Joint power module and humanoid robot

Abstract

According to the joint power module and the humanoid robot, through compact and integrated design, the space utilization rate of the robot and the dynamic performance of the robot can be effectively improved. The harmonic reducer steel wheel assembly comprises a harmonic reducer steel wheel and a crossed roller bearing, and the harmonic reducer steel wheel and the crossed roller bearing are integrally formed. The motor assembly is installed in the joint shell, the motor assembly is arranged in the harmonic reducer flexible gear, the motor assembly is connected with the wave generator, the wave generator is connected with the harmonic reducer flexible gear, the harmonic reducer flexible gear is connected with the harmonic reducer steel wheel assembly, and the harmonic reducer steel wheel assembly is connected with the harmonic reducer steel wheel assembly. The harmonic reducer steel wheel assembly is connected with the output flange; a placing area is arranged between the harmonic reducer steel wheel assembly and the output flange, and the high-speed end encoder and the low-speed end encoder are placed in the placing area.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent machinery, and in particular to a joint power module and a humanoid robot. BACKGROUND

[0002] In the field of robots, the joint power module as a core component directly affects the running efficiency, precision and reliability of the entire robot. The traditional joint power module includes a harmonic reducer, a motor and a driver and other components. The cooperative work of these components realizes precise control and efficient power transmission of the robot joint.

[0003] However, the current joint power module generally adopts a separate assembly mode of harmonic reducer and crossed roller bearing. This split assembly mode not only increases the complexity and cost of assembly, but also may affect the overall rigidity and precision of the joint due to the fitting gap between the components. In addition, the motor is installed in an external mode in the joint power module, which leads to an overall large size of the joint of the robot and an increase in weight, making the robot overall adaptability low and unable to make high-response actions, directly affecting the dynamic performance of the robot. CONTENT OF THE UTILITY MODEL

[0004] The present application provides a joint power module and a humanoid robot to solve the above technical problems.

[0005] The first aspect of the present application provides a joint power module, comprising: a joint shell, a motor assembly, a wave generator, a harmonic reducer flexible wheel, a harmonic reducer steel wheel assembly, an output flange, a high-speed end encoder, a low-speed end encoder and a connecting piece.

[0006] The harmonic reducer steel wheel assembly comprises a harmonic reducer steel wheel and a crossed roller bearing, and the harmonic reducer steel wheel and the crossed roller bearing are integrally formed.

[0007] The motor assembly is installed in the joint shell and is arranged inside the harmonic reducer flexible wheel. The motor assembly is connected with the wave generator, the wave generator is connected with the harmonic reducer flexible wheel, the harmonic reducer flexible wheel is connected with the harmonic reducer steel wheel assembly, and the harmonic reducer steel wheel assembly is connected with the output flange through the connecting piece.

[0008] A placement area is arranged between the harmonic reducer steel wheel assembly and the output flange, and the high-speed end encoder and the low-speed end encoder are placed in the placement area.

[0009] Optionally, the joint power module further comprises a joint rear cover, a skeleton oil seal and a hollow pipe, the joint rear cover is arranged on one side of the joint shell, the harmonic reducer steel wheel assembly is arranged on the other side of the joint shell, the hollow pipe is arranged in the joint shell, and the skeleton oil seal is arranged on one side of the hollow pipe.

[0010] Optionally, the hollow pipe is inserted into the harmonic reducer flexspline, support bearings and high-speed support bearings are arranged in the harmonic reducer flexspline, the support bearings and the high-speed support bearings are arranged outside the hollow pipe, and a preset interval is arranged between the support bearings and the high-speed support bearings.

[0011] Optionally, the motor assembly comprises a motor stator and a motor rotor, the motor stator and the motor rotor are arranged in the harmonic reducer flexspline, the motor stator and the motor rotor are arranged around the hollow pipe, the motor rotor is arranged in the motor stator, and the motor rotor is connected with the wave generator.

[0012] Optionally, the motor stator is mounted in the harmonic reducer flexspline through a motor stator fixing member.

[0013] Optionally, an encoder driving board is mounted in the placement area, and the encoder driving board is connected with the high-speed end encoder and the low-speed end encoder.

[0014] Optionally, a joint driving board is mounted in the joint rear cover.

[0015] Optionally, the output flange and the harmonic reducer steel wheel assembly are detachably connected, and an O-shaped sealing ring is arranged between the output flange and the harmonic reducer steel wheel assembly.

[0016] Optionally, the joint power module further comprises a torque sensor, and the torque sensor is connected with the output flange.

[0017] The second aspect of the application provides a humanoid robot, wherein the humanoid robot is provided with the joint power module according to the first aspect or any one of the first aspect.

[0018] From the above technical solutions, the application has the following advantages:

[0019] 1. By integrally forming the harmonic reducer steel wheel and the cross-roller bearing, and by embedding the motor assembly in the harmonic reducer flexspline, the overall size and weight of the joint power module can be effectively reduced, and the compact design enables the joint power module to output greater torque while being smaller in size and weight, thereby improving the output torque density of the joint power module.

[0020] 2. The integrally formed harmonic reducer steel wheel assembly can reduce the fitting gap between components, improve the rigidity and stability of the joint, effectively reduce the influence of the torque sensor by the deformation and vibration of the harmonic reducer flexspline cup, thereby reducing the noise of the torque output signal, so that the joint module can respond to the instruction faster, and the dynamic performance of the robot is improved.

[0021] 3. The key components such as motor assembly, wave generator, harmonic reducer flexspline, harmonic reducer steel wheel assembly are compactly integrated in the joint shell, effectively reducing the volume of the joint power module, and the highly integrated structure improves the utilization rate of the internal space of the joint power module.

[0022] 4. The application effectively improves the space utilization of the robot and the dynamic performance of the robot through compact and integrated design. BRIEF DESCRIPTION OF DRAWINGS

[0023] Fig. 1 is the overall mechanism schematic diagram of the joint power module provided by the application;

[0024] Fig. 2 is the structure cross-sectional view schematic diagram of the joint power module provided by the application. DETAILED DESCRIPTION

[0025] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "transverse", "longitudinal" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to illustrate the relative positional relationship between the components or constituent parts, and do not particularly limit the specific installation orientation of the components or constituent parts.

[0026] In addition, in addition to being used to indicate the orientation or positional relationship, the above-mentioned partial terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances.

[0027] In addition, the terms "mounting", "setting", "provided with", "connection", "connected" should be understood broadly. For example, it can be fixed connection, detachable connection, or integral structure; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication between two devices, elements or constituent parts. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0028] In addition, the structures, proportions, sizes, etc. drawn in the drawings attached in the present application are only used to cooperate with the disclosed content, for the understanding and reading of the person skilled in the art, and do not have technical substantial meaning, any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effect and the purpose that can be achieved by the present application, still falls within the scope of the disclosed technical content.

[0029] The technical solutions in the present application will be described clearly and completely in the present application combined with the drawings attached in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the person skilled in the art without creative labor belong to the scope of protection of the present application.

[0030] The current joint power module generally adopts the way of separate assembly of harmonic reducer and cross roller bearing, this kind of split type assembly not only increases the complexity and cost of assembly, but also may affect the overall rigidity and precision of the joint due to the fitting gap between the components, and the motor in the joint power module is installed in an external way, which leads to the overall size of the robot joint being too large and the weight increasing, so that the robot overall adaptability is low, the robot cannot make high response action, which directly affects the dynamic performance of the robot.

[0031] Based on this, the present application provides a joint power module and a humanoid robot, which can effectively improve the space utilization of the robot and the dynamic performance of the robot through compact and integrated design.

[0032] Please refer to Figs. 1-2 The present application provides a joint power module, which comprises a joint shell 1, a motor assembly, a wave generator 13, a harmonic reducer flexible wheel 15, a harmonic reducer steel wheel assembly 14, an output flange 9, a high-speed end encoder 7, a low-speed end encoder 8 and a connecting piece. The harmonic reducer steel wheel assembly 14 comprises a harmonic reducer steel wheel and a cross roller bearing, which are integrally formed. The motor assembly is installed in the joint shell 1, and is arranged inside the harmonic reducer flexible wheel 15. The motor assembly is connected with the wave generator 13, the wave generator 13 is connected with the harmonic reducer flexible wheel 15, the harmonic reducer flexible wheel 15 is connected with the harmonic reducer steel wheel assembly 14, and the harmonic reducer steel wheel assembly 14 is connected with the output flange 9 through the connecting piece. A placement area is arranged between the harmonic reducer steel wheel assembly 14 and the output flange 9, and the high-speed end encoder 7 and the low-speed end encoder 8 are placed in the placement area.

[0033] First, introduce the function and role of each component of the application:

[0034] Joint shell 1: as the protection shell and support structure of the entire joint power module, it is convenient for the connection and integration of the joint power module and other components.

[0035] Motor assembly: is the power source of the joint power module, responsible for converting electrical energy into mechanical energy, generating torque through rotation, the torque output of the motor assembly is transmitted to the harmonic reducer through the wave generator 13, driving the entire joint power module to work.

[0036] Wave generator 13: is one of the key components of the harmonic reducer, responsible for converting the rotational motion of the motor assembly into harmonic motion, the special shape of the wave generator 13 causes the elastic deformation of the harmonic reducer flexspline 15, thereby generating relative motion with the harmonic reducer steel wheel assembly 14, achieving the effect of speed reduction.

[0037] Harmonic reducer flexspline 15: works with the wave generator 13 to transmit torque through elastic deformation, the flexible design of the harmonic reducer flexspline 15 allows the joint power module to maintain high precision and stability while transmitting torque.

[0038] Harmonic reducer steel wheel assembly 14: includes a harmonic reducer steel wheel and a cross roller bearing, both of which are integrally formed, wherein the harmonic reducer steel wheel serves as a fixed component of the harmonic reducer and works with the harmonic reducer flexspline 15 to achieve speed reduction transmission, and the cross roller bearing provides radial and axial support to ensure stable operation of the harmonic reducer steel wheel.

[0039] Among them, the harmonic reducer steel wheel and the cross roller bearing are integrally formed, which can effectively reduce the fitting gap between the components and improve the rigidity and stability of the joint power module. At the same time, the load capacity of the cross roller bearing can determine the maximum load capacity of the entire joint power module.

[0040] Output flange 9: connects the harmonic reducer steel wheel assembly 14 and the external load, and transmits torque to the load.

[0041] High-speed encoder 7 and low-speed encoder 8: used to detect the speed and position of the motor assembly and the output flange 9. Among them, the encoder provides accurate feedback signals for closed-loop control and precision adjustment of the joint power module, the high-speed encoder 7 monitors the speed and position of the motor assembly to ensure that the motor assembly operates according to the predetermined trajectory, and the low-speed encoder 8 monitors the speed and position of the output flange 9 to reflect the actual motion state of the joint power module.

[0042] In practical applications, the motor assembly rotates after being powered on to generate a torque, which is transmitted to the harmonic reducer flexspline 15 through the wave generator 13 to make the harmonic reducer flexspline 15 elastically deform, the deformation of the harmonic reducer flexspline 15 interacts with the harmonic reducer steel wheel, and the harmonic reducer steel wheel is fixed and immovable, so as to force the harmonic reducer flexspline 15 to rotate relative to the harmonic reducer steel wheel, thereby achieving speed reduction transmission. The reduced torque is transmitted to the external load through the output flange 9 to drive the load to perform a predetermined movement.

[0043] The high-speed end encoder 7 and the low-speed end encoder 8 detect the rotation speed and position of the motor assembly and the output flange 9 respectively, and transmit the detection signals to the control system. The control system adjusts the rotation speed and torque of the motor assembly according to the feedback signals to achieve accurate closed-loop control. For example, when the rotation speed of the output flange 9 deviates from the predetermined value, the control system adjusts the rotation speed of the motor to correct the deviation.

[0044] The motor assembly, the wave generator 13, the harmonic reducer flexspline 15, the harmonic reducer steel wheel assembly 14 and other key components are compactly integrated in the joint shell 1, effectively reducing the volume and weight of the joint power module, improving the space utilization, and enabling the joint to realize more functions in a limited space.

[0045] The integrally formed harmonic reducer steel wheel assembly 14 reduces the fitting gap between components, improves the rigidity and stability of the joint power module, and reduces vibration and noise caused by the gap. Therefore, the joint power module realizes low noise and high efficiency through compact and integrated design.

[0046] Optionally, the joint power module further comprises a joint rear cover 19, a skeleton oil seal 10 and a hollow pipe 11. The joint rear cover 19 is arranged on one side of the joint shell 1, the harmonic reducer steel wheel assembly 14 is arranged on the other side of the joint shell 1, the hollow pipe 11 is arranged in the joint shell 1, and the skeleton oil seal 10 is arranged on one side of the hollow pipe 11.

[0047] In the embodiment, the joint rear cover 19 is arranged on one side of the joint shell 1 to form a closed structure with the joint shell 1, and can be connected to the joint shell 1 by fasteners to ensure the firmness and sealing performance of the connection. The skeleton oil seal 10 is arranged on one side of the hollow pipe 11 at the connection between the joint shell 1 and the hollow pipe 11. The skeleton oil seal 10 is an effective sealing element that can prevent lubricant from leaking out of the joint power module and prevent external contaminants from entering the module. Therefore, the skeleton oil seal 10 can maintain the effective distribution of lubricant between components, reduce friction and wear, and prolong the service life of the joint power module.

[0048] The hollow pipe 11 is arranged in the joint shell 1 and penetrates through the joint shell 1, wherein the hollow pipe 11 serves as a passage for internal cables of the joint power module, and the hollow pipe 11 provides an orderly passage for the internal cables of the joint power module, avoids the disorder and entanglement of the cables, and improves the neatness and reliability of the module.

[0049] Optionally, the hollow pipe 11 is inserted into the harmonic reducer flexspline 15, the harmonic reducer flexspline 15 is provided with a support bearing 4 and a high-speed support bearing 42, the support bearing 4 and the high-speed support bearing 42 are arranged outside the hollow pipe 11, and a preset interval is arranged between the support bearing 4 and the high-speed support bearing 42.

[0050] In the embodiment of the present application, the hollow pipe 11 is inserted into the harmonic reducer flexspline 15, so as to ensure the close connection between the hollow pipe 11 and the harmonic reducer flexspline 15, while maintaining the flexibility of relative movement therebetween.

[0051] The connection of the hollow pipe 11 and the harmonic reducer flexspline 15 makes the structure of the joint power module more compact, reduces external connecting components, and improves the overall aesthetics and reliability.

[0052] In the harmonic reducer flexspline 15, the support bearing 4 and the high-speed support bearing 42 are arranged outside the hollow pipe 11, the support bearing 4 is used to bear radial load and maintain the stable position of the hollow pipe 11, and the high-speed support bearing 42 is used to bear higher rotation speed and smaller friction, so as to ensure the stability of the hollow pipe 11 during high-speed rotation. The support bearing 4 and the high-speed support bearing 42 jointly bear the radial and axial loads of the hollow pipe 11, and ensure the stable support of the hollow pipe 11 in the joint power module.

[0053] Correspondingly, a preset interval is arranged between the support bearing 4 and the high-speed support bearing 42, the preset interval provides a flow space for lubricant between the support bearing and the high-speed support bearing 42, which is helpful for uniform distribution and heat dissipation of the lubricant, and prolongs the service life of the support bearing 4 and the high-speed support bearing 42.

[0054] It should be noted that the interval between the support bearing 4 and the high-speed support bearing 42 can be set according to actual conditions, which is not limited here.

[0055] Optionally, the motor assembly comprises a motor stator 17 and a motor rotor 16, the motor stator 17 and the motor rotor 16 are arranged in the harmonic reducer flexspline 15, the motor stator 17 and the motor rotor 16 are arranged around the hollow tube 11, the motor rotor 16 is arranged in the motor stator 17, the motor rotor 16 is connected with the wave generator 13, and the motor stator 17 is installed in the harmonic reducer flexspline 15 through the motor stator 17 fixing piece 5.

[0056] In the embodiment of the present application, the motor assembly is composed of a motor stator 17 and a motor rotor 16, and the motor stator 17 and the motor rotor 16 are arranged in the harmonic reducer flexspline 15, wherein the motor stator 17 and the motor rotor 16 are arranged around the hollow tube 11, so that the close cooperation between the motor assembly and the harmonic reducer flexspline 15 and the hollow tube 11 can be ensured.

[0057] The motor stator 17 is installed in the harmonic reducer flexspline 15 through the motor stator 17 fixing piece 5, and the motor stator 17 fixing piece 5 ensures the stable position of the motor stator 17 in the harmonic reducer flexspline 15, preventing the motor stator 17 from moving or shaking during operation. The motor stator 17 is fixedly installed to provide a stable magnetic field environment for the motor rotor 16 and ensure that the motor can normally operate.

[0058] The motor rotor 16 is arranged in the motor stator 17, and a certain gap is maintained between the motor rotor 16 and the motor stator 17, so that the motor rotor 16 can freely rotate under the action of the magnetic field, and the output end of the motor rotor 16 is connected with the wave generator 13. The wave generator 13 is an important component of the harmonic reducer, and converts the rotary motion of the motor rotor 16 into the input motion of the harmonic reducer, thereby driving the wave reducer flexspline to output.

[0059] By integrating the motor assembly in the harmonic reducer, seamless integration between the motor assembly and the harmonic reducer is achieved, thereby greatly reducing the volume and weight of the joint power module.

[0060] Optionally, the placement area is provided with an encoder driving board 12, and the encoder driving board 12 is connected with the high-speed end encoder 7 and the low-speed end encoder 8.

[0061] In the embodiment of the present application, the placement area composed of the harmonic reducer steel wheel assembly 14 and the output flange 9 is provided with the encoder driving board 12, the encoder driving board 12 is connected with the high-speed end encoder 7 and receives signals from the high-speed end encoder 7, and the high-speed end encoder 7 is used for monitoring the high-speed rotation state of the motor. The encoder driving board 12 is connected with the low-speed end encoder 8, and the low-speed end encoder 8 is used for monitoring the motion state after deceleration.

[0062] The connection between the encoder driving board 12 and the high-speed end encoder 7 and the low-speed end encoder 8 can be realized by a cable, a connector or wireless transmission, and the like, and can be set according to actual conditions.

[0063] In actual application, the encoder driving board 12 receives the original signal from the encoder, processes and decodes it, and converts it into a digital signal or an analog signal that can be recognized by the controller. The processed signal is transmitted to the motor through the encoder driving board 12 to provide accurate feedback information for the closed-loop control of the motor.

[0064] The joint driving board 18 is installed in the joint rear cover 19.

[0065] Optionally, the connection between the output flange 9 and the harmonic reducer steel wheel assembly 14 is detachable connection, and an O-shaped sealing ring 6 is arranged between the output flange 9 and the harmonic reducer steel wheel assembly 14.

[0066] In the embodiment of the application, the connection between the output flange 9 and the harmonic reducer steel wheel assembly 14 is detachable connection, such as bolt and screw connection, which is not limited here. Through the detachable connection, the output flange 9 can be conveniently installed and detached, and the joint power module is convenient for maintenance, repair or replacement of parts.

[0067] Optionally, the connection between the output flange 9 and the harmonic reducer steel wheel assembly 14 is detachable connection, and an O-shaped sealing ring 6 is arranged between the output flange 9 and the harmonic reducer steel wheel assembly 14.

[0068] Optionally, the joint power module further comprises a torque sensor 3, and the torque sensor 3 is connected with the output flange 9.

[0069] In the embodiment of the application, the torque sensor 3 is used to measure the torque of the output end of the joint power module, so that the joint power module can adjust the output torque according to the change of the external load to realize accurate force control. In actual application, the torque sensor 3 can be used to realize accurate force control and position control, and improve the operation accuracy and flexibility of the robot.

[0070] The second aspect of the application provides a humanoid robot, wherein the humanoid robot is provided with the joint power module according to the first aspect and any one of the first aspects.

[0071] In the embodiments of the present application, the humanoid robot is generally composed of a head, a trunk, limbs and the like, simulates the body structure of a human being, and is connected between parts through joints to realize flexible movement of the robot.

[0072] The joint power module is one of the core components of the humanoid robot, and is responsible for providing power and control required for joint movement.

[0073] The joint power module has the characteristics of high precision, high stability and high reliability. The joint power module integrates a motor, a speed reducer, a torque sensor and the like, and realizes accurate control of joint movement. Through feedback of the torque sensor, the output torque of the joint power module can be monitored in real time, the movement strategy can be adjusted, and stable movement of the robot can be ensured.

[0074] The humanoid robot provided in the second aspect of the present application realizes accurate control of the whole body movement of the robot by adopting the joint power module as described in the first aspect and any one of the first aspects, and improves the flexibility, accuracy and reliability of the robot.

[0075] It should be noted that the above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A joint power module, characterized in that, include: Joint housing, motor assembly, wave generator, harmonic reducer flex wheel, harmonic reducer steel wheel assembly, output flange, high-speed encoder, low-speed encoder and connectors; The harmonic reducer steel wheel assembly includes a harmonic reducer steel wheel and a crossed roller bearing, wherein the harmonic reducer steel wheel and the crossed roller bearing are integrally formed. The motor assembly is installed in the joint housing. The motor assembly is disposed inside the harmonic reducer flexure. The motor assembly is connected to the wave generator. The wave generator is connected to the harmonic reducer flexure. The harmonic reducer flexure is connected to the harmonic reducer steel wheel assembly. The harmonic reducer steel wheel assembly is connected to the output flange through the connector. A placement area is provided between the steel wheel assembly of the harmonic reducer and the output flange, and the high-speed encoder and the low-speed encoder are placed in the placement area.

2. The joint power module according to claim 1, characterized in that, The joint power module also includes a joint rear cover, a skeleton oil seal, and a hollow tube. The joint rear cover is disposed on one side of the joint housing, the harmonic reducer steel wheel assembly is disposed on the other side of the joint housing, the hollow tube is disposed in the joint housing, and the skeleton oil seal is disposed on one side of the hollow tube.

3. The joint power module according to claim 2, characterized in that, The hollow tube is inserted into the flexible wheel of the harmonic reducer. The flexible wheel of the harmonic reducer is provided with a support bearing and a high-speed support bearing. The support bearing and the high-speed support bearing are located outside the hollow tube, and a preset distance is provided between the support bearing and the high-speed support bearing.

4. The joint power module according to claim 3, characterized in that, The motor assembly includes a motor stator and a motor rotor, both of which are disposed in the flex wheel of the harmonic reducer. Both the motor stator and the motor rotor are arranged around the hollow tube, with the motor rotor disposed within the motor stator and connected to the wave generator.

5. The joint power module according to claim 4, characterized in that, The motor stator is mounted in the harmonic reducer flexspline via a motor stator fixing component.

6. The joint power module according to claim 1, characterized in that, An encoder driver board is installed in the placement area, and the encoder driver board is connected to the high-speed encoder and the low-speed encoder.

7. The joint power module according to claim 2, characterized in that, A joint drive plate is installed in the rear cover of the joint.

8. The joint power module according to claim 1, characterized in that, The connection between the output flange and the harmonic reducer steel wheel assembly is detachable, and an O-ring is provided between the output flange and the harmonic reducer steel wheel assembly.

9. The joint power module according to claim 1, characterized in that, The joint power module also includes a torque sensor, which is connected to the output flange.

10. A humanoid robot, characterized in that, The humanoid robot is equipped with a joint power module as described in any one of claims 1 to 9.

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