High-thrust miniature planetary roller screw rod linear humanoid robot joint

Abstract

The utility model relates to the field of humanoid robots, discloses a high-thrust miniature planetary roller screw rod linear humanoid robot joint, is applied to a forearm linear joint in a humanoid robot arm, and aims to solve the problem that the precision and the stability are insufficient when an existing humanoid robot joint bears high thrust. The joint comprises a planetary roller lead screw mechanism, a driving motor and a shell, the planetary roller lead screw mechanism is composed of a center lead screw, a plurality of planetary rollers and an annular nut, high-precision linear motion is achieved through rolling of the planetary rollers, the driving motor is connected with the center lead screw through the nut and provides large thrust output, the shell is made of high-strength materials, and the shell is made of high-strength materials. Through the design of the planetary roller lead screw mechanism, the loading capacity and precision of the joint are remarkably improved, and the universal joint is suitable for the field of humanoid robots and has wide application prospects.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robots, specifically a high-thrust micro planetary roller screw linear humanoid robot joint. Background Technology

[0002] The linear joint of the forearm of a humanoid robot arm is a particularly important component in the structure of the humanoid robot arm. It plays a key role in parameters such as load, accuracy, and weight of the humanoid robot. With the rapid development of industrial automation, humanoid robots are being used more and more widely in manufacturing, medical and logistics fields. As the core component of humanoid robots, the performance of robot joints directly affects the robot's accuracy, speed and load capacity. Traditional robot joints mostly use rotary motors with reducers. Although the technology is mature, it has certain limitations in high-precision, high-speed and high-load application scenarios, and the size is relatively large.

[0003] In recent years, linear drive technology has been gradually introduced into robot joint design, especially roller screw technology, which has attracted attention due to its high precision, high rigidity and high efficiency. However, traditional roller screw structures still have some problems in robot joints, such as limited load capacity, complex structure and large size. To address these issues, we propose a high-thrust micro planetary roller screw linear humanoid robot joint. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides a high-thrust micro planetary roller screw linear humanoid robot joint, solving the aforementioned problems.

[0005] To achieve the aforementioned objectives, this utility model provides the following technical solution: a high-thrust micro planetary roller screw linear humanoid robot joint, comprising a planetary roller screw structure, a motor and drive structure, and a mechanical housing structure. The planetary roller screw structure is the core structure of the joint, consisting of a central screw, multiple planetary rollers, and an annular nut. The motor and drive structure includes modules for joint power supply, communication, detection, and control. The mechanical housing structure provides a standard interface for connecting the joint to the robotic arm.

[0006] Preferably, the planetary roller screw structure includes a locking nut, a double-row angular contact bearing, a nut, a push rod, a bearing mounting base, and a cylindrical roller bearing. The nut is threaded and connected to the push rod via a roller or the thread on the roller. The double-row angular contact bearing is concentrically connected to one end of the nut and is fixedly connected to the locking nut. The nut, opposite to the double-row angular contact bearing, is concentrically connected to the cylindrical roller bearing. The nut is glued to the inner ring of the cylindrical roller bearing, and the outer ring of the cylindrical roller bearing is concentrically fixedly connected to the bearing mounting base.

[0007] Preferably, the motor and drive structure includes a motor rotor, a motor stator, an encoder stationary plate, an encoder moving plate, a force sensor, an encoder support plate, an encoder adapter plate, a cable cover, a motor cable, a driver mounting plate, a driver, and a housing. The inner ring of the motor rotor is concentrically fixedly connected to a nut, and the outer ring of the motor stator is concentrically fixedly connected to the housing.

[0008] Preferably, the driver mounting plate is fixedly connected to the housing by screws, the driver is fixedly connected to the driver mounting plate by screws, the motor cable passes through the housing and is connected to the driver, the encoder stationary plate is fixedly connected to the bearing mounting seat by screws, and the encoder moving plate is concentrically locked by a set screw and a nut.

[0009] Preferably, the encoder support plate is fixedly connected to the bearing mounting seat by screws, and the encoder support plate is provided with an encoder adapter plate. The outer side of the housing is provided with a cable cover. The force sensor is fixed concentrically to the rear cover by screws, and the force sensor is provided with a fisheye connector on the side away from the rear cover.

[0010] Preferably, the mechanical housing structure includes a double-row angular contact bearing outer cover, a guide bushing, a spherical connector, a dust seal, a rear cover, and a buffer pad. The double-row angular contact bearing outer cover is locked to the housing by screws and presses against the outer ring of the double-row angular contact bearing. A guide bushing is provided on the inner side of the double-row angular contact bearing outer cover, and a dust seal is provided on the outer side of the shaft end of the double-row angular contact bearing outer cover. The push rod passes through the double-row angular contact bearing outer cover, the guide bushing, and the dust seal. A second spherical connector is provided on the shaft end of the push rod. The second spherical connector and the spherical connector are symmetrically distributed. The rear cover is connected to the bearing mounting seat and the housing by screws. A buffer pad is provided at the center of the inner side of the rear cover.

[0011] Compared with the prior art, this utility model provides a high-thrust micro planetary roller screw linear humanoid robot joint, which has the following beneficial effects:

[0012] This high-thrust micro planetary roller screw linear humanoid robot joint combines planetary roller screw and linear transmission technology. The rollers of the planetary roller screw are distributed planetarily within the nut, resulting in uniform load distribution, enabling high thrust output and high load capacity.

[0013] This high-thrust micro planetary roller screw linear humanoid robot joint has no reducer in its structure. The entire joint is based on the planetary roller screw, making it compact and space-saving. It can also be used in some small robots.

[0014] This high-thrust micro planetary roller screw linear humanoid robot joint also has advantages such as high precision, high rigidity, high efficiency, long life, high-speed operation, easy control, simple structure, easy maintenance and small size. Attached Figure Description

[0015] Figure 1 This is a cross-sectional schematic diagram of the joint structure of the linear humanoid robot with a high-thrust micro planetary roller screw according to this utility model.

[0016] In the diagram: 1. Double-row angular contact bearing outer cover; 2. Guide bushing; 3. Fisheye connector; 4. Dust seal; 5. Locking nut; 6. Double-row angular contact bearing; 7. Housing; 8. Motor rotor; 9. Motor stator; 10. Nut; 11. Push rod; 12. Bearing mounting base; 13. Cylindrical roller bearing; 14. Encoder stationary plate; 15. Encoder moving plate; 16. Rear cover; 17. Force sensor; 18. Buffer pad; 19. Encoder support plate; 20. Encoder adapter plate; 21. Cable clamp; 22. Motor cable; 23. Driver mounting plate; 24. Driver. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Please see Figure 1 A high-thrust micro planetary roller screw linear humanoid robot joint includes a planetary roller screw structure, a motor and drive structure, and a mechanical housing structure. The planetary roller screw structure is the core structure of the joint, consisting of a central screw, multiple planetary rollers, and an annular nut. The motor and drive structure includes modules for joint power supply, communication, detection, and control. The mechanical housing structure provides a standard interface to enable the joint to connect with the robotic arm.

[0019] Furthermore, the planetary roller screw structure includes a locking nut 5, a double-row angular contact bearing 6, a nut 10, a push rod 11, a bearing mounting base 12, and a cylindrical roller bearing 13. The nut 10 is threaded and connected to the push rod 11 via a roller or the thread on the roller. The double-row angular contact bearing 6 is concentrically connected to one end of the nut 10 and is fixedly connected to the locking nut 5. The nut 10, facing away from the double-row angular contact bearing 6, is concentrically connected to the cylindrical roller bearing 13. The inner ring of the cylindrical roller bearing 13 is fixed with adhesive, and the outer ring of the cylindrical roller bearing 13 is concentrically fixed with the bearing mounting seat 12. The rollers of the planetary roller screw are planetarily distributed between the nut 10 and the push rod 11, so that the load is evenly distributed, the load-bearing capacity is strong, and the output torque is large. The nut 10 is fixed by the double row angular contact bearing 6 and the cylindrical roller bearing 13 to ensure smooth operation and that the nut 10 can only rotate circumferentially. When the nut 10 rotates, the internal rollers drive the push rod 11 to move back and forth, thereby realizing displacement output.

[0020] Furthermore, the motor and drive structure includes a motor rotor 8, a motor stator 9, an encoder stationary plate 14, an encoder moving plate 15, a force sensor 17, an encoder support plate 19, an encoder adapter plate 20, a cable cover 21, a motor cable 22, a driver mounting plate 23, a driver 24, and a housing 7. The inner ring of the motor rotor 8 is concentrically fixedly connected to the nut 10, and the outer ring of the motor stator 9 is concentrically fixedly connected to the housing 7. The motor stator 9 is fixed to the housing. The driver 24 transmits signals to the motor through the motor cable, driving the motor rotor 8 to rotate. The motor rotor 8 is fixedly connected to the nut 10, thereby driving the nut 10 to rotate. The rotation of the nut 10 drives the push rod 11 to move back and forth, thereby outputting displacement. Through the above process, the electric drive for joint displacement output is realized. Based on the advantages of the planetary roller screw structure, this joint can output a large force.

[0021] Furthermore, the driver mounting plate 23 is fixedly connected to the housing 7 by screws, and the driver 24 is fixedly connected to the driver mounting plate 23 by screws. The motor cable 22 passes through the housing 7 and connects to the driver 24. The encoder stationary disk 14 is fixedly connected to the bearing mounting seat 12 by screws. The encoder moving disk 15 is concentrically locked to the nut 10 by a set screw. The encoder moving disk 15 rotates together with the nut 10. The encoder stationary disk 14 collects the motion parameters of the encoder moving disk 15, which are also the motion parameters of the nut 10, and feeds them back to the driver 24. The target rotation state of the motor rotor 8 can be calculated based on the motion commands preset by the user to the robot joint via the motor. The current output to each winding of the motor stator 9 can be adjusted according to the difference between the target rotation state and the feedback rotation state of the motor rotor 8, thereby adjusting the motion state of the motor rotor 8 and ensuring that the robot joint outputs the motion trajectory according to the expected motion law. At the same time, the rotation state information obtained by the encoder stationary disk 14 can be easily converted into information such as the angular displacement and angular velocity of the motor rotor 8, which can be used by the driver 24 for the position loop control, speed loop control and feedforward control of the motor, thereby improving the response speed of the system's motion control commands.

[0022] Furthermore, the encoder support plate 19 is fixedly connected to the bearing mounting seat 12 by screws, and an encoder adapter plate 20 is provided on the encoder support plate 19. A cable cover 21 is provided on the outer side of the housing 7. The force sensor 17 is concentrically fixed to the rear cover 16 by screws, and a fisheye connector 3 is provided on the side of the force sensor 17 facing away from the rear cover 16. The cable cover 21 seals the motor cable 22, the encoder adapter plate 20, and the cable outlet inside, providing a dustproof and waterproof sealing effect. The force sensor 17 can monitor the force on the joint in real time, providing accurate pressure or tension information to help the control system adjust the robot's movement speed, force, and position, thereby achieving precise control of the robot's movement. The force sensor 17 can also monitor the pressure changes of the joint. Once it exceeds the safe range, the control system can stop the robot's movement in time to avoid injury to the human body. By monitoring the pressure changes of the joint, the force sensor 17 can detect the robot's movement in time. The force sensor 17 detects abnormal joint conditions, such as overload, jamming, or damage, allowing for proactive repair or replacement of faulty components, thus preventing robot downtime and production line interruptions. In applications requiring collaborative work, the force sensor 17 monitors the pressure or tension on the linear joint to achieve load balancing. By adjusting the robot's force and position, it ensures that heavy loads are evenly distributed, improving work efficiency and safety. The force sensor 17 can detect minute joint changes, enabling the control system to adjust the robot's posture and movements in a timely manner, enhancing its application capabilities in complex environments and creating higher work efficiency. By monitoring the interaction between humans and robots, the force sensor 17 helps the humanoid robot understand and adapt to human behavior and intentions, improving user experience and convenience. Meanwhile, the fisheye connector 3 provides a standard external interface for the joint, allowing it to connect to the humanoid robot's elbow joint module or forearm rotation joint module.

[0023] Furthermore, the mechanical housing structure includes a double-row angular contact bearing outer cover 1, a guide bushing 2, a fisheye connector 3, a dust seal 4, a rear cover 16, and a buffer pad 18. The double-row angular contact bearing outer cover 1 is locked to the housing 7 by screws, pressing the outer ring of the double-row angular contact bearing 6. The guide bushing 2 is provided on the inner side of the double-row angular contact bearing outer cover 1, and a dust seal 4 is provided on the outer side of the shaft end of the double-row angular contact bearing outer cover 1. The push rod 11 passes through the double-row angular contact bearing outer cover 1, the guide bushing 2, and the dust seal 4. A second fisheye connector is provided on the shaft end of the push rod 11. The second fisheye connector and the third fisheye connector are symmetrically distributed. The rear cover 16 is connected to the bearing mounting seat 12 and the housing 7 by screws. The rear cover 16 contains... A buffer pad 18 is provided at the center of the side. The guide bushing 2 is precisely matched with the push rod 11 to further ensure the smooth and stable operation of the push rod. At the same time, the dustproof ring 4 seals the position of the joint push rod 11 and the external interface, which provides a good dustproof and waterproof effect for the inside of the joint. The buffer pad 18 is located directly behind the push rod 11 to prevent the push rod from crashing into the rear cover 16 and causing damage to the joint. The fisheye connector 3 is installed on the push rod 11 through a threaded connection, providing a standard external interface for the joint, which can be connected to the end effector of the humanoid robot or the robot wrist joint. The entire joint structure is simple and compact. It adopts a planetary roller screw structure, which can output a large thrust and can be applied to various types of humanoid robots.

[0024] Structural Description:

[0025] Double row angular contact bearing outer cover 1: The double row angular contact bearing outer cover 1 is locked to the housing 7 by screws, pressing the outer ring of the double row angular contact bearing 6. The guide bushing 2 on its inner side cooperates with the push rod 11, and the dust ring 4 on the outer side plays a sealing role, ensuring stable operation of the joint and preventing impurities from entering.

[0026] Guide bushing 2: The guide bushing 2 is installed inside the outer cover 1 of the double row angular contact bearing and is precisely matched with the push rod 11. It can further ensure the smooth and stable operation of the push rod 11, reduce its shaking during movement, and improve the joint movement accuracy.

[0027] Fisheye connector 3: Fisheye connector 3 is threaded onto push rod 11, providing a standard external interface for the joint. It can be connected to the elbow joint module, forearm rotation joint module, end-load structure or wrist joint of humanoid robot to realize the connection of joint with other components.

[0028] Dustproof ring 4: Dustproof ring 4 is installed on the outer side of the shaft end of the outer pressure cover 1 of the double row angular contact bearing, sealing the joint push rod 11 with the external interface, effectively preventing dust, moisture and other impurities from entering the joint, protecting the internal components of the joint and extending the service life of the joint;

[0029] Locking nut 5: Locking nut 5 is fixedly connected to double-row angular contact bearing 6 to fix double-row angular contact bearing 6, ensure its position is stable, and thus ensure that nut 10 runs smoothly, so that the planetary roller screw structure works normally and achieves stable displacement output;

[0030] Double row angular contact bearing 6: The double row angular contact bearing 6 is concentrically connected to one end of the nut 10 and fixed by the locking nut 5. Together with the cylindrical roller bearing 13, it ensures that the nut 10 can only rotate in the circumferential direction, and ensures that when the nut 10 rotates, it drives the roller and push rod 11 to work, and stably outputs joint displacement.

[0031] Outer shell 7: The outer shell 7 is connected to the motor stator 9, the double-row angular contact bearing outer cover 1, the rear cover 16 and other components, providing protection and support for the internal components of the joint. It is the external structural frame of the joint and ensures the overall structural stability of the joint.

[0032] Motor rotor 8: The inner ring of motor rotor 8 is concentrically fixedly connected to nut 10. It rotates under the action of motor stator 9, which drives nut 10 to rotate, thereby causing push rod 11 to move back and forth to achieve joint displacement output. It is a key component of joint electric drive.

[0033] Motor stator 9: The outer ring of motor stator 9 is concentrically fixed with the outer casing 7. It receives the signal transmitted by driver 24 through motor cable 22, drives motor rotor 8 to rotate, provides power for joint movement, and ensures normal operation of motor and realization of joint function.

[0034] Nut 10: Nut 10 has threads and is connected to rollers and push rod 11. It rotates circumferentially under the fixation of double-row angular contact bearing 6 and cylindrical roller bearing 13. It drives push rod 11 to move back and forth through internal rollers. It is the core component of planetary roller screw structure to realize displacement output.

[0035] Push rod 11: Push rod 11 is connected to nut 10 via rollers or threads on rollers. It moves back and forth when nut 10 rotates to achieve displacement output. The shaft end is provided with a fisheye connector for connecting external components. It is the direct actuator for the joint to achieve linear motion.

[0036] Bearing mounting base 12: The bearing mounting base 12 is concentrically fixedly connected to the outer ring of the cylindrical roller bearing 13, providing support for the cylindrical roller bearing 13. At the same time, it is connected to components such as the encoder stationary plate 14 and the encoder support plate 19 to ensure the relative position accuracy of each component and ensure the normal operation of the joint.

[0037] Cylindrical roller bearing 13: The inner ring of cylindrical roller bearing 13 is concentrically fitted with nut 10 and fixed by adhesive, while the outer ring is concentrically fixed with bearing mounting seat 12. Together with double row angular contact bearing 6, it ensures the smooth rotation of nut 10 and makes the planetary roller screw structure run stably.

[0038] Encoder stationary disk 14: The encoder stationary disk 14 is fixed to the bearing mounting seat 12 by screws, collects the motion parameters of the encoder moving disk 15 and feeds them back to the driver 24, which is used to calculate the target rotation state of the motor rotor 8, realize various controls on the motor, and improve the system motion control response speed.

[0039] Encoder moving disk 15: The encoder moving disk 15 is locked concentrically with the nut 10 by the set screw and rotates together with the nut 10. Its motion parameters are collected by the encoder stationary disk 14, which provides feedback information to the driver 24 and helps the control system to accurately control the robot joint movement.

[0040] Rear cover 16: The rear cover 16 is connected to the bearing mounting seat 12 and the outer shell 7 by screws. A buffer pad 18 is provided in the center of the inner side to protect the internal components of the joint, prevent the push rod 11 from being damaged by uncontrolled impact, and provide installation positions for other components.

[0041] Force sensor 17: Force sensor 17 is fixed concentrically to the back cover 16 by screws. A fisheye connector 3 is provided on the side opposite to the back cover 16. It can monitor the force on the joint in real time, provide information to the control system, and realize precise control of robot movement and safety protection.

[0042] Buffer pad 18: The buffer pad 18 is located at the center of the inner side of the back cover 16 and directly behind the push rod 11. It can prevent the push rod 11 from crashing into the back cover 16 and causing joint damage. It plays a buffering and protective role for the joint, improving the reliability and service life of the joint.

[0043] Encoder support plate 19: The encoder support plate 19 is fixedly connected to the bearing mounting base 12 by screws. It is equipped with an encoder adapter plate 20, which provides support and mounting position for encoder-related components and ensures the normal operation of the encoder system.

[0044] Encoder adapter board 20: The encoder adapter board 20 is installed on the encoder support plate 19 and works in conjunction with other encoder components. It plays a role in encoder signal transmission and other aspects, ensuring that the signals collected by the encoder are accurately transmitted to components such as the driver 24.

[0045] Cable cover 21: The cable cover 21 is installed on the outside of the housing 7 to seal the motor cable 22, encoder adapter plate 20 and cable outlet, providing a dustproof and waterproof sealing effect, protecting the internal cables and components, and ensuring the stable operation of the joint electrical system.

[0046] Motor cable 22: Motor cable 22 passes through housing 7 and connects with driver 24 to transmit signals between driver 24 and motor, enabling driver 24 to drive motor rotor 8 to rotate. It is an important connecting component for realizing joint electric drive.

[0047] Driver mounting plate 23: The driver mounting plate 23 is fixedly connected to the housing 7 by screws, providing a mounting position for the driver 24, ensuring stable installation of the driver 24, enabling the driver 24 to work normally and control the motor movement;

[0048] Driver 24: Driver 24 is fixed to driver mounting plate 23 by screws, transmits signals to motor via motor cable 22, drives motor rotor 8 to rotate, and adjusts motor movement according to encoder feedback to achieve precise control of robot joint movement.

[0049] Working principle: Following the diagram, correctly install the high-thrust micro planetary roller screw linear humanoid robot joint. During operation, the driver 24 transmits signals to the motor via motor cable 22. The motor stator 9 is fixed to the housing 7. Upon receiving the signal, it drives the motor rotor 8 to rotate. The motor rotor 8 is concentrically fixed to the nut 10, causing the nut 10 to rotate. The nut 10 has threads and is connected to the push rod 11 via rollers or the threads on the rollers. The nut 10 is fixed by a double-row angular contact bearing 6 and a cylindrical roller bearing 13. The double-row angular contact bearing 6 is concentrically engaged with one end of the nut 10. The cylindrical roller bearing 13 is concentrically connected to the end of the nut 10 away from the double-row angular contact bearing 6 and fixed to the locking nut 5. Its outer ring is concentrically fixed to the bearing mounting seat 12, and its inner ring is glued to the nut 10, so that the nut 10 can only rotate circumferentially. When the nut 10 rotates, the internal rollers drive the push rod 11 to move back and forth, realizing displacement output. During the movement, the encoder moving plate 15 is concentrically locked to the nut 10 by the set screw and rotates with the nut 10. The encoder stationary plate 14 is fixed to the bearing mounting seat 12 by screws, and the encoder moving plate is used to collect data. The motion parameters of the 15 are fed back to the driver 24. The driver 24 calculates the target rotation state of the motor rotor 8 according to the user-preset motion command, compares the difference in the feedback rotation state, adjusts the current output to each winding of the motor stator 9, and adjusts the motion state of the motor rotor 8 to ensure that the robot joint outputs the motion trajectory according to the expected motion law. The information collected by the encoder stationary disk 14 is also used by the driver 24 to control the position loop, speed loop and feedforward control of the motor, improve the response speed of the system motion control command. At the same time, the force sensor 17 is fixed concentrically to the rear cover 16 with screws to monitor the force on the joint in real time, provide pressure or tension information, and help the control system adjust the robot's motion speed, force and position to achieve precise control. Once the force sensor 17 detects that the joint pressure exceeds the safe range, the control system will stop the robot's movement in time to avoid injury. In addition, the guide bushing 2 and the push rod 11 are precisely matched to ensure the smooth operation of the push rod. The dustproof ring 4 plays a role in dustproofing and waterproofing the inside of the joint. The buffer pad 18 prevents the push rod from crashing into the rear cover 16. The fisheye connector 3 provides a standard external interface for the joint, which is convenient to connect with other joint modules or end load structures.

[0050] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-thrust micro planetary roller screw linear humanoid robot joint, comprising a planetary roller screw structure, a motor and drive structure, and a mechanical housing structure, characterized in that, The planetary roller screw structure is the core structure of the joint, consisting of a central screw, multiple planetary rollers, and an annular nut. The motor and drive structure includes modules for joint power supply, communication, detection, and control. The mechanical housing structure provides a standard interface to enable the joint to connect with the robotic arm. The planetary roller screw structure includes a locking nut (5), a double-row angular contact bearing (6), a nut (10), a push rod (11), a bearing mounting seat (12), and a cylindrical roller bearing (13). The nut (10) is threaded and connected to the push rod (11) through a roller or the thread on the roller. The double-row angular contact bearing (6) is concentrically connected to one end of the nut (10), and the double-row angular contact bearing (6) is fixedly connected to the locking nut (5). The nut (10) is opposite to the double-row angular contact bearing (6) and is concentrically connected to the cylindrical roller bearing (13). The nut (10) is glued to the inner ring of the cylindrical roller bearing (13), and the outer ring of the cylindrical roller bearing (13) is concentrically fixedly connected to the bearing mounting seat (12).

2. The high-thrust micro planetary roller screw linear humanoid robot joint according to claim 1, characterized in that: The motor and drive structure include a motor rotor (8), a motor stator (9), an encoder stationary plate (14), an encoder moving plate (15), a force sensor (17), an encoder support plate (19), an encoder adapter plate (20), a cable cover (21), a motor cable (22), a driver mounting plate (23), a driver (24), and a housing (7). The motor rotor (8) is concentrically fixedly connected to a nut (10), and the outer ring of the motor stator (9) is concentrically fixedly connected to the housing (7).

3. The high-thrust micro planetary roller screw linear humanoid robot joint according to claim 2, characterized in that: The driver mounting plate (23) is fixedly connected to the housing (7) by screws. The driver (24) is fixedly connected to the driver mounting plate (23) by screws. The motor cable (22) passes through the housing (7) and is connected to the driver (24). The encoder stationary plate (14) is fixedly connected to the bearing mounting seat (12) by screws. The encoder moving plate (15) is locked concentrically by the set screw and the nut (10).

4. The high-thrust micro planetary roller screw linear humanoid robot joint according to claim 2, characterized in that: The encoder support plate (19) is fixedly connected to the bearing mounting seat (12) by screws, and the encoder support plate (19) is provided with an encoder adapter plate (20). The outer side of the housing (7) is provided with a cable cover (21). The force sensor (17) is fixed concentrically to the rear cover (16) by screws, and the force sensor (17) is provided with a fisheye connector (3) on the side away from the rear cover (16).

5. The high-thrust micro planetary roller screw linear humanoid robot joint according to claim 1, characterized in that: The mechanical housing structure includes a double-row angular contact bearing outer cover (1), a guide bushing (2), a fisheye connector (3), a dust ring (4), a rear cover (16), and a buffer pad (18). The double-row angular contact bearing outer cover (1) and the housing (7) are locked together by screws and press against the outer ring of the double-row angular contact bearing (6). The guide bushing (2) is provided on the inner side of the double-row angular contact bearing outer cover (1), and a dust ring (4) is provided on the outer side of the shaft end of the double-row angular contact bearing outer cover (1). The push rod (11) passes through the double-row angular contact bearing outer cover (1), the guide bushing (2), and the dust ring (4). A second fisheye connector is provided on the shaft end of the push rod (11). The second fisheye connector and the fisheye connector (3) are symmetrically distributed. The rear cover (16) is connected to the bearing mounting seat (12) and the housing (7) by screws. A buffer pad (18) is provided at the center of the inner side of the rear cover (16).

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