Linear joint servo module, driving device and humanoid robot
By combining a frameless torque motor with a planetary roller screw, the linear joint servo module solves the problem of large and non-universal servo drives for humanoid robots, achieving lightweight and high-performance motion control. It is suitable for lightweight design and quick replacement and maintenance of humanoid robots.
Patent Information
- Application Number
- CN202423322838.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2034-12-31
AI Technical Summary
Existing humanoid robot servo drives are large, which limits their application scenarios, and the use of a central hole design and large-area layout in motor drives results in a bulky structure and lack of versatility.
A frameless torque motor is combined with a planetary roller screw. The position signal of the motor output shaft is generated by the encoder board and the control board, and the output current of the servo drive board is controlled to control the motor state. The overall size and weight are reduced by stacking the servo drive board, the control board and the encoder board.
Without reducing the current driving capability, the size and weight of the linear joint servo module are reduced, and the motion performance is improved, which is conducive to the lightweight design and quick replacement and maintenance of the robot.
Smart Images
Figure CN223876997U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robots, in particular to a linear joint servo module, a driving device and a humanoid robot. BACKGROUND
[0002] Artificial intelligence technology is widely used in various fields, among which humanoid robots gradually play an important role in daily security inspection, power inspection, logistics transportation and other fields. In order to facilitate random movement, humanoid robots need to develop towards lightweight and miniaturization.
[0003] However, the motor is a key component in the field of robots. At present, the motor driver adopts a middle hole design and a large area layout, which can provide a large current, but brings structural bulkiness and non-universality of the module. CONTENT OF THE UTILITY MODEL
[0004] The purpose of the present application is to provide a linear joint servo module, a driving device and a humanoid robot, aiming at solving the problem that the existing humanoid robot has a large servo driver, which limits the application scenarios of the humanoid robot.
[0005] The first aspect of the embodiment of the present application provides a linear joint servo module, which comprises: a frameless torque motor, a planetary roller screw, a servo drive board, a control board, an encoder board and a shell.
[0006] The stator of the frameless torque motor is fixedly connected with the shell, and the shell is also used for fixing the servo drive board, the control board and the encoder board.
[0007] The frameless torque motor is connected with a motor output shaft through the planetary roller screw, and a single-pole pair magnet is arranged on the motor output shaft.
[0008] The encoder board is arranged opposite to the single-pole pair magnet, and is used for generating a position signal of the motor output shaft according to the magnetic field change generated by the rotation of the single-pole pair magnet, and sending the position signal to the control board.
[0009] The control board is used for controlling the servo drive board to generate a corresponding current output to the frameless torque motor according to the position signal and a motor control signal, so as to control the state of the frameless torque motor.
[0010] In some embodiments, the linear joint servo module further comprises: a bearing seat, a front cover, a first ball bearing and a second ball bearing.
[0011] The shell, the front cover and the bearing seat form a cavity.
[0012] The planetary roller screw forms left limiting through the supporting nut and the first ball bearing, so as to limit the frameless torque motor from moving leftward in the axial direction;
[0013] The planetary roller screw forms right limiting through the limiting nut and the second ball bearing, so as to limit the frameless torque motor from moving rightward in the axial direction.
[0014] In some embodiments, the linear joint servo module further comprises a rear cover, a gland, a fish-eye bearing and a force sensor.
[0015] The force sensor is mounted on the rear cover and fixedly pressed through the gland.
[0016] The fish-eye bearing is fixed on the force sensor and the planetary roller screw.
[0017] The force sensor is configured to collect torque information of the fish-eye bearing and send the torque information to the control board, and the control board is further configured to control the servo drive board to adjust the state of the frameless torque motor according to the torque information.
[0018] In some embodiments, the linear joint servo module further comprises a limiting sleeve, a first sealing ring and a second sealing ring.
[0019] The planetary roller screw is sealed between the stator of the frameless torque motor or the housing through the limiting sleeve, the first sealing ring and the second sealing ring.
[0020] In some embodiments, the servo drive board, the control board and the encoder board are stacked.
[0021] In some embodiments, the servo drive board, the control board and the encoder board are fixedly connected with the bearing seat.
[0022] In some embodiments, the control board is provided with a controller, and the controller is connected with an encoder on the encoder board.
[0023] The controller is configured to control the servo drive board to generate corresponding current output to the frameless torque motor according to the position signal of the motor output shaft detected by the encoder and the motor control signal.
[0024] In some embodiments, the servo drive board is provided with a three-phase inverter, and the three-phase inverter is provided with a heat sink between the three-phase inverter and the housing, and the heat sink is configured to conduct heat of the three-phase inverter to the housing.
[0025] The second aspect of the embodiments of the application further provides a driving device comprising the linear joint servo module according to any one of the above embodiments.
[0026] The third aspect of the embodiments of the present application further provides a humanoid robot, comprising: a robot leg component, a plurality of linear joint servo modules according to any one of the above embodiments, the linear joint servo modules being configured to drive the robot leg component to move.
[0027] The embodiments of the present application provide a linear joint servo module, a driving device and a humanoid robot. The stator of a frameless torque motor is fixedly connected with a shell. The frameless torque motor is connected with a motor output shaft through a planetary roller screw. A single-pole pair magnet is arranged on the motor output shaft. An encoder plate is arranged opposite to the single-pole pair magnet. The encoder plate generates a position signal of the motor output shaft according to the magnetic field change generated by the rotation of the single-pole pair magnet, and sends the position signal to a control board. The control board controls a servo driving board to generate a corresponding current output to the frameless torque motor according to the position signal and a motor control signal, so as to control the state of the frameless torque motor. The shell is configured to fix the servo driving board, the control board and the encoder plate, so as to reduce the weight of the module, improve the motion performance, and facilitate the lightweight design of the robot and the purpose of quick replacement and maintenance. BRIEF DESCRIPTION OF DRAWINGS
[0028] Figure 1 A cross-sectional structure schematic diagram of the linear joint servo module provided by the embodiments of the present application is shown in the figure.
[0029] Figure 2 A three-dimensional schematic diagram of the linear joint servo module provided by the embodiments of the present application is shown in the figure.
[0030] Figure 3 A circuit principle schematic diagram of the linear joint servo module provided by the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION
[0031] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.
[0032] In the description of the present application, it should be understood that the terms "first", "second" are only used for description purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features.
[0033] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish description and cannot be understood as indicating or implying relative importance.
[0034] It should be understood that when used in the specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.
[0035] It should also be understood that the terms used in the present application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, unless otherwise clear from the context, the singular forms "a", "an" and "the" are intended to include the plural forms.
[0036] It should be further understood that the term "and / or" used in the present application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.
[0037] The motor is a key component in the field of robots. At present, the motor driver mostly adopts a middle hole design and a large area layout, which can provide a larger current, but brings a bulky structure and a non-universal module.
[0038] In order to solve the above technical problems, the present application embodiment provides a linear joint servo module, which combines Figure 1 As shown in the figure, the linear joint servo module in the embodiment includes a frameless torque motor 1, a planetary roller screw 2, a servo drive board 151, a control board 152, an encoder board 153, and a shell 9. The stator of the frameless torque motor 1 is fixedly connected with the shell 9, and the rotor of the frameless torque motor 1 is fixedly connected with a motor output shaft 101. The frameless torque motor 1 is connected with the motor output shaft 101 through the planetary roller screw 2, and the planetary roller screw 2 converts the rotary motion of the motor output shaft 101 of the frameless torque motor 1 into linear motion.
[0039] The single-pole pair magnet 102 is arranged on the motor output shaft 101, and the encoder plate 153 is arranged opposite the single-pole pair magnet 102. When the motor output shaft 101 rotates, the magnetic field of the single-pole pair magnet 102 changes. The encoder plate 153 is used to generate a position signal of the motor output shaft 101 according to the change of the magnetic field generated by the rotation of the single-pole pair magnet 102, so as to obtain the position signal of the motor output shaft 101, and send the position signal to the control board 152. The control board 152 is used to control the servo drive board 151 to generate a corresponding current output to the frameless torque motor 1 according to the position signal and the received motor control signal, so as to control the state of the frameless torque motor 1. The shell 9 is used to fix the servo drive board 151, the control board 152, and the encoder plate 153.
[0040] In the embodiment, the stator of the frameless torque motor 1 is fixedly connected with the shell 9, the single-pole pair magnet 102 is arranged on the motor output shaft 101, the encoder plate 153 is arranged opposite the single-pole pair magnet 102, the position signal of the motor output shaft 101 is generated by the encoder plate 153 according to the change of the magnetic field generated by the rotation of the single-pole pair magnet 102, and the position signal is sent to the control board 152. The control board controls the servo drive board 151 to generate a corresponding current output to the frameless torque motor 1 according to the position signal and the motor control signal, so as to control the state of the frameless torque motor 1. The shell 9 is used to fix the servo drive board 151, the control board 152, and the encoder plate 153. Through the overlapping installation of the servo drive board 151, the control board 152, and the encoder plate 153, the overall size of the linear joint servo module can be effectively reduced without reducing the current driving capability, the weight of the module is reduced, the motion performance is improved, and the lightweight design of the robot, the quick replacement and maintenance purposes are achieved.
[0041] In some embodiments, the closed-loop control of the frameless torque motor 1 requires accurate position signals. The servo driver on the servo drive board 151 is connected to the frameless torque motor 1 through a power cable. The output current of the servo driver can control the rotation angle and speed of the frameless torque motor 1, and realize the closed-loop control of position, control, and position.
[0042] In some embodiments, the distance between the single-pole pair magnet 102 on the motor output shaft 101 and the encoder plate 153 is 0.1-0.5mm, preferably, the distance between the single-pole pair magnet 102 on the motor output shaft 101 and the encoder plate 153 is 0.3mm.
[0043] In some embodiments, in combination with Figure 1 and Figure 2As shown, the linear joint servo module further comprises: a bearing seat 10, a front cover 8, a first ball bearing 3, a second ball bearing 4; the shell 9, the bearing seat 10, the front cover 8 are fixedly connected with the first ball bearing 3 and the second ball bearing 4, and the shell 9, the front cover 8 and the bearing seat 10 form a cavity; the planetary roller screw 2 forms left limiting through the supporting nut 19 and the first ball bearing 3, so as to prevent the frameless torque motor 1 from moving leftward in the axial direction; the planetary roller screw 2 forms right limiting through the limiting nut 17 and the second ball bearing 4, so as to prevent the frameless torque motor 1 from moving rightward in the axial direction.
[0044] In some embodiments, in combination with Figure 1 and Figure 2 As shown, the linear joint servo module further comprises: a rear cover 12, a gland 13, a fisheye bearing 14, a force sensor 5; the force sensor 5 is installed on the rear cover 12 and fixedly pressed through the gland 13; the fisheye bearing 14 is fixed on the force sensor 5 and the planetary roller screw 2; the force sensor 5 is used to collect torque information of the fisheye bearing 14 and send the torque information to the control board 152, and the control board 152 is also used to control the servo drive board 151 to adjust the state of the frameless torque motor 1 according to the torque information.
[0045] In some embodiments, in combination with Figure 1 As shown, the linear joint servo module further comprises: a limiting sleeve 18, a first sealing ring 6, a second sealing ring 20; the planetary roller screw 2 is sealed between the stator of the frameless torque motor 1 or the shell 9 through the limiting sleeve 18, the first sealing ring 6 and the second sealing ring 20.
[0046] In some embodiments, in combination with Figure 1 As shown, the servo drive board 151, the control board 152 and the encoder board 153 are stacked.
[0047] In this embodiment, by setting the servo drive board 151, the control board 152 and the encoder board 153 to be overlapped and installed, the overall size of the linear joint servo module can be effectively reduced without reducing the current driving capability, and by reducing the weight of the module, the motion performance is improved, which is conducive to realizing the lightweight design of the robot and the purpose of quick disassembly, replacement and maintenance.
[0048] In some embodiments, the servo drive board 151 is arranged outside the plurality of circuit substrates (the servo drive board 151, the control board 152 and the encoder board 153), and the heat sink is located between the servo drive board 151 and the shell 9, one side of the heat sink is tightly attached to the power device on the servo drive board 151, and the other side of the heat sink is tightly attached to the rear cover 12, so that the heat of the power device on the servo drive board 151 can be conducted to the shell 9, and the shell 9 can be made of aluminum alloy material, so that the heat can be quickly conducted and the temperature of the power device on the servo drive board 151 can be reduced.
[0049] In some embodiments, the servo drive board 151 is in contact with the shell 9 through thermal grease.
[0050] In some embodiments, the heat sink can be a thermal gel or a thermal pad.
[0051] In some embodiments, the servo drive board 151 is fixedly connected to the bearing seat 10. Figure 1 As shown, the servo drive board 151, the control board 152, and the encoder board 153 are fixedly connected to the bearing seat 10.
[0052] In some embodiments, the servo drive board 151 is fixedly connected to the bearing seat 10. Figure 1 and Figure 3 As shown, the encoder board 153 is provided with an encoder 1531, which generates a position signal of the motor output shaft 101 by sensing the magnetic field change generated by the single-pole pair magnet 102 rotating, and sends the position signal to the serial peripheral interface (SPI) of a controller 1521 on the control board 152. Meanwhile, the encoder 1531 can also estimate the extension position of the end of the motor output shaft 101 according to the magnetic field change.
[0053] In some embodiments, the servo drive board 151 is fixedly connected to the bearing seat 10. Figure 1 and Figure 3 As shown, the control board 152 is provided with the controller 1521, and the SPI port of the controller 1521 is connected to the encoder 1531 on the encoder board 153. The controller 1521 is used to control the servo drive board 151 to generate a corresponding current output to the frameless torque motor 1 according to the position signal of the motor output shaft 101 detected by the encoder 1531 and the motor control signal.
[0054] In some embodiments, the servo drive board 151 is fixedly connected to the bearing seat 10. Figure 1 and Figure 3 As shown, the servo drive board 151 is provided with a three-phase inverter 1511, and a heat sink is arranged between the three-phase inverter 1511 and the shell 9 to conduct the heat of the three-phase inverter 1511 to the shell 9.
[0055] In some embodiments, the servo drive board 151 is fixedly connected to the bearing seat 10. Figure 3 As shown, the linear joint servo module further comprises a temperature detection module 411 connected to a second sampling end ADC2 of the controller 1521. The temperature detection module 411 detects the temperature of the three-phase inverter 1511 and generates a temperature detection signal output to the second sampling end ADC2 of the controller 1521. The controller 1521 outputs a corresponding pulse width modulation (PWM) signal from its PWM signal end according to the temperature detection signal received by its second sampling end ADC2, and outputs a motor drive signal from the motor drive chip 412 to adjust the current output by the three-phase inverter 1511, thereby controlling and adjusting the state of the frameless torque motor 1.
[0056] In some embodiments, in combination with Figure 3 As shown in the figure, the linear joint servo module is connected with the energy storage battery 310, and the energy storage battery 310 supplies power for the linear joint servo module. The linear joint servo module further comprises an EMC filter 320 connected between the three-phase inverter 1511 and the energy storage battery 310. The EMC filter 320 is used to suppress EMI radiation and conduction generated in the inverter process of the driver.
[0057] In some embodiments, in combination with Figure 3 As shown in the figure, the linear joint servo module further comprises a voltage detection module 311 connected with the energy storage battery 310 and a first sampling end ADC1 of the controller 1521. The voltage detection module 311 is used to detect the voltage of the energy storage battery 310 and output the detection result to the first sampling end ADC1. The controller 1521 on the control board 152 can adjust the current generated by the servo drive board 151 according to the sampling signal of the first sampling end ADC1, so as to adjust the state of the frameless torque motor 1.
[0058] In some embodiments, the controller 1521 on the control board 152 can be a DSP processor, and the control, communication, fault or information recording of the frameless torque motor 1 are realized by the DSP processor.
[0059] In some embodiments, the encoder 1531 on the encoder board 153 can be a position encoder with power-off memory.
[0060] In some embodiments, in combination with Figure 3 As shown in the figure, the linear joint servo module further comprises a power supply module connected with the energy storage battery 310 through the EMC filter 320. The power supply module can provide multiple power supply voltages, such as 12V, 5V, 3.3V, etc., for the servo drive board 151, the control board 152 and the encoder board 153.
[0061] In some embodiments, in combination with Figure 3 As shown in the figure, the power supply module can comprise a first voltage conversion unit 331, a second voltage conversion unit 332, a third voltage conversion unit 333 and a fourth voltage conversion unit 334. The third voltage conversion unit 333 is connected with the energy storage battery 310 through the EMC filter 320, and can generate a first power supply voltage to supply power for the motor drive chip 412. The motor drive chip 412 is connected with a pulse width modulation signal end PWM on the controller 1521. The controller 1521 outputs corresponding pulse width modulation signals from the pulse width modulation signal end PWM, and the motor drive chip 412 outputs motor drive signals to adjust the current output by the three-phase inverter 1511, so as to control and adjust the state of the frameless torque motor 1.
[0062] In some embodiments, the voltage range output by the third voltage conversion unit 333 can be 12V-48V.
[0063] In some embodiments, the first voltage conversion unit 331 is connected to the energy storage battery 310 through the EMC filter 320, and the first voltage conversion unit 331 can generate a first power supply voltage. The voltage range output by the first voltage conversion unit 331 can be 5V-48V.
[0064] In some embodiments, the second voltage conversion unit 332 is connected to the first voltage conversion unit 331, and the second voltage conversion unit 332 can generate a second power supply voltage to the first power supply end VCC1 according to the first power supply voltage output by the first voltage conversion unit 331. The voltage range output by the second voltage conversion unit 332 can be 3V-5V.
[0065] In some embodiments, the fourth voltage conversion unit 334 is connected to the first voltage conversion unit 331, and the fourth voltage conversion unit 334 can generate multiple fourth power supply voltages to the second power supply end VCC2 and the third power supply end VCC3 according to the first power supply voltage output by the first voltage conversion unit 331.
[0066] In some embodiments, the voltages of the second power supply end VCC2 and the third power supply end VCC3 can be 3.3V and 1.2V respectively, and the first power supply end VCC1, the second power supply end VCC2 and the third power supply end VCC3 can all be used to supply power to the controller 1521.
[0067] In some embodiments, in combination with Figure 3 As shown in FIG. 12, the first signal end IO1 of the controller 1521 can be connected to the display module 302, and the state of the controller 1521 and the frameless torque motor 1 can be displayed by the display module 302.
[0068] In some embodiments, in combination with Figure 3 As shown in FIG. 12, the joint test working group pin JTAG of the controller 1521 is connected to the download port 301, which can be used for data interaction with external equipment, and also can be used for chip internal test of the controller 1521.
[0069] In some embodiments, in combination with Figure 3As shown, the linear joint servo module further comprises a current sensor 420 and an overcurrent protection module 421, the current sensor 420 is connected to the second signal end IO2 of the controller 1521 through the overcurrent protection module 421, the current sensor 420 is used to detect the current from the three-phase inverter 1511 to the motor end, the controller 1521 can control the torque of the motor by controlling the output current of the three-phase inverter 1511, indirectly control the output torque of the reducer, thereby realizing the torque mode control of the joint module. At the same time, the overcurrent protection module 421 can provide motor short circuit detection function, when the current at the motor end is overcurrent, the overcurrent protection module 421 can judge that the motor is short-circuited, output corresponding detection signal to the second signal end IO2 of the controller 1521, the controller 1521 adjusts the current output by the three-phase inverter 1511 according to the detection signal, thereby controlling and adjusting the state of the frameless torque motor 1.
[0070] In some embodiments, in combination with Figure 3 As shown, the linear joint servo module further comprises a motor temperature sensor 432, the motor temperature sensor 432 samples the temperature of the frameless torque motor 1 to obtain a corresponding motor temperature sampling signal, and outputs the motor temperature sampling signal to the third sampling end ADC3 of the controller 1521, and the controller 1521 is further used to control the servo drive board 151 to adjust the state of the frameless torque motor 1 according to the motor temperature sampling signal.
[0071] In some embodiments, in combination with Figure 3 As shown, the frameless torque motor 1 is connected with the motor output shaft 101 through the planetary roller screw 2, and the planetary roller screw 2 converts the rotary motion of the motor output shaft 101 of the frameless torque motor 1 into linear motion. The rotation of the fish-eye bearing 14 is linked with the planetary roller screw 2 and the motor output shaft 101, the force sensor 5 can collect the torque information of the motor output shaft 101, and send the torque information to the fourth sampling end ADC4 of the controller 1521, and the control board 152 is further used to control the servo drive board 151 to adjust the state of the frameless torque motor 1 according to the torque information.
[0072] In some embodiments, in combination with Figure 3 As shown, the linear joint servo module further comprises a storage chip 303, the storage chip 303 is connected with the IIC interface of the controller 1521, and the storage chip 303 can be an electrically erasable programmable read only memory (EEPROM). The EEPROM is used to store the related parameters and fault information of the motor control.
[0073] In some embodiments, in combination with Figure 3As shown, the linear joint servo module further includes a serial communication chip 204 connected to the serial communication end CAN of the controller 1521.
[0074] In some embodiments, the servo drive board 151 is connected to the controller 1521. As shown, the controller 1521 is further provided with a transceiver end UART, which can be provided with an asynchronous transceiver transmitter to facilitate the function expansion of the linear joint servo module.
[0075] In some embodiments, the servo drive board 151 is provided with a three-phase inverter 1511, which realizes the control function of power devices, and contains a motor driving circuit and power devices, wherein a plurality of power devices form a three-phase full-bridge circuit structure, which can realize the three-phase current control function of the motor. The power device is the main heat generating device, and the temperature is high during the working process, which needs to be cooled through the shell of the joint module.
[0076] In some embodiments, the power device can be a metal-oxide-semiconductor field-effect transistor (MOSFET).
[0077] The embodiments of the present application also provide a driving device comprising the linear joint servo module according to any one of the above embodiments.
[0078] The embodiments of the present application also provide a humanoid robot comprising: a robot leg component, and a plurality of linear joint servo modules according to any one of the above embodiments, which are used to drive the robot leg component to move.
[0079] The embodiments of the present application provide a linear joint servo module, a driving device and a humanoid robot. The stator of the frameless torque motor is fixedly connected with the shell, the frameless torque motor is connected with the motor output shaft through the planetary roller screw, the single-pole pair magnet is arranged on the motor output shaft, the encoder board is arranged opposite to the single-pole pair magnet, the position signal of the motor output shaft is generated by the encoder board according to the magnetic field change generated by the rotation of the single-pole pair magnet, and the position signal is sent to the control board. The control board controls the servo drive board to generate corresponding current output to the frameless torque motor according to the position signal and the motor control signal, so as to control the state of the frameless torque motor. The shell is used to fix the servo drive board, the control board and the encoder board, which can reduce the weight of the module, improve the motion performance, and is beneficial to realize the lightweight design of the robot and the purpose of quick replacement and maintenance.
[0080] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is taken as an example, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the above device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit or module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or software functional unit. In addition, the specific name of each functional unit or module is only for easy distinction, and does not limit the protection scope of the application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.
[0081] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.
[0082] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the application.
[0083] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are only schematic, for example, the division of the above modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual units can be indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.
[0084] The units described above as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
[0085] In addition, each of the function units in each of the embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.
[0086] The integrated module / unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be implemented by a computer program instructing related hardware to complete, and the above-mentioned computer program can be stored in a computer readable storage medium. When the processor executes the computer program, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
[0087] The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.
Claims
1. A linear joint servo module, characterized in that, The linear joint servo module includes: a frameless torque motor, a planetary roller screw, a servo drive board, a control board, an encoder board, and a housing; The stator of the frameless torque motor is fixedly connected to the housing, and the housing is also used to fix the servo drive board, the control board and the encoder board; The frameless torque motor is connected to the motor output shaft via the planetary roller screw, and a single-pole pair of magnets is provided on the motor output shaft; The encoder board is arranged opposite to the monopole pair magnets and is used to generate a position signal of the motor output shaft based on the change in the magnetic field generated by the rotation of the monopole pair magnets, and send the position signal to the control board. The control board is used to control the servo drive board to generate corresponding current output to the frameless torque motor according to the position signal and the motor control signal, so as to control the state of the frameless torque motor.
2. The linear joint servo module as described in claim 1, characterized in that, The linear joint servo module also includes: a bearing housing, a front cover, a first ball bearing, and a second ball bearing; The housing, the front cover, and the bearing seat form a cavity; The planetary roller screw forms a left limit position through the support nut and the first ball bearing to restrict the frameless torque motor from moving to the left along the axial direction; The planetary roller screw is positioned to the right by a limiting nut and the second ball bearing, thereby restricting the frameless torque motor from moving to the right along the axial direction.
3. The linear joint servo module as described in claim 1, characterized in that, The linear joint servo module also includes: a back cover, a pressure cover, a fisheye bearing, and a force sensor; The force sensor is mounted on the rear cover and is fixed and pressed in place by the pressure cap; The fisheye bearing is fixed to the force sensor and the planetary roller screw; The force sensor is used to collect the torque information of the fisheye bearing and send the torque information to the control board. The control board is also used to control the servo drive board to adjust the state of the frameless torque motor according to the torque information.
4. The linear joint servo module as described in claim 1, characterized in that, The linear joint servo module also includes: a limiting sleeve, a first sealing ring, and a second sealing ring; The planetary roller screw is sealed to the stator of the frameless torque motor or the housing through a limiting sleeve, the first sealing ring, and the second sealing ring.
5. The linear joint servo module as described in claim 2, characterized in that, The servo drive board, the control board, and the encoder board are stacked together.
6. The linear joint servo module as described in claim 5, characterized in that, The servo drive board, the control board, the encoder board, and the bearing housing are fixedly connected.
7. The linear joint servo module as described in claim 1, characterized in that, The control board is equipped with a controller, which is connected to the encoder on the encoder board; The controller is used to control the servo drive board to generate a corresponding current output to the frameless torque motor based on the position signal of the motor output shaft detected by the encoder and the motor control signal.
8. The linear joint servo module as described in claim 1, characterized in that, A three-phase inverter is provided on the servo drive board, and a heat sink is provided between the three-phase inverter and the housing. The heat sink is used to conduct the heat of the three-phase inverter to the housing.
9. A driving device, characterized in that, Includes the linear joint servo module as described in any one of claims 1 to 8.
10. A humanoid robot, characterized in that, include: A robotic leg component, comprising a plurality of linear joint servo modules as described in any one of claims 1 to 8, the linear joint servo modules being used to drive the robotic leg component to move.