Joint actuators, robotic arms and robots

Abstract

This application discloses a joint actuator, a robotic arm, and a robot. The joint actuator includes a motor, a lead screw, a high-speed end sensor, and a control board. The motor includes a rotor and a stator. The rotor includes a rotor magnetic component. Under the influence of the rotating magnetic field of the stator and the magnetic field of the rotor magnetic component, the rotor rotates; the rotor drives the lead screw to move. The high-speed end sensor is electrically connected to the control board and is used to sense the rotor magnetic component to provide high-speed end position feedback for the motor. Since the rotor magnetic component is an existing component of the rotor itself, the high-speed end position feedback of the motor is achieved by using the rotor magnetic component of the motor itself and sensing the high-speed end sensor, eliminating the need for additional components that sense the high-speed end sensor. Therefore, it saves parts and helps reduce costs.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to articulated actuators, manipulators, and robots. Background Technology

[0002] Robots include robotic arms. The fingers of a robotic arm extend and retract using joint actuators. These joint actuators consist of motors and lead screws. The motors drive the lead screws to extend and retract, thus controlling the extension and retraction of the fingers.

[0003] Therefore, in order to achieve precise control, it is necessary to obtain high-speed end position feedback of the motor. In addition, low cost of joint actuators is also a goal pursued by the industry. Utility Model Content

[0004] The purpose of this application is to disclose a joint actuator, a robotic arm, and a robot. The joint actuator can effectively obtain high-speed end-position feedback, and its fewer components help reduce costs.

[0005] This application discloses a joint actuator. The joint actuator includes a motor, a lead screw, a high-speed end sensor, and a control board. The motor includes a rotor and a stator. The rotor includes a rotor magnetic element. Under the influence of the rotating magnetic field of the stator and the magnetic field of the rotor magnetic element, the rotor rotates; the rotor drives the lead screw to move. The high-speed end sensor is electrically connected to the control board and is used to sense the rotor magnetic element to provide high-speed end position feedback for the motor.

[0006] In some embodiments, the joint actuator includes a lead screw magnetic component and a low-speed end sensor; the lead screw magnetic component is mounted on the lead screw; the low-speed end sensor is electrically connected to the control board and is used to sense the lead screw magnetic component for low-speed end position feedback; or, the joint actuator includes a lead screw magnetic component and at least two low-speed end sensors; the lead screw magnetic component is mounted on the lead screw; the at least two low-speed end sensors are evenly spaced along the axial direction of the lead screw; the low-speed end sensors are electrically connected to the control board and are used to sense the lead screw magnetic component for low-speed end position feedback.

[0007] In some embodiments, the low-speed end sensor is a Hall element; and / or, the high-speed end sensor is an electromagnetic encoder.

[0008] In some embodiments, the control plate is positioned along the axial direction of the lead screw.

[0009] In some embodiments, the joint actuator includes a housing and an end support assembled within the housing; the end support includes a mating hole; the mating hole includes at least one anti-rotation structure; the lead screw passes through the mating hole, and under the action of the anti-rotation structure, the lead screw moves in a straight line.

[0010] In some embodiments, the anti-rotation structure includes a planar structure disposed on the wall of the mating hole, and the lead screw includes a mating surface that mates with the planar structure, wherein the mating surface is a plane.

[0011] In some embodiments, the joint actuator includes a planetary gear reduction assembly and a housing, with the planetary gear reduction assembly and the motor located within the housing; the lead screw extends from the housing. The planetary gear reduction assembly includes a first connecting end and a second connecting end, and the rotor is connected to a motor shaft; the first connecting end is connected to the motor shaft; the second connecting end includes a socket; the lead screw is inserted into the socket and threadedly connected to the wall of the socket. The motor shaft drives the first connecting end, and the first connecting end drives the second connecting end through gear transmission; the second connecting end drives the lead screw through the threaded connection.

[0012] In some embodiments, the planetary gear reduction assembly includes a ring gear and a planet carrier, the planet carrier including the second connecting end, or the ring gear including the second connecting end.

[0013] The planetary carrier includes a disc for mounting planetary gears and a column extending from the disc. The second connecting end includes the column and a central portion of the disc. The insertion hole includes a first insertion hole recessed into the interior of the central portion of the disc and a second insertion hole penetrating the column. The wall of the first insertion hole and at least a portion of the wall of the second insertion hole are provided with the threads.

[0014] In some embodiments, the planetary gear reduction assembly includes a sun gear, which is the first connecting end. The sun gear and the motor shaft are connected as a single unit.

[0015] In some embodiments, the integral structure includes a receiving hole communicating with the socket; the lead screw is also inserted into the receiving hole during retraction.

[0016] In some embodiments, a limiting member is provided in the receiving hole, and when the lead screw retracts to the initial position, the lead screw abuts against the limiting member; or, when the lead screw retracts to the initial position, the lead screw abuts against the bottom of the receiving hole.

[0017] In some embodiments, the receiving hole extends through the motor shaft; the housing is connected to an end cap, and the limiting member is connected to the end cap and inserted into the receiving hole.

[0018] In some embodiments, the joint actuator includes a second connecting end support; the second connecting end is rotatably connected to the housing via the second connecting end support.

[0019] In some embodiments, the housing includes a housing end opposite to the high-speed end sensor; the joint actuator includes an end support located at the housing end and passed through by the lead screw, which extends out of the housing end.

[0020] In some embodiments, the lead screw is provided with a limiting portion; when the lead screw extends to its maximum travel, the limiting portion abuts against the end support.

[0021] In some embodiments, the limiting part serves as a mounting base for mounting the lead screw magnetic component, and the joint actuator includes a low-speed end sensor for sensing the lead screw magnetic component, and a control board electrically connected to the low-speed end sensor.

[0022] In some embodiments, the second connecting end support is a rolling bearing or a bushing; and / or, the end support is a rolling bearing or a bushing.

[0023] In some embodiments, the inner wall of the housing is provided with a mounting groove recessed radially in the motor shaft, and the second connecting end support is fixed in the mounting groove.

[0024] In some embodiments, the motor shaft includes a motor shaft end connected to the first connecting end; the joint actuator includes a motor shaft support, and the motor shaft end is rotatably connected to the housing via the motor shaft support.

[0025] Secondly, this application discloses a robotic arm. The robotic arm includes any of the aforementioned joint actuators.

[0026] Thirdly, this application discloses a robot. The robot includes any of the aforementioned joint actuators, or the robot includes any of the aforementioned robotic arms.

[0027] For the aforementioned joint actuators, manipulators, and robots, since the rotor magnetic component is a component that interacts with the rotating magnetic field of the stator to make the rotor rotate, and is an existing component of the rotor itself, the high-speed position feedback of the motor can be achieved by using the rotor magnetic component of the motor itself and sensing the high-speed end sensor. There is no need to set up additional components that sense the high-speed end sensor, so parts are saved, which helps to reduce costs. Attached Figure Description

[0028] Figure 1 This is a cross-sectional view of a joint actuator according to an embodiment of this application, the joint actuator including a transmission mechanism;

[0029] Figure 2This is a schematic diagram showing a transmission mechanism in a disassembled state and viewed from a first perspective, according to an embodiment of this application.

[0030] Figure 3 yes Figure 2 The diagram shown is of the transmission mechanism in a disassembled state and viewed from a second perspective.

[0031] Figure 4 yes Figure 2 The diagram shown is of the transmission mechanism in a disassembled state and viewed from a third perspective.

[0032] Figure 5 yes Figure 2 The diagram shown is a disassembled transmission mechanism with each component in cross-section.

[0033] Figure 6 This is a cross-sectional view of another transmission mechanism in an assembled state, according to an embodiment of this application;

[0034] Figure 7 This is a schematic diagram of a planetary carrier according to an embodiment of this application;

[0035] Figure 8 This is a schematic diagram showing the overall structure of the motor shaft and the sun gear according to an embodiment of this application;

[0036] Figure 9 This is a schematic diagram showing the planetary gear and the ring gear in an assembled state according to an embodiment of this application;

[0037] Figure 10 This is a schematic diagram of a joint actuator in related technologies, showing the push rod in its initial position;

[0038] Figure 11 This is a schematic diagram of a joint actuator in related technologies, showing the push rod at its maximum stroke;

[0039] Figure 12 This is a schematic diagram of the end support member at another angle, according to an embodiment of this application. Detailed Implementation

[0040] The technical solutions in the embodiments (or "implementations") of this application will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0041] If the embodiments of this application contain terms relating to directional indications or positional relationships (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movements between components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0042] See Figure 1 This application discloses a joint actuator. The joint actuator includes a motor 1, a lead screw 3, a high-speed end sensor 4, and a control board 5. The motor 1 includes a rotor and a stator, and the rotor includes a rotor magnetic element 12. It should be noted that both the rotor magnetic element 12 and the subsequent lead screw magnetic element 51 are magnetic elements; the terms "rotor" and "lead screw" are used for distinction. Under the influence of the rotating magnetic field of the stator and the magnetic field of the rotor magnetic element 12, the rotor rotates. Therefore, based on the function of the rotor magnetic element 12, its structure is not limited; for example, the rotor magnetic element 12 can be a magnet. The rotor drives the lead screw 3 to move. The movement of the lead screw 3 is not limited, as long as it ultimately drives the joint.

[0043] The high-speed end sensor 4 is electrically connected to the control board 5 and is used to sense the rotor magnetic component 12 to provide high-speed end position feedback for the motor. The high-speed end sensor 4 can be electrically connected to the control board 5 in any manner, not limited to integration. The key is to ensure that the high-speed end sensor 4 transmits the sensed signal to the control board 5, and the control board 5 obtains the high-speed end position feedback of the motor based on this signal.

[0044] As described above, since the rotor magnetic component 12 is a component that interacts with the rotating magnetic field of the stator to make the rotor rotate, it is an existing component of the rotor itself. In this way, the high-speed end position feedback of the motor is realized by using the rotor magnetic component 12 of the motor itself and the high-speed end sensing component 4, without setting up additional components that sense the high-speed end sensing component 4. Therefore, parts are saved, which helps to reduce costs.

[0045] See Figure 1 The joint actuator includes a lead screw magnetic component 51 and at least two low-speed end sensors 52. The lead screw magnetic component 51 is mounted on the lead screw 3. The mounting method is not limited; for example, in this application, the lead screw magnetic component 51 is mounted on the lead screw 3 via a mounting base 511. The at least two low-speed end sensors 52 are evenly spaced along the axial direction of the lead screw 3. Figure 1The diagram illustrates four low-speed end sensors 52. These low-speed end sensors 52 are electrically connected to the control board 5 and are used to sense the magnetic lead screw component 51 to provide low-speed end position feedback.

[0046] As a variation of the above embodiment, only one low-speed end sensor 52 can be used. That is, the joint actuator includes a lead screw magnetic component 51 and a low-speed end sensor 52. The lead screw magnetic component 51 is mounted on the lead screw 3. The low-speed end sensor 52 is electrically connected to the control board 5 and is used to sense the lead screw magnetic component 51 to provide low-speed end position feedback.

[0047] As described above, since the joint actuator includes a lead screw magnetic component 51 and at least one low-speed end sensing component 52, compared with some contact sensing methods that use resistance bars, the sensing between the lead screw magnetic component 51 and the low-speed end sensing component 52 is non-contact, which has high reliability and good linearity and consistency.

[0048] In some embodiments, the low-speed end sensor 52 is a Hall element, and the high-speed end sensor 4 is an electromagnetic encoder.

[0049] As described above, when the high-speed end sensor 4 is an electromagnetic encoder, the electromagnetic encoder has high accuracy, and consequently, the position feedback accuracy at the high-speed end is high. When the low-speed end sensor 52 is a Hall element, based on the Hall effect, the sensing between the low-speed end sensor 52 and the lead screw magnetic element 51 is non-contact, resulting in high reliability, good linearity, and consistency.

[0050] See Figure 1 The control board 5 is placed along the axial direction of the lead screw 3.

[0051] As described above, the control board 5 is placed along the axial direction of the lead screw 3. The low-speed end sensor 52 and the high-speed sensor 4 are located at the two ends of the control board 5, which can make better use of space and ensure that the low-speed end sensor 52 senses the lead screw magnetic component 51 and the high-speed sensor 4 senses the rotor magnetic component 12.

[0052] See Figure 1 , Figure 2 and Figure 3 The joint actuator includes a housing 20 and an end support 40 assembled within the housing 20. See also Figure 12 The end support 40 includes a mating hole 401; the mating hole 401 includes at least one anti-rotation structure 4011. The lead screw 3 passes through the mating hole 401, and under the action of the anti-rotation structure 4011, the lead screw 3 moves in a straight line.

[0053] As described above, the end support 40 can not only support the lead screw 3, but also enable the lead screw 3 to move linearly. Therefore, the end support 40 has multiple functions without the need to set up parts for each function, which helps to reduce the number of parts in the joint actuator.

[0054] See Figure 12 The anti-rotation structure 4011 includes a planar structure disposed on the wall of the mating hole 401, wherein the planar structure is a plane. See also Figure 2 and Figure 3 The lead screw 3 includes a mating surface 31 that mates with the planar structure, and the mating surface 31 is a plane.

[0055] See Figure 6 and Figure 1 and combined Figures 2 to 5 The joint actuator includes a planetary gear reduction assembly 2 and a housing 20. The planetary gear reduction assembly 2 and the motor 1 are located within the housing 20; the lead screw 3 extends from the housing 20. The planetary gear reduction assembly 2 includes a first connecting end (e.g., a sun gear 22) and a second connecting end 211. The rotor is connected to a motor shaft 11. The first connecting end (e.g., the sun gear 22) is connected to the motor shaft 11, so that rotation of the motor shaft 11 can drive the first connecting end to rotate, thereby driving the planetary gear reduction assembly 2. Based on the reduction principle of the planetary gear reduction assembly 2, the first connecting end is not limited to the sun gear 22 of the planetary gear reduction assembly 2. In this application, the planetary gear reduction assembly 2 includes a planet carrier 21, a sun gear 22, planet gears 23, and a ring gear 24. The planet carrier 21 includes the second connecting end 211. See also Figure 4 , Figure 5 and Figure 7 The planetary carrier includes a disk 2101 for mounting planetary gears 23. More specifically, the disk 2101 is provided with a plurality of connecting posts 219, on which the planetary gears 23 are mounted. See also Figure 9 Planetary gear 23 also meshes with gear ring 24.

[0056] The planetary carrier 21 includes the second connecting end 211. (See also...) Figure 2 , Figure 3 , Figure 5 and Figure 7 The second connecting end 211 includes a socket 2111. The second connecting end 211 is the part in the planetary gear reduction assembly 2 used for connection with the lead screw 3. In some embodiments, see [reference needed]. Figure 7 and combined Figure 6The planetary carrier 21 further includes a column 2102 extending from the disk 2101. Depending on the position and function of the socket 2111, the second connecting end 211 includes at least a portion of the column 2102. In some embodiments of this application, the second connecting end 211 includes the central portion of the column 2102 and the disk 2101 (the central portion refers to a circular area with a certain radius centered on the center of the disk 2101, the radius being determined to satisfy the function of the socket 2111). See also... Figure 5 and Figure 7 The insertion hole 2111 includes a first insertion hole 21111 recessed into the center portion of the disk body and a second insertion hole 21112 penetrating the pillar 2102. The recess into the center portion of the disk body may or may not penetrate the center portion. The walls of the first insertion hole 21111 and a portion of the walls of the second insertion hole 21112 are provided with threads. In other embodiments, all walls of both the first insertion hole 21111 and the second insertion hole 21112 may be threaded.

[0057] As described above, the insertion hole 2111 includes a first insertion hole 21111 recessed into the center portion of the disc body and a second insertion hole 21112 penetrating the column 2102. The holes of the first insertion hole 21111 and at least a portion of the holes of the second insertion hole 21112 are threaded. The lead screw 3 is threaded not only to the hole wall of the second insertion hole 21112 but also to the first insertion hole 21111 of the disc body 2101, which further reduces the axial dimension of the transmission mechanism.

[0058] See Figure 1 and Figure 6 The lead screw 3 is inserted into the socket 2111 and threadedly connected to the wall of the socket 2111. This can be understood as the assembly relationship between the lead screw 3 and the socket 2111, forming the output end of the planetary gear reduction assembly 2. Thus, the motor shaft 11 drives the first connecting end (e.g., the sun gear 22), and the first connecting end drives the second connecting end 211 through the gear transmission of the planetary gear reduction assembly 2; the second connecting end 211 drives the lead screw 3 through the threaded connection. In the above-described joint actuator, the motor shaft 11, the planetary gear reduction assembly 2, and the lead screw 3 can also be referred to as the transmission mechanism 10.

[0059] As described above, since the planetary gear reduction assembly 2 includes a second connecting end 211, which includes a socket 2111, and the lead screw 3 is inserted into the socket 2111 and threadedly connected to the wall of the socket 2111, the axial dimension of the transmission mechanism is short, which helps to reduce the size of the transmission mechanism and thus facilitates the miniaturization of the joint actuator. Furthermore, because the lead screw 3 is inserted into the second connecting end 211, the second connecting end 211 does not need to be too long, which also helps to reduce the axial dimension of the transmission mechanism and saves materials, thereby reducing the cost of the transmission mechanism.

[0060] To more intuitively understand the aforementioned beneficial effects of the transmission mechanism of this application, this application will be compared with... Figure 10 and Figure 11 The relevant technologies shown are compared and analyzed as follows:

[0061] exist Figure 10 and Figure 11 In the illustrated embodiment, the planetary gear reduction assembly 2 includes a planet carrier 21. The planet carrier 21 includes a threaded section 2190. The push rod 9 is threadedly connected to the threaded section 2190 via a nut 91, and an anti-rotation structure is provided between the nut 91 and the housing 20. Thus, rotation of the motor shaft 11 will cause the planet carrier 21 to rotate, which in turn drives the threaded section 2190 to rotate. Through the engagement of the threaded section 2190 and the nut 91, and under the action of the anti-rotation structure, the push rod 9 moves linearly. Figure 11 This shows push rod 9 extended to its maximum travel. Figure 10 and Figure 11 In the illustrated embodiment, a nut 91 is required. However, this application uses the hole wall of the insertion hole 2111 of the second connecting end 211 to replace the nut 91, thus saving at least the axial dimension of a nut 91. Furthermore, the threaded section 2190 is also unnecessary (because the threaded section is inside the second connecting end, and the second connecting end 211 is shorter than the threaded section 2190). This not only helps reduce the axial dimension of the transmission mechanism but also saves material and thus reduces costs.

[0062] See Figures 1 to 6 The planetary carrier 21 includes the second connecting end 211. Based on the deceleration principle of the planetary gear reduction assembly 2, in some cases, the planetary carrier 21 is fixed, the sun gear 22 is active, and the ring gear 24 is passive, which can also achieve the purpose of deceleration. Therefore, in some embodiments, the ring gear 24 includes the second connecting end 211.

[0063] As described above, although both the gear ring 24 including the second connecting end 211 and the planet carrier 21 including the second connecting end 211 can achieve the aforementioned beneficial effects, the implementation of the planet carrier 21 including the second connecting end 211 makes the structure of the transmission mechanism simpler and easier to implement. In addition, because the planet carrier 21 is smaller than the gear ring 24, the implementation of the planet carrier 21 including the second connecting end 211 makes the space occupied by the transmission mechanism relatively smaller, and also makes the moment of inertia smaller and the speed ratio larger.

[0064] See Figure 8 and Figure 6 and combined Figures 1 to 5 The planetary gear reduction assembly 2 includes a sun gear 22. The sun gear 22 is the first connecting end, and the sun gear 22 is connected to the motor shaft 11 as an integral structure. The integral structure can be formed in various ways, such as integral injection molding or 3D printing, etc., and this application embodiment does not make specific limitations.

[0065] As described above, the sun gear 22 and the motor shaft 11 are connected as a single unit. This improves the concentricity between the sun gear 22 and the motor shaft 11, thereby preventing jamming and other issues caused by misalignment.

[0066] In some embodiments, the integrated structure includes a receiving hole 111 communicating with the insertion hole 2111. During retraction, the lead screw 3 is also inserted into the receiving hole 111. Although the receiving hole 111 extends through the motor shaft 11 in one embodiment of this application, in some embodiments of this application, the receiving hole 111 may not extend through the motor shaft 11.

[0067] As described above, the sun gear 22 is connected to the motor shaft 11 as an integral structure, and the receiving hole 111 is formed in the integral structure. The lead screw 3 is also inserted into the receiving hole 111 during the retraction process, which helps to reduce the axial dimension of the transmission mechanism, thereby facilitating the miniaturization of the joint actuator.

[0068] See Figure 1 A limiting member 6 is provided inside the receiving hole 111, and when the lead screw 3 retracts to its initial position, the lead screw 3 abuts against the limiting member 6. As an alternative to the above embodiment, the limiting member 6 may not be provided, that is, when the lead screw 3 retracts to its initial position, the lead screw 3 abuts against the bottom of the receiving hole 111.

[0069] As described above, the zero-point position for initialization is provided by the contact between the limiting member 6 and the lead screw 3, or by the contact between the lead screw 3 and the bottom of the receiving hole 111. Moreover, the receiving hole 111 is located inside the integral structure formed by the motor shaft 11 and the sun gear 22, and the contact is also inside the integral structure, thus not occupying the space of the joint actuator.

[0070] See Figure 1 The receiving hole 111 passes through the motor shaft 11. The housing 20 is connected to an end cap 209, and the limiting member 6 is connected to the end cap 209 and inserted into the receiving hole 111. The limiting member 6 can be connected to the end cap 209 in any way, such as by a threaded connection.

[0071] As described above, after the end cap 209 is connected to the limiting member 6, the limiting member 6 can be inserted into the receiving hole 111 during the assembly process of the end cap 209 and the housing 20. This facilitates the assembly of the limiting member 6. Moreover, after the end cap 209 and the housing 20 are assembled, they are not easy to move. Therefore, the position of the limiting member 6 is not easy to change, and it can better provide the zero point position.

[0072] In some embodiments, the lead screw 3 is a trapezoidal lead screw. Of course, in this application, the lead screw 3 is not limited to a trapezoidal lead screw.

[0073] As described above, combining the planetary gear reducer 2 with the trapezoidal lead screw reduces the cost of the lead screw 3. In some transmission mechanisms that omit the planetary gear reducer 2 and use a pure lead screw, the lack of the planetary gear reducer's speed reduction and torque amplification necessitates high transmission efficiency from the pure lead screw. In such cases, a ball / roller lead screw is required, leading to high cost. However, since this application combines the planetary gear reducer 2 with the trapezoidal lead screw, the planetary gear reducer 2 already provides speed reduction and torque amplification. Therefore, the lead screw 3 does not need to use a ball / roller lead screw, resulting in lower cost.

[0074] See Figure 1 and combined Figures 2 to 6 The joint actuator (or transmission mechanism) includes a second connecting end support 30. The second connecting end 211 is rotatably connected to the housing 20 via the second connecting end support 30. That is, the housing 20 remains stationary while the second connecting end 211 rotates. In this application, the second connecting end support 30 is sleeved with the second connecting end 211, and the locking nut 90 is... Figure 7 The locking section 21021 of the column 2102 shown is threaded to limit the second connecting end support 30.

[0075] As described above, the transmission mechanism 10 can be effectively supported by the rotatable connection between the second connecting end support member 30 and the housing 20.

[0076] In some embodiments, the housing 20 includes a housing end opposite to the high-speed end sensor 4. The joint actuator includes an end support 40. The end support 40 is located at the housing end and is passed through by the lead screw 3, which extends out of the housing 20 from the housing end. In this application, the threaded engagement of the lead screw 3 with the socket 2111 causes the lead screw 3 to rotate, and then the lead screw 3 moves linearly through the engagement of the lead screw 3 and the end support 40 (e.g., the aforementioned mating surface 31 and the anti-rotation structure 4011).

[0077] As described above, by setting the second connecting end support 30 and the end support 40, the second connecting end support 30 acts as fulcrum A and the end support 40 acts as fulcrum B to support the lead screw 3. Furthermore, because the lead screw 3 is inserted into the second connecting end 211, neither fulcrum A nor fulcrum B moves during the extension and retraction of the lead screw 3, thus providing good stability and rigidity for the support of the lead screw 3. Figure 10 and Figure 11 In the illustrated embodiment, because the nut 91 engages with the threaded section 2190, the nut 91 moves, causing the distance between fulcrum A and fulcrum B to change with the movement of the push rod 9. For example, during the extension of the push rod 9, the distance between fulcrum A and fulcrum B decreases, resulting in the extended portion of the push rod 9 forming a cantilever with fulcrum B, thus leading to poor support stability and rigidity. In contrast, in this application, the distance between fulcrum A and fulcrum B does not change, preventing the aforementioned cantilever, thereby achieving good support stability and rigidity.

[0078] In some embodiments, the transmission mechanism or the joint actuator may only have the second connecting end support 30.

[0079] In some embodiments, the second connecting end support 30 is a rolling bearing or a bushing. In other embodiments, the end support 40 is a rolling bearing or a bushing.

[0080] As described above, regardless of whether the second connecting end support 30 is a rolling bearing or a bushing, or whether the end support 40 is a rolling bearing or a bushing, the joint actuator can have a simple structure, good support stability, and low friction loss.

[0081] See Figure 1 The inner wall of the housing 20 is provided with a mounting groove 201 that is recessed in the radial direction of the motor shaft, and the second connecting end support 30 is fixed in the mounting groove 201.

[0082] As described above, since the mounting groove 201 is recessed radially on the motor shaft, the second connecting end support 30 is axially constrained by fixing it within the mounting groove. This prevents the second connecting end support 30 from shifting during the movement of the lead screw 3, ensuring good support stability for the lead screw 3 and guaranteeing the axial movement accuracy of the lead screw 3. Furthermore, by fixing the second connecting end support 30 within the mounting groove 201, the distance between fulcrum A and fulcrum B remains unchanged during the movement of the lead screw 3, resulting in good support stability and rigidity.

[0083] See Figure 1 When the lead screw 3 is provided with the lead screw magnetic element 51, the lead screw magnetic element 51 is mounted on the lead screw 3 via the mounting base 511. When the lead screw 3 extends to its maximum stroke, the mounting base 511 abuts against the end support member 40.

[0084] As described above, the mounting base 511 abuts against the end support 40, providing a limit at the maximum stroke to prevent the lead screw 3 from coming off; combined with the limit member 6 for the zero position (i.e., limit) of the lead screw 3, the front and rear limits of the lead screw 3 are achieved with a simple structure.

[0085] The mounting base 511 serves as a limiting part. Based on this inspiration, another implementation method can be obtained (for example, the magnetic component 51 of the lead screw is not installed on the mounting base 511). The mounting base 511 is the limiting part, that is, the lead screw is provided with a limiting part; when the lead screw extends to the maximum stroke, the limiting part abuts against the end support.

[0086] See Figure 1 The joint actuator includes a housing 20, the motor 1 and the planetary gear reduction assembly 2 are located within the housing 20, and the lead screw 3 extends out of the housing 20. See also... Figure 8 The motor shaft 11 includes a motor shaft end 112 connected to a first connecting end (in this embodiment, the first connecting end is the sun gear 22). See also Figure 1 and combined Figure 8 and Figure 2 The joint actuator (or the transmission mechanism) includes a motor shaft support 50. The end portion 112 of the motor shaft is rotatably connected to the housing 20 via the motor shaft support 50. Figure 1 In the middle, a shim 501 is provided between the planetary gear 23 and the motor shaft support 50, and the planetary gear 23 and the motor shaft support 50 are located on opposite sides of the shim 501.

[0087] As described above, since the motor shaft support 50 is provided at the end 112 of the motor shaft and the motor shaft support 50 is close to the planetary carrier 21, the concentricity between the motor shaft 11, the planetary gear reduction assembly 2 and the lead screw 3 is improved, the transmission mechanism is less likely to jam during the movement, and the lead screw 3 can move in a straight line better.

[0088] Secondly, this application discloses a robotic hand. The robotic hand includes the joint actuator described in any of the foregoing claims. The robotic hand can be a dexterous hand, a robotic arm, etc.

[0089] Thirdly, this application discloses a robot. The robot includes any of the aforementioned robotic arms, or includes any of the aforementioned joint actuators. The robot includes robotic arms, robotic hands, or humanoid robots, etc.

[0090] It should be noted that the technical solutions or features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A joint actuator, characterized in that, The joint actuator includes a motor, a lead screw, a high-speed end sensor, and a control board; The motor includes a rotor and a stator. The rotor includes a rotor magnetic component. Under the action of the rotating magnetic field of the stator and the magnetic field of the rotor magnetic component, the rotor rotates. The rotor drives the lead screw to move. The high-speed end sensor is electrically connected to the control board and is used to sense the rotor magnetic component to provide high-speed end position feedback for the motor.

2. The joint actuator according to claim 1, characterized in that, The joint actuator includes a lead screw magnetic component and a low-speed end sensor; the lead screw magnetic component is mounted on the lead screw; the low-speed end sensor is electrically connected to the control board and is used to sense the lead screw magnetic component to provide low-speed end position feedback. Alternatively, the joint actuator includes a lead screw magnetic component and at least two low-speed end sensors; the lead screw magnetic component is mounted on the lead screw; the at least two low-speed end sensors are evenly spaced along the axial direction of the lead screw; the low-speed end sensors are electrically connected to the control board and are used to sense the lead screw magnetic component to provide low-speed end position feedback.

3. The joint actuator according to claim 2, characterized in that, The low-speed end sensor is a Hall element; and / or, the high-speed end sensor is an electromagnetic encoder.

4. The joint actuator according to claim 1, characterized in that, The control board is positioned along the axial direction of the lead screw.

5. The joint actuator according to claim 1, characterized in that, The joint actuator includes a housing and an end support assembled within the housing; the end support includes a mating hole; the mating hole includes at least one anti-rotation structure; the lead screw passes through the mating hole, and under the action of the anti-rotation structure, the lead screw moves in a straight line.

6. The joint actuator according to claim 5, characterized in that, The anti-rotation structure includes a planar structure disposed on the wall of the mating hole, and the lead screw includes a mating surface that mates with the planar structure, wherein the mating surface is a plane.

7. The joint actuator according to claim 1, characterized in that, The joint actuator includes a planetary gear reduction assembly and a housing, wherein the planetary gear reduction assembly and the motor are located within the housing; the lead screw extends from the housing. The planetary gear reduction assembly includes a first connecting end and a second connecting end, and the rotor is connected to a motor shaft; the first connecting end is connected to the motor shaft; the second connecting end includes a socket; the lead screw is inserted into the socket and threadedly connected to the wall of the socket. The motor shaft drives the first connecting end, and the first connecting end drives the second connecting end through gear transmission; the second connecting end drives the lead screw through the threaded connection.

8. The joint actuator according to claim 7, characterized in that, The planetary gear reduction assembly includes a ring gear and a planet carrier, wherein the planet carrier includes the second connecting end, or the ring gear includes the second connecting end.

9. The joint actuator according to claim 8, characterized in that, The planetary carrier includes a disc for mounting planetary gears and a column extending from the disc. The second connecting end includes the column and a central portion of the disc. The insertion hole includes a first insertion hole recessed into the interior of the central portion of the disc and a second insertion hole penetrating the column. The wall of the first insertion hole and at least a portion of the wall of the second insertion hole are provided with the threads.

10. The joint actuator according to claim 7, characterized in that, The planetary gear reduction assembly includes a sun gear, which is the first connecting end, and the sun gear is connected to the motor shaft as an integral structure.

11. The joint actuator according to claim 10, characterized in that, The integrated structure includes a receiving hole communicating with the socket; the lead screw is also inserted into the receiving hole during retraction.

12. The joint actuator according to claim 11, characterized in that, A limiting member is provided inside the receiving hole, and when the lead screw retracts to the initial position, the lead screw abuts against the limiting member; Alternatively, when the lead screw retracts to its initial position, the lead screw abuts against the bottom of the receiving hole.

13. The joint actuator according to claim 12, characterized in that, The receiving hole passes through the motor shaft; the housing is connected to an end cap; the limiting member is connected to the end cap and inserted into the receiving hole.

14. The joint actuator according to claim 7, characterized in that, The lead screw is a trapezoidal lead screw.

15. The joint actuator according to any one of claims 7 to 14, characterized in that, The joint actuator includes a second connecting end support; the second connecting end is rotatably connected to the housing via the second connecting end support.

16. The joint actuator according to claim 15, characterized in that, The housing includes a housing end opposite to the high-speed end sensor; the joint actuator includes an end support located at the housing end and passed through by the lead screw, which extends out of the housing end.

17. The joint actuator according to claim 16, characterized in that, The lead screw is provided with a limiting part; when the lead screw extends to its maximum stroke, the limiting part abuts against the end support.

18. The joint actuator according to claim 17, characterized in that, The limiting part serves as a mounting base for mounting the lead screw magnetic component; the joint actuator includes a low-speed end sensor for sensing the lead screw magnetic component, and a control board electrically connected to the low-speed end sensor.

19. The joint actuator according to claim 16, characterized in that, The second connecting end support is a rolling bearing or a bushing; and / or, the end support is a rolling bearing or a bushing.

20. The joint actuator according to claim 15, characterized in that, The inner wall of the housing is provided with a mounting groove recessed radially on the motor shaft, and the second connecting end support is fixed in the mounting groove.

21. The joint actuator according to any one of claims 7 to 14, characterized in that, The motor shaft includes a motor shaft end connected to the first connecting end; the joint actuator includes a motor shaft support member, and the motor shaft end is rotatably connected to the housing through the motor shaft support member.

22. A robotic arm, characterized in that, The robotic arm includes the joint actuator as described in any one of claims 1 to 21.

23. A robot, characterized in that, The robot includes the manipulator of claim 22, or the robot includes the joint actuator of any one of claims 1 to 21.

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