Humanoid robot joint electric cylinder

Abstract

The utility model discloses a humanoid robot joint electric cylinder which comprises a rod head joint bearing, a sleeve, a first bearing, a stator sleeve, a lead screw sleeve and a piston rod, the sleeve is fixedly connected with the stator sleeve, one end of the lead screw sleeve is radially supported in the sleeve through the first bearing, and the other end of the lead screw sleeve is fixedly connected with the piston rod. A driving plate is installed in the sleeve, a planetary roller screw rod is installed in the screw rod sleeve, the planetary roller screw rod and the screw rod sleeve are meshed through threads, a frameless motor is installed in the stator sleeve, a rotor of the frameless motor is fixedly connected with the outer circle of the screw rod sleeve, and the rotor of the frameless motor is fixedly connected with the outer circle of the screw rod sleeve. A stator of the frameless motor is fixedly connected with the interior of the stator sleeve, one end of the piston rod is fixedly connected with the planetary roller lead screw, and the other end of the piston rod is supported through an anti-rotation sleeve and connected with the rod head knuckle bearing. According to the humanoid robot joint, the electric cylinder and the linear driver are internally arranged, and the structure is compact.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of electric cylinder especially a humanoid robot joint electric cylinder. BACKGROUND

[0002] The core components of a general electric cylinder include a motor, a speed reducer and a screw rod, and these parts can be configured and selected differently according to different output and speed requirements. In the humanoid robot industry, the output requirement of the electric cylinder depends on different use positions.

[0003] Existing humanoid robot joint devices are mostly rotary driving devices integrated with harmonic speed reducers, and have a large overall volume. Of course, there are also linear driving devices, but the linear driving device is mostly external, resulting in a large axial size and a relatively loose structure. SUMMARY

[0004] The utility model aims at solving one of the technical problems existing in the prior art.

[0005] Therefore, aiming at the high-precision, long-life and medium-output requirements of the humanoid robot industry, the utility model provides a humanoid robot joint electric cylinder, in which the linear driving device is built-in and the structure is compact.

[0006] According to the humanoid robot joint electric cylinder of the utility model embodiment, the sleeve and the stator sleeve are fixedly connected, one end of the screw rod sleeve is radially supported in the interior of the sleeve through the first bearing, a driving plate is installed in the sleeve, a planetary roller screw rod is installed in the screw rod sleeve, the planetary roller screw rod and the screw rod sleeve are engaged through threads, a frameless motor is installed in the stator sleeve, the rotor of the frameless motor is fixedly connected with the outer circle of the screw rod sleeve, the stator of the frameless motor is fixedly connected with the interior of the stator sleeve, one end of the piston rod is fixedly connected with the planetary roller screw rod, and the other end of the piston rod is supported through an anti-rotation sleeve and connected with the rod head joint bearing.

[0007] The utility model has the advantages that the linear driving device for the joint position is highly integrated with the motor and the screw rod, the linear driving device is built-in, the axial size is greatly reduced, and the structure is more compact.

[0008] According to one embodiment of the utility model, the electric cylinder further comprises a cover installed at the end of the sleeve, the cover is connected with a tension and pressure sensor, or the cover is integrally connected with a tension and pressure sensor.

[0009] According to one embodiment of the utility model, one end of the lead screw sleeve is connected with a base, the base is coaxially arranged with the planetary roller screw, a magnetic steel is installed on the base, and the magnetic steel rotates to output feedback information after magnetic encoding treatment on the driving plate.

[0010] According to one embodiment of the utility model, a rear buffer washer is installed on one end of the base close to the planetary roller screw, and the rear buffer washer is used to reduce the impact when the planetary roller screw hits the bottom.

[0011] According to one embodiment of the utility model, the first bearing is a deep groove ball bearing.

[0012] According to one embodiment of the utility model, one end of the frameless motor is attached to one end face of the middle step of the lead screw sleeve, and the other end is axially limited through a spacer ring, and the spacer ring is located between the first bearing and the frameless motor.

[0013] According to one embodiment of the utility model, the other end of the middle step of the lead screw sleeve is installed with a second bearing for bearing axial load.

[0014] According to one embodiment of the utility model, the second bearing is an angular contact ball bearing or a four-point angular contact ball bearing.

[0015] According to one embodiment of the utility model, the electric cylinder further comprises a front end cover installed at the end of the stator sleeve and a locking nut installed at the end of the lead screw sleeve, the second bearing is axially pre-tightened at its outer ring through the front end cover, and the second bearing is axially pre-tightened at its inner ring through the locking nut.

[0016] According to one embodiment of the utility model, a front buffer washer is installed inside the front end cover, and the front buffer washer is used to reduce the impact when the planetary roller screw hits the top.

[0017] Other features and advantages of the utility model will be set forth in the subsequent description, and some of them will become apparent from the description, or will be understood from the practice of the utility model. The purpose and other advantages of the utility model are realized and obtained from the structure specially pointed out in the description and the drawings.

[0018] In order to make the above-mentioned purpose, features and advantages of the utility model more obvious and easy to understand, the following preferred embodiments are specifically described, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0020] Figure 1 is a structural schematic diagram of the present application;

[0021] Figure 2 is Figure 1 is a sectional view of K-K in figure.

[0022] The label in the figure is: 1, rod head joint bearing; 2, tension and pressure sensor; 3, cover; 4, driving plate; 5, sleeve; 6, magnetic steel; 7, base; 8, bearing; 9, rear buffer washer; 10, spacer; 11, stator sleeve; 12, planetary roller screw; 13, frameless motor; 14, screw sleeve; 15, bearing; 16, piston rod; 17, locking nut; 18, front buffer washer; 19, front end cover; 20, anti-rotation sleeve. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical scheme in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0024] In the description of the present application, it should be understood that the terms "one side", "the other side", "both sides", "between", "middle", "upper end", "lower end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application.

[0025] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "set", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected, it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0026] The human-shaped robot joint electric cylinder is specifically described below with reference to the drawings.

[0027] See Figure 1 And Figure 2 The human-shaped robot joint electric cylinder of the utility model, including pole head joint bearing 1, sleeve 5, first bearing 8, stator sleeve 11, screw sleeve 14 and piston rod 16, sleeve 5 and stator sleeve 11 fixed connection, one end of screw sleeve 14 is supported in the inside of sleeve 5 through first bearing 8, drive plate 4 is installed in sleeve 5, planetary roller screw 12 is installed in screw sleeve 14, planetary roller screw 12 and screw sleeve 14 are engaged through thread, planetary roller screw 12 can rotate telescopic motion along thread, frameless motor 13 is installed in stator sleeve 11, the rotor of frameless motor 13 is fixedly connected with the outer circle of screw sleeve 14, the stator of frameless motor 13 is fixedly connected with the inside of stator sleeve 11, one end of piston rod 16 is fixedly connected with planetary roller screw 12, the other end of piston rod 16 is supported through anti-rotation sleeve 20 and is connected with pole head joint bearing 1.

[0028] Wherein, the electric cylinder further comprises a cover 3 installed at the end of the sleeve 5, and a tension and pressure sensor 2 is connected to the cover 3, or the tension and pressure sensor 2 is integrally formed on the cover 3. In other words, the tension and pressure sensor 2 can be designed in an integrated manner with the cover 3, and the cover 3 can serve as a force sensor, thereby reducing the axial size.

[0029] The drive plate 4 can output data information of the tension and pressure sensor 2, and the drive plate 4 is also used to drive the frameless motor 13 and feedback the displacement and speed of the electric cylinder. Specifically, one end of the screw sleeve 14 is connected with a base 7, the base 7 is coaxially arranged with the planetary roller screw 12, a magnetic steel 6 is installed on the base 7, and the magnetic steel 6 rotates to output feedback information such as displacement and speed after magnetic encoding processing of the drive plate 4.

[0030] A rear buffer washer 9 is installed on one end of the base 7 close to the planetary roller screw 12, and the rear buffer washer 9 is used to reduce the impact when the planetary roller screw 12 hits the bottom.

[0031] One end of the frameless motor 13 is attached to one end face of a middle step of the screw sleeve 14, and the other end is axially limited by a spacer 10, and the spacer 10 is located between the first bearing 8 and the frameless motor 13.

[0032] The other end of the middle step of the screw sleeve 14 is installed with a second bearing 15 for bearing axial load, and the second bearing 15 is generally an angular contact ball bearing or a four-point angular contact ball bearing.

[0033] The electric cylinder further comprises a front end cover 19 mounted at the end of the stator sleeve 11 and a locking nut 17 mounted at the end of the screw sleeve 14, the front end cover 19 is rigidly connected to the stator sleeve 11, and the second bearing 15 is axially pre-tightened at its outer ring through the front end cover 19, and the second bearing 15 is axially pre-tightened at its inner ring through the locking nut 17.

[0034] The front end cover 19 is internally provided with a front buffer washer 18, which is used to reduce the impact when the planetary roller screw 12 is pushed to the top.

[0035] The electric cylinder further comprises a rod head joint bearing 1, which is rigidly connected through a tension and pressure sensor 2 and a plug cover 3, the tension and pressure sensor 2 can accurately feedback the force condition of the linear driving device.

[0036] Specifically, one end of the planetary roller screw 12 is rigidly connected to the piston rod 16, the left end of the screw sleeve 14 is rigidly connected to the base 7, one end of the base 7 is connected to the magnetic steel 6 and a rear buffer washer 9, and the rear buffer washer 9 is generally made of rubber. The left end of the screw sleeve 14 is radially supported in the inside of the sleeve 5 through the first bearing 8, the first bearing 8 is axially limited through the spacer 10, and the first bearing 8 is generally a deep groove ball bearing. The rotor (magnetic steel) of the frameless motor 13 is bonded around the outer circle of the screw sleeve 14 to form an integrated body, and is attached to the stepped end face of the screw sleeve 14. The stator part of the frameless motor 13 is heat-fitted or glued to the inside of the stator sleeve 11, and is axially positioned through the step of the inner hole of the stator sleeve 11. The anti-rotation sleeve 20 is generally a copper sleeve, and the anti-rotation sleeve 20 is rigidly connected to the inside of the front end cover 19. The anti-rotation requirement is met through the special-shaped cooperation of the anti-rotation sleeve 20 and the piston rod 16, as shown in the figure. Figure 2 The wire harness of the frameless motor 13 is connected with the driving board 4, and the wire harness (power line, feedback line) of the driving board 4 is externally connected through a waterproof connector.

[0037] The complete action process of the anthropomorphic robot joint electric cylinder is that the driving board 4 connected with the waterproof connector is powered to drive the frameless motor 13 to rotate, thereby driving the screw sleeve 14 to rotate, the screw sleeve 14 drives the planetary roller screw 12 to rotate and stretch after rotating, and finally drives the piston rod 16 to act, because the anti-rotation sleeve 20 is arranged, the piston rod 16 finally presents a linear motion effect, and the force condition of the whole motion process can be real-timely fed back through the tension and pressure sensor 2.

[0038] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the application concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. An electric cylinder for a humanoid robot joint, characterized in that: The system includes a rod head joint bearing (1), a sleeve (5), a first bearing (8), a stator sleeve (11), a lead screw sleeve (14), and a piston rod (16). The sleeve (5) and the stator sleeve (11) are fixedly connected. One end of the lead screw sleeve (14) is radially supported inside the sleeve (5) by the first bearing (8). A drive plate (4) is installed inside the sleeve (5). A planetary roller screw (12) is installed inside the lead screw sleeve (14). 12) and the lead screw sleeve (14) are threadedly engaged. A frameless motor (13) is installed inside the stator sleeve (11). The rotor of the frameless motor (13) is fixedly connected to the outer circle of the lead screw sleeve (14). The stator of the frameless motor (13) is fixedly connected to the inside of the stator sleeve (11). One end of the piston rod (16) is fixedly connected to the planetary roller lead screw (12). The other end of the piston rod (16) is supported by the anti-rotation sleeve (20) and connected to the rod head joint bearing (1).

2. The electric joint cylinder for a humanoid robot according to claim 1, characterized in that: The electric cylinder also includes a cap (3) installed at the end of the sleeve (5), and a tension / compression sensor (2) is connected to the cap (3), or the tension / compression sensor (2) is integrated into the cap (3).

3. The electric joint cylinder for a humanoid robot according to claim 1, characterized in that: One end of the lead screw sleeve (14) is connected to a base (7). The base (7) is coaxially arranged with the planetary roller lead screw (12). A magnet (6) is installed on the base (7). After the magnet (6) rotates, it is processed by the magnetic encoder on the drive plate (4) to output feedback information.

4. The electric joint cylinder for a humanoid robot according to claim 3, characterized in that: A rear buffer washer (9) is installed on one end of the base (7) near the planetary roller screw (12). The rear buffer washer (9) is used to reduce the impact when the planetary roller screw (12) hits the bottom.

5. The electric joint cylinder for a humanoid robot according to claim 1, characterized in that: The first bearing (8) is a deep groove ball bearing.

6. The electric joint cylinder for a humanoid robot according to claim 1, characterized in that: One end of the frameless motor (13) is attached to one end face of the middle step of the lead screw sleeve (14), and the other end is axially limited by a spacer (10). The spacer (10) is located between the first bearing (8) and the frameless motor (13).

7. The electric joint cylinder for a humanoid robot according to claim 1, characterized in that: A second bearing (15) for bearing axial load is installed at the other end of the step in the middle of the lead screw sleeve (14).

8. The electric joint cylinder for a humanoid robot according to claim 7, characterized in that: The second bearing (15) is an angular contact ball bearing or a four-point angular contact ball bearing.

9. The electric joint cylinder for a humanoid robot according to claim 7, characterized in that: The electric cylinder also includes a front end cover (19) installed at the end of the stator sleeve (11) and a locking nut (17) installed at the end of the lead screw sleeve (14). The second bearing (15) is axially pre-tightened on its outer ring by the front end cover (19) and on its inner ring by the locking nut (17).

10. The electric joint cylinder for a humanoid robot according to claim 9, characterized in that: The front end cover (19) is equipped with a front buffer washer (18), which is used to reduce the impact when the planetary roller screw (12) hits the top.

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