Air source driven humanoid robot integrated joint module and driving method

Abstract

The application discloses a kind of gas source drive humanoid robot integrated joint module and driving method, belong to robot joint driving technical field, the joint module includes: joint module shell assembly, gas source drive bidirectional rotary vane engine, ball head inclined plane brake brake mechanism, harmonic reducer, gas source conveying assembly, electric control assembly;The gas source drive bidirectional rotary vane engine can respectively be input gas to the gas flow channel of the two eccentric conversion chambers of rotary vane engine by the engine steering control of gas source conveying assembly, to realize the bidirectional output rotation of engine output shaft;The both ends of the engine output shaft are respectively connected with the input end transmission of ball head inclined plane brake brake mechanism and electric control assembly;The output end of the ball head inclined plane brake brake mechanism is fixedly connected with the input cam of harmonic reducer;The electric control assembly includes control panel and encoder, and the output of joint module can be monitored and controlled.

Description

Technical Field

[0001] This invention belongs to the field of robot joint drive technology, specifically relating to an integrated joint module and drive method for a humanoid robot driven by a pneumatic source. Background Technology

[0002] With the rapid development of humanoid robot technology, integrated joint modules, as the core components connecting the various limb structures of humanoid robots, are the key to enabling flexible movement of the upper limbs (arms) and lower limbs (legs) of humanoid robots. The industry's demand for joint module design, heat dissipation, and stability is gradually increasing.

[0003] An integrated joint module is essentially a rotary actuator, which is mostly a combination of a frameless torque motor and a reducer (including an encoder and a controller). When the motor is working, it will generate copper losses (which is the main heat source of the joint module. When the temperature rise is too high, the permanent magnet will be demagnetized, and the motor output performance will be reduced). The reducer will also generate heat during mechanical transmission. The thermal coupling of the two will affect the overall output performance, stability and life of the joint module. Therefore, how to effectively solve the temperature rise problem is a difficult problem in the field of humanoid robot joint drive technology.

[0004] Currently, there is no mature technical solution for controlling the temperature rise of humanoid robot joint modules in the industry. Most solutions involve opening flow channels on the module shell and using the oil or water cooling methods used for traditional motor cooling. Alternatively, heat dissipation fins are processed on the surface of the shell to increase the contact area for natural convection and thus improve the heat dissipation effect of the module and control the temperature rise. However, the effects of conventional oil cooling, water cooling, or increasing the natural convection area are all limited.

[0005] Therefore, the conventional methods mentioned above for addressing joint module temperature rise have limited effectiveness and do not fundamentally solve the problem. Thus, developing a reliable and effective new joint module driving method to control temperature rise is an urgent problem for those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to solve the problem of high temperature rise during operation and ineffective temperature control in most joint modules in the aforementioned technical field, and to provide an integrated humanoid robot joint module and driving method driven by a pneumatic source. It adopts a combination of a pneumatically driven bidirectional rotary blade engine and a reducer; and to meet the requirement of effective braking of the joint module under specific working conditions, the technical solution of this invention also provides a braking mechanism for the joint module.

[0007] The technical solution adopted in this invention is as follows:

[0008] An integrated joint module for a humanoid robot driven by a pneumatic source includes: a joint module housing assembly, a pneumatically driven bidirectional rotary blade motor, a reducer, a pneumatic source delivery assembly, and an electronic control assembly.

[0009] The air-driven bidirectional rotary blade engine includes an engine housing, a bidirectional blade turntable, sliding blades, blade springs, and an engine output shaft.

[0010] The engine housing is provided with an eccentric conversion chamber;

[0011] The eccentric conversion chamber is shaped like a cylindrical groove, and the bidirectional blade turntable is shaped like a cylinder. The diameter of the eccentric conversion chamber is larger than the diameter of the bidirectional blade turntable, and the eccentric shaft of the bidirectional blade turntable is connected to the eccentric conversion chamber.

[0012] The blade bidirectional turntable is tangent to the inner wall of the eccentric conversion chamber on one side of the eccentricity;

[0013] The eccentric conversion chamber has two parallel and interconnected air exchange channels, namely eccentric conversion chamber I and eccentric conversion chamber II, on both sides of the tangent point.

[0014] The blade bidirectional turntable has n U-shaped slots evenly distributed around its circumference, and sliding blades slide in each of the U-shaped slots, where n≥2;

[0015] The inner side of the sliding blade is connected to the blade bidirectional turntable body through a compressed blade spring, so that it is always in contact with the inner wall of the eccentric conversion chamber.

[0016] The sliding blades divide the eccentric conversion chamber into an intake zone, at least one transition zone, and an exhaust zone;

[0017] The engine output shaft is fixed to the center of the bidirectional blade turntable, and it is sealed to the upper and lower ends of the engine housing.

[0018] The engine steering control unit of the gas source delivery assembly can respectively introduce gas into the eccentric conversion chamber air exchange channel I or the eccentric conversion chamber air exchange channel II to achieve bidirectional output rotation of the engine output shaft.

[0019] One end of the engine output shaft is equipped with a brake mechanism, which is connected to the input end of the reducer.

[0020] The gas supply delivery assembly includes a compressed gas storage tank, a three-way converter, a gas pressure regulator, and an engine steering adjustment control.

[0021] The compressed gas storage tank includes a switch-controlled air valve port for controlling the opening and closing of gas output and flow rate, and a gas tank replenishment port connected to the main compressed air pump.

[0022] The switch-operated air control valve port can input regulated gas into the control port I or control port II of the engine steering control through a three-way converter and a gas regulator, respectively.

[0023] The engine steering control unit includes, in sequence, a control unit air inlet I, a control unit bidirectional air exchange connector I, a control unit switch I, a control unit exhaust port, a control unit switch II, a control unit bidirectional air exchange connector II, and a control unit air inlet II;

[0024] The air inlet I of the control unit, the bidirectional air exchange connector I of the control unit, and the air exchange channel I of the eccentric conversion chamber are connected in sequence.

[0025] The air inlet II of the control unit, the bidirectional air exchange connector II of the control unit, and the air exchange channel II of the eccentric conversion chamber are connected in sequence.

[0026] The connection between the air inlet I and air inlet II of the control unit and the exhaust port of the control unit is controlled by control unit switch I and control unit switch II, respectively.

[0027] The opening and closing states of the control switch I and control switch II are opposite, and their opening and closing states are also opposite to the opening and closing states of the switch outlets on the same side of the three-way converter.

[0028] The eccentric conversion chamber air exchange duct I and eccentric conversion chamber air exchange duct II alternately serve as the air supply port or exhaust port for the air source-driven bidirectional rotating blade engine.

[0029] The exhaust port of the engine steering control unit is connected to the exhaust reuse heat dissipation assembly; the exhaust reuse heat dissipation assembly includes a heat dissipation delivery pipe and a heat dissipation nozzle.

[0030] The brake mechanism is a ball-head inclined plane brake mechanism, including: a ball-head linear actuator, an inclined plane damping top, a cam input turntable, a damping top mounting turntable, a return spring, and an output end reduction transmission component;

[0031] The damping top mounting turntable is a "column groove" type and is axially connected to the joint module housing assembly. Its lower end is fixed to the output end speed reduction transmission component, and its upper end is fixed to the cam input turntable.

[0032] The damping top is mounted on a turntable with k inclined damping tops evenly distributed around its circumference, where k ≥ 2.

[0033] The inclined surface damping top includes an inner inclined surface slide, an inner positioning guide rod section, and an arc surface damping top, arranged sequentially from the inside to the outside.

[0034] The inner positioning guide rod section is fitted with a return spring in a stretched state on the outer side. One end of the return spring is fixedly connected to the arc surface damping top, and the other end is fixedly connected to the damping top mounting turntable.

[0035] The ball-head linear actuator is fixed to the center of the cam input turntable;

[0036] The inclined damping top is subjected to the action of the return spring, and the inner inclined slide is always in contact with the end ball of the ball linear actuator;

[0037] An inner damping brake ring groove is provided on the inner wall of the joint module housing assembly on the outer side of the arc-shaped damping head.

[0038] The up-and-down movement of the end ball head drives the inner and outer movement of the inclined damping top; thereby driving the arc-shaped damping top at the outer end of the inclined damping top to contact and separate from the inner damping brake ring groove;

[0039] The engine output shaft is provided with an output pinion and a monitoring pinion at its two ends respectively; the output pinion meshes with the output reduction gear of the output reduction transmission component; the upper end of the cam input turntable is connected to the input end of the reducer.

[0040] The electronic control components include an integrated control board, an encoder, and a speed monitoring sleeve;

[0041] The speed monitoring sleeve is connected to the joint module housing assembly, and the large gear of the monitoring sleeve meshes with the small gear at the monitoring end of the engine output shaft for transmission.

[0042] The integrated control board is electrically and communicatively connected to the electronic control components, ball joint linear actuator, and encoder in the air supply assembly. The output of the joint module can be monitored and controlled through the integrated control board and encoder.

[0043] The end of the joint module housing assembly is fixedly connected to a harmonic reducer; the harmonic reducer includes a wave generator, a crossed roller bearing, an output rigid wheel, and a hat-shaped flexible wheel.

[0044] Another objective of this invention is to provide a driving method for an integrated joint module of a humanoid robot driven by a pneumatic source.

[0045] A driving method for an integrated joint module of a humanoid robot driven by a pneumatic source includes:

[0046] S1. Unidirectional drive of the joint module:

[0047] The electronic control component controls the opening, closing and status of the electronic control elements in the gas source delivery component. The gas is continuously input into one of the eccentric conversion chamber gas exchange passages I or II in the bidirectional rotating blade engine driven by the engine steering adjustment control. The gas is then output through the engine output shaft to drive the reducer, control the output torque and rotate at a specified angle.

[0048] S2. Reversing drive of the joint module:

[0049] The electronic control unit controls the engine steering adjustment of the eccentric conversion chamber airflow channel I or eccentric conversion chamber airflow channel II as another input gas; drives the reducer to reverse by a specified angle.

[0050] S3. Braking of the joint module:

[0051] Braking of the reducer input transmission is achieved by controlling the movement of the ball head at the end of the ball head linear actuator in the ball head inclined plane braking mechanism;

[0052] S4. Air-cooled heat dissipation for the reducer of the joint module:

[0053] The exhaust gas reuse heat dissipation component reuses the gas discharged after driving the joint module for the heat-generating area of ​​the reducer during operation, thus achieving external air cooling.

[0054] This invention provides an integrated joint module and driving method for a humanoid robot driven by a pneumatic source, belonging to the field of robot joint driving technology. The joint module includes: a joint module housing assembly, a pneumatically driven bidirectional rotary blade engine, a ball-head inclined plane brake mechanism, a harmonic reducer, a pneumatic source delivery assembly, and an electronic control assembly. The pneumatically driven bidirectional rotary blade engine can input gas into the two eccentric conversion chamber air exchange channels of the rotary blade engine through the engine steering adjustment control of the pneumatic source delivery assembly to achieve bidirectional output rotation of the engine output shaft. The two ends of the engine output shaft are respectively connected to the input ends of the ball-head inclined plane brake mechanism and the electronic control assembly. The output end of the ball-head inclined plane brake mechanism is fixedly connected to the input cam of the harmonic reducer. The electronic control assembly includes a control board and an encoder to monitor and control the output of the joint module.

[0055] In summary, the beneficial effects and advantages of this invention compared with the prior art are as follows:

[0056] 1) The integrated joint module of the present invention adopts a combination of air source driven bidirectional rotating blade engine and reducer, which breaks the conventional motor drive method of joint modules (the main heat source), and effectively solves the problem of module output stability and performance degradation caused by excessive temperature rise during the use of joint modules.

[0057] 2) In the integrated joint module of the present invention, the air source drives the bidirectional rotating blade engine. Through the engine steering control of the air source delivery component, gas can be introduced into the two eccentric conversion chamber air exchange channels of the rotating blade engine to realize the bidirectional output rotation of the engine output shaft, thereby realizing the bidirectional rotation function of the joint module output rigid wheel.

[0058] 3) In the integrated joint module of the present invention, the output end pinion and the monitoring end pinion at both ends of the engine output shaft mesh with the output end reduction gear (output end) of the output end reduction transmission component in the ball head inclined plane brake mechanism and the monitoring sleeve gear (control monitoring end) of the speed monitoring sleeve in the electronic control component; thereby realizing torque amplification during the transmission process while ensuring that the working output end and the control monitoring end have the same speed.

[0059] 4) In the integrated joint module of the present invention, the ball head inclined plane brake mechanism can realize the power failure protection and active braking of the joint module through the cooperation of the ball head linear actuator and multiple inclined plane damping tops. When not braking, it can transmit the power of the output pinion to the input cam of the harmonic reducer to drive the harmonic reducer to work.

[0060] 5) In the integrated joint module of the present invention, the exhaust port of the engine steering control control can also be connected to an exhaust reuse heat dissipation component, which reuses the gas discharged after the joint module is driven, and uses the heat dissipation pipe and heat dissipation nozzle to externally cool the heat-generating area of ​​the harmonic reducer when it is working. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of the overall structure of an integrated joint module for a humanoid robot driven by a pneumatic source, according to the present invention.

[0062] Figure 2 This is a three-dimensional structural diagram of the air source delivery component and electronic control component of an integrated joint module for a humanoid robot driven by an air source, according to the present invention.

[0063] Figure 3 This is an exploded structural diagram of the electronic control component of an integrated joint module for a humanoid robot driven by a pneumatic source, according to the present invention.

[0064] Figure 4 This is a schematic diagram showing the connection relationship between the air-driven bidirectional rotary blade engine, the ball-head inclined plane brake mechanism, and the harmonic reducer of an integrated joint module for a humanoid robot driven by an air source according to the present invention.

[0065] Figure 5 This is a schematic diagram of the transmission method on both sides of the engine output shaft and the encoder installation method in an integrated joint module of a humanoid robot driven by a pneumatic source according to the present invention.

[0066] Figure 6 This is a schematic diagram of the air source delivery component and the connection method of the air source driven bidirectional rotating blade engine of the integrated joint module of the humanoid robot driven by the air source according to the present invention.

[0067] Figure 7 This is a schematic diagram of the exploded structure of an air-driven bidirectional rotating blade engine for an integrated joint module of a humanoid robot driven by an air source, according to the present invention.

[0068] Figure 8 This is a schematic diagram of the internal structure of an air-driven bidirectional rotating blade engine for an integrated joint module of a humanoid robot driven by an air source, according to the present invention.

[0069] Figure 9 This is a schematic diagram illustrating the specific structure and working principle of an air-driven bidirectional rotary blade engine for an integrated joint module of a humanoid robot driven by an air source, according to the present invention.

[0070] Figure 10 This is a schematic diagram of the three-dimensional structure and working principle of the engine steering adjustment control unit in the air source delivery component of an integrated joint module for a humanoid robot driven by an air source, according to the present invention.

[0071] Figure 11 This is a schematic diagram of the installation relationship between the ball joint inclined surface brake mechanism and the harmonic reducer of the integrated joint module of a humanoid robot driven by a pneumatic source according to the present invention.

[0072] Figure 12 This is an exploded structural diagram of a ball-head inclined plane brake mechanism for an integrated joint module of a humanoid robot driven by a pneumatic source, according to the present invention.

[0073] Figure 13 This is a schematic diagram illustrating the working principle of a ball-head inclined plane brake mechanism for an integrated joint module of a humanoid robot driven by a pneumatic source, according to the present invention.

[0074] Figure 14 This is a schematic diagram of the specific structure of a harmonic reducer for an integrated joint module of a humanoid robot driven by a pneumatic source, according to the present invention.

[0075] Figure 15 This is a schematic diagram of the internal structure of an integrated joint module for a humanoid robot driven by a pneumatic source, according to the present invention.

[0076] Figure 16 This is a schematic diagram of the exhaust reuse and heat dissipation component in Embodiment 2 of the air-driven humanoid robot integrated joint module of the present invention;

[0077] Figure 17 This is a schematic diagram of the working mode of a gas-driven integrated joint module for humanoid robots according to Embodiment 3 of the present invention, which features a dual-compressed gas storage tank.

[0078] In the attached diagram:

[0079] 1. Joint module housing assembly; 10. Upper end cover; 10a. Upper end cover bearing; 11. Middle engine mounting housing; 11a. Engine mounting slot; 11b. Encoder mounting slot; 12. Lower brake assembly mounting housing; 12a. Inner damping brake ring groove; 12b. Bearing mounting partition; 13. Rigid wheel sealing end cover;

[0080] 20. Air source driven bidirectional rotary blade engine; 21. Engine lower casing; 21a. Eccentric conversion chamber; 21b. Eccentric conversion chamber air exchange duct I; 21c. Eccentric conversion chamber air exchange duct II; 21d. Sealing ring groove; 21e. Sealing ring; 22. Engine upper cover; 23. Bidirectional blade rotor; 24. Sliding blade; 25. Blade spring; 26. Engine output shaft; 26a. Output end pinion; 26b. Monitoring end pinion;

[0081] 3. Ball-head inclined plane brake mechanism; 30. Ball-head linear actuator; 30a. Actuator body; 30b. End ball head; 31. Inclined plane damping top; 31a. Inner inclined plane slide; 31b. Inner guide rod; 31c. Outer positioning rod; 31d. Arc-faced damping top; 32. Cam input turntable; 32a. Center actuator mounting platform; 32b. Cam connecting platform; 32c. Lower connecting platform; 33. Damping top mounting turntable; 33a. Inner guide hole platform; 33b. Outer positioning hole platform; 34. Return spring; 35. Damping top mounting turntable bearing; 36. Output end reduction gear; 36a. Output end reduction gear; 37. Output end bearing;

[0082] 4. Harmonic reducer; 40. Wave generator; 40a. Input cam; 40b. Thin-walled bearing; 41. Crossed roller bearing; 42. Output rigid wheel; 43. Top hat-shaped flexible wheel;

[0083] 5. Gas supply delivery assembly; 50. Compressed gas storage tank; 50a. Gas tank refill port; 50b. Switch control valve port; 51. Three-way adapter; 51a. Adapter inlet; 51b. Adapter switch outlet I; 51c. Adapter switch outlet II; 52a. Inlet hose; 52b. Pressure stabilizing hose; 53. Gas pressure regulator; 53a. Pressure regulator inlet; 53b. Pressure regulator outlet; 54. Engine steering control unit; 54a. Control unit exhaust port; 54b. Control unit inlet I; 54c. Control unit switch I; 54d. Control unit inlet II; 54e. Control unit switch II; 54f. Control unit bidirectional ventilation connector I; 54g. Control unit bidirectional ventilation connector II; 55. Exhaust reuse cooling assembly; 55a. Cooling delivery pipe; 55b. Cooling delivery pipe mounting base; 55c. Cooling nozzle;

[0084] 6. Electrical control components; 60. Integrated control board; 60a. Stud; 61. Encoder mounting platform; 62. Encoder; 62a. Encoder stator; 62b. Encoder rotor; 63. Speed ​​monitoring sleeve; 63a. Monitoring sleeve large gear; 64. Monitoring sleeve bearing. Detailed Implementation

[0085] Example 1:

[0086] Please see Figure 1-15 An integrated joint module for a humanoid robot driven by an air source includes: a joint module housing assembly 1, an air source driven bidirectional rotating blade engine 20, a ball-head inclined plane brake mechanism 3, a harmonic reducer 4, an air source delivery assembly 5, and an electronic control assembly 6.

[0087] The joint module housing assembly 1 includes an upper end cover 10, a middle engine fixing housing 11, a lower brake assembly fixing housing 12, and a rigid wheel sealing end cover 13 fixed to the output rigid wheel 42 in the harmonic reducer 4, which are fixed in sequence.

[0088] The air source-driven bidirectional rotating blade engine 20 is mounted on the engine fixing housing 11 in the middle of the joint module housing assembly 1.

[0089] The air-driven bidirectional rotary blade engine 20 includes: a lower engine housing 21, an upper engine cover 22, a bidirectional blade turntable 23, sliding blades 24, blade springs 25, and an engine output shaft 26.

[0090] The lower engine housing 21 is fixedly connected to the engine mounting groove 11a of the middle engine fixed housing 11;

[0091] Both the lower engine housing 21 and the upper engine cover 22 are provided with sealing ring grooves 21d, and the two are sealed and fixed together by sealing rings 21e.

[0092] The lower housing 21 of the engine includes an eccentric conversion chamber 21a, an eccentric conversion chamber air exchange duct I 21b, and an eccentric conversion chamber air exchange duct II 21c;

[0093] The eccentric conversion chamber 21a is in the shape of a cylindrical groove, and the blade bidirectional turntable 23 is in the shape of a cylinder.

[0094] The diameter of the eccentric conversion chamber 21a is larger than the diameter of the blade bidirectional turntable 23, and the eccentric shaft of the blade bidirectional turntable 23 is connected inside the eccentric conversion chamber 21a.

[0095] The blade bidirectional turntable 23 is tangent to the inner wall of the eccentric conversion chamber 21a on one side of the eccentric side. The eccentric conversion chamber 21a is provided with parallel and symmetrical eccentric conversion chamber air exchange channels I 21b and II 21c on the left and right sides of the tangent point of the inner wall.

[0096] The blade bidirectional turntable 23 is provided with four U-shaped through slots around its circumference. Sliding blades 24 are slidably arranged in each U-shaped through slot, and the sliding blades 24 are connected to the inner side of the blade bidirectional turntable 23 through compressed blade springs 25.

[0097] The outer end of the sliding blade 24 is always in contact with the inner wall line of the eccentric conversion chamber 21a under the action of the blade spring 25.

[0098] The upper and lower end faces of the sliding blade 24 are in close contact with the inner end faces of the engine cover 22 and the eccentric conversion chamber 21a, respectively.

[0099] The blade bidirectional turntable 23 is aligned and fixedly connected to the engine output shaft 26.

[0100] The engine output shaft 26 passes upward through the engine cover 22 and downward through the engine lower housing 21, and the connection is a sealed shaft joint.

[0101] The engine steering control 54 of the gas source delivery assembly 5 can respectively introduce gas into the eccentric conversion chamber air exchange duct I 21b and the eccentric conversion chamber air exchange duct II 21c to realize bidirectional output rotation of the engine output shaft 26.

[0102] One end of the engine output shaft 26 is connected to the input end of the harmonic reducer 4 via a ball-head inclined plane brake mechanism 3.

[0103] The gas supply delivery assembly 5 includes a compressed gas storage tank 50, a three-way adapter 51, an intake hose 52a, a pressure stabilizing hose 52b, a gas pressure regulator 53, and an engine steering adjustment control 54.

[0104] The compressed gas storage tank 50 is equipped with a switchable gas control valve port 50b to control the opening and closing of the gas output and the flow rate; it is also equipped with a gas tank replenishment port 50a connected to the main compressed air pump, which can continuously or periodically replenish the tank with non-polluting and non-flammable gases such as compressed air and compressed carbon dioxide.

[0105] The three-way converter 51 includes a converter inlet 51a, a converter switch outlet I 51b, and a converter switch outlet II 51c;

[0106] The converter head inlet 51a is sealed to the switch pneumatic control valve port 50b of the compressed gas storage tank 50.

[0107] The converter switch outlet I 51b and converter switch outlet II 51c are respectively connected to the regulator inlet 53a of the gas regulator 53 fixed on both sides of the engine fixed housing 11 through the air intake hoses 52a on both sides.

[0108] The pressure regulator outlet 53b of the two gas pressure regulators 53 is connected to the control control inlet I 54b and control control inlet II 54d of the engine steering control 54 through pressure regulating hose 52b, respectively, to provide pressure-stabilizing gas to the engine steering control 54.

[0109] The engine steering control unit 54 includes, in sequence, a control unit air inlet I 54b, a control unit bidirectional air exchange connector I 54f, a control unit switch I 54c, a control unit exhaust port 54a, a control unit switch II 54e, a control unit bidirectional air exchange connector II 54g, and a control unit air inlet II 54d;

[0110] The regulating control bidirectional ventilation connector I54f and regulating control bidirectional ventilation connector II54g are respectively sealed to the eccentric conversion chamber ventilation duct I21b and eccentric conversion chamber ventilation duct II21c.

[0111] The air inlet I54b of the control unit and the bidirectional air exchange connector I54f of the control unit are always connected. The connection and disconnection (non-connection) of the air inlet I54b of the control unit and the exhaust port 54a of the control unit are controlled by the control switch I54c.

[0112] The air inlet II54d of the control unit and the bidirectional ventilation connector II54g of the control unit are constantly connected. The connection and disconnection of the air inlet II54d of the control unit and the exhaust port 54a of the control unit are controlled by the switch II54e of the control unit.

[0113] The opening and closing states of the control switch I 54c and the control switch II 54e are opposite (the closed side is the gas input side of the gas source driving the bidirectional rotary blade engine 20), and the opening and closing states of the control switch and the same side switch outlet of the three-way converter 51 are also opposite.

[0114] In summary, the bidirectional air exchange joints on both sides of the engine steering adjustment control 54 alternately supply and exhaust air to the two eccentric conversion chamber air exchange passages in the bidirectional rotating blade engine 20, thereby realizing the bidirectional output rotation of the engine output shaft 26.

[0115] The engine output shaft 26 is provided with an output pinion 26a and a monitoring pinion 26b at its two ends, respectively.

[0116] The monitoring end pinion 26b meshes with the monitoring sleeve large gear 63a of the speed monitoring sleeve 63 in the electronic control component 6; the output end pinion 26a meshes with the output end reduction gear 36a of the output end reduction transmission component 36 in the ball head inclined surface brake mechanism 3; while realizing the reduction torque amplification during the transmission process, it ensures that the speed of the output end and the control monitoring end are the same.

[0117] The ball-head inclined plane brake mechanism 3 includes a ball-head linear actuator 30, an inclined plane damping top 31, a cam input turntable 32, a damping top mounting turntable 33, a return spring 34, a damping top mounting turntable bearing 35, an output end reduction transmission component 36, and an output end bearing 37.

[0118] The damping top mounting turntable 33 and the output end reduction transmission component 36 are respectively connected to the bearing mounting partition 12b inside the lower brake assembly fixing housing 12 via the damping top mounting turntable bearing 35 and the output end bearing 37 on the same rotating shaft.

[0119] The damping top mounting turntable 33 is "column groove type", and its lower end is fixedly connected to the output end speed reduction transmission component 36.

[0120] The damping top mounting turntable 33 has four sets of inner guide hole platforms 33a and outer positioning hole platforms 33b evenly distributed around the center circumference, which are respectively connected to four inclined damping tops 31.

[0121] The upper end of the damping top mounting turntable 33 is fixedly connected to the lower connecting platform 32c of the cam input turntable 32.

[0122] The inclined damping top 31 includes an inner inclined slide 31a, an inner guide rod 31b, an outer positioning rod 31c, and an arc-shaped damping top 31d arranged sequentially from the inside to the outside.

[0123] The inner guide rod 31b is slidably connected to the inner guide hole platform 33a of the damping top mounting turntable 33, and the outer positioning rod 31c is slidably positioned to the outer positioning hole platform 33b of the damping top mounting turntable 33.

[0124] The outer positioning rod 31c is fitted with a return spring 34 in a stretched state on its outer side;

[0125] One end of the return spring 34 is fixedly connected to the arc-shaped damping head 31d, and the other end is fixedly connected to the end face of the outer positioning hole platform 33b.

[0126] The ball-head linear actuator 30 is vertically fixed on the central actuator mounting platform 32a of the cam input turntable 32, and consists of an actuator body 30a and an end ball head 30b;

[0127] The inclined damping top 31 is pushed inward by the return spring 34, so that its inner inclined slide 31a is always in contact with the end ball head 30b of the ball head linear actuator 30;

[0128] The inner wall of the fixed housing 12 of the lower brake assembly is provided with an inner damping brake ring groove 12a;

[0129] The up and down movement of the end ball head 30b will drive the inclined surface damping top 31 to move inward and outward; thereby driving the arc surface damping top head 31d at the outer end of the inclined surface damping top 31 to contact and separate from the inner damping brake ring groove 12a.

[0130] When the arc-shaped damping top 31d contacts the inner damping brake ring groove 12a, it achieves braking of the cam input turntable 32 (active braking and abnormal protection (including power failure)).

[0131] The upper cam connecting platform 32b of the cam input turntable 32 is fixedly connected to the input cam 40a of the harmonic reducer 4.

[0132] When the arc-shaped damping head 31d separates from the inner damping brake ring groove 12a, the cam input turntable 32 can transmit the power of the output pinion 26a to the input cam 40a.

[0133] The electronic control component 6 includes an integrated control board 60, an encoder mounting platform 61, an encoder 62, a speed monitoring sleeve 63, and a monitoring sleeve bearing 64.

[0134] The encoder mounting platform 61 is installed in the encoder mounting slot 11b at the outer end of the central engine fixed housing 11;

[0135] The encoder 62 includes an encoder stator 62a and an encoder rotor 62b. The encoder stator 62a is fixed on the encoder mounting platform 61, and the encoder rotor 62b is fixedly connected to the middle of the speed monitoring sleeve 63.

[0136] The upper end of the speed monitoring sleeve 63 is axially connected to the upper end cover 10 via the upper end cover bearing 10a, and the lower end is axially connected to the center boss of the encoder mounting table 61 via the monitoring sleeve bearing 64.

[0137] The integrated control board 60 is fixed to the end face of the central engine fixed housing 11 by studs 60a;

[0138] The integrated control board 60 is equipped with a power supply interface, a communication interface, and a module serial interface. The integrated control board 60 is electrically and communicatively connected to the electronic control components in the air source delivery assembly 5, the ball head linear actuator of the ball head inclined plane brake mechanism 3, and the encoder 62. The output of the joint module can be monitored and controlled through the integrated control board 60 and the encoder 62.

[0139] The harmonic reducer 4 includes a wave generator 40, a crossed roller bearing 41, an output rigid wheel 42, and a hat-shaped flexible wheel 43.

[0140] The outer flange edge of the cross roller bearing 41 and the lower flange edge of the top hat-shaped flexible wheel 43 are simultaneously fixed to the end face of the fixed housing 12 of the lower brake assembly, and the output rigid wheel 42 is fixed to the inner ring rotor of the cross roller bearing 41.

[0141] The wave generator 40 consists of an input cam 40a and a thin-walled bearing 40b. The wave generator 40 is installed on the inner side of the thin-walled tooth of the top hat-shaped flexible wheel 43, which expands the thin-walled tooth of the top hat-shaped flexible wheel 43 into an "elliptical" shape to mesh with the internal gear ring of the output rigid wheel 42 (dual wave drive).

[0142] Example 2:

[0143] Please see Figure 16 In this embodiment, compared with the engine steering control control 54 described in Embodiment 1, the control exhaust port 54a can also be connected to the exhaust reuse heat dissipation assembly 55, which can reuse the gas discharged after the joint module is driven.

[0144] The exhaust reuse heat dissipation assembly 55 includes a heat dissipation pipe 55a, a heat dissipation pipe fixing platform 55b, and a heat dissipation nozzle 55c.

[0145] One end of the heat dissipation pipe 55a is connected to the exhaust port 54a of the adjustment control, the middle part is fixed by the heat dissipation pipe fixing platform 55b on the housing 12 of the lower brake assembly, and the other end is connected to the heat dissipation nozzle 55c.

[0146] The heat dissipation nozzle 55c provides external air cooling for the heat-generating area of ​​the harmonic reducer during operation.

[0147] Example 3:

[0148] Please see Figure 17 In this embodiment, the single compressed gas storage tank 50 working mode of the gas source delivery component 5 in Embodiment 1 is changed to the working mode of dual compressed gas storage tanks 50; the two compressed gas storage tanks 50 with switch-on air control valve ports 50b are respectively connected to the pressure regulator inlet 53a of the gas pressure regulator 53 on both sides of the central engine fixed housing 11; the gas tank replenishment port 50a of the two compressed gas storage tanks 50 are connected to the main compressed air pump, so that compressed air, compressed carbon dioxide and other non-polluting and non-flammable gases can be continuously or periodically replenished into them; and the switch-on air control valve ports 50b of the two compressed gas storage tanks 50 can work alternately, so that the bidirectional output rotation of the engine output shaft 26 in Embodiment 1 can also be realized.

[0149] In some other embodiments, the large reduction ratio harmonic reducer 4 described in the operating conditions can be replaced with a small reduction ratio single-stage planetary reducer, double-stage planetary reducer, cycloidal reducer, double rigid wheel reducer, and other reducers commonly used in the field of robot joint drive technology.

[0150] In actual production, the material selection and model selection for some parts of this invention are as follows:

[0151] The bidirectional rotating blade engine 20 driven by the air source uses Teflon material with good machinability and low friction coefficient to make the bidirectional rotating disk 23 and sliding blade 24.

[0152] The hat-shaped flexible wheel 43 of the harmonic reducer can be made of 40CrNiMoA hot-rolled medium-carbon low-alloy steel through a combination of machining (turning, milling), heat treatment, gear hobbing, and gear shaping; the output rigid wheel 42 can be made of materials with lower hardness than the flexible wheel material, such as 40Cr alloy steel or QT500 ductile iron; the input cam 40a can be made of materials such as 40Cr alloy steel or GCr15 high-carbon chromium bearing steel; the crossed roller bearing 41 can be selected as either SHD light and thin small load type or SHD high impact large load type according to the operating conditions.

[0153] In practical applications, the harmonic reducer 4 can be configured with a suitable reduction ratio based on the operating conditions. Currently, the conventional reduction ratio for dual-wave drive harmonic reducers is as follows: when the flexible wheel is fixed, the wave generator is the input, and the rigid wheel is the output. The ratios are: 51:1, 81:1, 101:1, and 121:1; the reduction ratios are... Based on the number of teeth of the flexible gear Number of teeth of the rigid wheel The reduction ratio is determined when the flexible wheel is fixed, the wave generator is the input, and the rigid wheel is the output. The calculation is shown in the following formula:

[0154]

[0155] For example: reduction ratio A ratio of 101:1 can be used to adjust the number of teeth on the flexspline. Take 200, number of teeth of the rigid gear Take 202;

[0156] The fixed outer shells and sealing end caps of the joint module housing assembly 1, as well as the structural connectors and transmission components in the entire module, can all be made of 60 series (e.g., 6061 aluminum alloy) or 70 series aluminum alloy. In the future, when considering the lightweighting of the joint module, the aluminum alloy can be replaced with PEEK material for the parts manufacturing while meeting the strength requirements.

[0157] The encoder 62 in the electronic control component 6 can be an inductive absolute encoder, a magnetic ring absolute encoder, or a control board-magnetic ring integrated encoder / driver combination.

[0158] The working principle and driving method of the air-driven integrated joint module for a humanoid robot of the present invention are as follows:

[0159] The working principle of an integrated joint module for a humanoid robot driven by a pneumatic source according to the present invention:

[0160] 1) The bidirectional output rotation working principle of the air-driven bidirectional rotary blade engine 20, taking Example 1 as an example:

[0161] During operation (when the module output rotation is required), the switch control valve port 50b of the compressed gas storage tank 50 opens and controls the flow rate of the output gas according to the operating conditions.

[0162] Gas flows through the switch control valve port 50b to the three-way converter 51, where the converter switch outlet I 51b is open and the converter switch outlet II 51c is closed. Gas flows into the gas regulator 53 on the same side through the air inlet hose 52a on the side of the converter switch outlet I 51b.

[0163] Next, the pressure-stabilized gas flows through the pressure-stabilizing hose 52b on this side to the control valve inlet I 54b of the engine steering control valve 54;

[0164] See appendix Figure 9The control switch I54c prevents the air inlet I54b of the control switch from conducting to the exhaust outlet 54a of the control switch (control switch I54c is closed), thereby allowing the gas to enter the eccentric conversion chamber 21a through the gas exchange channel I21b of the eccentric conversion chamber.

[0165] The remaining space of the eccentric conversion chamber 21a is divided into an intake chamber L1, a transition chamber I L2, a transition chamber II L3, and an exhaust chamber L4 (marked in blue in the schematic diagram) by four sliding blades 24 in sequence.

[0166] Gas first enters the intake chamber L1, pushing the nearby sliding blade 24 to rotate downwards, which in turn drives the blade bidirectional turntable 23 to rotate. Due to inertia and eccentric setting, the original intake chamber L1 will become a new transition chamber I L2, and the original exhaust chamber L4 will become a new intake chamber L1. During this process, the gas in the original exhaust chamber L4 flows through the eccentric conversion chamber air exchange channel II 21c and the bidirectional air exchange connector II 54g of the control panel to the exhaust port 54a of the control panel (the control panel switch II 54e is opened) and is discharged.

[0167] By continuing this process, ensuring a continuous flow of gas into the intake chamber L1 will cause the bidirectional rotor 23 to rotate continuously, thereby enabling the engine output shaft 26 to rotate. Figure 9 As shown, the clockwise rotation and the greater the gas flow rate and pressure, the greater the rotational speed and output torque of the bidirectional rotary disk 23.

[0168] Furthermore, with the switch pneumatic valve port 50b open, the converter switch outlet I 51b closed, the converter switch outlet II 51c open, the adjustment control switch II 54e closed, and the adjustment control switch I 54c open, gas can enter from the side of the eccentric conversion chamber air exchange passage II 21c, pass sequentially through the intake chamber L1, transition chamber I L2, transition chamber II L3, and exhaust chamber L4 marked in red in the schematic diagram, and exit from the side of the eccentric conversion chamber air exchange passage I 21b, thus realizing the auxiliary... Figure 9 The counterclockwise rotation shown in the figure enables bidirectional output rotation of the engine output shaft 26.

[0169] 2) The working principle of the ball head inclined plane brake mechanism 3 to brake the joint module:

[0170] During operation, the inclined damping top 31 is pushed inward by the return spring 34, and its inner inclined slide 31a is always in contact with the end ball head 30b of the ball head linear actuator 30.

[0171] The up and down movement of the end ball head 30b will drive the inclined damping top 31 to move inward and outward; thereby driving the arc-shaped damping top head 31d at the outer end of the inclined damping top 31 to contact and separate from the inner damping brake ring groove 12a on the housing.

[0172] When the electronic control component 6 receives an active braking command or the joint module operates abnormally (the air source delivery component 5 stops working and the air source drives the bidirectional rotating blade engine 20 to provide power), the ball head inclined surface brake mechanism 3 will brake; that is, by driving the ball head linear actuator 30 to make the arc surface damping top 31d contact the inner damping brake ring groove 12a, the braking of the cam input turntable 32 is achieved.

[0173] When the ball-head inclined surface brake mechanism 3 is not in the braking state, the arc-shaped damping mandrel 31d is separated from the inner damping brake ring groove 12a by driving the ball-head linear actuator 30. The cam input turntable 32 can transmit the power of the air source driving the bidirectional rotating blade engine 20 to the input cam 40a of the harmonic reducer 4.

[0174] The present invention discloses a driving method for an integrated joint module of a humanoid robot driven by a pneumatic source. Taking an integrated joint module of a humanoid robot driven by a pneumatic source in Embodiment 3 as an example, the specific method is as follows:

[0175] S1. Unidirectional drive of the joint module:

[0176] After receiving a unidirectional drive command, the integrated control board 60 of the electronic control component 6 controls the opening and closing of the electronic control elements in the air source delivery component 5; the switch-on air control valve port 50b opens, and gas is continuously input into one of the eccentric conversion chamber exchange passages I 21b or II 21c in the air source drive bidirectional rotary blade engine 20 via the engine steering adjustment control 54; during this process, the main compressed air pump continuously replenishes compressed gas storage tank 50; the engine output shaft 26 of the air source drive bidirectional rotary blade engine 20 drives the input cam 40a in the harmonic reducer 4 to rotate circumferentially, thereby driving the output rigid wheel 42 and its fixed connection structure to rotate by a specified angle; during this process, the output gas flow rate is controlled by the switch-on air control valve port 50b and the gas pressure regulator 53 provides regulated gas of different pressures to the eccentric conversion chamber exchange passage, thereby controlling the magnitude of the joint module output torque.

[0177] S2. Reversing drive of the joint module:

[0178] After receiving the reversing drive command, the integrated control board 60 of the electronic control component 6 controls the engine steering adjustment control 54 to drive another input gas in the eccentric conversion chamber gas exchange passage I 21b or eccentric conversion chamber gas exchange passage II 21c of the bidirectional rotary blade engine 20 (opposite to S1); during this process, the main compressed air pump continuously replenishes compressed air to the compressed gas storage tank 50, driving the output rigid wheel 42 and its fixed connection structure to rotate in the opposite direction by a specified angle.

[0179] S3. Braking of the joint module:

[0180] When the joint module needs to be actively braked or abnormal operation is detected during use, the joint module can be braked by the ball head inclined plane brake mechanism 3; the ball head 30b of the end of the ball head linear actuator 30 in the ball head inclined plane brake mechanism 3 is controlled by the integrated control board 60 to move down so that the arc surface damping top head 31d contacts the inner damping brake ring groove 12a, so that the cam input turntable 32 is braked and locked, and cannot transmit power to the input cam 40a of the harmonic reducer 4, thereby achieving the cut-off braking of the transmission at the input end of the reducer;

[0181] When braking ends, the end ball 30b of the drive ball linear actuator 30 moves upward, and the air source drives the bidirectional rotating blade engine 20 and the air source delivery assembly 5 to start working again to drive the engine output shaft 26 to rotate and output.

[0182] S4. Air-cooled heat dissipation for the reducer of the joint module:

[0183] After the gas source drives the bidirectional rotating blade engine 20 (joint module drive), the gas is discharged through the control port 54a of the engine steering control 54. The discharged gas is reused in the heat-generating area of ​​the harmonic reducer during operation by connecting the exhaust reuse heat dissipation component 55 for external air cooling.

Claims

1. A pneumatically driven integrated joint module for a humanoid robot, comprising: The joint module housing assembly (1), the air-driven bidirectional rotary blade engine (20), the air-source delivery assembly (5), and the electronic control assembly (6) are characterized by: The air source driven bidirectional rotary blade engine (20) includes an engine housing, a bidirectional blade turntable (23), sliding blades (24), blade springs (25), and an engine output shaft (26). An eccentric conversion chamber (21a) is provided inside the engine housing; The eccentric conversion chamber (21a) is cylindrical and the blade bidirectional swivel (23) is cylindrical. The diameter of the eccentric conversion chamber (21a) is larger than the diameter of the blade bidirectional swivel (23). The eccentric shaft of the blade bidirectional swivel (23) is connected inside the eccentric conversion chamber (21a). The blade bidirectional turntable (23) is tangent to the inner wall of the eccentric conversion chamber (21a) on the eccentric side; The eccentric conversion chamber (21a) has eccentric conversion chamber air exchange channels I (21b) and eccentric conversion chamber air exchange channels II (21c) on both sides of the tangent point, which are connected to and parallel to each other. The blade bidirectional turntable (23) has n U-shaped slots evenly distributed around its circumference, and sliding blades (24) are slidably connected in each U-shaped slot, n≥2; The inner side of the sliding blade (24) is connected to the blade bidirectional turntable (23) body through the compressed blade spring (25) and is in contact with the inner wall line of the eccentric conversion chamber (21a); The sliding blade (24) divides the eccentric conversion chamber (21a) into an intake zone, at least one transition zone, and an exhaust zone; The engine output shaft (26) is fixed to the center of the blade bidirectional turntable (23), and it is sealed to the upper and lower ends of the engine housing. The engine steering control unit (54) of the gas supply assembly (5) can respectively introduce gas into the eccentric conversion chamber air exchange passage I (21b) or the eccentric conversion chamber air exchange passage II (21c) to realize the bidirectional output rotation of the engine output shaft (26); One end of the engine output shaft (26) is equipped with a brake mechanism and is connected to the input end of the reducer; The gas supply assembly (5) includes a compressed gas storage tank (50), a three-way converter (51), a gas pressure regulator (53), and an engine steering control device (54). The compressed gas storage tank (50) includes a switch-operated gas control valve port (50b) for controlling the opening and closing of gas output and flow rate, and a gas tank replenishment port (50a) connected to the main compressed gas pump. The switch gas control valve port (50b) can input regulated gas into the control control air inlet I (54b) or control control air inlet II (54d) of the engine steering control control (54) through the three-way converter (51) and the gas regulator (53); The engine steering control unit (54) includes, in sequence, the control unit air inlet I (54b), the control unit bidirectional air exchange connector I (54f), the control unit switch I (54c), the control unit exhaust port (54a), the control unit switch II (54e), the control unit bidirectional air exchange connector II (54g), and the control unit air inlet II (54d); The control panel air inlet I (54b), the control panel bidirectional air exchange connector I (54f), and the eccentric conversion chamber air exchange duct I (21b) are connected in sequence; The regulating control air inlet II (54d), the regulating control bidirectional air exchange connector II (54g), and the eccentric conversion chamber air exchange channel II (21c) are connected in sequence; The connection between the regulating control air inlet I (54b), the regulating control air inlet II (54d), and the regulating control exhaust port (54a) is controlled by regulating control switch I (54c) and regulating control switch II (54e), respectively; The opening and closing states of the control switch I (54c) and control switch II (54e) are opposite, and their opening and closing states are also opposite to the opening and closing states of the switch outlet on the same side of the three-way converter (51). The eccentric conversion chamber air exchange duct I (21b) and the eccentric conversion chamber air exchange duct II (21c) alternately serve as the air supply port or exhaust port of the air source-driven bidirectional rotary blade engine (20). The exhaust port (54a) of the engine steering control (54) is connected to the exhaust reuse heat dissipation assembly (55); the exhaust reuse heat dissipation assembly (55) includes a heat dissipation delivery pipe (55a) and a heat dissipation nozzle (55c).

2. The integrated joint module for a humanoid robot driven by a pneumatic source according to claim 1, characterized in that: The brake mechanism is a ball-head inclined plane brake mechanism (3), which includes: a ball-head linear actuator (30), an inclined plane damping top (31), a cam input turntable (32), a damping top mounting turntable (33), a return spring (34), and an output end reduction transmission component (36). The damping top mounting turntable (33) is "column groove type" and is axially connected to the joint module housing assembly (1). Its lower end is fixed to the output end speed reduction transmission component (36), and its upper end is fixed to the cam input turntable (32). The damping top installation turntable (33) has k inclined damping tops (31) evenly distributed on the circumference of the damping top installation turntable (33), k≥2; The inclined plane damping top (31) includes an inner inclined plane slide (31a), an inner positioning guide rod section and an arc-shaped damping top (31d) arranged sequentially from the inside to the outside. An inner positioning guide rod section is fitted with a return spring (34) in a stretched state on the outer side. One end of the return spring (34) is fixedly connected to the arc surface damping top (31d), and the other end is fixedly connected to the damping top mounting turntable (33). The ball-head linear actuator (30) is fixed to the center of the cam input turntable (32); The inclined damping top (31) is acted upon by the return spring (34), and the inner inclined slide (31a) is always in contact with the end ball head (30b) of the ball head linear actuator (30); An inner damping brake ring groove (12a) is provided on the inner wall of the joint module housing assembly (1) on the outer side of the arc-shaped damping head (31d). The up and down movement of the end ball head (30b) will drive the inclined surface damping top (31) to move inward and outward; thereby driving the arc surface damping top head (31d) at the outer end of the inclined surface damping top (31) to contact and separate from the inner damping brake ring groove (12a); The two ends of the engine output shaft (26) are respectively provided with an output end pinion (26a) and a monitoring end pinion (26b); the output end pinion (26a) meshes with the output end reduction gear (36a) of the output end reduction transmission component (36); the upper end of the cam input turntable (32) is connected to the input end of the reducer.

3. The integrated joint module for a humanoid robot driven by a pneumatic source according to claim 2, characterized in that: The electronic control component (6) includes an integrated control board (60), an encoder (62), and a speed monitoring sleeve (63); The speed monitoring sleeve (63) is axially connected to the joint module housing assembly (1), and the large gear (63a) of the monitoring sleeve meshes with the small gear (26b) of the monitoring end of the engine output shaft (26) for transmission. The integrated control board (60) is electrically and communicatively connected to the electrical control components, ball-head linear actuator (30), and encoder (62) in the air supply assembly (5). The output of the joint module can be monitored and controlled through the integrated control board (60) and encoder (62).

4. The air-driven integrated joint module for a humanoid robot according to claim 3, characterized in that: The joint module housing assembly (1) is fixedly connected to a harmonic reducer (4) at its end; the harmonic reducer (4) includes a wave generator (40), a cross roller bearing (41), an output rigid wheel (42), and a hat-shaped flexible wheel (43).

5. A driving method for an integrated joint module of a humanoid robot driven by a pneumatic source, as described in claim 1, 2, 3, or 4, characterized in that: S1. Unidirectional drive of the joint module: The electronic control component (6) controls the opening and closing and status of the electronic control elements in the gas source delivery component (5), and continuously inputs gas into one of the eccentric conversion chamber gas exchange passages I (21b) or eccentric conversion chamber gas exchange passages II (21c) in the gas source driving bidirectional rotary blade engine (20) via the engine steering adjustment control (54), and drives the reducer to output gas via the engine output shaft (26), controlling the output torque and rotating a specified angle; S2. Reversing drive of the joint module: The electronic control unit (6) controls the engine steering adjustment control (54) to another input gas in either the eccentric conversion chamber air exchange passage I (21b) or the eccentric conversion chamber air exchange passage II (21c); and drives the reducer to reverse by a specified angle.

6. The driving method for an integrated joint module of a humanoid robot driven by a pneumatic source according to claim 5, characterized in that: S3. Braking of the joint module: Braking of the reducer input end transmission is achieved by controlling the movement of the end ball (30b) of the drive ball linear actuator (30) in the ball head inclined plane brake mechanism (3); S4. Air-cooled heat dissipation for the reducer of the joint module: The exhaust gas discharged after the joint module is driven is reused in the heat-generating area of ​​the reducer during operation by the exhaust reuse heat dissipation component (55) for external air cooling.

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