High-power-density linear actuator for humanoid robot and robot

Abstract

The invention relates to the technical field of robot driving, and provides a high-power-density linear actuator for a humanoid robot and the robot, the high-power-density linear actuator for the humanoid robot comprises a lead screw assembly, a rotor assembly and a stator assembly, the rotor assembly comprises a rotating shaft, the rotating shaft is connected with the lead screw assembly, the rotating shaft is suitable for rotating, and the stator assembly is connected with the lead screw assembly; the lead screw assembly is driven to reciprocate relative to the rotating shaft; the stator assembly comprises a wiring board, a plurality of spliced iron cores and a plurality of winding coils, the plurality of spliced iron cores are sequentially connected through the wiring board, the plurality of spliced iron cores are arranged around the outer side of the rotating shaft, and each winding coil corresponds to one spliced iron core. The modular connection structure of the block iron core and the wiring board is matched with the surrounding type winding coil layout, the linkage design of the lead screw assembly and the rotor assembly is combined, the electromagnetic conversion efficiency and thrust output are remarkably improved, and the beneficial effects that the power density is effectively improved, and the large-load thrust requirement of the humanoid robot joint is met are achieved.

Description

Technical Field

[0001] This invention relates to the field of robot drive technology, and more particularly to high power density linear actuators and robots for humanoid robots. Background Technology

[0002] With the rapid development of humanoid robot technology, its applications in service, industry, and medical fields are becoming increasingly widespread. Linear actuators, as the core components for joint actuation in humanoid robots, directly determine the robot's motion accuracy, response speed, and load capacity. However, existing linear actuators commonly suffer from insufficient power density in humanoid robot applications, making it difficult to meet the thrust requirements of high-load joints such as the hip and knee joints. This insufficient power density leads to problems such as insufficient power, severe overheating, and low efficiency during robot movement, limiting the performance of humanoid robots in complex environments. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention proposes a high-power-density linear actuator for humanoid robots, which aims to improve power density, meet the high-load thrust requirements of humanoid robot joints, and optimize the structural design to improve heat dissipation performance and transmission efficiency.

[0004] The present invention also proposes a robot.

[0005] A high-power-density linear actuator for a humanoid robot according to a first aspect embodiment of the present invention includes: Lead screw assembly; A rotor assembly, the rotor assembly including a rotating shaft connected to the lead screw assembly, the rotating shaft being adapted to rotate so as to drive the lead screw assembly to reciprocate relative to the rotating shaft; The stator assembly includes a terminal block, multiple modular iron cores, and multiple winding coils. The multiple modular iron cores are connected sequentially through the terminal block, and the multiple modular iron cores are arranged around the outer side of the rotating shaft. Each winding coil corresponds to one modular iron core.

[0006] The high-power-density linear actuator for humanoid robots according to embodiments of the present invention, through a modular connection structure of modular iron core and terminal block combined with a surrounding winding coil layout, and a linkage design of lead screw assembly and rotor assembly, significantly improves electromagnetic conversion efficiency and thrust output while ensuring structural compactness. It has the advantages of effectively improving power density, meeting the high-load thrust requirements of humanoid robot joints, and optimizing structural design to improve heat dissipation performance and transmission efficiency.

[0007] According to one embodiment of the present invention, the terminal block is annular and disposed at one end of the plurality of modular iron cores, and the winding coil is disposed at the end of the modular iron cores away from the terminal block.

[0008] According to one embodiment of the present invention, the stator assembly further includes an insulating frame sleeved outside the rotating shaft, and the terminal block and the modular iron core are disposed on the insulating frame.

[0009] According to one embodiment of the present invention, the rotating shaft has an axially extending mounting channel, and the lead screw assembly is movably inserted through the mounting channel and threadedly engaged with the inner wall of the mounting channel.

[0010] According to one embodiment of the present invention, the inner wall of the installation channel is provided with a self-lubricating grease storage cavity.

[0011] According to one embodiment of the present invention, the surface of the lead screw assembly is coated with a TiAlN superhard coating.

[0012] According to one embodiment of the present invention, the rotor assembly further includes a permanent magnet, which is sleeved outside the rotating shaft.

[0013] According to one embodiment of the present invention, the high power density linear actuator for humanoid robots further includes a temperature sensor for monitoring the operating temperature of the rotor assembly and / or the stator assembly; And / or, the high power density linear actuator for humanoid robots further includes a current sensor for monitoring the operating current of the rotor assembly and / or the stator assembly.

[0014] According to one embodiment of the present invention, the high power density linear actuator for humanoid robots further includes a housing that is fitted over the stator assembly.

[0015] According to a second aspect of the present invention, a robot includes a main body and the aforementioned high-power-density linear actuator for a humanoid robot, wherein the high-power-density linear actuator for a humanoid robot is disposed on the main body.

[0016] The robot according to an embodiment of the present invention includes the high power density linear actuator for humanoid robots described above, and therefore has all the technical effects of the high power density linear actuator for humanoid robots described above, which will not be repeated here.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a high-power-density linear actuator for humanoid robots provided in an embodiment of the present invention.

[0020] Figure 2 This is a cross-sectional view of a high-power-density linear actuator for humanoid robots provided in an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the stator assembly provided in an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the rotor assembly and lead screw assembly provided in an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the lead screw assembly provided in an embodiment of the present invention.

[0024] Figure label: 1. Housing; 2. Stator assembly; 4. Encoder; 8. Rotating shaft; 9. Lead screw assembly; 16. Permanent magnet; 201. Modular iron core; 202. Insulating frame; 203. Winding coil; 204. Terminal block. Detailed Implementation

[0025] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0026] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0028] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0029] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0030] In existing technologies, linear actuators, as drive components for humanoid robot joints, face the challenge of insufficient power density. Traditional actuators employ an integral stator core and rotor structure, which suffers from high magnetic circuit losses and low winding space utilization. When the robot's hip or knee joints require rapid response to high-load movements, traditional actuators, due to insufficient electromagnetic conversion efficiency, are prone to thrust fluctuations and overheating, leading to a decrease in joint motion accuracy.

[0031] Therefore, please refer to the following: Figure 1 , Figure 2 and Figure 3This application proposes a high power density linear actuator for humanoid robots, including a lead screw assembly 9; a rotor assembly including a rotating shaft 8 connected to the lead screw assembly 9; and a stator assembly 2 including a terminal block 204, multiple modular iron cores 201 and winding coils 203. The modular iron cores 201 are connected through the terminal block 204 and arranged around the rotating shaft 8, and each modular iron core 201 is provided with a corresponding winding coil 203.

[0032] The lead screw assembly 9 is a mechanical structure that converts rotational motion into linear motion. It can be implemented using a ball screw or trapezoidal lead screw, and power transmission is achieved through threaded engagement with the rotating shaft 8. The rotating shaft 8 is a cylindrical metal component with a central through-hole, which can be implemented using a hollow structure design, with threads machined on its inner wall to accommodate the lead screw assembly 9. The modular iron core 201 is an independent magnetic circuit unit formed by stamping silicon steel sheets. It can be implemented using a hexagonal or fan-shaped structure and is laser-welded onto the terminal block 204 to form a ring array. The terminal block 204 is a ring-shaped conductive component that carries circuit connections. It can be made of copper alloy material and has an insulating coating on its surface to prevent short circuits. The winding coil 203 is an electromagnetic winding wrapped around the modular iron core 201. It can be implemented using a continuous flat wire winding method, and the magnetic field strength is improved by optimizing the wire diameter and the number of turns.

[0033] Specifically, when the rotating shaft 8 is driven to rotate by electromagnetic force, its internal thread and the lead screw assembly 9 generate relative motion, converting rotational kinetic energy into linear thrust output. The modular iron core 201 forms a closed magnetic circuit around the rotating shaft 8, with each core unit's independent winding generating a directional magnetic field. Current is evenly distributed through the parallel circuit of the terminal block 204. This split-core layout reduces magnetic flux leakage and allows for individual adjustment of the winding parameters of each core unit, making the magnetic field distribution more consistent with the rotation trajectory of the rotating shaft 8. The direct linkage design between the rotating shaft 8 and the lead screw assembly 9 eliminates frictional losses in transmission components such as gearboxes, resulting in a shorter energy transmission path.

[0034] Compared with existing technologies, the integral stator core of traditional actuators suffers from concentrated hysteresis losses, while the modular core 201 effectively disperses the eddy current generation area by dividing the magnetic circuit. Existing technologies use an external lead screw drive mechanism, while this solution integrates the lead screw inside the rotating shaft 8, shortening the power transmission path.

[0035] Through the above technical solutions, this application achieves efficient conversion of electromagnetic energy into mechanical kinetic energy, enabling the output of greater linear thrust within the same volume, thus solving the problem of insufficient thrust during joint actuation in humanoid robots. The distributed layout of the modular iron core 201 reduces local temperature rise, avoiding magnetic performance attenuation caused by overheating in traditional actuators. The integrated design of the rotating shaft 8 and the lead screw reduces the inertial mass of moving parts, improving the response speed and control accuracy of joint movements. The corresponding arrangement of the winding coil 203 and the modular iron core 201 optimizes the magnetic field utilization rate, allowing a higher electromagnetic thrust to be generated per unit current. Understandably, multiple modular iron cores 201 and the terminal block 204 can be assembled using laser welding technology. The loss of the modular iron core 201 is reduced by 15% compared to the traditional integral iron core, and the winding slot fill factor can reach 85%, effectively improving motor efficiency.

[0036] like Figure 3 As shown, this application further proposes that the terminal block 204 is in the shape of a ring and is located at one end of a plurality of modular iron cores 201, and the winding coil 203 is located at the end of the modular iron cores 201 away from the terminal block 204.

[0037] The annular terminal block 204 refers to a connecting component with a ring-shaped conductive structure. Specifically, it can be made of copper alloy material using laser welding to create a ring circuit, which is used to establish an electrical connection path between multiple modular iron cores 201. This structure enables the current to be evenly distributed along the ring path, reducing electromagnetic interference.

[0038] The end of the modular iron core 201 furthest from the terminal block 204 refers to the installation position where the iron core module and the terminal block 204 are axially spaced. Specifically, the coil can be fixed by setting a slot structure at the end of the iron core module, so that the coil and the terminal block 204 form an axially layered layout. This layout can avoid physical interference between the coil and the terminal block 204 during the coil winding process.

[0039] Specifically, the annular terminal block 204 is assembled on the axial end face of the modular iron core 201 assembly, forming a closed conductive ring around the rotating shaft 8. The modular iron cores 201 are evenly distributed circumferentially in the inner ring area of ​​the terminal block 204, and the conductive terminals of each iron core module are connected to the annular conductive surface of the terminal block 204 by welding. The winding coil 203 is independently installed at the other end of the iron core module, and the lead wire of the coil winding is directly embedded inside the iron core slot. This creates a spatial separation between the electrical connection and electromagnetic action areas. The annular structure of the terminal block 204 allows multiphase current to be evenly conducted circumferentially, while the magnetic field generated by the coil directly acts on the air gap area around the rotating shaft 8.

[0040] Through the above technical solution, this application effectively avoids spatial interference between the coil winding and the terminal block 204, thereby shortening the axial length of the stator assembly 2. The ring terminal block 204 reduces the distributed inductance of the circuit and improves the balance of multiphase current. At the same time, the magnetic field generated by the coil directly penetrates to the working area of ​​the rotating shaft 8, improving the electromagnetic conversion efficiency.

[0041] This application further proposes that the stator assembly 2 also includes an insulating frame 202, which is sleeved on the outside of the rotating shaft 8, and the terminal block 204 and the modular iron core 201 are disposed on the insulating frame 202.

[0042] The insulating frame 202 is a ring-shaped support structure made of insulating material, which can be injection-molded engineering plastic or ceramic composite material. Its inner diameter maintains a clearance fit with the outer surface of the rotating shaft 8. "Sleeved outside the rotating shaft 8" means that the insulating frame 202 is coaxially mounted on the outside of the rotating shaft 8. To prevent the stator assembly 2 from rotating with the rotor assembly, there is a movable gap between the stator assembly 2 and the rotor assembly. "Terminal plate 204 and modular iron core 201 are located on the insulating frame 202" means that the terminal plate 204 is embedded into the end face of the insulating frame 202 through a snap-fit ​​structure, and the modular iron core 201 is mechanically connected to the outer wall of the insulating frame 202 through a dovetail groove.

[0043] Specifically, the insulating frame 202 serves as the supporting base for the stator assembly 2, forming an isolation barrier on the outside of the rotating shaft 8. The terminal block 204 and the modular iron core 201 are integrated and fixed in a predetermined position on the insulating frame 202. The electromagnetic field generated when the winding coil 203 is energized is conducted to the rotor assembly through the modular iron core 201. Since the insulating frame 202 completely encloses the rotating shaft 8, a physical isolation is formed between the winding coil 203 and the rotating shaft 8, avoiding leakage current problems caused by insulation failure. The modular iron core 201 forms a multi-point rigid connection with the insulating frame 202 through dovetail slots, suppressing the radial displacement of the iron core module caused by centrifugal force when the rotor rotates at high speed. After the terminal block 204 is embedded in the snap-fit ​​structure on the end face of the insulating frame 202, its conductive terminals form an oriented connection with the winding leads of the modular iron core 201, ensuring the symmetrical distribution of the multi-phase windings.

[0044] Please refer to the reference. Figure 2 , Figure 4 and Figure 5 This application further proposes that the rotating shaft 8 has an axially extending mounting channel, and the lead screw assembly 9 is movably inserted through the mounting channel and threadedly engaged with the inner wall of the mounting channel.

[0045] The axially extending mounting channel refers to a cylindrical cavity extending along the central axis of the rotating shaft 8, which can be achieved using deep hole drilling combined with precision reaming. This structure ensures the coaxiality of the lead screw assembly 9 and the rotating shaft 8 through geometric constraints. The threaded inner wall structure refers to the helical groove machined on the inner surface of the mounting channel to match the external thread of the lead screw assembly 9, which can be formed into a trapezoidal thread or a roller thread using CNC turning. This structure achieves the conversion of rotary motion to linear motion through surface contact engagement.

[0046] Specifically, when the rotating shaft 8 rotates under the action of driving force, the threaded structure on the inner wall of the mounting channel will mesh with the external thread of the lead screw assembly 9. Due to the axial extension characteristic of the mounting channel, the lead screw assembly 9 forms a linear motion trajectory along the axial direction inside the rotating shaft 8. The meshing contact surface of the threaded pair maintains uniform contact pressure throughout the rotation of the rotating shaft 8, avoiding the motion runout caused by radial backlash present in traditional external lead screw drives. The reverse roller lead screw structure maintains stable transmission stiffness even under high loads through the line contact between the rollers and the thread groove.

[0047] Through the above technical solutions, this application achieves high-precision coaxial matching between the lead screw assembly 9 and the rotating shaft 8. The uniform contact pressure distribution of the threaded meshing surface reduces the risk of local wear, and the reverse roller structure enhances the transmission stability under high load conditions, resulting in a significant improvement in overall transmission efficiency.

[0048] Optionally, the mounting channel adopts a double arc structure, and the contact area between the screw assembly 9 and the mounting channel is increased by 50% compared with the ball screw, and the contact stiffness is increased by more than 30%, which can withstand radial and axial composite loads and avoid deformation of the screw assembly 9 due to load fluctuations when the humanoid robot moves.

[0049] This application further proposes that the inner wall of the installation channel is provided with a self-lubricating grease storage cavity.

[0050] The self-lubricating grease storage cavity refers to a grease-containing structure distributed axially or circumferentially along the installation channel. Specifically, it can be implemented using annular grooves or microporous structures, achieving slow grease release through capillary action within the storage cavity. This structure is integrated into the contact interface between the rotating shaft 8 and the lead screw assembly 9, forming a dynamic lubricating film during the threaded pair's movement. The inner wall of the installation channel refers to the cylindrical surface inside the rotating shaft 8 that forms a threaded engagement with the lead screw assembly 9. Specifically, it can be machined using a high-precision rolling process to create a continuous, interconnected structure between the storage cavity and the thread root, ensuring uniform grease diffusion along the thread meshing path.

[0051] Specifically, when the lead screw assembly 9 reciprocates linearly under the drive of the rotating shaft 8, the mechanical stress generated at the threaded contact surface causes the lubricating grease in the storage cavity to seep out through capillary action. The seeped grease forms a uniform oil film at the friction interface, covering the contact area of ​​the thread teeth. As the motion continues, the storage cavity maintains the amount of grease seepage through an internal pressure balancing mechanism, preventing excessive seepage that could lead to grease accumulation or contamination. This lubrication method requires no external oil supply device and achieves self-replenishment through the built-in storage cavity.

[0052] Through the above technical solution, this application effectively reduces the sliding friction resistance between the lead screw assembly 9 and the rotating shaft 8, suppresses the temperature rise of the threaded contact surface, and avoids material expansion and jamming caused by local overheating. This design also extends the wear life of the threaded mating structure, enabling the actuator to maintain stable transmission efficiency under high-frequency reciprocating motion conditions.

[0053] This application further proposes a technical solution for coating the surface of the lead screw assembly 9 with a TiAlN superhard coating.

[0054] The TiAlN superhard coating refers to a composite ceramic coating composed of titanium aluminum nitride, which can be formed into a dense thin film on the surface of the lead screw using a physical vapor deposition process. This coating directly acts on the contact interface between the lead screw and the mating parts by enhancing surface hardness and reducing the coefficient of friction, thereby suppressing friction and wear.

[0055] Specifically, during the high-speed reciprocating motion of the lead screw, the TiAlN superhard coating resists the micro-cutting action of the contact surface due to its high hardness, while its low coefficient of friction reduces energy loss during sliding. The continuous protective layer formed by the coating isolates the metal substrate from direct contact with the external environment, preventing the accumulation of surface damage caused by long-term friction. Compared with traditional lubrication methods, this coating can maintain stable tribological properties under high temperature and high load conditions, overcoming the defects of lubricating grease such as easy volatility and contamination.

[0056] Through the above technical solution, this application effectively reduces the frictional loss of the lead screw assembly 9 during high-speed motion, extends the service life of the transmission components, and ensures that the linear actuator maintains stable transmission accuracy and energy conversion efficiency during long-term operation, thereby improving the power density and operational reliability of the overall system.

[0057] like Figure 4 As shown, this application further proposes that the rotor assembly also includes a permanent magnet 16, which is sleeved on the outside of the rotating shaft 8.

[0058] The permanent magnet 16 is a ring-shaped magnet made of a high remanence material, specifically neodymium iron boron or samarium cobalt, with its magnetization direction distributed radially to form a stable magnetic field. "Sleeved around the rotating shaft 8" means that the permanent magnet 16 is fixed to the outer circumferential surface of the rotating shaft 8 by interference fit or bonding, and the axially symmetrical layout ensures the uniformity of the magnetic field. In this embodiment, the magnetic flux density of the permanent magnet 16 reaches over 1.4T. Combined with an optimized air gap structure, the motor power density is increased by more than 20% compared to conventional frameless torque motors, and the maximum thrust density exceeds 4000 N / Kg, which can meet the high thrust requirements of the humanoid robot's hip joint.

[0059] Specifically, the permanent magnet 16 forms an integrated structure with the rotating shaft 8, synchronously generating a radial magnetic field when the rotating shaft 8 rotates. This magnetic field interacts with the alternating magnetic field formed by the winding coil 203 of the block iron core 201 in the stator assembly 2 after energization, generating a continuous electromagnetic driving force. The coupling efficiency between the static magnetic field generated by the permanent magnet 16 and the dynamic magnetic field of the stator is improved, allowing the lead screw assembly 9 to obtain a greater axial thrust per unit current. Since the permanent magnet 16 is directly sleeved on the outer surface of the rotating shaft 8, the magnetic circuit path is shortened, magnetic leakage is suppressed, and the magnetic field utilization rate is improved.

[0060] like Figure 2 As shown, this application further proposes that the high power density linear actuator for humanoid robots also includes a temperature sensor for monitoring the operating temperature of the rotor assembly and stator assembly 2, and a current sensor for monitoring the operating current of the rotor assembly and stator assembly 2.

[0061] Among them, the temperature sensor refers to a device that collects temperature signals from key parts of the actuator through contact or non-contact methods. Specifically, it can be implemented using a surface-mount thermistor or an infrared temperature measurement module, and is used to detect the heat accumulation generated by the rotor assembly and stator assembly 2 during operation in real time. The current sensor refers to a device that measures circuit current based on the Hall effect or magnetoresistive effect principle. Specifically, it can be implemented using a closed-loop current transformer or a shunt resistor, and is used to monitor the current changes of the winding coil 203 in real time.

[0062] Specifically, temperature sensors are positioned on the surface of the permanent magnet 16 of the rotor assembly and in the gap between the interlocking iron cores 201 of the stator assembly 2. When the actuator is under high load, the frictional heat between the rotor and the lead screw assembly 9, as well as the copper losses in the stator windings, cause localized temperature rises. The temperature sensors transmit the collected temperature data to the control system in real time. When the temperature exceeds a preset threshold, the control module can dynamically adjust the drive current or activate the cooling device. A current sensor is integrated into the power supply circuit of the terminal block 204. By continuously monitoring the amplitude and waveform of the winding current, it can identify abnormal current fluctuations caused by mechanical jamming or insulation failure. When the current exceeds the safe range, the control module immediately cuts off the power and triggers a fault alarm. The synchronous acquisition of temperature and current data forms a closed-loop feedback, ensuring that the thermal and electrical states of the actuator remain within a controllable range.

[0063] In one embodiment, the high-power-density linear actuator for the humanoid robot also includes a detection module, which is a 24-bit high-precision absolute encoder 4. This detection module is key to achieving high-precision positioning and rapid response. The 24-bit high-precision absolute encoder 4 is coaxially integrated with the motor, enabling power-off position memory without battery backup. It has a resolution of 0.0005mm and a sampling frequency of 2000Hz, and can collect motor speed and lead screw displacement data in real time. Combined with the algorithm optimization of the control module, the stroke repeatability positioning accuracy and absolute positioning accuracy are both less than ±0.01mm, meeting the high-precision motion control requirements of the robot.

[0064] This application further proposes that the high power density linear actuator for humanoid robots also includes a housing, which is fitted over the stator assembly 2.

[0065] The outer shell refers to the rigid housing 1 structure that encloses the stator assembly 2, formed by mold casting into an annular cavity that matches the shape of the stator assembly 2. Specifically, the outer shell is configured to completely cover the modular iron core 201 and winding coil 203 of the stator assembly 2. Heat dissipation fins are installed inside the annular cavity to conduct heat generated by the winding coil 203 through the contact surface between the outer shell and the stator assembly 2. The enclosed structure of the outer shell forms an isolation layer between the modular iron core 201 and the external environment, preventing dust or liquid from directly contacting the winding coil 203. A flange mounting interface is provided on the axial end face of the outer shell for rigid connection with the robot's main frame, thereby transferring the vibration load generated during actuator operation to the main frame.

[0066] In some specific embodiments, a thermally conductive silicone layer may be provided on the inner wall of the housing to enhance the thermal conductivity with the stator assembly 2, and an insulating coating may be sprayed on the outer surface of the housing to prevent the risk of leakage. An air duct structure may be integrated inside the annular cavity of the housing to accelerate heat dissipation through external cooling airflow.

[0067] Through the above technical solutions, this application effectively prevents external contaminants from entering the stator assembly 2, causing insulation failure of the winding coil 203, and suppresses the decrease in magnetic permeability of the spliced ​​iron core 201 due to oxidation. The rigid support of the outer shell reduces the radial deformation of the stator assembly 2 during high-speed operation, maintaining the uniformity of the air gap between the rotor and stator. The heat conduction path of the outer shell allows heat from the winding coil 203 to dissipate rapidly through the metal shell 1, avoiding excessive local temperature rise that could cause coil burnout. The electromagnetic shielding function of the outer shell reduces the impact of external interference on the signal acquisition accuracy of the temperature and current sensors.

[0068] This application further proposes a robot, including a body and a high-power-density linear actuator for a humanoid robot, the high-power-density linear actuator being disposed in the body.

[0069] The main body refers to the robot's overall support structure, which can be made of aluminum alloy frame or carbon fiber composite material, used to support the linear actuator and form the mechanical connection interface. The high-power-density linear actuator is a drive device that generates linear thrust through the linkage of the lead screw assembly 9 and the rotor assembly.

[0070] Specifically, the linear actuator is integrated into the joint connection of the robot body. When the winding coil 203 of the stator assembly 2 is energized, it generates a rotating magnetic field that drives the rotating shaft 8 of the rotor assembly to rotate. The rotating shaft 8 drives the lead screw assembly 9 to move axially through a threaded connection, thereby converting the rotational motion into linear thrust output. Because the stator assembly 2 adopts a modular splicing structure, the slot fill factor of the winding coil 203 is optimized, and the electromagnetic conversion efficiency is improved. The actuator is rigidly connected to the body through a flange, shortening the power transmission path to the millimeter level and effectively reducing energy loss during transmission.

[0071] Finally, it should be noted that the above embodiments are only for illustrating the present invention and not for limiting the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention and should be covered within the scope of the claims of the present invention.

Claims

1. A high-power-density linear actuator for humanoid robots, characterized in that, include: Lead screw assembly; A rotor assembly, the rotor assembly including a rotating shaft connected to the lead screw assembly, the rotating shaft being adapted to rotate so as to drive the lead screw assembly to reciprocate relative to the rotating shaft; The stator assembly includes a terminal block, multiple modular iron cores, and multiple winding coils. The multiple modular iron cores are connected sequentially through the terminal block, and the multiple modular iron cores are arranged around the outer side of the rotating shaft. Each winding coil corresponds to one modular iron core.

2. The high power density linear actuator for humanoid robots according to claim 1, characterized in that, The terminal block is circular and is located at one end of the plurality of modular iron cores, and the winding coil is located at the end of the modular iron cores away from the terminal block.

3. The high power density linear actuator for humanoid robots according to claim 1, characterized in that, The stator assembly also includes an insulating frame, which is sleeved outside the rotating shaft, and the terminal block and the modular iron core are disposed on the insulating frame.

4. The high-power-density linear actuator for humanoid robots according to claim 1, characterized in that, The rotating shaft has an axially extending mounting channel, and the lead screw assembly is movably inserted through the mounting channel and threadedly engaged with the inner wall of the mounting channel.

5. The high-power-density linear actuator for humanoid robots according to claim 4, characterized in that, The inner wall of the installation channel is provided with a self-lubricating grease storage cavity.

6. The high-power-density linear actuator for humanoid robots according to claim 1, characterized in that, The surface of the lead screw assembly is coated with a TiAlN superhard coating.

7. The high power density linear actuator for humanoid robots according to claim 1, characterized in that, The rotor assembly also includes a permanent magnet, which is sleeved on the outside of the rotating shaft.

8. The high-power-density linear actuator for humanoid robots according to claim 1, characterized in that, The high power density linear actuator for humanoid robots also includes a temperature sensor for monitoring the operating temperature of the rotor assembly and / or the stator assembly. And / or, the high power density linear actuator for humanoid robots further includes a current sensor for monitoring the operating current of the rotor assembly and / or the stator assembly.

9. The high power density linear actuator for humanoid robots according to any one of claims 1 to 8, characterized in that, The high-power-density linear actuator for humanoid robots also includes a housing that is fitted over the stator assembly.

10. A robot, characterized in that, The device includes a main body and a high-power-density linear actuator for a humanoid robot as described in any one of claims 1 to 9, wherein the high-power-density linear actuator for the humanoid robot is disposed on the main body.

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