An integrated torque sensor hollow humanoid robot revolute joint

Abstract

The utility model relates to humanoid robot rotary joint technical field, and disclose a kind of hollow humanoid robot rotary joint of integrated torque sensor, including mechanical component and drive and sensor component, mechanical component is basic structure, containing harmonic reducer assembly, inner rotor motor assembly and hollow wiring assembly, can provide standard interface connection joint and mechanical arm rod, drive and sensor component cover joint power supply, communication and other modules, the joint uses compact harmonic reducer etc., realize miniaturization, light weight, adjust component position and promote rigidity, retain wiring function, applicable to a variety of application scenarios, furthermore, add band brake device in drive motor structure, automatically lock joint when emergency or power failure, guarantee safety, maintain joint position when stationary, simultaneously, integrated torque sensor measures joint torque in real time, improves action accuracy etc.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot rotary joints, specifically a hollow humanoid robot rotary joint with an integrated torque sensor. Background Technology

[0002] Robot joints are the most crucial components in the structure of humanoid robots, playing a key role in parameters such as load capacity, accuracy, and weight. With the rapid development of humanoid robot technology, the design and performance optimization of robot joints have become a research focus. Traditional robot joints mainly rely on position and velocity sensors for control. However, in complex tasks, these sensors alone are insufficient for achieving precise force control and environmental interaction. Robot joints integrating torque sensors significantly improve the robot's operational accuracy and safety by monitoring joint torque in real time.

[0003] Torque sensors are typically based on strain gauges, piezoelectric effects, or optical principles. They convert mechanical force into electrical signals and feed them back to the control system via a signal processing unit. In recent years, with advancements in microelectronics and materials science, the size, accuracy, and response speed of torque sensors have been significantly improved, enabling their integration into robot joints to achieve more complex control strategies.

[0004] Traditional robot joints rely primarily on position and velocity sensors for control. However, when faced with complex tasks, these two types of sensors alone are insufficient for precise force control. In human-robot collaboration scenarios, the inability to accurately sense and control joint torque can lead to improper force application by the robot, potentially causing injury to the operator and severely limiting the safety and smoothness of human-robot collaboration. Furthermore, in tasks requiring delicate manipulation, such as assembling precision parts, the insufficient control precision of traditional joints increases the error rate, impacting production efficiency and product quality. These shortcomings severely restrict the in-depth application and performance improvement of humanoid robots in a wider range of fields. To address these issues, we propose a hollow humanoid robot rotary joint with an integrated torque sensor. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a hollow humanoid robot rotary joint with an integrated torque sensor, thus solving the aforementioned problems.

[0006] To achieve the above-mentioned objectives, this utility model provides the following technical solution: a hollow humanoid robot rotary joint with an integrated torque sensor, comprising mechanical components and drive and sensor components. The mechanical components provide a standard interface for connecting the joint to a robotic arm. The mechanical components include a harmonic reducer assembly, an inner rotor motor assembly, and a hollow wiring assembly. The drive and sensor components include modules for joint power supply, communication, detection, and control. The harmonic reducer assembly includes a reducer mounting flange, a cross-roller bearing, a reducer outer wheel, a rigid wheel, a flexible wheel, and a torque sensor. The torque sensor is pressed onto the flexible wheel and the three are fixed together with pins and screws. The cross-roller bearing is mounted on the rigid wheel, and the rigid wheel is mounted on the reducer mounting flange. The inner ring of the cross-roller bearing is fixed by the rigid wheel and the reducer mounting flange. The reducer outer wheel is mounted on the torque sensor and presses against the outer ring of the cross-roller bearing.

[0007] Preferably, the harmonic reducer assembly further includes a flexible wheel retaining ring, a hollow rotating shaft, a wave generator, a ball bearing I, a flexible ball bearing II, and a rear bearing cover. The outer ring of the ball bearing I is fixed by the flexible wheel retaining ring, and the upper end of the flexible wheel is mounted on the flexible wheel retaining ring.

[0008] Preferably, the inner ring of the flexible bearing is concentrically mounted on the wave generator, the large end and the small end of the wave generator are respectively mounted on the ball bearing one and the ball bearing two, the outer ring of the ball bearing two is fixed by the reducer fixing flange and the rear bearing cover, and the rear end of the flexible wheel is mounted on the outer ring of the flexible bearing.

[0009] Preferably, the internal rotor motor assembly includes an armature mounting plate, a first motor rotor, an armature, a brake stator, a second motor rotor, an encoder, and a rear end cover. The second motor rotor is concentrically connected to the wave generator. The armature mounting plate is concentrically connected to the second motor rotor and fixed with screws. The outer side of the second motor rotor is concentrically connected to the rear end cover. The brake stator is concentrically connected to the rear end cover. The rear end cover is concentrically connected to the outer side of the miniature bearing. The encoder is mounted above the first motor rotor.

[0010] Preferably, the hollow wiring assembly includes a miniature bearing and a hollow shaft. The hollow shaft is mounted on the torque sensor, the miniature bearing is mounted on the rear end cover of the motor, and the hollow shaft passes through the miniature bearing.

[0011] Preferably, the drive and sensor components include a code disk, a drive rear cover, an absolute encoder, an absolute code disk, a drive circuit board assembly, an incremental encoder, an absolute encoder bracket, and a hexagonal copper pillar. The drive circuit board assembly is fixed to the outside of the motor rear end cover with screws. The incremental encoder is located directly above the code disk and installed on the inside of the motor rear end cover. The incremental encoder can read the rotational motion information of the motor rotor. The absolute encoder is installed on the absolute encoder bracket with screws. The absolute encoder bracket is installed on the motor rear end cover via the hexagonal copper pillar. The absolute code disk is fixedly mounted on the absolute encoder. The absolute code disk is coaxially fixed to the rear end of the hollow shaft with set screws. The detection chip at the corresponding position of the absolute code disk is arranged on the side of the absolute encoder away from the motor rear end cover.

[0012] Compared with the prior art, this utility model provides a hollow humanoid robot rotary joint with an integrated torque sensor, which has the following advantages:

[0013] 1. This hollow humanoid robot rotary joint with integrated torque sensor, through the use of a compact harmonic reducer, a miniature internal rotor motor and an integrated drive and detection module, enables the miniaturization of the robot system and meets the requirements for lightweight joints. By adjusting the position of the cross roller bearing and the position of the external load, the joint load condition is improved, and greater joint rigidity is achieved.

[0014] 2. This hollow humanoid robot rotary joint with integrated torque sensor retains the function of a central through-line while maintaining a small size and weight. It is suitable for single-joint or multi-joint series applications. By integrating torque sensor into the joint, high-precision force control and real-time feedback are achieved, which significantly improves the robot's operating accuracy, environmental adaptability and safety. Attached Figure Description

[0015] Figure 1 This is a cross-sectional structural diagram of the rotary joint of this utility model.

[0016] In the diagram: 1. Reducer mounting flange; 2. Cross-roller bearing; 3. Reducer outer wheel; 4. Rigid wheel; 5. Flexible wheel; 6. Torque sensor; 7. Flexible wheel retaining ring; 8. Hollow shaft; 9. Wave generator; 10. Ball bearing one; 11. Flexible bearing; 12. Ball bearing two; 13. Armature mounting plate; 14. Motor rotor one; 15. Armature; 16. Brake stator; 17. Motor rotor two; 18. Encoder disk; 19. Motor rear end cover; 20. Miniature bearing; 21. Drive rear cover; 22. Absolute encoder; 23. Absolute code disk; 24. Drive circuit board assembly; 25. Rear bearing cover; 26. Incremental encoder; 27. Absolute encoder bracket; 28. Hexagonal copper column. 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 hollow humanoid robot rotary joint with an integrated torque sensor includes mechanical components and drive and sensor components. The mechanical components provide a standard interface for connecting the joint to a robotic arm. The mechanical components include a harmonic reducer assembly, an inner rotor motor assembly, and a hollow wiring assembly. The drive and sensor components include modules for joint power supply, communication, detection, and control. The harmonic reducer assembly includes a reducer mounting flange 1, a cross-roller bearing 2, a reducer outer wheel 3, a rigid wheel 4, a flexible wheel 5, and a torque sensor 6. The torque sensor 6 is pressed against the flexible wheel 5 and the three components are fixed together with pins and screws. The cross-roller bearing 2 is mounted on the rigid wheel 4, which is mounted on the reducer mounting flange 1. The inner ring of the cross-roller bearing 2 is fixed by the rigid wheel 4 and the reducer mounting flange 1. The reducer outer wheel 3 is mounted on the torque sensor 6 and presses against the outer ring of the cross-roller bearing 2.

[0019] Furthermore, the harmonic reducer assembly also includes a flexible wheel retaining ring 7, a hollow rotating shaft 8, a wave generator 9, a ball bearing 10, a flexible bearing 11, a ball bearing 12, and a rear bearing cap 25. The outer ring of the ball bearing 10 is fixed by the flexible wheel retaining ring 7. The upper end of the flexible wheel 5 is mounted on the flexible wheel retaining ring 7 and pressed above the flexible wheel 5 by a torque sensor 6, and the three are fixed together with pins and screws. The cross roller bearing 2 is mounted on the rigid wheel 4, which is mounted on the reducer fixing flange 1. The inner ring of the cross roller bearing 2 is fixed by the rigid wheel 4 and the reducer fixing flange 1. The outer wheel 3 of the reducer is mounted on the torque sensor 6 and presses the cross roller bearing 2 against the torque sensor 6. The outer ring of bearing 2 is fixed to the motor rotor 17 at one end, and is connected by two ball bearings and a flexible bearing 11 to ensure its stability during high-speed rotation. The inner ring of the crossed roller bearing 2 is fitted with the rigid wheel 4, and the outer ring of the crossed roller bearing 2 is fitted with the outer wheel 3 of the reducer to achieve the limit of the entire crossed roller bearing 2. At this point, the external input can be input through the wave generator 9, and after the regular meshing motion of the flexible wheel 5 and the rigid wheel 4, a stable output can be obtained in the torque sensor 6. By increasing the structural compactness of the harmonic reducer, the weight and volume caused by using a standard harmonic reducer with crossed roller bearing 2 are reduced.

[0020] Furthermore, the inner ring of the flexible bearing 11 is concentrically mounted on the wave generator 9. Ball bearing 10 and ball bearing 12 are respectively mounted on the large and small ends of the wave generator 9. The outer ring of ball bearing 12 is fixed by the reducer fixing flange 1 and the rear bearing cover 25. The rear end of the flexible wheel 5 is mounted on the outer ring of the flexible bearing 11. After the flexible bearing 11 is pressed into the wave generator 9, it deforms. When the flexible bearing 11 and the wave generator 9 are installed in the inner hole of the flexible wheel 5, the flexible wheel 5 changes from the original circle to an ellipse. The teeth near the two ends of the long shaft of the flexible wheel 5 are fully engaged with the teeth of the rigid wheel 4, while the teeth near the two ends of the short shaft of the flexible wheel 5 are completely disengaged from the rigid wheel 4. The flexible wheel 5 is fixed together with the torque sensor 6 by screws, thereby driving the torque sensor 6 to rotate.

[0021] Furthermore, the internal rotor motor assembly includes an armature mounting plate 13, a first motor rotor 14, an armature 15, a brake stator 16, a second motor rotor 17, an encoder 18, and a rear end cover 19. The second motor rotor 17 is concentrically connected to the wave generator 9. The armature mounting plate 13 is concentrically connected to the second motor rotor 17 and fixed with screws. The outer side of the second motor rotor 17 is concentrically connected to the rear end cover 19. The brake stator 16 is concentrically connected to the rear end cover 19. The rear end cover 19 is concentrically connected to the outer side of the miniature bearing 20. The encoder 18 is mounted above the first motor rotor 14. The first motor rotor 14 is concentrically connected to the wave generator 9 and serves as the input end of the entire machine. The first motor rotor 14 can drive the encoder 18 to rotate, realizing the output of the internal rotor motor speed. The motor stator 17 is concentrically connected to the rear end cover 19 and is connected by adhesive bonding.

[0022] Furthermore, the hollow wiring assembly includes a miniature bearing 20 and a hollow shaft 8. The hollow shaft 8 is mounted on the torque sensor 6, and the miniature bearing 20 is mounted on the rear end cover 19 of the motor. The hollow shaft 8 passes through the miniature bearing 20 and is connected to the torque sensor 6 to obtain the speed and position information of the joint output end. The hollow shaft 8 has a hollow structure and a central hole, which is used for the wiring of the robot system. Since the output end it connects to has a low rotational speed, it can protect the internal wiring. The miniature bearing 20 is mounted on the rear end cover 19 of the motor and fixed by adhesive bonding. This can eliminate the motion wobble caused by the rear extension shaft section of the hollow shaft 8 being in a cantilever support state, thereby eliminating the inaccuracy of the rotational motion detection results caused by the motion wobble.

[0023] Furthermore, the drive and sensor components include a code disk 18, a drive rear cover 21, an absolute encoder 22, an absolute code disk 23, a drive circuit board assembly 24, an incremental encoder 26, an absolute encoder bracket 27, and hexagonal copper pillars 28. The drive circuit board assembly 24 is fixed to the outside of the motor rear end cover 19 with screws. The incremental encoder 26 is located directly above the code disk 18 and installed on the inside of the motor rear end cover 19. The incremental encoder 26 can read the rotational motion information of the motor rotor 17. The absolute encoder 22 is installed on the absolute encoder bracket 27 with screws. The absolute encoder bracket 27 is installed on the motor rear end cover 19 via hexagonal copper pillars 28. The absolute code disk 23 is fixedly installed on the absolute encoder 22. The absolute code disk 23... The set screw is coaxially fixed to the rear end of the hollow rotating shaft 8. The detection chip corresponding to the absolute code disk 23 is arranged on the side of the absolute encoder 22 away from the rear end cover 19 of the motor. The incremental encoder 26 is located directly above the code disk 18 and at a suitable distance from it. The incremental encoder 26 is used to read the rotational motion information of the motor rotor 14. The information collected by the incremental encoder 26 is transmitted to the drive circuit board assembly 24. The drive circuit board assembly 24 can calculate the target rotational state of the motor rotor 14 according to the motion commands preset by the user to the robot joint through the controller. Based on the difference between the target rotational state and the feedback rotational state of the motor rotor 14, the current output to each winding of the motor stator 17 is adjusted to adjust the motion state of the motor rotor 14. To ensure the robot joint outputs a motion trajectory according to the expected motion law, the incremental encoder 26 obtains rotational state information that can be easily converted into angular displacement, angular velocity, and other information of the motor rotor 14. This information can be used by the drive circuit board assembly 26 for position loop control, speed loop control, and feedforward control of the motor, improving the system's motion control command response speed. The absolute encoder 22 directly reads the rotational motion information output from the robot joint and transmits it to the drive circuit board assembly 24. The drive circuit board assembly 24 can adjust the motion state of the motor rotor 14 based on the difference between the target rotational state preset by the user through the controller and the feedback rotational state, ensuring the robot joint outputs a motion trajectory according to the expected motion law. The absolute encoder 22 can directly acquire the rotational motion information of the robot joint output end, enabling direct closed-loop position control of the robot joint output end's rotational motion. This improves the rotational motion accuracy of the robot joint output end. Furthermore, the absolute encoder 22 does not lose position information when power is lost and can directly resume normal operation from the current position after power is restored. In contrast, the incremental encoder 26 loses position information when power is lost and requires a zero-return operation before normal operation can resume. If the robot system does not allow zero-return upon power restoration, problems will arise if the robot joint uses only the incremental encoder 26 without the absolute encoder component 20. The combined use of the two encoders achieves high precision and high stability for the joint.Torque sensor 6 can monitor joint torque in real time, providing precise torque information to help the control system adjust the robot's speed, force, and position, thereby achieving precise control of the robot's movement. Torque sensor 6 can also monitor joint torque changes; if it exceeds a safe range, the control system can promptly stop the robot's movement to avoid injury to humans. By monitoring joint torque changes, torque sensor 6 can promptly detect abnormalities in the robot's joints, such as overload, jamming, or damage, allowing for proactive repair or replacement of faulty components, preventing robot downtime and production line interruptions. By adjusting the robot's force and position, it can ensure that heavy loads are evenly distributed, improving work efficiency and safety. Torque sensor 6 can detect minute changes in joint torque, 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, torque sensor 6 helps humanoid robots understand and adapt to human behavior and intentions, improving user experience and convenience.

[0024] Structural Description:

[0025] Reducer mounting flange 1: Reducer mounting flange 1 is the basic fixing structure of the harmonic reducer assembly. It is used to install components such as rigid wheel 4. Together with rigid wheel 4, it fixes the inner ring of cross roller bearing 2 to ensure the stability of the entire assembly. It is a key part of the installation and positioning of the harmonic reducer assembly.

[0026] Cross-roller bearing 2: The cross-roller bearing 2 is installed on the rigid wheel 4 and cooperates with the outer wheel 3 of the reducer. It plays a limiting role for the entire harmonic reducer assembly, ensuring the stability of the flexible wheel 5 when meshing with the rigid wheel 4, and improving the rigidity and precision of the harmonic reducer assembly.

[0027] Reducer outer wheel 3: The reducer outer wheel 3 is mounted on the torque sensor 6, presses against the outer ring of the cross roller bearing 2, assists in fixing the bearing, and works with other components to enhance the overall structural strength of the harmonic reducer assembly and ensure its stable operation;

[0028] Rigid wheel 4: Rigid wheel 4 is mounted on the fixed flange 1 of the reducer and works with flexible wheel 5 to realize harmonic deceleration motion. It provides a meshing gear ring for flexible wheel 5 and is an important component for the harmonic reducer to realize the transmission function.

[0029] Flexible wheel 5: Flexible wheel 5 deforms under the action of wave generator 9 and flexible bearing 11, and performs regular meshing motion with rigid wheel 4, driving torque sensor 6 to rotate, thereby realizing motion transmission and deceleration functions.

[0030] Torque sensor 6: Torque sensor 6 is fixed to flexible wheel 5, monitors joint torque in real time, converts mechanical force into electrical signal and transmits it to the control system for precise control of robot movement, improving operational accuracy and safety;

[0031] Flexible wheel retaining ring 7: The flexible wheel retaining ring 7 fixes the outer ring of the ball bearing 10 and also installs the upper end of the flexible wheel 5. Together with the torque sensor 6, it fixes the flexible wheel 5 to ensure the stability of the position of the flexible wheel 5 during the movement.

[0032] Hollow pivot 8: The hollow pivot 8 is mounted on the torque sensor 6. It has a hollow structure and is used to obtain the speed and position information of the joint output end. Its central hole can be used for robot system wiring and protects the internal wiring.

[0033] Wave generator 9: One end of wave generator 9 is fastened to the motor rotor 17, which drives the flexible bearing 11 to deform, causing the flexible wheel 5 to deform and mesh with the rigid wheel 4. It is a key component for motion input and conversion of the harmonic reducer assembly, ensuring smooth motion transmission.

[0034] Ball bearing 10: Ball bearing 10 is installed at the large end of wave generator 9 and together with ball bearing 212, it supports wave generator 9 to ensure its smoothness during high-speed rotation and ensure the stable operation of the harmonic reducer assembly.

[0035] Flexible bearing 11: The inner ring of flexible bearing 11 is mounted on wave generator 9. After deformation, the flexible wheel 5 becomes elliptical and meshes with rigid wheel 4, playing a key deformation and transmission role in the motion transmission of the harmonic reducer assembly.

[0036] Ball bearing 2 12: Ball bearing 2 12 is installed at the small end of wave generator 9 and works in conjunction with ball bearing 1 10 to support wave generator 9, ensure its smooth rotation, and maintain the stable movement of the harmonic reducer assembly.

[0037] Armature mounting plate 13: The armature mounting plate 13 is concentrically fitted with the motor rotor 17 and fixed with screws. It is used to install components such as the armature 15 and is a structure for connecting and fixing related components in the internal rotor motor assembly.

[0038] Motor rotor 14: Motor rotor 14 serves as the input terminal of the whole machine. After being powered on, it rotates the drive encoder 18 to realize the speed output of the inner rotor motor and provide power for the joint movement.

[0039] Armature 15: When the brake stator 16 generates magnetic force, the armature 15 is attracted to lock the motor rotor 14, ensuring the safety of the robot in emergency or power failure, and maintaining the joint position when stationary.

[0040] Brake stator 16: Brake stator 16 is concentrically connected with motor rear end cover 19. In case of emergency stop or power failure, it generates magnetic force to attract armature 15 and lock motor rotor 14 to prevent the robot from moving accidentally.

[0041] Motor rotor 2 17: Motor rotor 2 17 is concentrically connected with wave generator 9 to provide power input to the harmonic reducer assembly, and works in conjunction with other components to achieve normal operation of the motor;

[0042] Code disk 18: Code disk 18 is installed above motor rotor 22 and works in conjunction with incremental encoder 26 to detect the rotational motion information of motor rotor 14 and provide feedback data for motor control;

[0043] Motor rear end cover 19: The motor rear end cover 19 is used to install components such as the motor stator 23 and the brake stator 16, providing support and fixation for the internal rotor motor assembly and ensuring the relative position stability of each component;

[0044] Miniature bearing 20: The miniature bearing 20 is installed on the rear end cover 19 of the motor, through which the hollow shaft 8 passes, eliminating the movement wobble of the extended shaft section at the rear of the hollow shaft 8 and improving the accuracy of rotational motion detection;

[0045] Drive rear cover 21: Drive rear cover 21 is part of the drive and sensor components, and plays a certain protective role. It works with components such as motor rear end cover 19 to install and protect the internal drive and sensor components.

[0046] Absolute encoder 22: The absolute encoder 22 is mounted on the absolute encoder bracket 27. It directly reads the rotational motion information of the robot joint output end through the absolute code disk 23, realizes position closed-loop control, and improves the joint rotation accuracy.

[0047] Absolute code disk 23: The absolute code disk 23 is coaxially fixed to the rear end of the hollow rotating shaft 8 by a set screw. It works with the absolute encoder 22 to provide precise position information for the robot joints and ensure the accuracy of position detection.

[0048] Drive circuit board assembly 24: The drive circuit board assembly 24 is fixed to the outside of the motor rear end cover 19 by screws, receives information from the incremental encoder 26 and the absolute encoder 22, controls the movement of the motor rotor 14, and realizes precise control of the robot joint movement.

[0049] Rear bearing cover 25: The rear bearing cover 25, together with the reducer fixing flange 1, fixes the outer ring of the ball bearing 12, which plays a stabilizing role in the support structure of the wave generator 9 and ensures the stability of the harmonic reducer assembly.

[0050] Incremental encoder 26: The incremental encoder 26 is located directly above the code disk 18 and is installed inside the rear end cover 19 of the motor. It reads the rotational motion information of the motor rotor 14 and provides feedback to the drive circuit board assembly 24 for the position and speed control of the motor.

[0051] Absolute encoder bracket 27: The absolute encoder bracket 27 is mounted on the rear end cover 19 of the motor via a hexagonal copper post 28. It is used to mount the absolute encoder 22, ensuring that the absolute encoder 22 is accurately positioned so that it can accurately detect joint motion information.

[0052] Hexagonal copper column 28: The hexagonal copper column 28 connects the absolute encoder bracket 27 and the motor rear end cover 19, providing mounting support for the absolute encoder 22, ensuring its secure installation and stable detection of joint output motion information;

[0053] Working principle: One end of the wave generator 9 is fixed to the motor rotor 17, which rotates at high speed under the drive of the motor. The inner ring of the flexible bearing 11 is concentrically mounted on the wave generator 9. When the wave generator 9 rotates, the flexible bearing 11 deforms accordingly, causing the flexible wheel 5 installed inside to change from a circle to an ellipse. The teeth near the two ends of the long axis of the flexible wheel 5 are fully engaged with the teeth of the rigid wheel 4, while the teeth near the two ends of the short axis are completely disengaged from the rigid wheel 4. As the wave generator 9 continues to rotate, the flexible wheel 5 will perform regular meshing motion relative to the rigid wheel 4. The flexible wheel 5 is fixed to the torque sensor 6 by screws, driving the torque sensor 6 to rotate. The externally input motion is stably output on the torque sensor 6 through the meshing of the flexible wheel 5 and the rigid wheel 4. At the same time, the cross roller bearing 2 and the reducer outer ring are also affected. Wheel 3, rigid wheel 4, and reducer fixing flange 1 cooperate with each other to support and limit the entire assembly, ensuring the stability of movement and increasing the structural compactness of the harmonic reducer, reducing weight and volume. Motor rotor 14 is concentrically connected to wave generator 9, serving as the input end of the entire machine. After power is applied, motor rotor 14 rotates under electromagnetic action, driving encoder 18 to rotate, thereby outputting the speed of the internal rotor motor. The outer side of motor stator 23 is concentrically connected to motor rear end cover 19, providing a rotating magnetic field for motor rotor 14. Brake stator 16 is concentrically connected to motor rear end cover 19. In case of emergency stop or power failure, brake stator 16 generates magnetic force, attracting armature 15, causing motor rotor 14 to lock quickly, preventing... In case of robot malfunction or accidental movement, to ensure the safety of equipment and personnel, a brake device maintains the joint position when the robot is stationary, preventing displacement caused by external forces or vibrations, thus improving positioning accuracy and operational stability. A hollow rotating shaft 8 is mounted on and connected to a torque sensor 6, enabling the acquisition of speed and position information at the joint output end. The hollow rotating shaft 8 has a hollow structure, with its central hole used for wiring in the robot system. Because the connected output end rotates at a low speed, it also protects the internal wiring. A miniature bearing 20 is mounted on the rear end cover 19 of the motor and fixed with adhesive, eliminating motion wobbling caused by the cantilever support of the rear extension section of the hollow rotating shaft 8, thus avoiding affecting the accuracy of rotational motion detection results. An incremental encoder 26... Located directly above and at a suitable distance from the code disk 18, and installed inside the rear end cover 19 of the motor, the incremental encoder 26 can read the rotational motion information of the motor rotor 14 and transmit the collected information to the drive circuit board assembly 24. The drive circuit board assembly 24 calculates the target rotational state of the motor rotor 14 according to the user-preset motion commands, and then adjusts the current output to each winding of the motor stator 17 based on the difference between the target rotational state and the feedback rotational state, thereby adjusting the motion state of the motor rotor 14 to ensure that the robot joints output motion trajectories according to the expected motion law. Simultaneously, the rotational state information obtained by the incremental encoder 26 can be converted into the angular displacement, angular velocity, etc., of the motor rotor 14.The absolute encoder 22 is used to drive the circuit board assembly 24 for position loop, speed loop control, and feedforward control of the motor, improving the system's motion control command response speed. The absolute encoder 22 is mounted on the absolute encoder bracket 27 with screws. The absolute encoder bracket 27 is mounted on the motor rear end cover 19 via hexagonal copper pillars 28. Its absolute code disk 23 is coaxially fixed to the rear end of the hollow rotating shaft 8 with set screws. The corresponding detection chip is located on the side away from the motor rear end cover 19. The absolute encoder 22 is used to directly read the rotational motion information of the robot joint output end and transmit it to the drive circuit board assembly 24. It can directly perform closed-loop position control of the rotational motion of the robot joint output end, improving rotational motion accuracy. Moreover, the absolute encoder 22 does not lose position information when power is lost and can directly start normal operation from the current position after power is restored. Used in conjunction with the incremental encoder 26, it achieves high precision and high stability of the joint. The torque sensor 6 monitors in real time. The system measures joint torque. When a joint is subjected to force, the resulting torque causes a physical change in the torque sensor 6, which is converted into an electrical signal output. This precise torque information is provided to the control system, which adjusts the robot's speed, force, and position based on this information, achieving precise control of the robot's movement. For example, if the joint torque exceeds the safe range, the control system promptly stops the robot's movement to prevent injury to humans. If abnormal joint torque changes are detected, such as overload, jamming, or damage, measures can be taken in advance to repair or replace faulty parts, preventing robot downtime and production line interruptions. Furthermore, by monitoring joint torque changes, the robot can adjust its force and position to ensure even distribution of loads, improving work efficiency and safety. It can also detect minute torque changes, allowing the robot to adjust its posture and movements in a timely manner, enhancing its ability to operate in complex environments, better understanding and adapting to human behavior and intentions, and improving the user experience.

[0054] 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. An integrated torque sensor hollow humanoid robot revolute joint comprising mechanical components and drive and sensor components, characterized in that: The mechanical components provide a standard interface to connect the joint to the robotic arm. The mechanical components include a harmonic reducer assembly, an inner rotor motor assembly, and a hollow wiring assembly. The drive and sensor components include modules for joint power supply, communication, detection, and control. The harmonic reducer assembly includes a reducer mounting flange (1), a cross-roller bearing (2), a reducer outer wheel (3), a rigid wheel (4), a flexible wheel (5), and a torque sensor (6). The torque sensor (6) is pressed on the flexible wheel (5) and the three are fixed together with pins and screws. The cross-roller bearing (2) is mounted on the rigid wheel (4). The rigid wheel (4) is mounted on the reducer mounting flange (1). The inner ring of the cross-roller bearing (2) is fixed by the rigid wheel (4) and the reducer mounting flange (1). The reducer outer wheel (3) is mounted on the torque sensor (6) and presses against the outer ring of the cross-roller bearing (2).

2. The integrated torque sensor hollow human-shaped robot rotary joint according to claim 1, characterized in that: The harmonic reducer assembly also includes a flexible wheel retaining ring (7), a hollow rotating shaft (8), a wave generator (9), a ball bearing one (10), a flexible bearing (11), a ball bearing two (12), and a rear bearing cover (25). The outer ring of the ball bearing one (10) is fixed by the flexible wheel retaining ring (7), and the upper end of the flexible wheel (5) is mounted on the flexible wheel retaining ring (7).

3. The hollow humanoid robot rotary joint with integrated torque sensor according to claim 2, characterized in that: The inner ring of the flexible bearing (11) is concentrically mounted on the wave generator (9). The large end and small end of the wave generator (9) are respectively mounted on the ball bearing one (10) and the ball bearing two (12). The outer ring of the ball bearing two (12) is fixed by the reducer fixing flange (1) and the rear bearing cover (25). The rear end of the flexible wheel (5) is mounted on the outer ring of the flexible bearing (11).

4. The hollow humanoid robot rotary joint with integrated torque sensor according to claim 1, characterized in that: The internal rotor motor assembly includes an armature mounting plate (13), a first motor rotor (14), an armature (15), a brake stator (16), a second motor rotor (17), an encoder (18), and a motor rear end cover (19). The second motor rotor (17) is concentrically connected to the wave generator (9). The armature mounting plate (13) is concentrically connected to the second motor rotor (17) and fixed with screws. The outer side of the second motor rotor (17) is concentrically connected to the motor rear end cover (19). The brake stator (16) is concentrically connected to the motor rear end cover (19). The motor rear end cover (19) is concentrically connected to the outer side of the miniature bearing (20). The encoder (18) is mounted above the first motor rotor (14).

5. The hollow humanoid robot rotary joint with integrated torque sensor according to claim 4, characterized in that: The hollow wiring assembly includes a miniature bearing (20) and a hollow shaft (8). The hollow shaft (8) is mounted on the torque sensor (6), and the miniature bearing (20) is mounted on the rear end cover (19) of the motor. The hollow shaft (8) passes through the miniature bearing (20).

6. The hollow humanoid robot rotary joint with integrated torque sensor according to claim 5, characterized in that: The drive and sensor components include a code disk (18), a drive rear cover (21), an absolute encoder (22), an absolute code disk (23), a drive circuit board assembly (24), an incremental encoder (26), an absolute encoder bracket (27), and a hexagonal copper column (28). The drive circuit board assembly (24) is fixed to the outside of the motor rear end cover (19) by screws. The incremental encoder (26) is located directly above the code disk (18) and installed on the inside of the motor rear end cover (19). The incremental encoder (26) can read the motor rotor (1) 7) Rotational motion information, the absolute encoder (22) is mounted on the absolute encoder bracket (27) by screws, the absolute encoder bracket (27) is mounted on the motor rear end cover (19) by the hexagonal copper column (28), the absolute encoder (22) is fixedly mounted with an absolute code disk (23), the absolute code disk (23) is coaxially fixed to the rear end of the hollow rotating shaft (8) by set screws, and the detection chip at the corresponding position of the absolute code disk (23) is arranged on the side of the absolute encoder (22) away from the motor rear end cover (19).

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