A compact joint actuator and humanoid robot

Abstract

The application discloses a joint actuator and a humanoid robot with compact structure. The joint actuator comprises a shell assembly, a driving circuit board and a speed reduction driving transmission assembly arranged in the shell assembly respectively. The speed reduction driving transmission assembly comprises a driving mechanism, a primary speed reduction transmission mechanism and a secondary speed reduction transmission mechanism. The driving mechanism and the secondary speed reduction transmission mechanism are arranged in parallel. An output shaft assembly penetrates through the shell assembly and is frictionally and clutchedly connected with the secondary speed reduction transmission mechanism. The driving mechanism and the secondary speed reduction transmission mechanism are arranged in parallel, so that the longitudinal size of the joint actuator is reduced to a certain extent. Meanwhile, the secondary speed reduction transmission mechanism and the output shaft assembly are frictionally and clutchedly connected, so that the overload protection performance of the joint actuator is improved to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and in particular to a compact joint actuator and a humanoid robot. Background Technology

[0002] With the rapid development of robotics technology, humanoid robots are showing broad application prospects in many fields such as service, industry, and medicine. In order for humanoid robots to be able to simulate human fine motor skills, such as grasping, holding, and manipulating tools, their joints need to have high precision, high torque output, and a compact structural design to adapt to different application scenarios and task requirements. Conventional humanoid robot solutions are difficult to achieve high reliability and miniaturization with high integration, and their power systems affect the size of the humanoid robot, resulting in a inability to reduce the structural dimensions.

[0003] CN120038784A discloses a rotary joint, comprising: a joint housing, limiting shims, a primary planetary reducer mechanism, a secondary planetary reducer mechanism, a miniature frameless motor, an output planetary carrier, and a magnetic encoder; the primary planetary reducer mechanism, the secondary planetary reducer mechanism, and the miniature frameless motor are modularly arranged, the miniature frameless motor is installed in the joint housing, the magnetic encoder is connected to the miniature frameless motor, the primary planetary reducer mechanism is connected to the joint housing, the output end of the miniature frameless motor is connected to the primary planetary reducer mechanism, the primary planetary reducer mechanism is connected to the secondary planetary reducer mechanism, limiting shims are provided between the primary planetary reducer mechanism and the joint housing, and between the primary and secondary planetary reducer mechanisms, and the secondary planetary reducer mechanism is connected to the output planetary carrier; the miniature frameless motor drives the primary planetary reducer mechanism to rotate, the primary planetary reducer mechanism drives the secondary planetary reducer mechanism to rotate, the secondary planetary reducer mechanism drives the output planetary carrier to rotate, and the output planetary carrier is used to connect to and drive the finger linkage of the humanoid robot to rotate. The technical solution uses a motor, a two-stage reduction mechanism, and an output shaft all on the same straight line. Although this reduces the volume of the rotary joint to some extent, it still occupies a large amount of longitudinal space. Therefore, a compact joint actuator and humanoid robot are provided to solve the above problems. Summary of the Invention

[0004] One of the objectives of this invention is to provide a compact joint actuator and humanoid robot to solve the problem of existing joint actuators occupying a large longitudinal space.

[0005] The present invention provides a compact joint actuator comprising: Housing assembly; A drive circuit board is fixedly disposed in the housing assembly; A speed reduction drive transmission assembly includes a drive mechanism and a primary speed reduction transmission mechanism and a secondary speed reduction transmission mechanism that are sequentially connected to the drive mechanism. The drive mechanism is disposed in the housing assembly and is arranged parallel to the secondary speed reduction transmission mechanism. The output shaft assembly rotates through the housing assembly and is connected to the secondary reduction gear mechanism via a friction clutch.

[0006] In one embodiment, the drive mechanism and the output shaft assembly are respectively provided with a first encoder and a second encoder on their sides, and the first encoder and the second encoder are electrically connected to the drive circuit board.

[0007] In one embodiment, the first encoder and the second encoder are electrically connected to the drive circuit board, respectively; the first encoder and the second encoder are respectively magnetic encoders, Hall encoders, grating encoders, capacitive encoders or potentiometers.

[0008] In one embodiment, the drive mechanism is a miniature frameless torque motor, a brushless coreless motor, or an axial flux motor.

[0009] In one embodiment, the drive mechanism includes a rotating shaft, and a first magnet is fixedly disposed on the rotating shaft at a position opposite to the first encoder; the first encoder is a magnetic encoder, which cooperates with the first magnet to perform real-time monitoring of the rotation of the drive mechanism.

[0010] In one embodiment, the compact joint actuator of the present invention further includes an electric brake, which is disposed in the housing assembly and electrically connected to the drive circuit board, and is capable of braking the primary reduction gear mechanism.

[0011] In one embodiment, the primary reduction transmission mechanism adopts a planetary reduction structure, a spur gear reduction structure, a helical gear reduction structure, or a synchronous belt reduction structure; the secondary reduction transmission mechanism adopts a harmonic reduction structure, a planetary reduction structure, a cycloidal pinwheel reduction structure, an RV reduction structure, or a low-tooth-difference reduction structure.

[0012] In one embodiment, the primary reduction transmission mechanism includes a drive pinion and a reduction transmission gear. The drive pinion is driven and connected to the rotating shaft, and the reduction transmission gear is laterally driven between the drive pinion and the secondary reduction transmission mechanism. A second through hole is provided through the reduction transmission gear, and the electric brake component is detachably engaged in the second through hole and is arranged parallel to the drive mechanism.

[0013] In one embodiment, a first friction plate is provided on the output shaft end face of the secondary reduction transmission mechanism; the output shaft assembly includes an output shaft structure, one end of which rotatably passes through the housing assembly via a first bearing and is collinear with the secondary reduction transmission mechanism, and a second friction plate is provided on the other end of which is engaged and disengaged with the first friction plate, and an elastic clamping member and a second magnet are respectively provided on the output shaft structure, the second magnet being disposed opposite to the second encoder; a torque sensor and a temperature sensor are also respectively provided on the output shaft structure.

[0014] The present invention provides a humanoid robot comprising the joint actuator described in any of the preceding claims.

[0015] Compared with the prior art, the advantages of the compact joint actuator and humanoid robot of the present invention are as follows: The present invention discloses a compact joint actuator and humanoid robot that sequentially reduces the speed of the drive motor through a primary reduction transmission mechanism and a secondary reduction transmission mechanism, which significantly improves the output torque of the joint actuator. By having the secondary reduction transmission mechanism and the electric braking component arranged parallel to the drive motor, the problem of large longitudinal space occupied by existing joint actuators is effectively solved. At the same time, the electric braking component can brake the primary reduction transmission mechanism, which improves the responsiveness of the joint actuator to a certain extent. The present invention provides a compact joint actuator and humanoid robot that improves the overload protection performance of the joint actuator to a certain extent through the friction clutch transmission of the two-stage reduction transmission mechanism and the output shaft assembly. The present invention discloses a compact joint actuator and humanoid robot. By setting a first encoder and a second encoder on the side of the drive motor and the output shaft respectively, the motion control accuracy of the drive motor and the output shaft is greatly improved. At the same time, by integrating the first encoder and the second encoder on the drive circuit board, the space occupied by the joint actuator is reduced to a certain extent, thereby making the structure of the joint actuator more compact. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural schematic diagram of a compact joint actuator according to the present invention; Figure 2This is a cross-sectional structural schematic diagram of a compact joint actuator according to the present invention; Figure 3 This is an exploded structural diagram of a compact joint actuator according to the present invention, including a reduction drive transmission assembly and an output shaft assembly; Figure 4 yes Figure 3 A three-dimensional structural schematic diagram of the speed reduction drive transmission assembly shown. Figure 5 yes Figure 3 The diagram shows an exploded view of the output shaft assembly.

[0018] The diagram indicates the following: 10, joint actuator; 11, housing assembly; 111, main housing; 112, cover plate; 1121, first through hole; 113, base plate; 12, drive circuit board; 121, first encoder; 122, second encoder; 13, reduction drive transmission assembly; 131, drive mechanism; 1311, stator structure; 1312, rotor structure; 1313, rotating shaft; 13131, first magnet; 132, first-stage reduction transmission mechanism; 1321, drive pinion; 1322, reduction transmission gear; 13221, second through hole; 133, second-stage reduction transmission mechanism; 1331, first friction plate; 14, output shaft assembly; 141, first bearing; 142, output shaft structure; 1421, second friction plate; 143, elastic clamping element; 144, second magnet; 15, electric brake element. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] Please see Figures 1-5As shown, the present invention discloses a compact joint actuator 10 comprising a housing assembly 11, a drive circuit board 12, a reduction drive transmission assembly 13, an output shaft assembly 14, and an electric brake 15. The housing assembly 11 is a hollow cavity. The drive circuit board 12 and the reduction drive transmission assembly 13 are electrically connected and respectively disposed within the housing assembly 11. The drive circuit board 12 drives the reduction drive transmission assembly 13 to perform motion operations, and the reduction drive transmission assembly 13 serves as the power source. The output shaft assembly 14 rotatably passes through the housing assembly 11 and is connected to the reduction drive transmission assembly 13 via a clutch transmission. The electric brake 15 is disposed within the housing assembly 11 and electrically connected to the drive circuit board 12, and is capable of braking the reduction drive transmission assembly 13. Specifically, a first encoder 121 and a second encoder 122 are respectively disposed on the sides of the reduction drive transmission assembly 13 and the output shaft assembly 14. The first encoder 121 and the second encoder 122 perform real-time monitoring operations on the reduction drive transmission assembly 13 and the output shaft assembly 14, thereby improving the accuracy of motion control of the reduction drive transmission assembly 13 and the output shaft assembly 14.

[0022] Please see Figures 1-3 As shown, in this embodiment, the housing assembly 11 includes a main housing 111, a cover plate 112, and a bottom plate 113; the main housing 111 is a hollow cavity with openings at opposite ends; the cover plate 112 and the bottom plate 113 are respectively fixedly disposed at the openings at opposite ends of the main housing 111. Specifically, a first through hole 1121 is provided through the cover plate 112, and the output shaft assembly 14 passes through the cover plate 112 through the first through hole 1121.

[0023] Please see Figure 2 and Figure 3 As shown, in this embodiment, the drive circuit board 12 is electrically connected to the reduction drive transmission assembly 13 and the electric brake component 15, and is respectively disposed on the side of the reduction drive transmission assembly 13 and the output shaft assembly 14. The control technology used in its placement is existing technology, so the specific control process and model are not described here, as long as they meet the requirements of this application. Specifically, the first encoder 121 and the second encoder 122 are both magnetic encoders, which are electrically connected to the drive circuit board 12 and respectively face the reduction drive transmission assembly 13 and the output shaft assembly 14. In other embodiments, the first encoder 121 and the second encoder 122 can be Hall encoders, grating encoders, capacitive encoders, or potentiometers, respectively.

[0024] Please see Figures 2-4As shown, in this embodiment, the deceleration drive transmission assembly 13 includes a drive mechanism 131, a first-stage deceleration transmission mechanism 132, and a second-stage deceleration transmission mechanism 133. The drive mechanism 131 is disposed in the housing assembly 11 and electrically connected to the drive circuit board 12, serving as the power source. The first-stage deceleration transmission mechanism 132 is connected to the drive mechanism 131 for deceleration transmission. The first-stage deceleration transmission mechanism 132 reduces the rotational speed of the drive mechanism 131 while increasing its output torque. The electric brake 15 can perform braking operation on the first-stage deceleration transmission mechanism 132. The second-stage deceleration transmission mechanism 133 is connected to the first-stage deceleration transmission mechanism 132 for deceleration transmission and is arranged parallel to the drive mechanism 131, thereby effectively reducing the longitudinal space occupied by the joint actuator 10.

[0025] Please see Figures 2-4 As shown, in this embodiment, the drive mechanism 131 is a miniature frameless torque motor, which includes a stator structure 1311, a rotor structure 1312, and a rotating shaft 1313. The stator structure 1311 is fixedly mounted in the housing assembly 11; the rotor structure 1312 is rotatably mounted in the stator structure 1311; the two ends of the rotating shaft 1313 pass through the rotor structure 1312 and are drively connected to the rotor structure 1312. Specifically, a first magnet 13131 is fixedly mounted on the rotating shaft 1313 at a position opposite to that on the first encoder 121. The first encoder 121 performs real-time magnetic induction monitoring of the first magnet 13131, thereby facilitating the drive circuit board 12 to precisely control the rotation of the drive mechanism 131. In other embodiments, the drive mechanism 131 may also be a brushless coreless motor or an axial flux motor.

[0026] Please see Figures 2-4 As shown, in this embodiment, the primary reduction transmission mechanism 132 includes a driving pinion 1321 and a reduction transmission gear 1322. The driving pinion 1321 is connected to the rotating shaft 1313 and is disposed opposite to the first magnet 13131. The reduction transmission gear 1322 is laterally disposed between the driving pinion 1321 and the secondary reduction transmission mechanism 133. The driving mechanism 131 drives the secondary reduction transmission mechanism 133 to rotate sequentially through the driving pinion 1321 and the reduction transmission gear 1322. Specifically, a second through hole 13221 is provided through the reduction transmission gear 1322, and the electric brake component 15 can be detachably engaged in the second through hole 13221 to realize the braking operation. The electric brake component 15 is a pin-type electromagnet, which is also arranged parallel to the driving mechanism 131. In other embodiments, the primary reduction transmission mechanism 132 may also adopt a planetary reduction structure, a spur gear reduction structure, a helical gear reduction structure, or a synchronous belt reduction structure.

[0027] Please see Figures 2-4As shown, the secondary reduction transmission mechanism 133 adopts a harmonic reduction structure, a planetary reduction structure, a cycloidal pinwheel reduction structure, an RV reduction structure, or a low tooth difference reduction structure. In this embodiment, the secondary reduction transmission mechanism 133 adopts a planetary reduction structure, and a first friction plate 1331 is provided on the end face of its output shaft. The secondary reduction transmission mechanism 133 is connected to the output shaft assembly 14 through the first friction plate 1331.

[0028] Please see Figures 1-5 As shown, in this embodiment, the output shaft assembly 14 includes a first bearing 141, an output shaft structure 142, an elastic clamping member 143, and a second magnet 144. The first bearing 141 is disposed in the first through hole 1121. One end of the output shaft structure 142 rotatably passes through the first through hole 1121 via the first bearing 141 and is on the same straight line as the secondary reduction transmission mechanism 133. The other end is provided with a second friction plate 1421, which is engaged and disengaged with the first friction plate 1331. The elastic clamping member 143 and the second magnet 144 are respectively disposed through the output shaft structure 142. The elastic clamping member 143 applies a clamping force to the second friction plate 1421, so that the second friction plate 1421 and the first friction plate 1331 are in close contact and connected. The second magnet 144 is disposed opposite to the second encoder 122, and the movement of the output shaft structure 142 is precisely controlled by their cooperation. Specifically, the output shaft structure 142 is also equipped with a torque sensor and a temperature sensor, which are electrically connected to the drive circuit board 12. The torque sensor and the temperature sensor are used to monitor the torque and temperature of the output shaft structure 142 in real time.

[0029] The present invention provides a humanoid robot comprising the joint actuator 10 described above.

[0030] The specific working process of the compact joint actuator 10 and humanoid robot of the present invention is as follows: the drive mechanism 131 drives the secondary reduction transmission mechanism 133 to move through the primary reduction transmission mechanism 132. The secondary reduction transmission mechanism 133 drives the output shaft assembly 14 to output torque through the friction clutch transmission method. The first encoder 121 and the second encoder 122 respectively perform real-time monitoring operations on the reduction drive transmission assembly 13 and the output shaft assembly 14, thereby improving the accuracy of motion control of the reduction drive transmission assembly 13 and the output shaft assembly 14. Alternatively, the primary reduction transmission mechanism 132 can be braked by the electric brake 15.

[0031] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0032] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A compact joint actuator, characterized in that, include: Housing assembly; A drive circuit board is fixedly disposed in the housing assembly; A speed reduction drive transmission assembly includes a drive mechanism and a primary speed reduction transmission mechanism and a secondary speed reduction transmission mechanism that are sequentially connected to the drive mechanism. The drive mechanism is disposed in the housing assembly and is arranged parallel to the secondary speed reduction transmission mechanism. The output shaft assembly rotates through the housing assembly and is connected to the secondary reduction gear mechanism via a friction clutch.

2. The compact joint actuator according to claim 1, characterized in that, The drive mechanism and the output shaft assembly are respectively provided with a first encoder and a second encoder on their sides, and the first encoder and the second encoder are electrically connected to the drive circuit board.

3. A compact joint actuator according to claim 2, characterized in that, The first encoder and the second encoder are electrically connected to the drive circuit board respectively; the first encoder and the second encoder are respectively magnetic encoders, Hall encoders, grating encoders, capacitive encoders or potentiometers.

4. A compact joint actuator according to claim 2, characterized in that, The drive mechanism uses a miniature frameless torque motor, a brushless hollow cup motor, or an axial flux motor.

5. A compact joint actuator according to claim 4, characterized in that, The drive mechanism includes a rotating shaft, and a first magnet is fixedly disposed on the rotating shaft at a position opposite to the first encoder; the first encoder is a magnetic encoder, which cooperates with the first magnet to perform real-time monitoring of the rotation of the drive mechanism.

6. A compact joint actuator according to claim 5, characterized in that, It further includes an electric braking component disposed in the housing assembly and electrically connected to the drive circuit board, which is capable of performing braking operations on the first-stage reduction gear mechanism.

7. A compact joint actuator according to claim 6, characterized in that, The first-stage reduction transmission mechanism adopts a planetary reduction structure, a spur gear reduction structure, a helical gear reduction structure, or a synchronous belt reduction structure; the second-stage reduction transmission mechanism adopts a harmonic reduction structure, a planetary reduction structure, a cycloidal pinwheel reduction structure, an RV reduction structure, or a low-tooth-difference reduction structure.

8. A compact joint actuator according to claim 7, characterized in that, The primary reduction transmission mechanism includes a drive pinion and a reduction transmission gear. The drive pinion is connected to the rotating shaft, and the reduction transmission gear is laterally driven between the drive pinion and the secondary reduction transmission mechanism. A second through hole is provided through the reduction transmission gear, and the electric brake component is detachably engaged in the second through hole and is arranged parallel to the drive mechanism.

9. A compact joint actuator according to claim 2, characterized in that, A first friction plate is provided on the output shaft end face of the secondary reduction transmission mechanism; the output shaft assembly includes an output shaft structure, one end of which rotatably passes through the housing assembly via a first bearing and is on the same straight line as the secondary reduction transmission mechanism, and a second friction plate is provided on the other end of which is engaged and disengaged with the first friction plate, and an elastic clamping member and a second magnet are respectively provided on the output shaft structure, the second magnet being disposed opposite to the second encoder; a torque sensor and a temperature sensor are also respectively provided on the output shaft structure.

10. A humanoid robot, characterized in that, Includes the joint actuator as described in any one of claims 1-9.

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