Linear actuator of humanoid robot

Abstract

The utility model discloses a humanoid robot linear actuator, which comprises a front end cover, a rear end cover, a first joint bearing, a second joint bearing, a third joint bearing, a fourth joint bearing and a fifth joint bearing, the shell is fixedly mounted on the right side of the front end cover; the bearing seat is fixedly connected to the right side of the shell; the housing is fixedly connected to the right side of the bearing seat; the second joint bearing is mounted on the right side of the housing; the encoder is installed on the right side of the bearing seat and located in the housing, and a code disc is arranged in the encoder; the ball screw is arranged in the shell, the left end of the ball screw penetrates through the front end cover and extends to the left side of the front end cover, the ball screw is fixedly sleeved with the first knuckle bearing, and the right end of the first knuckle bearing extends into the bearing seat. According to the linear actuator, a planetary roller screw rod is changed into the ball screw rod, and the screw rod nut and the motor rotor are fixedly connected into a whole, so that the cost of the linear actuator can be effectively reduced, and the use requirement is met.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to a linear actuator for humanoid robots. Background Technology

[0002] With the advancement of intelligence, humanoid robots have emerged, entering countless homes and improving people's living standards. As the core power component of robots, linear actuators have also entered the market. Currently, the linear actuators used in humanoid robots are all reversible planetary ball screws, integrating a permanent magnet synchronous motor with a planetary ball screw into one unit. They are small in size, compact in structure, have strong load-bearing capacity, and long service life. However, they still have the following shortcomings in use: Since planetary ball screws have only been researched and produced in China in the last two years, their output is low, and the initial investment cost is high. Moreover, the cost of planetary ball screws in a humanoid robot now accounts for 10% of the total cost, which greatly hinders the promotion and application of the product. Therefore, this application proposes a linear actuator for humanoid robots. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing a linear actuator for humanoid robots.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A linear actuator for a humanoid robot, comprising:

[0006] The front cover has a tubular structure integrally formed on its left side, which is in contact with the first joint bearing.

[0007] The housing is fixedly installed on the right side of the front cover;

[0008] The bearing housing is fixedly connected to the right side of the housing;

[0009] The cover is fixedly connected to the right side of the bearing housing;

[0010] The second joint bearing is installed on the right side of the housing;

[0011] The encoder is mounted on the right side of the bearing housing and located inside the casing. The encoder contains a code disk.

[0012] A ball screw is installed inside the housing, with its left end passing through the front end cover and extending to its left side. A first joint bearing is fixedly sleeved on the ball screw, with its right end extending into the bearing housing.

[0013] The seal is embedded in the front cover and movably mounted on the ball screw;

[0014] A lead screw nut is threaded onto a ball screw, and a code disk is connected to the lead screw nut.

[0015] The motor rotor is rotatably mounted between the front end cover and the inner side of the bearing housing, and the motor rotor is fixedly sleeved on two lead screw nuts;

[0016] The stator is fixed in a ring shape on the inner wall of the housing.

[0017] Preferably, a power line connector is fixedly connected to the top of the housing, and an encoder connector is fixedly connected to the top of the cover.

[0018] Preferably, a first bearing is fixedly installed inside both the front end cover and the bearing housing, and the inner side of the inner ring of the first bearing is fixedly connected to the outer side of the motor rotor.

[0019] Preferably, an oilless bearing is embedded and fixed on the inner wall of the left side of the front end cover, and the inner side of the inner ring of the oilless bearing is in movable contact with the outer side of the ball screw.

[0020] Preferably, the number of lead screw nuts is either two or one. When there are two lead screw nuts, the encoder is installed with the lead screw nut on the right side. When there is only one lead screw nut, it can be set on the right or left side and installed with the encoder. A connecting sleeve is fixedly installed on the right side of the lead screw nut, and the right end of the connecting sleeve extends into the cover and is fixedly installed with the encoder.

[0021] Preferably, the stator surrounds the motor rotor.

[0022] Compared with existing technologies, the beneficial effects of this utility model are:

[0023] This invention replaces the planetary roller screw with a ball screw and fixes the screw nut and motor rotor together, thereby effectively reducing the cost of linear actuators and meeting usage requirements. Attached Figure Description

[0024] Figure 1 This is a cross-sectional structural diagram of a linear actuator for a humanoid robot proposed in this utility model;

[0025] Figure 2 This is a schematic diagram of the left-side structure of a linear actuator for a humanoid robot proposed in this utility model.

[0026] In the diagram: 1. First joint bearing; 2. Front cover; 3. Housing; 4. Cover; 5. Power line connector; 6. Encoder connector; 7. Encoder; 8. Second joint bearing; 9. Seal; 10. Ball screw; 11. Screw nut; 12. Motor rotor; 13. First bearing; 14. Bearing housing; 15. Code disk; 16. Oil-free bearing; 17. Stator; 18. Connecting sleeve. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0028] Reference Figure 1-2 A linear actuator for a humanoid robot, comprising:

[0029] The front cover 2 has a tubular structure integrally provided on its left side and a first joint bearing 1 in movable contact;

[0030] The housing 3 is fixedly installed on the right side of the front cover 2, and the top of the housing 3 is fixedly connected to the power line connector 5;

[0031] The bearing housing 14 is fixedly connected to the right side of the housing 3, and the encoder cable connector 6 is fixedly connected to the top of the cover 4.

[0032] The cover 4 is fixedly connected to the right side of the bearing housing 14;

[0033] The second joint bearing 8 is installed on the right side of the housing 4;

[0034] The encoder 7 is mounted on the right side of the bearing housing 14 and located inside the housing 4. The encoder 7 has a code disk 15 inside.

[0035] The ball screw 10 is installed inside the housing 3. Its left end passes through the front end cover 2 and extends to its left side. An oilless bearing 16 is embedded and fixed on the inner wall of the left side of the front end cover 2. The inner side of the inner ring of the oilless bearing 16 is in movable contact with the outer side of the ball screw 10. The first joint bearing 1 is fixedly sleeved on the ball screw 10, and its right end extends into the bearing seat 14.

[0036] The sealing element 9 is embedded in the front cover 2 and movably sleeved on the ball screw 10;

[0037] A lead screw nut 11 is threaded onto a ball screw 10. The threaded connection allows the ball screw 10 to move laterally while the lead screw nut 11 rotates. The number of lead screw nuts 11 can be either two or one. When there are two lead screw nuts 11, the encoder 15 is installed with the lead screw nut 11 on the right side. When there is only one lead screw nut 11, it can be located on either the right or left side and installed with the encoder 15. A connecting sleeve 18 is fixedly installed on the right side of the lead screw nut 11. The right end of the connecting sleeve 18 extends into the housing 4 and is fixedly installed with the encoder 15. The connection between the lead screw nut 11 and the encoder 15 is achieved through the connecting sleeve 18.

[0038] The motor rotor 12 is rotatably mounted between the front end cover 2 and the inner side of the bearing seat 14. The front end cover 2 and the bearing seat 14 are both fixedly fitted with a first bearing 13. The inner ring of the first bearing 13 is fixedly connected to the outer side of the motor rotor 12. The first bearing serves to enable the motor rotor 12 to rotate. The motor rotor 12 is fixedly mounted on two lead screw nuts 11.

[0039] The stator 17 is fixed in a ring shape on the inner wall of the housing 3, and the stator 17 surrounds the motor rotor 12. This utility model changes the planetary roller screw to a ball screw 10 and fixes the screw nut 11 to the motor rotor 12 as a whole, thereby effectively reducing the cost of the linear actuator and meeting the usage requirements.

[0040] Working principle: During use, the rotation of the motor rotor 12 drives the two lead screw nuts 11 to rotate. Since the lead screw nuts 11 are fixedly connected to the motor rotor 12, when the first joint bearing 1 and the second joint bearing 8 are fixedly installed on the load, the ball screw 10 will move left and right relative to the lead screw nuts 11. At this time, the hinge distance between the first joint bearing 1 and the second joint bearing 8 gradually increases or decreases, thereby realizing the function of a linear actuator. Since the motor rotor 12 is connected to the code disk 15 on the encoder 7, a closed-loop feedback is formed, which can realize precise position control. Moreover, by changing the planetary roller lead screw in the existing technology to a ball screw 10 and fixing the lead screw nuts 11 and the motor rotor 12 together, the cost of the linear actuator can be effectively reduced.

[0041] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A linear actuator for a humanoid robot, characterized in that, include: The front cover (2) has a tubular structure integrally provided on its left side and a first joint bearing (1) in active contact with it. The housing (3) is fixedly installed on the right side of the front cover (2); The bearing housing (14) is fixedly connected to the right side of the housing (3); The cover (4) is fixedly connected to the right side of the bearing housing (14); The second joint bearing (8) is installed on the right side of the housing (4); The encoder (7) is installed on the right side of the bearing housing (14) and located inside the housing (4). The encoder (7) has a code disk (15) inside. The ball screw (10) is set inside the housing (3), with its left end passing through the front cover (2) and extending to its left side. The first joint bearing (1) is fixedly sleeved on the ball screw (10), with its right end extending into the bearing seat (14). The sealing element (9) is embedded in the front cover (2) and movably sleeved on the ball screw (10); A lead screw nut (11) is threaded onto a ball screw (10), and a code disk (15) is connected to the lead screw nut (11). The motor rotor (12) is rotatably mounted between the front end cover (2) and the bearing seat (14), and the motor rotor (12) is fixedly sleeved on two screw nuts (11); The stator (17) is fixed in a ring shape on the inner wall of the housing (3).

2. The linear actuator for a humanoid robot according to claim 1, characterized in that, The top of the housing (3) is fixedly connected to a power line connector (5), and the top of the cover (4) is fixedly connected to an encoder line connector (6).

3. A linear actuator for a humanoid robot according to claim 1, characterized in that, The front cover (2) and the bearing seat (14) are both fixedly fitted with a first bearing (13), and the inner side of the inner ring of the first bearing (13) is fixedly connected to the outer side of the motor rotor (12).

4. A linear actuator for a humanoid robot according to claim 1, characterized in that, An oilless bearing (16) is embedded and fixed on the inner wall of the left side of the front cover (2), and the inner side of the inner ring of the oilless bearing (16) is in contact with the outer side of the ball screw (10).

5. A linear actuator for a humanoid robot according to claim 1, characterized in that, The number of lead screw nuts (11) can be either two or one. When there are two lead screw nuts (11), the encoder (15) is installed with the lead screw nut (11) on the right side. When there is only one lead screw nut (11), it can be set on either the right or left side and installed with the encoder (15). A connecting sleeve (18) is fixedly installed on the right side of the lead screw nut (11). The right end of the connecting sleeve (18) extends into the cover (4) and is fixedly installed with the encoder (15).

6. A linear actuator for a humanoid robot according to claim 1, characterized in that, The stator (17) is arranged to surround the motor rotor (12).

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