A humanoid robot joint module actuator

Abstract

This utility model belongs to the field of humanoid robot actuator technology, and discloses a humanoid robot joint module actuator, including a servo motor, a planetary gear reduction mechanism, a harmonic reducer, an output flange, and a housing. The output shaft of the servo motor is coaxially connected to the output shaft of the planetary gear reduction mechanism, and the output shaft of the planetary gear reduction mechanism is rigidly connected to the wave generator of the harmonic reducer. The flexible wheel of the harmonic reducer is connected to the output flange via a spline. The housing is integrally molded from carbon fiber composite material. The servo motor is mounted on the housing, and the output flange is mounted on the side of the housing away from the servo motor. The housing encloses the planetary gear reduction mechanism and the harmonic reducer. The planetary gear reduction mechanism adopts a two-stage reduction design, with a first-stage reduction ratio of 4:1 and a second-stage reduction ratio of 5:1. The two-stage reduction mechanism is connected in series via a planetary carrier. This utility model not only achieves a compact power transmission path but also reduces the overall weight and improves structural rigidity.

Description

Technical Field

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

[0002] The humanoid robot joint module actuator is a highly integrated mechatronic device specifically designed to drive robot joint movement. It is the core power unit for achieving flexible and precise robot actions. It is directly installed at the robot joint and is responsible for converting electrical energy into precise mechanical motion, controlling the angle, speed, and torque of the joint.

[0003] Traditional humanoid robot joint actuators often employ direct motor drive or a combination of harmonic reducers and motors, which suffer from problems such as large size, heavy weight, and slow response speed. Therefore, we propose a humanoid robot joint module actuator. Summary of the Invention

[0004] In view of the problems of large size, heavy weight and slow response speed of existing humanoid robot joint drives, this utility model is proposed.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0006] A humanoid robot joint module driver includes a servo motor, a planetary gear reduction mechanism, a harmonic reducer, an output flange, and a housing;

[0007] The output shaft of the servo motor is coaxially connected to the output shaft of the planetary gear reduction mechanism, the output shaft of the planetary gear reduction mechanism is rigidly connected to the wave generator of the harmonic reducer, and the flexible wheel of the harmonic reducer is connected to the output flange via a spline.

[0008] The housing is integrally formed from carbon fiber composite material. The servo motor is mounted on the housing, and the output flange is mounted on the side of the housing away from the servo motor. The housing encloses the planetary gear reduction mechanism and the harmonic reducer.

[0009] As a technical solution for the humanoid robot joint module driver described in this utility model, the planetary gear reduction mechanism adopts a two-stage reduction design, with a first-stage reduction ratio of 4:1 and a second-stage reduction ratio of 5:1. The two-stage reduction mechanisms are connected in series via a planetary carrier.

[0010] As a technical solution for the humanoid robot joint module driver described in this utility model, the gear assembly of the planetary gear reduction mechanism, the wave generator of the harmonic reducer, and the output flange are all made of 7075 aviation aluminum alloy.

[0011] As a technical solution of the humanoid robot joint module driver described in this utility model, the surfaces of the gear assembly of the planetary gear reduction mechanism, the wave generator of the harmonic reducer and the output flange are all subjected to hard anodizing treatment, and the oxide layer thickness is 20-30μm.

[0012] As a technical solution of the humanoid robot joint module driver described in this utility model, the reduction ratio of the harmonic reducer is 50:1 to 100:1, and it is combined with the planetary gear reduction mechanism to form a total reduction ratio of 200:1 to 500:1.

[0013] As a technical solution for the humanoid robot joint module driver described in this utility model, the axial length of the driver does not exceed 150mm and the outer diameter does not exceed Φ80mm.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects:

[0015] 1. This utility model achieves a compact power transmission path by coaxially connecting a servo motor and a planetary gear reduction mechanism, combined with a rigid linkage design of the wave generator of a harmonic reducer. At the same time, the one-piece molding technology of carbon fiber shell can reduce the overall weight and improve the structural rigidity.

[0016] 2. In this utility model, the planetary gear reduction mechanism adopts a two-stage reduction design. The synergy between the two-stage reduction mechanism and the harmonic reducer can shorten the response time of the humanoid robot system, while ensuring high-precision positioning, which can significantly improve the smoothness of joint movement and control accuracy. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0018] Figure 1 This is a schematic diagram of the overall main structure of this utility model.

[0019] Figure 2 This is a schematic side view of the overall structure of this utility model.

[0020] Figure 3 This is a schematic diagram of the shell separation structure of this utility model.

[0021] Explanation of reference numerals in the attached figures:

[0022] In the diagram: 1. Servo motor; 2. Planetary gear reduction mechanism; 3. Harmonic reducer; 4. Output flange; 5. Housing. Detailed Implementation

[0023] 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.

[0024] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0025] Reference Figures 1-3 A humanoid robot joint module driver is provided, which includes a servo motor 1, a planetary gear reduction mechanism 2, a harmonic reducer 3, an output flange 4, and a housing 5.

[0026] The output shaft of servo motor 1 is coaxially connected to the output shaft of planetary gear reducer 2. The output shaft of planetary gear reducer 2 is rigidly connected to the wave generator of harmonic reducer 3. The output shaft of servo motor 1 is connected to the sun gear of planetary gear reducer 2 through interference fit. The output end of planetary carrier is rigidly locked to the wave generator of harmonic reducer 3 through conical surface positioning. The flexible wheel of harmonic reducer 3 is connected to the output flange 4 through spline. The flexible wheel of harmonic reducer 3 is connected to the output flange 4 through involute spline (tolerance grade H6 / h5).

[0027] The outer shell 5 is integrally molded from carbon fiber composite material using carbon fiber prepreg molding. The shell wall thickness is 3mm. The servo motor 1 is mounted on the outer shell 5, and the output flange 4 is mounted on the side of the outer shell 5 away from the servo motor 1. The outer shell 5 encloses the planetary gear reduction mechanism 2 and the harmonic reducer 3. In application, the servo motor 1 and the planetary gear reduction mechanism 2 are coaxially connected. Combined with the rigid linkage design of the wave generator of the harmonic reducer 3, the power transmission path can be compacted. At the same time, the integral molding technology of the carbon fiber outer shell 5 can reduce the overall weight and improve the structural rigidity.

[0028] Reference Figure 3The planetary gear reduction mechanism 2 adopts a two-stage reduction design. The first stage has a reduction ratio of 4:1 and a sun gear with 12 teeth, while the second stage has a reduction ratio of 5:1 and a planetary gear with 20 teeth. The two-stage reduction mechanism is connected in series via a planetary carrier. In application, the two-stage planetary gear reduction (4:1 and 5:1) adopts a series planetary carrier design, which can ensure the intermediate reduction ratio of 20:1 while also compressing the axial length to solve the problem of space occupation in multi-stage reduction.

[0029] Reference Figures 1-3 The gear assembly of the planetary gear reducer 2, the wave generator of the harmonic reducer 3, and the output flange 4 are all made of 7075 aerospace aluminum alloy. The planetary gears, wave generator, and output flange 4 are made of 7075-T6 aluminum alloy forging blanks and are precision machined by a five-axis machine tool. The surfaces of the gear assembly of the planetary gear reducer 2, the wave generator of the harmonic reducer 3, and the output flange 4 are all subjected to hard anodizing treatment, and the oxide layer thickness is 20-30μm. The hard anodizing treatment has an electrolyte temperature of -5℃ and a voltage of 100V, generating a 25μm oxide layer. In application, the 7075 aerospace aluminum alloy combined with hard anodizing treatment can improve the surface hardness of the gear assembly and reduce the coefficient of friction, significantly improving wear resistance.

[0030] Reference Figure 3 The harmonic reducer 3 has a reduction ratio of 50:1 to 100:1. Its flexible gear has 100-200 teeth and its steel gear has 102-202 teeth. Combined with the planetary gear reduction mechanism 2, it forms a total reduction ratio of 200:1 to 500:1. In application, the combination of the harmonic reducer 3 and the planetary gear reduction mechanism 2 forms a total reduction ratio of 200-500:1 to meet the high load requirements of humanoid robot joints.

[0031] Reference Figures 1-3 The axial length of the driver does not exceed 150mm and the outer diameter does not exceed Φ80mm. In application, the compact design allows the module to be adapted to the installation space of multiple joints such as shoulder, elbow, and hip, which can reduce the axial installation size compared with traditional drivers.

[0032] The working principle of this utility model is as follows: By starting the servo motor 1, the output shaft of the servo motor 1 drives the planetary gear reduction mechanism 2 for transmission. At the same time, the planetary gear reduction mechanism 2 reduces the rotational speed, and the harmonic reducer 3 further reduces the speed. During this period, when the output torque is too large, the harmonic reducer 3 undergoes elastic deformation to absorb the impact and trigger an overload alarm. The cooperation between the two-stage reduction mechanism and the harmonic reducer 3 can shorten the response time of the humanoid robot system and ensure high-precision positioning. It can significantly improve the smoothness and control accuracy of joint movement, thereby achieving a compact power transmission path and improving the smoothness and control accuracy of the humanoid robot joint movement module.

[0033] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A humanoid robot joint module actuator, characterized in that: It includes a servo motor (1), a planetary gear reduction mechanism (2), a harmonic reducer (3), an output flange (4), and a housing (5); The output shaft of the servo motor (1) is coaxially connected to the output shaft of the planetary gear reduction mechanism (2), the output shaft of the planetary gear reduction mechanism (2) is rigidly connected to the wave generator of the harmonic reducer (3), and the flexible wheel of the harmonic reducer (3) is connected to the output flange (4) through a spline. The housing (5) is integrally formed from carbon fiber composite material. The servo motor (1) is mounted on the housing (5), and the output flange (4) is mounted on the side of the housing (5) away from the servo motor (1). The housing (5) encloses the planetary gear reduction mechanism (2) and the harmonic reducer (3).

2. The humanoid robot joint module drive according to claim 1, characterized in that: The planetary gear reduction mechanism (2) adopts a two-stage reduction design. The first-stage reduction ratio is 4:1, and the second-stage reduction ratio is 5:

1. The two-stage reduction mechanism is connected in series through a planetary carrier.

3. The humanoid robot joint module drive of claim 1, wherein: The gear assembly of the planetary gear reduction mechanism (2), the wave generator of the harmonic reducer (3), and the output flange (4) are all made of 7075 aviation aluminum alloy.

4. The humanoid robot joint module drive of claim 3, wherein: The surfaces of the gear assembly of the planetary gear reduction mechanism (2), the wave generator of the harmonic reducer (3), and the output flange (4) are all subjected to hard anodizing treatment, and the oxide layer thickness is 20-30μm.

5. The humanoid robot joint module drive of claim 1, wherein: The reduction ratio of the harmonic reducer (3) is 50:1 to 100:1, and it is combined with the planetary gear reduction mechanism (2) to form a total reduction ratio of 200:1 to 500:

1.

6. The humanoid robot joint module drive according to any one of claims 1-5, wherein: The axial length of the driver does not exceed 150mm and the outer diameter does not exceed Φ80mm.

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