An electrically driven joint actuator for a humanoid robot

Abstract

The application discloses a humanoid robot electric driving joint actuator and relates to the technical field of mechanical engineering. The humanoid robot electric driving joint actuator comprises a main body frame. When the telescopic pipe is impacted during use, the elastic potential energy of the compression spring is utilized to buffer the force received by the telescopic pipe during use, thereby improving the stability of the humanoid robot during use. The telescopic pipe is moved through the cooperation of the tooth groove, spur gear and rotating column, thereby driving the rotation of the cooling fan. The two cooling fans rotate synchronously, thereby driving the airflow in the main body frame. The airflow in the main body frame is driven to rotate the cooling fan when the telescopic pipe moves, thereby improving the performance of the motor under high load.

Description

Technical Field

[0001] This invention relates to the field of mechanical engineering technology, specifically to an electrically driven joint actuator for a humanoid robot. Background Technology

[0002] Electrically driven joint actuators for humanoid robots are core functional components that enable flexible movement, precise operation, and stable support of robot limbs. They mainly consist of a drive motor, transmission mechanism, telescopic actuator structure, and mounting frame. The motor outputs power to drive the telescopic tube to complete linear extension and retraction movements, simulating the extension, contraction, and force-bearing actions of human limbs. They are widely used in humanoid robot equipment in various scenarios such as service, operation, and interaction. As robots develop towards high load, high dynamics, and high integration, joint actuators need to operate stably under complex working conditions such as frequent start-stop, variable load, and impact contact. Their buffer protection, heat dissipation efficiency, and structural support capabilities directly determine the robot's motion accuracy, operational safety, and overall service life.

[0003] However, existing electrically driven joint actuators generally suffer from limited structural functionality and insufficient dynamic adaptability, making them unsuitable for complex operational needs. First, the telescopic actuator structure often employs a rigid connection design without dedicated buffer components, making it prone to rigid collisions when contacting objects or experiencing impacts. The impact force is directly transmitted to the motor and transmission components, easily causing structural deformation and component wear, reducing robot motion stability and component lifespan. Simultaneously, motor cooling relies on natural convection or independent cooling devices, which are not linked to the actuator's motion mechanism. During continuous high-load operation, heat accumulates rapidly, resulting in low cooling efficiency and easily leading to excessive motor temperature rise and output performance degradation, affecting the joint's continuous operational capability. Second, the telescopic tube lacks an adaptive load support structure, making it prone to swaying and deformation under heavy loads. Relying solely on its own structural strength is insufficient to ensure uniform force distribution. Long-term heavy-load operation will exacerbate gap increases and fatigue damage, reducing actuator operational stability and lifespan, and failing to meet the operational requirements of high-performance humanoid robots. Summary of the Invention

[0004] The purpose of this invention is to provide an electrically driven joint actuator for humanoid robots to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an electrically driven joint actuator for a humanoid robot, comprising a main frame, a limiting tube fixedly connected inside the main frame, a rotatable lead screw disposed inside the limiting tube, a ball nut threadedly connected to the surface of the lead screw, the ball nut slidably connected to the inner wall of the limiting tube, a motor fixedly connected to the bottom surface of the limiting tube, and the lead screw fixedly connected to the output end of the motor; the electrically driven joint actuator for the humanoid robot further comprises: A buffer assembly, which is disposed inside the main frame, is used to buffer the movement of the ball nut; A heat dissipation assembly is disposed inside the main frame and is used to dissipate heat from the motor during use; A clamping assembly, located inside the main frame, is used for clamping and positioning the ball nut when it is under heavy load.

[0006] Preferably, the buffer assembly includes a telescopic tube that is slidably connected to the inner wall of the limiting tube. The top surface of the ball nut has multiple limiting holes, and the telescopic tube is slidably connected to the inner wall of the limiting holes. A compression spring is sleeved on the surface of the lead screw, and the lower end of the compression spring abuts against the top surface of the ball nut.

[0007] Preferably, the heat dissipation assembly includes a mounting bracket, which is fixedly connected to the bottom surface of the limiting tube. Rotating columns are rotatably connected to both sides of the mounting bracket. A cooling fan is fixedly connected to the surface of the rotating column. Two rotating columns are rotatably connected to the inner wall of the limiting tube. A spur gear is fixedly connected to the surface of the rotating column. Multiple tooth grooves are opened on the surface of the telescopic tube, and the spur gear is meshed with the tooth grooves.

[0008] Preferably, the clamping assembly includes a sliding frame, which is slidably connected to the inner wall of the main frame. Two auxiliary columns are fixedly connected to the top surface of the sliding frame, and limit blocks are fixedly connected to the side walls of the auxiliary columns. Two sliding grooves are formed on the surface of the telescopic tube, and the limit blocks are slidably connected to the inner walls of the sliding grooves. Two connecting holes are formed on the top surface of the sliding frame.

[0009] Preferably, the inner wall of the connecting hole is slidably connected to a connecting column, the lower ends of the two connecting holes are fixedly connected to the same push frame, the push frame is slidably connected to the inner wall of the main frame, the inner wall of the main frame is fixedly connected to an electric telescopic cylinder, and the telescopic shaft of the electric telescopic cylinder is fixedly connected to the push frame.

[0010] Preferably, a pressure sensor is fixedly connected to the inner wall of the telescopic tube, and a contact block is fixedly connected to the bottom surface of the pressure sensor. The upper end of the compression spring abuts against the lower end of the contact block.

[0011] Preferably, both the surface of the rotating column and the surface of the rotating column are fixedly connected to synchronous pulleys, and the surfaces of the two synchronous pulleys are fitted with the same synchronous belt.

[0012] Preferably, the inner wall of the main frame is fixedly connected to a controller, the controller is electrically connected to the electric telescopic cylinder, and the controller is electrically connected to the pressure sensor.

[0013] Preferably, the surface of the connecting column is fitted with a buffer spring, the lower end of the buffer spring abuts against the top surface of the push frame, and the upper end of the buffer spring abuts against the bottom surface of the sliding frame.

[0014] Preferably, a storage battery is fixedly connected to the inner wall of the main frame, the storage battery is electrically connected to the controller, the storage battery is electrically connected to the pressure sensor, and the storage battery is electrically connected to the electric telescopic cylinder.

[0015] Compared with the prior art, the beneficial effects of the present invention are: (1) By setting up a buffer component, when the telescopic tube is impacted during use, the elastic potential energy of the compression spring is used to buffer the force of the impact on the telescopic tube during use, thereby avoiding rigid contact when the telescopic tube contacts the object, thus improving the stability of the humanoid robot during use. (2) By setting up heat dissipation components, the telescopic tube can be moved by the cooperation of toothed grooves, spur gears and rotating columns to drive the cooling fan to rotate. The two cooling fans rotate synchronously to facilitate the air flow inside the main frame. By driving the air flow inside the main frame, the heat on the surface of the motor can be removed, and the heat dissipation effect of the motor can be accelerated. The cooling fan is driven to rotate and dissipate heat when the telescopic tube moves, which facilitates the improvement of the motor's performance under high load conditions. (3) By setting up clamping components, when the telescopic tube is under load, the auxiliary column and limit block are moved by the cooperation of pressure sensor, controller and electric telescopic cylinder. The auxiliary column and limit block are set up to assist the telescopic tube according to the load force of the telescopic tube, thereby improving the stability and service life of the telescopic tube. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 This is a partial cross-sectional view of the main frame structure in this invention; Figure 3 This is a partial cross-sectional view of the clamping component in this invention; Figure 4 This is a partial cross-sectional view of the push frame in this invention; Figure 5 This is a schematic diagram of the heat dissipation component structure in this invention; Figure 6 This is a partial cross-sectional view of the buffer component in this invention; Figure 7 This is a schematic diagram of the limiting hole in the present invention; Figure 8 This is a partial cross-sectional view of the telescopic tube in this invention.

[0017] In the diagram: 1. Main frame; 101. Limiting tube; 102. Lead screw; 103. Ball nut; 104. Motor; 201. Telescopic tube; 202. Limiting hole; 203. Compression spring; 301. Mounting bracket; 302. Rotating column; 303. Cooling fan; 304. Rotating column; 305. Spur gear; 306. Gear groove; 307. Synchronous pulley; 308. Synchronous belt; 401. Sliding frame; 402. Auxiliary column; 403. Limiting block; 404. Sliding groove; 405. Connecting hole; 406. Connecting column; 407. Push frame; 408. Buffer spring; 409. Electric telescopic cylinder; 410. Pressure sensor; 411. Contact block; 412. Controller; 413. Battery. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1-8 This invention provides a technical solution for an electrically driven joint actuator for a humanoid robot: An electrically driven joint actuator for a humanoid robot includes a main frame 1, with a limiting tube 101 fixedly connected inside the main frame 1. A rotatable lead screw 102 is provided inside the limiting tube 101, and a ball nut 103 is threadedly connected to the surface of the lead screw 102. The ball nut 103 is slidably connected to the inner wall of the limiting tube 101. A motor 104 is fixedly connected to the bottom surface of the limiting tube 101, and the lead screw 102 is fixedly connected to the output end of the motor 104. The electrically driven joint actuator for the humanoid robot also includes: A buffer assembly is provided inside the main frame 1 to buffer the movement of the ball nut 103. A heat dissipation component is installed inside the main frame 1 and is used to dissipate heat from the motor 104 during use. A clamping assembly is located inside the main frame 1 and is used to clamp and position the ball nut 103 when the load is large. The buffer component facilitates the cushioning of the ball nut 103 during joint actuator use, avoiding rigid contact with the object being touched during joint actuator use, thereby improving the stability of the humanoid robot during use. Simultaneously, the heat dissipation component facilitates automatic and accelerated heat dissipation of the internal electrical components during actuator use, improving the performance of the internal electrical components under high load conditions. Furthermore, the clamping component facilitates auxiliary clamping and positioning of the actuator's telescopic components according to the load pressure during joint actuator use, thereby improving the stability and service life of the telescopic tube.

[0020] When the telescopic pipe is under load, the pressure sensor monitors the compression force of the compression spring in real time, and transmits the monitored data to the controller. The controller activates the electric telescopic cylinder based on the compression data transmitted by the pressure sensor and controls the extension size of the telescopic cylinder shaft. When the telescopic cylinder shaft moves, it pushes the sliding frame to move through the push frame. The movement of the sliding frame pushes the auxiliary column and the limit block to move. By setting up the electric telescopic cylinder, the thrust between the push frame and the sliding frame is buffered, thereby avoiding the position jamming between the limit block and the sliding groove when the push frame is in rigid contact with the push frame. The auxiliary column and the limit block provide support to the telescopic pipe according to the load force, thereby improving the stability and service life of the telescopic pipe.

[0021] Please see Figure 1 , Figure 6 , Figure 7 and Figure 8The buffer assembly includes a telescopic tube 201, which is slidably connected to the inner wall of the limiting tube 101. The top surface of the ball nut 103 has multiple limiting holes 202, and the telescopic tube 201 is slidably connected to the inner wall of the limiting holes 202. A compression spring 203 is sleeved on the surface of the lead screw 102, with the lower end of the compression spring 203 abutting against the top surface of the ball nut 103. Through the buffer assembly, when the lead screw 102 rotates, it drives the ball nut 103 to move, pushing the compression spring 203. Under the action of the compression spring 203, the telescopic tube 201 moves. The compression spring 203 is located between the ball nut 103 and the telescopic tube. Between 201, when the telescopic tube 201 is impacted during use, the elastic potential energy of the compression spring 203 is used to buffer the force of the impact on the telescopic tube 201 during use. By avoiding rigid contact when the telescopic tube 201 contacts the object, the stability of the humanoid robot during use is improved. The limiting hole 202 is set to limit the telescopic tube 201, so that the telescopic tube 201 can meet the movement buffer under the action of the compression spring 203 when under load. At the same time, it will not disengage from the ball nut 103 during normal use, thus ensuring the stability of the telescopic tube 201 during use.

[0022] Please see Figure 1 , Figure 3 , Figure 4 and Figure 5 The heat dissipation assembly includes a mounting bracket 301, which is fixedly connected to the bottom surface of the limiting tube 101. Rotating columns 302 are rotatably connected to both sides of the mounting bracket 301. Cooling fans 303 are fixedly connected to the surface of the rotating columns 302. Two rotating columns 304 are rotatably connected to the inner wall of the limiting tube 101. Spur gears 305 are fixedly connected to the surface of the rotating columns 304. Multiple toothed grooves 306 are formed on the surface of the telescopic tube 201, and the spur gears 305 mesh with the toothed grooves 306. Synchronous pulleys 307 are fixedly connected to the surfaces of both rotating columns 304 and rotating columns 302. The same synchronous belt 308 is fitted onto the surfaces of the two synchronous pulleys 307. Through this heat dissipation assembly, the telescopic tube 201... 1. During movement, the toothed groove 306 and spur gear 305 work together to drive the two rotating columns 304 to rotate synchronously. When the rotating columns 304 rotate, the synchronous pulley 307 and synchronous belt 308 work together to drive the rotating column 302 to rotate. The rotation of the rotating column 302 facilitates the rotation of the cooling fan 303. The synchronous rotation of the two cooling fans 303 facilitates the airflow inside the main frame 1. By facilitating the airflow inside the main frame 1, the heat on the surface of the motor 104 is removed, accelerating the heat dissipation effect of the motor 104. The movement of the telescopic tube 201 drives the cooling fan 303 to rotate and dissipate heat, thereby improving the performance of the motor 104 under high load conditions.

[0023] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4 The clamping assembly includes a sliding frame 401, which is slidably connected to the inner wall of the main frame 1. Two auxiliary columns 402 are fixedly connected to the top surface of the sliding frame 401, and limit blocks 403 are fixedly connected to the side walls of the auxiliary columns 402. Two sliding grooves 404 are formed on the surface of the telescopic tube 201, and the limit blocks 403 are slidably connected to the inner walls of the sliding grooves 404. Two connecting holes 405 are formed on the top surface of the sliding frame 401, and connecting columns 406 are slidably connected to the inner walls of the connecting holes 405. The lower ends of the two connecting holes 405 are fixedly connected to the same push frame 407, which is slidably connected to the inner wall of the main frame 1. An electric motor is fixedly connected to the inner wall of the main frame 1. Telescopic cylinder 409, the telescopic shaft of electric telescopic cylinder 409 is fixedly connected to push frame 407, pressure sensor 410 is fixedly connected to the inner wall of telescopic tube 201, contact block 411 is fixedly connected to the bottom surface of pressure sensor 410, the upper end of compression spring 203 abuts against the lower end of contact block 411, buffer spring 408 is sleeved on the surface of connecting column 406, the lower end of buffer spring 408 abuts against the top surface of push frame 407, the upper end of buffer spring 408 abuts against the bottom surface of sliding frame 401, controller 412 is fixedly connected to the inner wall of main frame 1, controller 412 is electrically connected to electric telescopic cylinder 409, controller 412 and pressure sensor 410 Electrical connection, through the clamping assembly, allows the pressure sensor 410 to monitor the compression force of the compression spring 203 in real time when the telescopic tube 201 is under load, and transmits the monitored data to the controller 412 in real time. The controller 412 activates the electric telescopic cylinder 409 based on the compression data transmitted by the pressure sensor 410, and simultaneously controls the extension dimension of the telescopic shaft of the electric telescopic cylinder 409. When the telescopic shaft of the electric telescopic cylinder 409 moves, it pushes the sliding frame 401 to move via the push frame 407. The movement of the sliding frame 401 pushes the auxiliary column 402 and the limit block 403 to move. By setting the electric telescopic cylinder 409, from... The design facilitates the buffering of the thrust between the push frame 407 and the sliding frame 401, thereby preventing the position of the limiting block 403 and the sliding groove 404 from jamming when the push frame 407 and the push frame 407 are in rigid contact. The auxiliary column 402 and the limiting block 403 provide support to the telescopic tube 201 according to the load force, thereby improving the stability and service life of the telescopic tube 201. The contact block 411 facilitates the uniform transmission of the compressive force on the compression spring 203 to the pressure sensor 410 during the compression time, thereby improving the accuracy and stability of the pressure sensor 410 monitoring.

[0024] Please see Figure 2 , Figure 3 , Figure 4 and Figure 8 A battery 413 is fixedly connected to the inner wall of the main frame 1. The battery 413 is electrically connected to the controller 412, the pressure sensor 410, and the electric telescopic cylinder 409. The limit block 403 facilitates the supply of power to the controller 412, the pressure sensor 410, and the electric telescopic cylinder 409. This allows the output shaft of the electric telescopic cylinder 409 to move when the telescopic pipe 201 is under load, thereby driving the sliding frame 401, the auxiliary column 402, and the limit block 403 to move and continuously support the telescopic pipe 201.

[0025] Working principle: During use, the set buffer component causes the lead screw 102 to rotate, driving the ball nut 103 to move and pushing the compression spring 203. Under the action of the compression spring 203, the telescopic tube 201 is pushed to move. The compression spring 203 is set between the ball nut 103 and the telescopic tube 201. When the telescopic tube 201 is impacted during use, the elastic potential energy of the compression spring 203 is used to buffer the force of the impact on the telescopic tube 201 during use. By avoiding rigid contact when the telescopic tube 201 contacts the object, the stability of the humanoid robot during use is improved. Meanwhile, through the heat dissipation components, the telescopic tube 201 moves by using the toothed groove 306 and the spur gear 305 to drive the two rotating columns 304 to rotate synchronously. When the rotating columns 304 rotate, the synchronous pulley 307 and the synchronous belt 308 work together to drive the rotating column 302 to rotate. The rotation of the rotating column 302 facilitates the rotation of the cooling fan 303. The synchronous rotation of the two cooling fans 303 facilitates the airflow inside the main frame 1. By facilitating the airflow inside the main frame 1, the heat on the surface of the motor 104 is removed, accelerating the heat dissipation effect of the motor 104. The movement of the telescopic tube 201 drives the cooling fan 303 to rotate and dissipate heat, thereby improving the performance of the motor 104 under high load conditions. Secondly, through the clamping assembly, when the telescopic tube 201 is under load, the pressure sensor 410 monitors the compressive force of the compression spring 203 in real time under the compression action of the compression spring 203, and transmits the monitored data to the controller 412 in real time. The controller 412 activates the electric telescopic cylinder 409 based on the compression data transmitted by the pressure sensor 410 and controls the extension size of the telescopic shaft of the electric telescopic cylinder 409. When the telescopic shaft of the electric telescopic cylinder 409 moves, it pushes the sliding frame 401 to move through the push frame 407. The moving frame 401 moves to push the auxiliary column 402 and the limiting block 403 to move. By setting an electric telescopic cylinder 409, the thrust between the pushing frame 407 and the sliding frame 401 is buffered, thereby avoiding the position jamming between the limiting block 403 and the sliding groove 404 when the pushing frame 407 is in rigid contact with the sliding frame 407. The auxiliary column 402 and the limiting block 403 clamp the telescopic tube 201 according to the load force of the telescopic tube 201, thereby improving the stability and service life of the telescopic tube 201.

[0026] All standard parts used in this invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0027] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. An electrically driven joint actuator for a humanoid robot, characterized by The device includes a main frame (1), with a limiting tube (101) fixedly connected inside the main frame (1). A rotatable lead screw (102) is provided inside the limiting tube (101). A ball nut (103) is threaded onto the surface of the lead screw (102), and the ball nut (103) is slidably connected to the inner wall of the limiting tube (101). A motor (104) is fixedly connected to the bottom surface of the limiting tube (101). The lead screw (102) is fixedly connected to the output end of the motor (104). The humanoid robot's electrically driven joint actuator also includes: A buffer assembly is disposed inside the main frame (1) for buffering the movement of the ball nut (103); A heat dissipation assembly is disposed inside the main frame (1) and is used to dissipate heat from the motor (104) during use; A clamping assembly is disposed inside the main frame (1); The buffer assembly includes a telescopic tube (201), which is slidably connected to the inner wall of the limiting tube (101). The top surface of the ball nut (103) is provided with multiple limiting holes (202). The telescopic tube (201) is slidably connected to the inner wall of the limiting holes (202). The surface of the lead screw (102) is fitted with a compression spring (203), and the lower end of the compression spring (203) abuts against the top surface of the ball nut (103). The clamping assembly includes a sliding frame (401), which is slidably connected to the inner wall of the main frame (1). Two auxiliary columns (402) are fixedly connected to the top surface of the sliding frame (401), and a limiting block (403) is fixedly connected to the side wall of the auxiliary column (402). Two sliding grooves (404) are opened on the surface of the telescopic tube (201), and the limiting block (403) is slidably connected to the inner wall of the sliding groove (404). Two connecting holes (405) are opened on the top surface of the sliding frame (401).

2. The electrically driven joint actuator of a humanoid robot according to claim 1, characterized in that: The heat dissipation assembly includes a mounting bracket (301), which is fixedly connected to the bottom surface of the limiting tube (101). Rotating columns (302) are rotatably connected to both sides of the mounting bracket (301). A cooling fan (303) is fixedly connected to the surface of the rotating column (302). Two rotating columns (304) are rotatably connected to the inner wall of the limiting tube (101). A spur gear (305) is fixedly connected to the surface of the rotating column (304). Multiple tooth grooves (306) are opened on the surface of the telescopic tube (201). The spur gear (305) is meshed with the tooth grooves (306).

3. The electrically driven joint actuator of a humanoid robot according to claim 1, characterized in that: A connecting column (406) is slidably connected to the inner wall of the connecting hole (405), and the same push frame (407) is fixedly connected to the lower ends of the two connecting holes (405). The push frame (407) is slidably connected to the inner wall of the main frame (1), and an electric telescopic cylinder (409) is fixedly connected to the inner wall of the main frame (1). The telescopic shaft of the electric telescopic cylinder (409) is fixedly connected to the push frame (407).

4. The electrically driven joint actuator of a humanoid robot according to claim 3, characterized in that: A pressure sensor (410) is fixedly connected to the inner wall of the telescopic tube (201), and a contact block (411) is fixedly connected to the bottom surface of the pressure sensor (410). The upper end of the compression spring (203) abuts against the lower end of the contact block (411).

5. The electrically driven joint actuator of a humanoid robot according to claim 2, characterized in that: Both the surface of the rotating column (304) and the surface of the rotating column (302) are fixedly connected to synchronous pulleys (307), and the surfaces of the two synchronous pulleys (307) are fitted with the same synchronous belt (308).

6. The electrically driven joint actuator of a humanoid robot according to claim 4, characterized in that: A controller (412) is fixedly connected to the inner wall of the main frame (1). The controller (412) is electrically connected to the electric telescopic cylinder (409) and the controller (412) is electrically connected to the pressure sensor (410).

7. The electrically driven joint actuator of a humanoid robot according to claim 6, characterized in that: A buffer spring (408) is fitted on the surface of the connecting column (406). The lower end of the buffer spring (408) abuts against the top surface of the push frame (407), and the upper end of the buffer spring (408) abuts against the bottom surface of the sliding frame (401).

8. The electrically driven joint actuator of a humanoid robot according to claim 7, characterized in that: A battery (413) is fixedly connected to the inner wall of the main frame (1). The battery (413) is electrically connected to the controller (412), the battery (413) is electrically connected to the pressure sensor (410), and the battery (413) is electrically connected to the electric telescopic cylinder (409).

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