Joint actuator and robot joint

Abstract

The utility model discloses a joint actuator and a robot joint. In the utility model, the joint actuator comprises: a housing; the double-stator permanent magnet motor is arranged in the shell, the double-stator permanent magnet motor comprises an inner stator, a rotor and an outer stator which are coaxially arranged from inside to outside, the outer stator is connected with the shell, and the rotor comprises a stator support and a permanent magnet; the permanent magnet is rotatably arranged between the inner stator and the outer stator; the double-stator permanent magnet motor further comprises a stator support connected with the shell and blades arranged on the rotor support. The inner stator is connected with the stator bracket; the planetary speed reducing mechanism is arranged in the shell and connected with the rotor, and the rotor drives the planetary speed reducing mechanism to operate when rotating; and the controller is electrically connected with the inner stator and the outer stator. The joint actuator is high in power density, high in torque density, good in heat dissipation, fast in control response and better in heat dissipation effect.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a joint actuator and a robot joint. Background Technology

[0002] Humanoid robots are robots with appearances and functions similar to humans. Currently, humanoid robots are gradually moving from science fiction into reality, becoming one of the hottest research topics in the field of robotics. Numerous companies and research institutions both domestically and internationally are actively investing in the research and development and application of humanoid robots. Humanoid robots have broad application prospects in manufacturing, service industries, healthcare, education, and other fields. They can perform repetitive and heavy tasks, improving productivity and service quality; they can conduct search and rescue operations in dangerous environments; and they can also enter ordinary households as home assistants, educational robots, and more.

[0003] Robotic joint actuators are a crucial component of robotic systems, responsible for driving the robot's joints to achieve various movements. Their working principle is based on the synergistic effect of motors and reducers to achieve high-precision motion. By combining multiple actuators with joints, multi-degree-of-freedom position control can be achieved, facilitating kinematics in fields such as robotics. In robot structural systems, joint actuators serve both as the power source for robot movement and as the load for performing motion actions. Furthermore, meeting the robot's motion requirements necessitates driving a large number of joint actuators. However, existing actuators are large in size, have low power and torque, failing to meet the design requirements of humanoid robots, and also suffer from poor heat dissipation. Utility Model Content

[0004] The purpose of this invention is to provide a joint actuator and a robot joint that features high power density, high torque density, good heat dissipation, fast control response, and even better heat dissipation.

[0005] To solve the above-mentioned technical problems, the present invention provides a joint actuator, comprising:

[0006] shell;

[0007] A dual-stator permanent magnet motor is disposed within the housing. The dual-stator permanent magnet motor includes an inner stator, a rotor, and an outer stator coaxially arranged from the inside out. The outer stator is connected to the housing. The rotor includes a rotor support and permanent magnets, with the permanent magnets disposed on the rotor support and rotatably positioned between the inner and outer stators. The dual-stator permanent magnet motor further includes a stator support connected to the housing and blades disposed on the rotor support. The inner stator is connected to the stator support.

[0008] A planetary reduction gear mechanism, disposed within the housing and connected to the rotor, wherein the rotor, when rotating, drives the planetary reduction gear mechanism to operate; and...

[0009] A controller, which is electrically connected to the inner stator and the outer stator.

[0010] Compared to existing technologies, this invention applies controlled electromagnetic forces to a rotor containing permanent magnets simultaneously through both the outer and inner stators, causing the rotor to rotate. The rotor is actually driven by a coaxial double-stator structure, resulting in at least a 30% increase in torque compared to conventional motors of the same outer diameter. This increases output torque, torque constant, and the number of winding turns within a given space, thus increasing torque density. The rotor rotation drives a planetary reduction mechanism, which, after reducing speed and increasing torque, outputs power to robotic arms such as leg, shoulder, or hip joints. In other words, this joint actuator outputs a larger torque to the robotic arm. While outputting a large torque, the overall structure is relatively small, meeting the requirements for application in humanoid robots. Furthermore, blades are installed on the rotor support. When the permanent magnets drive the rotor support to rotate, the blades rotate, allowing airflow inside the joint actuator, improving heat exchange and heat dissipation.

[0011] In one embodiment, the rotor support has a first end face facing the planetary reduction mechanism, the planetary reduction mechanism being connected to the first end face; the blades are disposed on the first end face, and the first end face has through holes for airflow.

[0012] In one embodiment, the rotor support has a frame portion annularly disposed between the inner stator and the outer stator, and a docking portion rotatably connected to the stator support; the permanent magnet is fixedly connected to the frame portion; and the first end portion connects the frame portion and the docking portion.

[0013] In one embodiment, the outer casing has a casing body and an end cap disposed at one end of the casing body, and the outer stator is fixedly connected to the casing body;

[0014] The stator support has a connecting portion embedded at one end of the housing body, and a mounting portion connected to the connecting portion; the mounting portion protrudes from the housing body; the inner stator is circumferentially fixed to the outside of the mounting portion; the end cap covers the connecting portion; the mating portion is rotatably connected to the mounting portion.

[0015] The frame and the docking part are spaced apart to form an installation space; the mounting part and the inner stator are located in the installation space; the through hole, the installation space, the gap in the inner stator and the gap in the outer stator are connected to form an airflow channel.

[0016] In one embodiment, the controller is connected to the mounting portion and is located on the side of the mounting portion opposite to the first end face.

[0017] In one embodiment, the through holes are multiple and arranged around the first end face, and the blade is connected to the inner walls of two adjacent through holes.

[0018] In one embodiment, the blades are connected between two adjacent through holes; and the plurality of blades are equidistantly arranged around the center of the first end face.

[0019] In one embodiment, the blade is detachably connected to the rotor support and is located on the side of the first end face facing the planetary reduction mechanism.

[0020] In one embodiment, the planetary deceleration mechanism includes:

[0021] A reduction gear housing, which is connected to the outer shell;

[0022] The sun gear is fixed coaxially with the rotor;

[0023] A gear ring, which is connected to the reduction housing and is coaxially arranged around the outer periphery of the sun gear;

[0024] Planetary gear carrier;

[0025] Planetary gear set, the planetary gear set comprising: an axle fixed to the planetary gear carrier and planetary gears rotating about the axle, the planetary gears meshing with the ring gear and the sun gear; and

[0026] An output end cover is fixedly connected to the planetary gear carrier; the planetary gears revolve around the sun gear and drive the axle, and the movement of the axle drives the output end cover and the planetary gear carrier.

[0027] The present invention also provides a robot joint, comprising: a joint actuator as described in any of the above embodiments. Attached Figure Description

[0028] Figure 1 This is an assembly drawing of the joint actuator according to an embodiment of the present invention;

[0029] Figure 2 This is an assembly drawing of the outer shell, stator support, and reduction gear housing according to an embodiment of the present utility model;

[0030] Figure 3 This is an assembly drawing of a dual-stator permanent magnet motor installed inside a housing according to an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the blade and rotor support installation according to one embodiment of the present invention;

[0032] Figure 5 This is an assembly drawing of the planetary reduction mechanism according to one embodiment of the present invention;

[0033] Among them, 100, joint actuator; 1, housing; 11, housing body; 12, end cap; 21, inner stator; 22, rotor; 23, outer stator; 24, stator support; 241, connecting part; 242, mounting part; 221, rotor support; 2211, frame part; 2212, docking part; 2213, first end face; 2214, through hole; 222, permanent magnet; 3, planetary reduction mechanism; 31, reduction housing; 32, sun gear; 33, gear ring; 34, planetary gear carrier; 35, planetary gear set; 351, wheel axle; 352, planetary gear; 36, output end cap; 4, controller; 5, installation space; 6, blade. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this utility model clearer, the various embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this utility model to facilitate a better understanding of this application. However, the technical solutions claimed in the claims of this application can be implemented even without these technical details and with various variations and modifications based on the following embodiments.

[0035] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0036] The embodiments of this utility model will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of this utility model. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of this utility model, but are merely illustrative of the essential spirit of the technical solution of this utility model.

[0037] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0038] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0039] In the following description, in order to clearly demonstrate the structure and working method of this utility model, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0040] The embodiments of this utility model are described below with reference to the accompanying drawings.

[0041] One embodiment of the present invention relates to a joint actuator 100. For example... Figure 1 , Figure 2 , Figure 3 As shown, the joint actuator 100 is used on a humanoid robot. The joint actuator 100 includes: a housing 1, a dual-stator permanent magnet motor, a planetary reduction mechanism 3, and a controller 4. The dual-stator permanent magnet motor is housed inside the housing 1 and includes: an inner stator 21, a rotor 22, and an outer stator 23, coaxially arranged from the inside to the outside. The rotor 22 includes a permanent magnet 222 and a rotor support 221. The outer stator 23 is connected to the housing 1, and the permanent magnet 222 is rotatably disposed between the inner stator 21 and the outer stator 23. The planetary reduction mechanism 3 is housed inside the housing 1 and connected to the rotor 22. When the rotor 22 rotates, it drives the planetary reduction mechanism 3 to operate. The controller 4 is housed inside the housing 1 and is electrically connected to the inner stator 21 and the outer stator 23. The housing 1 of the joint actuator 100 is fixed to the upper arm. During operation, the rotor 22 drives the planetary reduction mechanism 3, which reduces speed and increases torque before outputting power from the output end to drive the forearm movement.

[0042] The outer stator 23 and inner stator 21 simultaneously apply controlled electromagnetic force to the rotor 22, which includes permanent magnets 222, causing the rotor 22 to rotate. At this time, the rotor 22 is actually driven by a coaxially arranged dual-stator structure. For the same outer diameter, the torque is increased by at least 30% compared to a conventional motor, resulting in increased output torque, increased torque constant, and more winding turns within a given space, thus increasing torque density. The rotation of the rotor 22 drives the planetary reduction mechanism 3. After speed reduction and torque amplification, the planetary reduction mechanism 3 outputs power to robotic arms such as leg joints, shoulder joints, or hip joints. In other words, the joint actuator 100 outputs a large torque to the robotic arm. While outputting a large torque, the joint actuator 100 maintains a small overall size, meeting the requirements for its application in humanoid robots. Meanwhile, the controller 4 of the joint actuator 100 is located inside the housing 1. The controller 4 is close to the dual-stator permanent magnet motor, which makes the dual-stator permanent magnet motor respond faster. The host computer only needs to receive signals and give demand signals. Especially for humanoid robots, which need to control the movement of hundreds of joint actuators 100 at the same time, the control difficulty of the host computer can be reduced.

[0043] In addition, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the dual-stator permanent magnet motor also includes: a stator support 24 connected to the outer casing 1, and blades 6 disposed on the rotor support 221. The inner stator 21 is connected to the stator support 24. The blades 6 are disposed on the rotor support 221. When the permanent magnet 222 drives the rotor support 221 to rotate, the blades 6 rotate, allowing airflow inside the joint actuator 100, achieving better heat exchange and providing better heat dissipation performance.

[0044] The implementation details of this embodiment are described below. The following content is only for the convenience of understanding the implementation details and is not necessary for implementing this solution.

[0045] Furthermore, such as Figure 1 , Figure 2 , Figure 3 As shown, the rotor support 221 has a frame portion 2211 annularly disposed between the inner stator 21 and the outer stator 23, and a docking portion 2212 rotatably connected to the stator support 24. The permanent magnet 222 is fixedly connected to the frame portion 251, and the first end portion 2213 connects the frame portion 2211 and the docking portion 2212.

[0046] like Figure 1 , Figure 2 , Figure 3 , Figure 4As shown, the outer casing 1 has a casing body 11 and an end cap 12 disposed at one end of the casing body 11. The outer stator 23 is fixedly connected to the casing body 11. The stator support 24 has a connecting portion 241 embedded at one end of the casing body 11 and a mounting portion 242 connected to the connecting portion 241. The mounting portion 242 protrudes into the casing 1, and the inner stator 21 is circumferentially fixed to the outside of the mounting portion 242. The end cap 12 covers the connecting portion 241. The mating portion 2212 is rotatably connected to the mounting portion 242. The frame portion 2211 and the mating portion 2212 are circumferentially spaced to form a mounting space 5. The mounting portion 242 and the inner stator 21 are located within the mounting space 5. The rotor support 221 is open on the side opposite to the first end portion 2213. The through hole 2214, the mounting space 5, the gap in the inner stator 21, and the gap in the outer stator 23 communicate to form an airflow channel. It allows airflow inside the joint actuator 100, enabling better heat exchange and improved heat dissipation performance.

[0047] Furthermore, such as Figure 1 As shown, the controller 4 is connected to the mounting part 242 and is located on the side of the mounting part 242 opposite to the first end face 2213. The controller 4 is close to the dual-stator permanent magnet motor, which allows the dual-stator permanent magnet motor to respond more quickly. At the same time, the controller 4 is set inside the housing 1, and the host computer only needs to receive position signals and give demand signals. Especially for humanoid robots and other systems that need to control the movement of hundreds of joint actuators 100 at the same time, this can reduce the control difficulty of the host computer.

[0048] Furthermore, such as Figure 4 As shown, there are multiple through holes 2214, which are arranged around the first end face 2213, and the blade 6 is connected to the inner wall of two adjacent through holes 2214.

[0049] In addition, such as Figure 4 As shown, blades 6 are connected between two adjacent through holes 2214, and multiple blades 6 are equidistantly arranged around the center of the first end face 2213.

[0050] In addition, such as Figure 4 As shown, the blade 6 and the rotor support 221 are integral parts, and the blade 6 is located on the side of the first end face 2213 facing the planetary reduction mechanism 3. This integrated manufacturing reduces costs. In other embodiments, the blade 6 and the rotor support 221 can also be two separate components, with the blade 6 engaging with the inner wall of the through hole 2214.

[0051] In addition, such as Figure 1 , Figure 3 As shown, permanent magnets are provided on both the side of the frame portion 2211 facing the inner stator 21 and the side facing the outer stator 23. Understandably, permanent magnets may be provided on both sides or on one side of the frame portion 2211.

[0052] Specifically, such as Figure 1 and Figure 5 As shown, the planetary reduction mechanism 3 includes: a reduction housing 31, a sun gear 32, a ring gear 33, a planetary gear carrier 34, a planetary gear set 35, and an output end cover 36. The reduction housing 31 is connected to the outer housing 1. The sun gear 32 is coaxially fixed to the rotor 22. The ring gear 33 is connected to the reduction housing 31 and coaxially arranged around the outer circumference of the sun gear 32. The planetary gear set 35 includes: a gear shaft 351 fixed on the planetary gear carrier 34 and planetary gears 352 rotating around the gear shaft 351. The planetary gears 352 mesh with the ring gear 33 and the sun gear 32. The output end cover 36 is fixedly connected to the planetary gear carrier 34. Multiple planetary gears 352 are provided. The gear shafts 351 are fixedly mounted on the planetary carrier and correspond one-to-one with the planetary gears 352. The planetary gears 352 rotate around their corresponding gear shafts 351 and revolve around the sun gear 32. Planetary gear 352 revolves around sun gear 32 and drives axle 351. The movement of axle 351 drives output end cover 36 and planetary gear carrier 34.

[0053] In addition, the inner stator 21 and the outer stator 23 are connected in parallel.

[0054] Another embodiment of the present invention relates to a robotic joint for a humanoid robot, comprising: a joint actuator 100 as described in the above embodiment, wherein the robotic joint may be a knee joint, a shoulder joint, or a wrist joint, etc. When the robotic joint is a wrist joint, the joint actuator 100 connects the forearm and the palm; when the robotic joint is a knee joint, the joint actuator 100 connects the thigh and the lower leg; when the robotic joint is a shoulder joint, the joint actuator 100 connects the back and the upper arm.

[0055] The preferred embodiments of the present invention have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0056] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

[0057] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A joint actuator, characterized in that, include: shell; A dual-stator permanent magnet motor is disposed within the housing. The dual-stator permanent magnet motor includes an inner stator, a rotor, and an outer stator coaxially arranged from the inside out. The outer stator is connected to the housing. The rotor includes a rotor support and permanent magnets, with the permanent magnets disposed on the rotor support and rotatably positioned between the inner and outer stators. The dual-stator permanent magnet motor further includes a stator support connected to the housing and blades disposed on the rotor support. The inner stator is connected to the stator support. A planetary reduction gear mechanism, disposed within the housing and connected to the rotor, wherein the rotor, when rotating, drives the planetary reduction gear mechanism to operate; and... A controller, which is electrically connected to the inner stator and the outer stator.

2. The joint actuator according to claim 1, characterized in that, The rotor support has a first end face facing the planetary reduction mechanism, and the planetary reduction mechanism is connected to the first end face; the blade is disposed on the first end face, and the first end face has a through hole for airflow.

3. The joint actuator according to claim 2, characterized in that, The rotor support has a frame portion arranged in a ring between the inner stator and the outer stator, and a docking portion rotatably connected to the stator support; the permanent magnet is fixedly connected to the frame portion; the first end portion connects the frame portion and the docking portion.

4. The joint actuator according to claim 3, characterized in that, The outer casing has a casing body and an end cap disposed at one end of the casing body, and the outer stator is fixedly connected to the casing body; The stator support has a connecting portion embedded at one end of the housing body, and a mounting portion connected to the connecting portion; the mounting portion protrudes from the housing body; the inner stator is circumferentially fixed to the outside of the mounting portion; the end cap covers the connecting portion; the mating portion is rotatably connected to the mounting portion. The frame and the docking part are spaced apart to form an installation space; the mounting part and the inner stator are located in the installation space; the through hole, the installation space, the gap in the inner stator and the gap in the outer stator are connected to form an airflow channel.

5. The joint actuator according to claim 4, characterized in that, The controller is connected to the mounting part and is located on the side of the mounting part away from the first end face.

6. The joint actuator according to claim 2, characterized in that, The through holes are multiple and arranged around the first end face, and the blade is connected to the inner wall of two adjacent through holes.

7. The joint actuator according to claim 6, characterized in that, Each pair of adjacent through holes is connected to a blade; and a plurality of blades are arranged equidistantly around the center of the first end face.

8. The joint actuator according to claim 2, characterized in that, The blade is detachably connected to the rotor support and is located on the side of the first end face facing the planetary reduction mechanism.

9. The joint actuator according to claim 1, characterized in that, The planetary deceleration mechanism includes: A reduction gear housing, which is connected to the outer shell; The sun gear is fixed coaxially with the rotor; A gear ring, which is connected to the reduction housing and is coaxially arranged around the outer periphery of the sun gear; Planetary gear carrier; Planetary gear set, the planetary gear set comprising: an axle fixed to the planetary gear carrier and planetary gears rotating about the axle, the planetary gears meshing with the ring gear and the sun gear; and An output end cover is fixedly connected to the planetary gear carrier; the planetary gears revolve around the sun gear and drive the axle, and the movement of the axle drives the output end cover and the planetary gear carrier.

10. A robot joint, characterized in that, include: The joint actuator as described in any one of claims 1-9.

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