention includes a first joint mechanism, a second joint mechanism, and a push-pull rod joint mechanism. Each joint structure can realize multi-dimensional movement. Multiple joint mechanisms are connected together by a third connecting bracket, resulting in a compact structure and convenient installation, making the entire arm more flexible. In addition, the push-pull rod joint mechanism of the present invention sets two joint motor modules perpendicular to each other through a suspension bracket assembly, and the output end of one joint motor module drives the other joint motor module to swing back and forth through a pull rod, further improving flexibility.

[0021] The controller assembly in the joint motor module of the arm assembly of this invention uses a support rod to connect the two circuit boards and fix the lower circuit board to the end plate. The structure is simple and easy to install. At the same time, the gap between the two circuit boards can ensure heat dissipation space. In addition, the two circuit boards adopt a plug-in design, which is convenient to connect. The two circuit boards have small diameters and a compact structure, which is conducive to the miniaturization design of product integration. Furthermore, the control board of this invention is fixed on the end plate near the motor side. The shorter motor wire length reduces losses and improves the overall efficiency of the machine.

[0022] In this invention, the shaft and housing of the joint motor module are connected by bearings, and the bearings are positioned and installed by a convex ring on the housing and a bearing pressure plate. The overall installation is convenient and does not easily damage the parts. Furthermore, the bolts used to fix the bearing pressure plate and the housing penetrate the housing and can be directly used to fix the harmonic reducer, further simplifying the installation steps. In addition, the harmonic reducer is connected to a torque sensor through the bearing. The outer ring of the torque sensor is used as the output end, and the torque sensor can accurately detect the torque information at the output end of the joint motor. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0024] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the first joint mechanism of the present invention; Figure 3 This is a schematic diagram of the structure of the second joint mechanism of the present invention; Figure 4 This is a schematic diagram of the push-pull rod joint mechanism of the present invention; Figure 5 This is an exploded structural diagram of the push-pull rod joint mechanism of the present invention; Figure 6 This is a schematic diagram of the structure of the second connecting bracket of the present invention; Figure 7 This is a schematic diagram of the structure of the third connecting bracket of the present invention; Figure 8 This is a schematic diagram of the semi-circular hanging ring of the present invention; Figure 9 This is a structural schematic diagram of the fixing collar and connecting plate of the present invention; Figure 10 This is a schematic diagram of the overall structure of the joint motor module of the present invention; Figure 11 This is a cross-sectional structural diagram of the joint motor module of the present invention; Figure 12 This is an exploded structural diagram of the joint motor module of the present invention; Figure 13 This is a cross-sectional structural diagram of the articulated motor module of the present invention; Figure 14 This is a cross-sectional structural schematic diagram of the controller assembly of the present invention; Figure 15 and Figure 16This is an exploded structural diagram of the two-layer circuit board, controller cover, and end plate of the present invention from two different angles. Figure 17 This is a schematic diagram of the assembly structure of the two-layer circuit board and the end plate of the present invention; Figure 18 This is a schematic diagram of the disassembled structure of the controller cover and the first circuit board of the present invention; Figure 19 and Figure 20 This is a disassembly diagram of the controller cover, wiring harness fixing block A, first circuit board, and wiring harness fixing block B from two different angles. Figure 21 This is a three-dimensional structural diagram of the front side of the end plate of the present invention; Figure 22 This is a three-dimensional structural diagram of the reverse side of the end plate of the present invention; Figure 23 This is a disassembled structural diagram of the controller cover, end plate, and housing of the present invention; Figure 24 This is a schematic diagram of the structure of the housing of the present invention; Figure 25 This is a disassembled structural diagram of the magnetic ring, second circuit board, rotating shaft, motor and reducer of the present invention; Figure 26 This is a cross-sectional structural diagram of the two magnetic rings, the second circuit board, the rotating shaft, the intermediate tube, and the end plate of the present invention. Figure 27 This is an exploded structural diagram of the motor, harmonic reducer, torque sensor, and T-tube of the present invention; Figure 28 This is a disassembled structural diagram of the housing, shaft, bearing, and bearing cover plate of the present invention; Figure 29 This is an exploded structural diagram of the harmonic reducer, torque sensor, and T-tube of the present invention; Figure 30 This is a schematic diagram of the elastic substrate of the torque sensor of the present invention.

[0025] The attached figures are labeled as follows: 1. Controller cover; 11. Wiring harness fixing block A; 12. Protruding claw; 13. Heat dissipation fins; 14. Heat dissipation contact surface; 2. First circuit board; 20. Fan-shaped notch; 21. Limiting block; 22. Wiring harness fixing block B; 221. Upper limit part; 222. Lower snap-fit ​​part; 23. Protrusion; 24. Notch; 25. Protruding edge; 3. Second circuit board; 31. Support fixing rod; 32. Positioning notch; 4. End plate; 41. Support column; 411. Bottom support column; 412. Limiting protrusion; 42. Connecting block; 43. Positioning protrusion. 44. Three-phase wire through hole; 45. Limiting ring plate; 46. Bearing; 47. Wave spring; 5. Housing; 51. Limiting notch; 52. Screw hole; 53. Screw; 6. Shaft; 61. Magnetic ring seat B; 62. Magnetic ring B; 60. Bearing shell; 7. Intermediate tube; 71. Magnetic ring seat A; 72. Magnetic ring A; 8. Harmonic reducer; 4. End plate; 46. Bearing A; 5. Housing; 500. Stator core; 54. Convex ring; 600. Rotor core; 60. Bearing shell; 61. Mounting seat; 63. Bearing pressure plate; 64. Bearing B; 65. Snap ring; 7. Intermediate tube; 73. Second connecting plate; 731. Outlet hole; 732. Sealing ring A; 80. Elliptical hub; 81. Thin-walled bearing; 82. Flexible wheel; 83. Steel wheel; 84. Sealing ring; 85. Inner bearing ring; 86. Outer bearing ring; 9. Torque sensor; 91. Inner flange; 92. Strain beam; 93. Outer flange; 94. Groove; 95. Signal conditioning module; 96. Strain gauge; 97. Wire; 100. Sealing ring B; 900. Sealing ring C; 800. Sealing ring D; 701. Push-pull rod joint mechanism; 7010. Fixing ring A; 7011. Arc-shaped connecting plate; 7012, Pull rod; 7013, Fixing collar; 7014, Connecting ring; 7015, Connecting plate; 70151, Hinge column; 7016, Rotating shaft column; 702, Second joint mechanism; 703, Third joint mechanism; 704, Joint motor module; 705, First connecting bracket; 706, Second connecting bracket; 7061, Fixing ring B; 7062, First connecting disc; 7063, Triangular reinforcing plate A; 707, Third connecting bracket; 7071, Limiting sleeve; 7072, Fixing ring C; 7073, Triangular reinforcing plate B; 708, Six-dimensional force sensor; 709, Wiring harness fixing mounting hole. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments: like Figures 1 to 9The humanoid robot arm assembly shown includes a first joint mechanism 703, a second joint mechanism 702, and a push-pull rod joint mechanism 701. The first joint mechanism 703 includes a first connecting bracket 705, joint motor modules 704, and a second connecting bracket 706. The first connecting bracket 705 is L-shaped and includes two mutually perpendicular fixing plates. The output ends of the two joint motor modules 704 are respectively fixed to the two fixing plates. The second connecting bracket 706 is T-shaped and includes a first connecting plate 7062 and a fixing ring B 7061 vertically fixed on the first connecting plate 7062. The fixing ring B 7061 is sleeved and fixed on one of the power-off motor modules 704. The first connecting plate 7062 is fixed to the output end of the third joint motor module 704. The second joint mechanism 702 includes two joint motor modules 704 connected by the first connecting bracket 705.

[0027] The push-pull rod joint mechanism 701 includes a joint motor module 704, a pull rod 7012, and a suspension bracket assembly. One end of the suspension bracket assembly is ring-shaped and sleeved and fixed on the joint motor module 704. The other end of the suspension bracket assembly is a semi-circular ring plate, and the two ends of the semi-circular ring plate are rotatably connected to the two sides of another joint motor module 704. The suspension assembly makes the two joint motor modules 704 perpendicular to each other. One end of the pull rod 7012 is connected to the output end of the joint motor module 704 fixed in the fixed ring, and the other end is connected to the side wall of the other joint motor module 704. The first joint mechanism 703 and the second joint mechanism 702, and the second joint mechanism 702 and the push-pull rod joint mechanism 701 are all connected by a third connecting bracket 707.

[0028] The joint motor module 704 in the push-pull rod joint mechanism 701 is connected to the arc-shaped connecting plate 7011 through a rotating bracket assembly. The rotating bracket assembly includes a fixing collar 7013, which is sleeved and fixed on the joint motor module 704. Two rotating shafts 7016 spaced 180° apart are provided on the outer wall of the fixing collar 7013. The two rotating shafts 7016 are rotatably connected to both ends of the arc-shaped connecting plate 7011.

[0029] The fixed collar 7013 is also provided with a connecting plate 7015. The extending direction of the connecting plate 7015 is consistent with the axial direction of the joint motor module 704. One of the rotating shaft columns 7016 is provided on the connecting plate 7015, and a hinge column 70151 that is rotatably connected to the pull rod 7012 is also provided on one side of the rotating shaft column 7016 on the connecting plate 7015.

[0030] The output end of the joint motor module 704 is rotatably connected to the pull rod 7012 via a connecting ring 7014. There are two pull rods 7012, spaced 180° apart. There are also two hinge columns 70151, located on both sides of the pivot column 7016. The output end of the joint motor module 704, which is connected to the pull rod 7012 via the side wall, is connected to a six-dimensional force sensor 8 via a first connecting bracket 705.

[0031] The aforementioned suspension bracket assembly can be a one-piece molded structure, or it can be designed as follows for ease of installation: The suspension bracket assembly includes two symmetrically arranged semi-circular hanging rings, each of which is composed of a one-piece molded fixing ring 7010 and an arc-shaped connecting plate 7011; at the same time, in order to facilitate the arrangement of the wiring harness in the joint motor module, the arc-shaped connecting plate 7011 is provided with a plurality of wiring harness fixing mounting holes 709 at intervals.

[0032] The third connecting bracket 707 includes a limiting sleeve 7071 and a fixing ring C7072 fixed to one end of the limiting sleeve 7071. A triangular reinforcing plate B7073 is also provided at the connection between the limiting sleeve 7071 and the fixing ring C7072. A triangular reinforcing plate A7063 is also provided at the connection between the first connecting plate 7062 and the fixing ring B7061 of the second connecting bracket 706. Mounting holes 709 for installing wire harness fixing components are provided on the triangular reinforcing plate A7063, the triangular reinforcing plate B7073, and the fixing plate.

[0033] A wiring arrangement structure for a humanoid robot arm, employing the aforementioned connection structure, allows the wiring harnesses of multiple joint motor modules to be brought close to their respective components via wiring harness fasteners installed in mounting holes 709. The wiring harness fasteners can be clips, cable ties, or loops.

[0034] The arm connection structure of the present invention includes a first joint mechanism, a second joint mechanism, and a push-pull rod joint mechanism. Each joint mechanism can realize multi-dimensional movement. Multiple joint mechanisms are connected together by a third connecting bracket, resulting in a compact structure and convenient installation, making the entire arm more flexible. In addition, the push-pull rod joint mechanism of the present invention sets two joint motor modules perpendicular to each other through a suspension bracket assembly, and the output end of one joint motor module drives the other joint motor module to swing back and forth through a pull rod, further improving flexibility.

[0035] like Figures 10 to 17The diagram shows a joint motor module for a robot with an integrated torque sensor, comprising a motor, a harmonic reducer 8, and a controller assembly. The motor includes an end plate 4, a housing 5, a stator core 500, a rotating shaft 6, and a rotor core 600. The stator core 500 is fixed to the inner wall of the housing 5, and the rotor core 600 is fixed to the rotating shaft 6 and located inside the stator core 500. The end plate 4 is fixed to one end of the housing 5. The two ends of the rotating shaft 6 are rotatably connected to the end plate 4 and the housing 5 via bearings A46 and B64, respectively. The harmonic reducer includes a wave generator, a flexible wheel 82, and a steel wheel 83. The flexible wheel 82 is sleeved outside the wave generator, and the steel wheel 83 is sleeved outside the flexible wheel 82. Under the drive of the wave generator, the flexible wheel 82 and the steel wheel 83 engage in staggered gear transmission.

[0036] The controller assembly is fixed on the end plate 4. The controller assembly includes a controller cover 1, a first circuit board 2, a second circuit board 3, and a support rod 31. The outer edge of the second circuit board 3 is provided with multiple positioning notches 32 at intervals. The lower parts of the multiple support rods 31 are respectively locked in the corresponding positioning notches 32 and fixed to the end plate 4. The first circuit board 2 is set on the top of the support rod 31 and is fixed by bolts. The first circuit board 2 is a communication board, and the second circuit board 3 is a control board. The communication board and the control board are connected by board-to-board connectors.

[0037] This invention adopts a dual PCB board structure, separating the control and communication components onto two separate boards. This reduces the radial volume of the assembly and improves product integration. The control board uses a high-performance MCU and high-precision components to meet the requirements of motor drive and external signal processing. The communication board uses an Ethernet ESC chip and port protection chip to facilitate Ethernet communication with the master station and all slave stations. All external interface signal connectors are located on the communication board, and the communication board and control board are connected via board-to-board connectors, ensuring convenient connection.

[0038] The controller cover 1 is fixed to the end plate 4 and shields the first circuit board 2 and the second circuit board 3. At least a portion of the top surface of the controller cover 1 is recessed to form a heat dissipation contact surface 14. The first circuit board 2 has a fan-shaped notch 20, and the heat dissipation contact surface 14 penetrates the fan-shaped notch 20 and contacts the components on the second circuit board 3. Multiple heat dissipation fins 13 are also spaced apart in the recessed area of ​​the top surface of the controller cover 1. This structure allows the high-heat-generating control board to directly contact the controller cover, and thermally conductive silicone can be directly applied to the high-heat-generating electronic components and the controller cover, further improving heat dissipation efficiency.

[0039] The lower part of the support rod 31 is a screw, and the upper part is a long rod, with the outer diameter of the long rod being larger than that of the screw. The screw is engaged in the positioning notch 32 and fixed to the end plate 4, and the bottom of the long rod is pressed onto the second circuit board 3. The horizontal cross-section of the long rod is hexagonal, and the top of the long rod is provided with a threaded hole.

[0040] The electronic components related to motor control in this invention are all on the control board. Only a single board is needed to drive the motor in an open loop to calibrate the encoder, which facilitates the detection of whether the assembly is in place and the convenience of adjusting the assembly.

[0041] This invention uses a support rod to connect two circuit boards and fix the lower circuit board to the end plate, resulting in a simple structure and convenient installation. A gap between the two circuit boards ensures adequate heat dissipation. Furthermore, the two circuit boards use a plug-in design for easy connection, and their small diameter contributes to a compact structure, facilitating miniaturized product integration. Additionally, the control board is fixed to the end plate near the motor side, reducing motor cable length, minimizing losses, and improving overall machine efficiency.

[0042] like Figures 18 to 20 As shown, the first circuit board 2 has a through hole A in the middle, and a wire harness fixing block B22 is also embedded in the through hole A. The wire harness fixing block B22 includes an upper limit part 221 and a lower locking part 222. The outer wall of the lower locking part 222 is provided with a protrusion 23. The outer edge of the through hole A is provided with a notch 24 that cooperates with the protrusion 23. The wire harness fixing block B22 is also provided with a through hole B through which the wire harness passes.

[0043] The upper limit stop 221 and the lower latching part 222 form a stepped surface, which abuts against the upper end surface of the circuit board 2. The lower part of the lower latching part is also provided with a protruding edge 25, and the outer diameter of the protruding edge 25 is larger than the outer diameter of the through hole A. The horizontal cross-section of the upper limit stop 221 is rectangular or square, and the horizontal cross-section of the lower latching part 222 is circular. The upper limit stop 221 is a rubber block. The rubber block can ensure stable bonding with the wire harness and prevent scratching the wire harness. At least one side of the upper limit stop 221 on the first circuit board 2 is also provided with a limiting block 21. The limiting block and the wire harness fixing block B22 interfere with each other, which can further prevent the wire harness fixing block from rotating and prevent the wire harness from tangling.

[0044] The first circuit board 2 is disposed inside the controller cover 1. A wire harness fixing block A11 is provided in the middle of the controller cover 1, and the wire harness fixing block A11 is tightly fitted to the controller cover 1. The wire harness fixing block A11 is a rubber plug with a through hole B, through which the wire harness passes. This structure adds a wire harness fixing block to the controller cover, further fixing and limiting the wire harness to prevent tangling.

[0045] The controller cover 1 has a through hole C in the middle, and multiple downward-extending protrusions 12 are spaced apart on the outer side of the through hole C. The wire harness fixing block A11 is embedded in the through hole C and the multiple protrusions 12. The protrusions can make the wire harness fixing block A11 more firmly fixed to the controller cover and less likely to loosen.

[0046] like Figure 21 and Figure 22 As shown, multiple stepped connecting blocks 42 are spaced apart along the outer edge of the end plate 4. A first connecting hole is provided on the upper part of the side wall of the connecting block 42, and a second connecting hole is provided on the lower part of the side wall of the connecting block 42. The first bolt hole and the second connecting hole are respectively located on the outer side wall of the two steps.

[0047] The outer circumference of the end plate 4 is also provided with a plurality of positioning protrusions 43 at intervals, and the positioning protrusions 43 are offset from the connecting block 42. The inner side of the connecting block 42 is also provided with a support post 41 for supporting the circuit board.

[0048] The end plate 4 has a through hole in the middle, and the lower part of the through hole extends downward to form a convex ring. A bearing 46 for cooperating with a rotating shaft is embedded in the convex ring. A limiting ring plate 45 is also provided above the through hole of the end plate 4, and a wave spring 47 is provided between the bearing 46 and the limiting ring plate 45.

[0049] The structure of the end plate includes a structure for connecting the housing and the controller cover, a structure for firmly supporting the circuit board, and an installation limit structure for the bearing with wave spring that cooperates with the rotating shaft. The end plate is feature-rich, highly integrated, and facilitates the miniaturization design of the whole machine, ensuring the stability of the overall performance.

[0050] The end plate 4 is also provided with a long strip-shaped three-phase wire passage hole 44, which facilitates the connection of the internal wiring of the motor, especially the three-phase wires of the motor and the wiring of the resolver, to the circuit board in the controller cover.

[0051] like Figure 23 and Figure 24 As shown, the connection structure of the controller cover 1, housing 5 and end plate 4 is as follows: the controller cover 1 is fastened to the outside of the connecting block 42 and fixed to the first connecting hole through the connector penetrating the controller cover 1; the end plate is embedded in the housing 5 and fixed to the second connecting hole through the connector penetrating the housing 5.

[0052] The inner side of the upper edge of the housing 5 is also provided with a plurality of limiting notches 51 that cooperate with the positioning protrusions 43. The housing 5 is also provided with screw holes 52, and the screws 53 pass through the screw holes 52 and are fixed to the second connecting hole of the connecting block 42.

[0053] The present invention provides a connecting block on the end plate, which allows the end plate to connect the housing and the controller cover simultaneously. The housing and the controller cover are located on the outer side of the end plate, which allows the end faces of the housing and the controller cover to fit together, resulting in a more compact structure. In addition, the two connecting holes are located on the outer side of the two stepped surfaces, forming a misalignment that facilitates installation.

[0054] like Figures 25 to 26 As shown, when the controller assembly and harmonic reducer of the present invention are respectively fixed at both ends of the motor, the motor includes a housing 5 and a stator core disposed within the housing 5. A rotor core is fixed on the rotating shaft 6, and the rotor core is located inside the stator core. The end cover 4 is fixed at one end of the housing 5. The output wheel of the harmonic reducer is fixed with an intermediate tube 7. The intermediate tube 7 passes through the rotating shaft 6 of the motor. Both the intermediate tube and the rotating shaft pass through the end plate. A magnetic ring A72 is fixed at one end of the intermediate tube 7, and a magnetic ring B62 is fixed at one end of the rotating shaft 6. A second circuit board 3 fixed on the end cover 4 of the motor is located between the magnetic ring A72 and the magnetic ring B62. A magnetic sensor and a signal processor that cooperate with the magnetic ring A72 are disposed on the upper end surface of the second circuit board 3. A magnetic sensor and a signal processor that cooperate with the magnetic ring B62 are disposed on the lower end surface of the second circuit board 3. A bearing bush 60 is also disposed between the end of the rotating shaft 6 near the magnetic ring B62 and the intermediate tube 7.

[0055] The specific fixing method between the second circuit board and the end plate is as follows: Multiple positioning notches 32 are spaced apart along the outer edge of the second circuit board 3. The support column 411 includes two bottom support columns 411 with different outer diameters and a limiting protrusion 412. The bottom support column 411 abuts against the lower end face of the second circuit board 3, and the limiting protrusion 412 is inserted into the notch of the second circuit board 3. Furthermore, a bolt for pressing the second circuit board 3 is provided in the upper cylinder. This structure can fix the second circuit board more securely, avoiding the impact of circuit board shaking on the speed detection accuracy.

[0056] One end of the intermediate tube 7 is fixed with a magnetic ring seat A71 by bolts. The lower end face of the magnetic ring seat A71 has a raised ring. The magnetic ring A71 is fitted onto the raised ring and is fixed with the raised ring by interference fit or adhesive. One end of the motor shaft 6 is fixed with a magnetic ring seat B61. The upper end face of the magnetic ring seat B61 has a raised ring. The magnetic ring B62 is fitted onto the raised ring and is fixed with the raised ring by interference fit or adhesive. Installing the magnetic ring using the magnetic ring seat is convenient, the position is more stable, it is not easy to loosen, and the detection effect is better.

[0057] The outer diameters of the magnetic ring holder A71, magnetic ring A72, magnetic ring holder B61, and magnetic ring B62 are all the same. The gaps between the magnetic ring A72, magnetic ring B62, and the magnetic sensor are all 1.1mm-1.5mm.

[0058] This invention utilizes an intermediate tube fixed to the output end of the reducer, and the intermediate tube passes through the rotating shaft, so that a magnetic ring can be set at the end of the rotating shaft and the intermediate tube near the circuit board. Furthermore, by utilizing the length difference between the rotating shaft and the intermediate tube, a space is left between the two magnetic rings. The circuit board is set in this space, and the magnetic sensor and signal processor corresponding to the two magnetic rings are concentrated on a single circuit board, which greatly reduces the space occupied by the detection device and makes the overall device smaller.

[0059] like Figure 27 and Figure 28 As shown, a through hole is provided on the end face of the other end of the housing 5, and a convex ring 54 is provided on the outer ring of the through hole. One side of the outer ring of the bearing B64 is locked in the convex ring 54, and a bearing pressure plate 63 is also fastened on the other side of the outer ring of the bearing B64. The bearing pressure plate 63 is fixed to the inner end face of the housing 5 by bolts, and the bolts pass through the inner end face of the housing 5 and are fixed to the steel wheel 83. A sealing ring D800 is also provided between the contact surface of the steel wheel 83 and the housing 5. The rotating shaft 6 passes through the through hole and is fixed to the wave generator. The wave generator includes an elliptical hub 80 for fixing to the motor shaft and a thin-walled bearing 81 sleeved on the elliptical hub 80. The flexible wheel 82 is sleeved on the thin-walled bearing 81.

[0060] The inner ring of bearing B64 is fixedly sleeved on the rotating shaft 6. The rotating shaft 6 has a mounting ring groove, and a retaining spring 65 is also provided in the mounting ring groove. One side of bearing B64 abuts against the retaining spring 65. The bearing pressure plate 63 includes an integrally formed fixing plate edge, a retaining sleeve, and a retaining ring. The fixing plate edge and the retaining ring are parallel to each other, and the retaining sleeve is perpendicular to the retaining ring. The connection between the fixing plate edge and the retaining sleeve of the bearing pressure plate 63 also has an annular notch, which is fastened to the protruding ring 54. The protruding ring on the housing can both limit the bearing and position the bearing cover plate during installation, facilitating operation.

[0061] like Figures 29 to 30 As shown, a torque sensor 9 is connected to one side of the steel wheel 83 via a crossed roller bearing. The crossed roller bearing includes an inner bearing ring 85 and an outer bearing ring 86 that are nested together and rotatably disposed. The steel wheel 83 is fixed to the inner bearing ring 85, and a sealing ring 84 is provided between the steel wheel 83 and the outer bearing ring 86. The torque sensor 9 includes an elastic matrix, a signal conditioning module 95, and a strain gauge 96. The outer ring of the elastic matrix is ​​fixed to the outer bearing ring 86, and the inner ring of the elastic matrix is ​​fixed to the flexible wheel 82.

[0062] A T-shaped shaft is also fixed to the outside of the torque sensor 9. The T-shaped shaft includes an integrally formed intermediate tube 7 and a second connecting plate 73. The second connecting plate 73 is located at one end of the intermediate tube 7. The middle part of the second connecting plate is also provided with a through hole communicating with the intermediate tube 7. The intermediate tube 7 passes through the torque sensor 9, the harmonic reducer 8, and the rotating shaft 6. The intermediate tube 7 passes through the inner flange 91. A sealing ring A732 is also provided between the connection between the intermediate tube 7 and the second connecting plate 73 and the inner flange 91. A sealing ring B100 is also provided between the intermediate tube 7 and the rotating shaft 6, and the sealing ring B100 is located on the outside of the bearing bush 60. One end of the rotating shaft 6 is also provided with a mounting seat 61 for limiting the sealing ring B100.

[0063] The two ends of the T-shaped shaft are equipped with sealing rings between the motor and the torque sensor, respectively. There are also sealing rings between the harmonic reducer and the torque sensor and the motor. The above structure can prevent oil leakage in the harmonic reducer sandwiched between the motor and the torque sensor, and ensure the stable operation of the joint motor.

[0064] The outer ring of the elastic matrix is ​​an outer flange 93, and the inner ring of the elastic matrix is ​​an inner flange 91. The two are connected by a strain beam 92. The strain gauge 96 is disposed on the strain beam 92. A sealing ring C900 is also provided between the end face of the outer flange 93 and the bearing outer ring 86. One end of the intermediate tube 7 is fixed to the outer flange 93 by a second connecting plate 73, and the other end of the intermediate tube 7 is supported in the motor shaft 6 by a bearing bush 60.

[0065] The outer flange 93 has a raised edge near its periphery on its end face, and the outer wall of the second connecting plate 73 abuts against the inner wall of the raised edge. This structure ensures a smooth connection between the T-shaped shaft and the end face of the torque sensor, facilitating the connection of the joint motor's output end to other structures.

[0066] Multiple strain beams 92 are arranged at equal intervals along the circumference, with grooves 94 between adjacent strain beams 92, and the signal conditioning module 95 is embedded in the grooves 94. This structure makes the torque sensor itself small in size, facilitating its use in articulated motors. The second connecting plate 73 also has a wire hole 731 through which the wires 97 of the signal conditioning module 95 pass. This structure facilitates the connection of the torque sensor's wiring to the motor controller via a T-shaped shaft.

[0067] In this invention, the shaft and housing are connected by bearings, and the bearings are positioned and installed using a convex ring and bearing pressure plate on the housing. This makes overall installation convenient and less likely to damage parts. Furthermore, the bolts used to fix the bearing pressure plate and housing penetrate the housing and can be directly used to fix the harmonic reducer, further simplifying the installation process. In addition, the harmonic reducer is connected to a torque sensor via the bearings, with the outer ring of the torque sensor serving as the output end. The torque sensor can accurately detect the torque information at the output end of the joint motor. Simultaneously, the inner ring of the bearing is fixed to the steel wheel of the harmonic reducer, the outer ring of the bearing is fixed to the outer ring of the torque sensor, and the inner ring of the torque sensor is fixed to the flexible wheel and driven by the flexible wheel. The overall structure is compact and the operation is stable.

Claims

1. A humanoid robot arm assembly, characterized in that: The system includes a first joint mechanism (703), a second joint mechanism (702), and a push-pull rod joint mechanism (701). The first joint mechanism (703) includes a first connecting bracket (705), a joint motor module (704), and a second connecting bracket (706). The first connecting bracket (705) includes two mutually perpendicular fixed plates, and the output ends of the two joint motor modules (704) are respectively fixed to the two fixed plates. The second connecting bracket includes a first connecting plate (7062) and a fixing ring B vertically fixed to the first connecting plate (7062). (7061), the fixing ring B (7061) is sleeved and fixed on one of the shutdown motor modules (704), the first connecting plate (7062) is fixed to the output end of the third joint motor module (704); the second joint mechanism (702) includes two joint motor modules (704) connected by the first connecting bracket (705); the push-pull rod joint mechanism (701) includes a joint motor module (704), a pull rod (7012) and a suspension bracket assembly, one end of the suspension bracket assembly is ring-shaped and sleeved and fixed on the joint motor module (704), so The other end of the suspension bracket assembly is a semi-circular ring plate, and both ends of the semi-circular ring plate are rotatably connected to the two sides of another joint motor module (704). The suspension assembly makes the two joint motor modules (704) perpendicular to each other. One end of the pull rod (7012) is connected to the output end of the joint motor module (704) fixed in the fixed ring, and the other end is connected to the side wall of the other joint motor module (704). The first joint mechanism (703) and the second joint mechanism (702), and the second joint mechanism (702) and the push-pull rod joint mechanism (701) are all connected by a third connecting bracket. 707) Connection; The joint motor module (704) includes a motor, a harmonic reducer (8) and a controller assembly. The motor includes an end plate (4), a housing (5), a stator core (500), a rotating shaft (6) and a rotor core (600). The end plate (4) is fixed to one end of the housing (5). The two ends of the rotating shaft (6) are rotatably connected to the end plate (4) and the housing (5) through bearings A (46) and B (64) respectively. The harmonic reducer includes a wave generator, a flexible wheel (82) and a steel wheel (83). The controller assembly is fixed on the end plate (4). The controller assembly includes a controller cover (1), a first circuit board (2), a second circuit board (3), and a support fixing rod (31). The outer edge of the second circuit board (3) is provided with multiple positioning notches (32) at intervals. The lower parts of the multiple support fixing rods (31) are respectively locked in the corresponding positioning notches (32) and fixed to the end plate (4). The first circuit board (2) is set on the top of the support fixing rod (31) and fixed by bolts. The first circuit board (2) is a communication board, and the second circuit board (3) is a control board. The communication board and the control board are connected by board-to-board connectors.The controller cover (1) is fixed to the end plate (4) and covers the first circuit board (2) and the second circuit board (3). The top surface of the controller cover (1) is at least partially recessed to form a heat dissipation contact surface (14). The first circuit board (2) has a fan-shaped notch (20). The heat dissipation contact surface (14) passes through the fan-shaped notch (20) and contacts the components on the second circuit board (3). The end face of the other end of the housing (5) has a through hole. The outer ring of the through hole has a convex ring (54). The bearing B (64) has an outer ring... One side of the ring is fitted inside the convex ring (54), and the other side of the outer ring of the bearing B (64) is also fitted with a bearing pressure plate (63). The bearing pressure plate (63) is fixed to the inner end face of the housing (5) by bolts, and the bolts pass through the inner end face of the housing (5) and are fixed to the steel wheel (83). A sealing ring D (800) is also provided between the contact surface of the steel wheel (83) and the housing (5). The rotating shaft (6) passes through the through hole and is fixed to the wave generator. A torque sensor (9) is also connected to one side of the steel wheel (83) through a crossed roller bearing.

2. The humanoid robot arm assembly according to claim 1, characterized in that: The crossed roller bearing includes an inner bearing ring (85) and an outer bearing ring (86) that are nested together and rotated. The steel wheel (83) is fixed to the inner bearing ring (85), and a sealing ring (84) is provided between the steel wheel (83) and the outer bearing ring (86). The torque sensor (9) includes an elastic matrix, a signal conditioning module (95), and a strain gauge (96). The outer ring of the elastic matrix is ​​fixed to the outer bearing ring (86), and the inner ring of the elastic matrix is ​​fixed to the flexible wheel (82).

3. The humanoid robot arm assembly according to claim 1, characterized in that: The first circuit board (2) has a through hole A in the middle, and a wire harness fixing block B (22) is also embedded in the through hole A. The wire harness fixing block B (22) includes an upper limit part (221) and a lower locking part (222). The outer wall of the lower locking part (222) is provided with a protrusion (23). The outer edge of the through hole A is provided with a notch (24) that cooperates with the protrusion (23). The wire harness fixing block B (22) is also provided with a through hole B, and the wire harness passes through the through hole B.

4. The humanoid robot arm assembly according to claim 1, characterized in that: Multiple stepped connecting blocks (42) are spaced apart along the outer edge of the end plate (4). A first connecting hole is provided on the upper part of the side wall of the connecting block (42), and a second connecting hole is provided on the lower part of the side wall of the connecting block (42). The first connecting hole and the second connecting hole are located on the outer side wall of the two steps, respectively. The controller cover (1) is fastened to the outside of the connecting block (42) and is fixed to the first connecting hole through a connector that penetrates the controller cover (1). The end plate (4) is embedded in the housing (5) and is fixed to the second connecting hole through a connector that penetrates the housing (5).

5. The humanoid robot arm assembly according to claim 4, characterized in that: The outer circumference of the end plate (4) is also provided with a plurality of positioning protrusions (43) at intervals. The positioning protrusions (43) are offset from the connecting block (42). The inner side of the upper edge of the housing (5) is also provided with a plurality of limiting notches (51) that cooperate with the positioning protrusions (43).

6. The humanoid robot arm assembly according to claim 1, characterized in that: The second circuit board (3) is provided with magnetic ring A (72) and magnetic ring B (62) on its upper and lower sides respectively. Magnetic ring A (72) is fixed to the output end of the harmonic reducer through the middle tube. Magnetic ring B (62) is fixed to the rotating shaft of the motor. The upper end of the second circuit board (3) is provided with a magnetic sensor and a signal processor that cooperate with magnetic ring A (72). The lower end of the second circuit board (3) is provided with a magnetic sensor and a signal processor that cooperate with magnetic ring B (62).

7. The humanoid robot arm assembly according to claim 2, characterized in that: The torque sensor (9) is also fixed with a T-shaped shaft on its outer side. The T-shaped shaft includes an integrally formed intermediate tube (7) and a second connecting plate (73). The second connecting plate (73) is located at one end of the intermediate tube (7). The middle part of the second connecting plate is also provided with a through hole communicating with the intermediate tube (7). The intermediate tube (7) passes through the torque sensor (9), the harmonic reducer (8), and the rotating shaft (6).

8. The humanoid robot arm assembly according to claim 7, characterized in that: The outer ring of the elastic matrix is ​​an outer flange (93), and the inner ring of the elastic matrix is ​​an inner flange (91). The two are connected by a strain beam (92). The strain gauge (96) is set on the strain beam (92). One end of the intermediate tube (7) is fixed to the outer flange (93) through a second connecting plate (73). One end of the intermediate tube (7) is supported in the rotating shaft (6) of the motor by a bearing (60).

9. A humanoid robot arm assembly according to claim 8, characterized in that: The outer flange (93) has a raised edge near the periphery on its end face, and the outer wall of the second connecting plate (73) abuts against the inner wall of the raised edge.

10. A humanoid robot arm assembly according to claim 1, characterized in that: The suspension bracket assembly includes two symmetrically arranged semi-circular hanging rings, each of which is composed of an integrally formed fixing ring A (7010) and an arc-shaped connecting plate (7011).

11. A humanoid robot arm assembly according to claim 10, characterized in that: The third connecting bracket (707) includes a limiting sleeve (7071) and a fixing ring C (7072) fixed to one end of the limiting sleeve (7071). A triangular reinforcing plate B (7073) is also provided at the connection between the limiting sleeve (7071) and the fixing ring C (7072). A triangular reinforcing plate A (7063) is also provided at the connection between the first connecting plate (7062) of the second connecting bracket (706) and the fixing ring B (7061). The arc-shaped connecting plate (7011), the triangular reinforcing plate A (7063), the triangular reinforcing plate B (7073) and the fixing plate are all provided with mounting holes (709) for installing wire harness fixing parts.

12. The humanoid robot arm assembly according to claim 10, characterized in that: The joint motor module (704) in the push-pull rod joint mechanism (701) is connected to the arc-shaped connecting plate (7011) through a rotating bracket assembly. The rotating bracket assembly includes a fixing collar (7013), which is sleeved and fixed on the joint motor module (704). The outer wall of the fixing collar (7013) is provided with two rotating shafts (7016) spaced 180° apart. The two rotating shafts (7016) are rotatably connected to both ends of the arc-shaped connecting plate (7011).

13. The humanoid robot arm assembly according to claim 12, characterized in that: The fixed collar (7013) is also provided with a connecting plate (7015), the extension direction of the connecting plate (7015) is consistent with the axial direction of the joint motor module (704), one of the rotating shafts (7016) is provided on the connecting plate (7015), and the connecting plate (7015) is also provided with a hinged column (70151) rotatably connected to the pull rod (7012) on one side of the rotating shaft (7016).

Images