A humanoid robot linear joint and robot

Abstract

The utility model belongs to humanoid robot technical field discloses a kind of humanoid robot linear joint and robot, linear joint includes shell, front end cover, rear end cover, motor and reverse type roller screw;Reverse type roller screw includes long nut, screw and roller;Long nut is equipped with deep groove ball bearing and angular contact bearing, further includes locking round nut and front cover gasket, and front cover gasket is sleeved in the outside of locking round nut.The utility model's device can effectively reduce the shaking and deviation of long nut in the process of rotation, to slow down the wear rate of bearing surface, improve the stability of device operation service life;Further improve the dustproof effect and wear resistance of device by setting dustproof ring and wear sleeve in front end cover;In addition, the linear joint of the utility model is used on humanoid robot, can realize collaborative motion under the coordination of control system, and good applicability.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, specifically to a humanoid robot linear joint and the robot. Background Technology

[0002] Humanoid robots, as a cutting-edge research direction in the field of robotics, possess highly human-like appearances and movement capabilities, and can be widely used in many scenarios such as service, healthcare, education, and industry, demonstrating enormous development potential and application value. Traditional humanoid robot driving methods mostly employ rotary drives, using motors to drive rotating components such as reducers, and then converting the rotary motion into the movements required by the robot's joints through a complex transmission chain. However, this driving method has significant drawbacks. For example, redundant transmission chains not only make the robot's structure complex and bulky but also increase mechanical losses, reduce energy transfer efficiency, and affect the robot's motion accuracy and response speed.

[0003] Addressing the shortcomings of traditional rotary drive methods for humanoid robots, a superior linear joint drive method has been developed in this field. For example, patent CN119407836A includes a housing, a front cover, and a rear cover. The front and rear covers are fixed to opposite ends of the housing, which houses an actuator and a drive control assembly. The actuator employs a reverse-type planetary roller screw and a motor. Utilizing the line contact characteristics between the screw, rollers, and nut, it achieves high load capacity and high speed while also possessing advantages such as high precision, long lifespan, high integration, and high thrust density, perfectly meeting the application requirements of humanoid robot joints.

[0004] Compared with traditional rotary drive methods, although existing linear joints have many advantages, they generally have the following drawbacks:

[0005] 1. The bearings used to support the lead screw are prone to shaking during operation, which disrupts the originally stable transmission state, reduces transmission efficiency, and causes deviations in the movement of robot joints; in addition, bearing shaking can cause excessive loads to be borne in local areas of the bearing, accelerating the wear of the bearing surface.

[0006] 2. The front cover has poor sealing, allowing external dust to easily enter the joint and wear down the bearing surface. As wear intensifies, the contact area decreases, further increasing the shaking and creating a vicious cycle that causes the bearing to reach its fatigue life limit prematurely. At the same time, the grease inside the joint is also prone to leakage, affecting the normal lubrication and operation of the joint.

[0007] 3. Due to frequent transmission, the contact point between the lead screw and the front cover is prone to excessive wear, which shortens the service life of the joint and increases maintenance costs and usage risks. Utility Model Content

[0008] The purpose of this invention is to propose a linear joint for a humanoid robot and the robot itself, which at least solves one of the technical problems mentioned in the background art, such as the problem that the bearings supporting the lead screw are prone to shaking during operation, so as to slow down the wear rate of the bearing surface and improve the stability and service life of the device.

[0009] This utility model proposes a linear joint for a humanoid robot, including a shell and front and rear covers at both ends of the shell, and also includes a motor and a reverse roller screw disposed inside the shell; the reverse roller screw includes a long nut, a screw and rollers, the long nut is disposed inside the motor, the screw is coaxially disposed inside the long nut, and the rollers are disposed between the long nut and the screw.

[0010] The long nut is equipped with a deep groove ball bearing and an angular contact bearing at both ends, and also includes a locking round nut and a front cover washer that mate with the angular contact bearing. The front cover washer is fitted inside the housing.

[0011] There are two angular contact bearings, namely the first angular contact bearing and the second angular contact bearing. A bearing retainer is provided between the outer rings of the two angular contact bearings. On the left side of the first angular contact bearing, the inner ring is tightly attached to the shaft end boss on the long nut, and the outer ring is tightly attached to the shell end boss on the housing. On the right side of the second angular contact bearing, the inner ring is locked and limited by the locking round nut, and the outer ring is tightly attached to the front cover washer.

[0012] In this invention, an internal motor serves as the power source. When the motor starts, its rotor is directly interference-fitted with the long nut of the reverse-type roller screw, driving the long nut to rotate around its axis. The inner wall of the long nut engages with the screw via rollers, which roll between the helical raceways of the long nut and the screw, converting the rotational motion of the long nut into the axial linear motion of the screw. This process simulates the contraction pattern of biological muscles, directly outputting linear displacement and avoiding the redundant structure of traditional rotary joints that require connecting rods to convert the motion trajectory. Deep groove ball bearings ensure radial stability during screw rotation, while angular contact bearings primarily provide axial load. The bearing retainer ring in this invention is located between the outer rings of the two angular contact bearings, supporting both bearings and eliminating axial clearance to prevent bearing movement. When the locking nut adjusts the inner ring of the second angular contact bearing, it simultaneously affects the preload of the first angular contact bearing, eliminating the axial clearance of the entire angular contact bearing. By using components such as deep groove ball bearings, angular contact bearings, locking round nuts, and front cover gaskets, the wobbling and offset of the long nut during rotation can be effectively reduced, stabilizing the transmission state, improving transmission efficiency, and ensuring the precision of joint movement. At the same time, it reduces the situation where the bearing is subjected to excessively high loads in local areas due to bearing wobbling, reduces bearing surface wear, and improves the stability and service life of the device.

[0013] Furthermore, a limiting cover is provided on the outside of the input end of the reverse roller screw; it also includes a first elastic retaining ring and a deep groove ball retaining ring, a groove is provided on the long nut, the first elastic retaining ring is set in the groove, and the inner ring of the ball bearing is limited on both sides by the first elastic retaining ring and the limiting cover respectively; the outer ring of the deep groove ball bearing is fixed inside the housing by the deep groove ball retaining ring.

[0014] Furthermore, a dustproof ring is coaxially provided between the front cover and the lead screw; a first mounting groove is opened on the right side surface of the front cover, and the dustproof ring is installed in the first mounting groove.

[0015] Furthermore, a dust cover is provided on the outside of the front cover to axially limit the dust seal.

[0016] Furthermore, a wear-resistant sleeve is coaxially provided between the front end cover and the lead screw; a second assembly groove is provided on the left side surface of the front end cover, the wear-resistant sleeve is provided in the second assembly groove, and a second elastic retaining ring is provided in the second assembly groove for axially limiting the wear-resistant sleeve.

[0017] Furthermore, the output end of the lead screw has a circular milled flat structure; the inner hole of the wear-resistant sleeve is provided with a flat part that matches the lead screw to prevent the lead screw from rotating radially.

[0018] Furthermore, it also includes a driver, a drive cover, an electromagnetic encoder, a pressure sensor, a first joint bearing, and a second joint bearing;

[0019] The drive cover is fixedly connected to the rear cover and the housing, and the driver is fixed inside the drive cover cavity; the electromagnetic encoder is fixed on the reverse roller screw near one end of the rear cover; one end of the pressure sensor is fixed on the drive cover, and the other end is equipped with the first joint bearing; the second joint bearing is fixed at the end of the screw output.

[0020] This utility model also proposes a humanoid robot, including a humanoid robot body and the aforementioned humanoid robot linear joints, wherein the arms and legs of the humanoid robot body are equipped with humanoid robot linear joints.

[0021] The beneficial effects of this utility model are as follows:

[0022] 1. This utility model, through the cooperation of components such as deep groove ball bearings, angular contact bearings, locking round nuts and front cover gaskets, can effectively reduce the shaking and offset of long nuts during rotation, stabilize the transmission state, improve transmission efficiency, and ensure the precision of joint movement; at the same time, it reduces the situation where the local area of ​​the bearing is subjected to excessive load due to bearing shaking, reduces bearing surface wear, and improves the stability and service life of the device.

[0023] 2. The dustproof ring of this utility model can prevent external dust and impurities from entering the interior of the linear joint, thus protecting the internal components and preventing grease leakage. By using a dustproof cover for axial limiting on the basis of the dustproof ring, a multi-layer dustproof structure is formed, which can more effectively block external dust and impurities from entering the interior of the linear joint, greatly improving the reliability and sealing of dust prevention, providing a relatively clean working environment for the internal components of the linear joint, further preventing wear of the internal components of the linear joint, and improving the stability and service life of the device.

[0024] 3. The wear-resistant sleeve set between the front end cover and the lead screw in this utility model has good wear resistance, which can effectively reduce the wear between the lead screw and the front end cover, protect the lead screw and the front end cover from damage, and extend the service life of the parts;

[0025] 4. This utility model integrates key components such as the driver, electromagnetic encoder, and pressure sensor into a linear joint system. Through reasonable connection and layout, it realizes the collaborative work between the components. Furthermore, the integrated design not only reduces the number of parts and the space occupied, improving the compactness of the system, but also facilitates the installation, debugging and maintenance of the system, thereby reducing production and operating costs. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the utility model will be further described below in conjunction with the accompanying drawings and embodiments. 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.

[0027] Figure 1 This is a cross-sectional structural diagram of a linear joint of a humanoid robot according to this utility model.

[0028] Figure 2 yes Figure 1 A magnified view of a portion of point A in the diagram.

[0029] Figure 3 yes Figure 1 A magnified view of a portion of point B in the diagram.

[0030] Figure 4 yes Figure 1 A magnified view of a portion of point C.

[0031] Figure 5 yes Figure 1 A schematic diagram of a linear transmission structure using a lead screw.

[0032] Figure 6This is a cross-sectional structural diagram of the front end cover of the linear joint of the humanoid robot of this utility model.

[0033] Figure 7 yes Figure 1 A schematic diagram of a reverse-rotating roller screw.

[0034] Figure 8 yes Figure 5 A schematic diagram of a reverse-rotating roller screw.

[0035] Figure 9 This is a schematic diagram of the overall structure of a linear joint of a humanoid robot according to this utility model.

[0036] Figure 10 This is a schematic diagram of a structure in which the lead screw and the front cover are fitted together.

[0037] Figure 11 yes Figure 10 A structural diagram from another perspective.

[0038] Figure 12 This is a schematic diagram of the structure of the rear end cover of this utility model.

[0039] In the diagram: 1. Housing; 2. Front cover; 3. Rear cover; 4. Motor; 5. Reverse roller screw; 6. Deep groove ball bearing; 7. Locking nut; 8. Front cover washer; 9. First angular contact bearing; 10. Second angular contact bearing; 11. Bearing retaining ring; 12. Shaft end boss; 13. Housing end boss; 14. Limiting cover; 15. First elastic retaining ring; 16. Deep groove ball retaining ring; 17. Groove; 18. Dustproof ring; 19. First assembly groove; 20. Dustproof cover; 21. Wear-resistant sleeve; 22. Second assembly groove; 23. Second elastic retaining ring; 24. Driver; 25. Driver cover; 26. Electromagnetic encoder; 27. Tension / compression sensor; 28. First spherical plain bearing; 29. ​​Second spherical plain bearing; 30. Third assembly groove; 31. Waterproof connector;

[0040] 501. Long nut; 502. Lead screw; 503. Roller. Detailed Implementation

[0041] The illustrated embodiments are provided to better illustrate the present invention, but the content of the present invention is not limited to the illustrated embodiments. Therefore, non-essential improvements and adjustments made to the implementation schemes by those skilled in the art based on the above-described content of the present invention still fall within the protection scope of the present invention.

[0042] like Figures 1 to 12As shown, a linear joint for a humanoid robot includes a housing 1 and front end caps 2 and rear end caps 3 at both ends of the housing 1. It also includes a motor 4 and a reverse roller screw 5 disposed inside the housing 1. The reverse roller screw 5 includes a long nut 501, a screw 502, and rollers 503. The long nut 501 is inside the motor 4, the screw 502 is coaxially disposed inside the long nut 501, and the rollers 503 are located between the long nut 501 and the screw 502. Deep groove ball bearings 6 and angular contact bearings are respectively provided at both ends of the long nut 501. It also includes a locking nut 7 and a front cover washer 8 that cooperate with the angular contact bearings, with the front cover washer 8 fitted inside the housing 1.

[0043] like Figure 1 , Figure 3 and Figure 5 As shown, there are two angular contact bearings, namely a first angular contact bearing 9 and a second angular contact bearing 10. A bearing retainer ring 11 is provided between the outer rings of the two angular contact bearings. On the left side of the first angular contact bearing 9, the inner ring is tightly attached to the shaft end boss 12 on the long nut 501, and the outer ring is tightly attached to the shell end boss 13 on the housing 1. On the right side of the second angular contact bearing 10, the inner ring is locked and limited by the locking round nut 7, and the outer ring is tightly attached to the front cover washer 8.

[0044] The device of this utility model is mainly an improvement on the existing technology. The overall driving principle is the same as the common linear joint driving principle of humanoid robots, such as the driving principle disclosed in the patent with publication number CN119407836A. This utility model mainly improves the local parts and further optimizes its performance.

[0045] like Figure 1 and Figure 5 As shown, in this invention, a reverse roller screw 5 is disposed inside the motor 4 to convert the rotational motion of the motor 4 into axial linear motion. The motor 4 is a common frameless torque motor. The rotor of the frameless torque motor is interference-fitted to the long nut 501 via a press-fit fixture. When the motor 4 starts, its rotor drives the long nut 501 to rotate around its axis. The inner wall of the long nut 501 engages with the screw 502 via rollers 503. The rollers 503 roll between the helical raceways of the long nut 501 and the screw 502, converting the rotational motion of the long nut 501 into the axial linear motion of the screw 502. This process can simulate the contraction pattern of biological muscles, directly outputting linear displacement and avoiding the redundant structure of traditional rotary joints that require connecting rods to convert the motion trajectory.

[0046] like Figure 1 , Figure 2 and Figure 5As shown, the angular contact bearings in this invention primarily provide axial load bearing. The inner ring of the first angular contact bearing 9 is tightly fitted against the shaft end boss 12 of the long nut 501, and the outer ring is tightly fitted against the shell end boss 13 of the housing 1, capable of withstanding leftward axial force. The inner ring of the second angular contact bearing 10 is locked to the right by the locking nut 7, and the outer ring is pressed by the front cover washer 8, capable of withstanding rightward axial force. The design of two angular contact bearings can simultaneously withstand axial and radial loads, significantly enhancing the load-bearing capacity of the entire joint compared to a single bearing, thus improving the reliability and stability of the humanoid robot.

[0047] like Figure 1 , Figure 3 and Figure 5 As shown, the bearing retaining ring 11 in this invention is located between the outer rings of the two angular contact bearings, supporting both bearings and eliminating axial clearance to prevent bearing movement. The front cover washer 8 supports the outer ring of the second angular contact bearing 10. During actual assembly, an adjusting copper sheet can be installed between the front cover washer 8 and the second angular contact bearing 10 to ensure axial movement of the outer ring of the second angular contact bearing 10, improving the overall transmission efficiency. The locking round nut 7 is threadedly connected to the long nut 501, and when adjusting the inner ring of the second angular contact bearing 10, it simultaneously affects the preload of the first angular contact bearing 9, eliminating the axial clearance of the entire angular contact bearing.

[0048] This utility model, through the cooperation of components such as deep groove ball bearing 6, angular contact bearing, locking round nut 7 and front cover gasket, can effectively reduce the shaking and offset of long nut 501 during rotation, stabilize the transmission state, improve transmission efficiency, and ensure the precision of joint movement.

[0049] like Figure 1 and Figure 5 As shown, in this utility model, a limiting cover 14 is provided on the outside of the input end of the reverse roller screw 5; it also includes a first elastic retaining ring 15 and a deep groove ball retaining ring 16. A groove 17 is provided on the long nut 501, and the first elastic retaining ring 15 is disposed in the groove 17. The inner ring of the ball bearing is limited on both sides by the first elastic retaining ring 15 and the limiting cover 14 respectively; the outer ring of the deep groove ball bearing 6 is fixed inside the housing 1 by the deep groove ball retaining ring 16.

[0050] In this invention, the limiting cover 14 is threadedly connected to the long nut 501. This threaded connection facilitates assembly, allowing for quick and accurate installation of the limiting cover 14 onto the long nut 501, achieving a secure connection. After the motor 4 starts, it transmits rotational power to the long nut 501 of the reverse roller screw 5, causing the long nut 501 to begin rotating around its own axis. At this time, the limiting cover 14 rotates along with the long nut 501. Because the limiting cover 14 is fixedly connected to the long nut 501, it does not affect the normal rotation of the long nut 501, while simultaneously limiting the movement of one side of the inner ring of the deep groove ball bearing 6.

[0051] like Figure 1 , Figure 5 , Figure 7 and Figure 8 As shown, the outer ring of the deep groove ball bearing 6 in this invention is interference-fitted with the housing 1 to withstand radial force and ensure radial stability when the lead screw 502 rotates. The first elastic retaining ring 15 is embedded in the groove 17, utilizing its elastic deformation characteristics to tightly lock it in the groove 17, thereby achieving positioning and fixing of the first elastic retaining ring 15. The first elastic retaining ring 15 acts as a barrier on one side of the inner ring of the deep groove ball bearing 6 within the groove 17, preventing it from moving axially to one side. The limiting cover 14 limits the inner ring of the deep groove ball bearing 6 from the other side, ensuring that the inner ring of the deep groove ball bearing 6 does not move axially, thus guaranteeing the normal operation of the deep groove ball bearing 6.

[0052] The deep groove ball retainer ring 16 of this utility model adopts an interference fit with the housing 1, that is, the outer diameter of the deep groove ball retainer ring 16 is slightly larger than the inner diameter of the mounting hole of the housing 1. During assembly, a certain pressure is applied to press the deep groove ball retainer ring 16 into the mounting hole of the housing 1. The friction force generated by the interference fit makes the deep groove ball retainer ring 16 tightly fixed on the housing 1, thereby fixing the outer ring of the deep groove ball bearing 6 inside the housing 1 and preventing the outer ring of the deep groove ball bearing 6 from moving in the radial and axial directions.

[0053] This invention uses a first elastic retaining ring 15 and a limiting cover 14 to bidirectionally limit the axial movement of the inner ring of the deep groove ball bearing 6, and the interference fit between the deep groove ball retaining ring 16 and the housing 1 to fix the outer ring of the deep groove ball bearing 6, effectively restricting the movement of the deep groove ball bearing 6 in the axial and radial directions. This makes the long nut 501 more stable during rotation, reduces the rotational deviation of the long nut 501 caused by bearing wobble, and thus improves the motion conversion accuracy of the reverse roller screw 5, making the movement of the humanoid robot joints more precise and enabling it to complete more complex and delicate motion tasks.

[0054] like Figure 1 , Figure 4 and Figure 5 As shown, in this utility model, a dustproof ring 18 is coaxially arranged between the front cover 2 and the lead screw 502; a first assembly groove 19 is opened on the right side surface of the front cover 2, and the dustproof ring 18 is assembled in the first assembly groove 19.

[0055] The dust seal 18 is fitted into the first mounting groove 19, allowing it to fit tightly against the front cover 2. The dust seal 18 is fixed radially and will not easily detach from the front cover 2. The inner hole of the dust seal 18 fits tightly against the outer surface of the lead screw 502. When the lead screw 502 moves linearly, the dust seal 18 forms a relatively sealed space around the lead screw 502, preventing external dust and impurities from entering the linear joint, thus protecting internal components and preventing grease leakage.

[0056] The front cover 2 is also equipped with a dust cover 20 for axially limiting the dust cover ring 18. The dust cover 20 can be fixed to the front cover 2 with countersunk screws, thus ensuring that the dust cover 20 is firmly installed on the front cover 2, thereby effectively limiting the movement of the dust cover ring 18 in the axial direction. This utility model, by setting up the dust cover ring 18 and then using the dust cover 20 for axial limiting, forms a multi-layer dustproof structure. It can more effectively block external dust and impurities from entering the linear joint, while preventing grease leakage, greatly improving the reliability and sealing of dust prevention, and providing a relatively clean working environment for the internal components of the linear joint.

[0057] like Figure 1 , Figure 4 and Figure 5 As shown, in this utility model, a wear-resistant sleeve 21 is coaxially arranged between the front end cover 2 and the lead screw 502; a second mounting groove 22 is opened on the left side surface of the front end cover 2, the wear-resistant sleeve 21 is disposed in the second mounting groove, and a second elastic retaining ring 23 for axially limiting the wear-resistant sleeve 21 is provided in the second mounting groove 22. The output end of the lead screw 502 has a circular milled flat structure; the inner hole of the wear-resistant sleeve 21 is provided with a flat part adapted to the lead screw 502 to prevent the lead screw 502 from rotating radially.

[0058] The second assembly groove 22 of this invention provides installation space for the wear-resistant sleeve 21, preventing it from wobbling in the radial direction. Simultaneously, the output end of the lead screw 502 is designed as a circular milled flat structure, and the inner hole of the wear-resistant sleeve 21 has a flat part adapted to the lead screw 502. This structural design allows the lead screw 502 and the wear-resistant sleeve 21 to not only cooperate radially, but also, through the engagement of the flat part and the milled flat structure, effectively prevents the lead screw 502 from rotating radially relative to the wear-resistant sleeve 21, ensuring that the lead screw 502 can only perform linear motion and improving the accuracy of the movement.

[0059] During linear joint assembly, the wear-resistant sleeve 21 is first placed into the second assembly groove 22 on the left side of the front end cover 2, and then the second elastic retaining ring 23 is installed. Utilizing the elastic deformation characteristics of the second elastic retaining ring 23, it is secured in a suitable position within the second assembly groove 22, thereby axially limiting the wear-resistant sleeve 21. Subsequently, the output end of the lead screw 502, which has a circular milled flat structure, is inserted into the inner hole of the wear-resistant sleeve 21. The front end cover 2 also has a third assembly groove 30 for axially limiting the wear-resistant sleeve 21, and the diameter of the third assembly groove 30 is larger than the diameter of the second assembly groove 22, further ensuring that the second elastic retaining ring 23 can effectively limit the wear-resistant sleeve 21. During the reciprocating linear motion of the lead screw 502, the wear-resistant sleeve 21, as the contact component between the lead screw 502 and the front end cover 2, bears the frictional force generated during the movement of the lead screw 502. Because the wear-resistant sleeve 21 has good wear resistance, it can effectively reduce wear between the lead screw 502 and the front end cover 2, protecting the lead screw 502 and the front end cover 2 from damage and extending the service life of the components.

[0060] like Figure 1 , Figure 5 , Figures 9 to 12 As shown, this utility model also includes a driver 24, a driver cover 25, an electromagnetic encoder 26, a tension / compression sensor 27, a first joint bearing 28, and a second joint bearing 29. The driver cover 25 is fixedly connected to the rear end cover 3 and the housing 1, and the driver 24 is fixed in the inner cavity of the driver cover 25. The electromagnetic encoder 26 is fixed on one end of the reverse roller screw 5 near the rear end cover 3. One end of the tension / compression sensor 27 is fixed on the cover of the driver 24, and the other end is equipped with the first joint bearing 28. The second joint bearing 29 is fixed at the end of the output end of the screw 502.

[0061] In this invention, the drive cover 25 is fixedly connected to the rear cover 3 and the housing 1 by hexagonal socket screws. The driver 24 is securely fixed in the inner cavity of the drive cover 25 by screws, preventing the driver 24 from loosening due to vibration or movement during operation. The rotor of the electromagnetic encoder 26 is fixed to the limit cover 14 by screws, ensuring that the electromagnetic encoder 26 can rotate synchronously with the reverse roller screw 5, thereby accurately detecting the rotation angle and position information of the screw. The driver 24, electromagnetic encoder 26, and tension / compression sensor 27 in this invention are common devices in the prior art, such as the device disclosed in patent publication number CN119407836A.

[0062] Upon receiving an external control signal, the driver 24 begins operation, generating driving force. This force is transmitted to the reverse roller screw 5 via an internal transmission mechanism, causing the screw 502 to move linearly. The electromagnetic encoder 26 rotates synchronously with the reverse roller screw 5, detecting the screw's rotation angle and position information in real time and feeding this information back to the external control system. Based on the encoder feedback, the external control system precisely controls the output of the driver 24 to achieve precise control of the screw 502's position and speed. During operation, when the screw 502 is subjected to external tension or pressure, these forces are transmitted to the tension / compression sensor 27 via the second joint bearing 29. The tension / compression sensor 27 converts the sensed force signal into an electrical signal and transmits it to the external control system. Based on the force information fed back by the tension / compression sensor 27, the external control system adjusts the output of the driver 24 to ensure that the linear joint can withstand appropriate loads during operation, preventing damage due to overload.

[0063] In one embodiment of this utility model, a threaded hole is also provided on the outside of the drive cover 25, and a waterproof connector 31 is connected to the threaded hole. The cable inside the linear joint is connected to the outside through the waterproof connector 31 (the corresponding cable is not shown in this utility model), as detailed below. Figure 1 , Figure 5 and Figure 9 As shown.

[0064] This invention integrates key components such as the driver 24, electromagnetic encoder 26, and tension / compression sensor 27 into a linear joint system. Through reasonable connection and layout, it achieves coordinated operation between the components. The integrated design of this invention not only reduces the number of parts and the space occupied, improving the system's compactness, but also facilitates system installation, debugging, and maintenance, thereby reducing production and operating costs.

[0065] In practical applications, the device of this invention can be used on humanoid robots. The humanoid robot includes a robot body and the linear joints of this invention. The arms and legs of the robot body are typically equipped with multiple linear joints, which coordinate to move in unison under the control system. The control system precisely controls the speed, position, and force of each linear joint based on a preset motion program or real-time environmental information, enabling the arms and legs to perform complex combinations of movements, such as walking, running, and grasping objects, thus realizing the various functions of the humanoid robot.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions 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 solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications and substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A humanoid robot prismatic joint, characterized by, The device includes a housing (1) and front end caps (2) and rear end caps (3) at both ends of the housing (1), and also includes a motor (4) and a reverse roller screw (5) disposed inside the housing (1); the reverse roller screw (5) includes a long nut (501), a screw (502) and a roller (503), the long nut (501) is disposed inside the motor (4), the screw (502) is coaxially disposed inside the long nut (501), and the roller (503) is disposed between the long nut (501) and the screw (502); The long nut (501) is provided with a deep groove ball bearing (6) and an angular contact bearing at both ends, and also includes a locking round nut (7) and a front cover washer (8) that cooperate with the angular contact bearing. The front cover washer (8) is fitted inside the housing (1). There are two angular contact bearings, namely a first angular contact bearing (9) and a second angular contact bearing (10). A bearing retainer (11) is provided between the outer rings of the two angular contact bearings. On the left side of the first angular contact bearing (9), the inner ring is in close contact with the shaft end boss (12) on the long nut (501), and the outer ring is in close contact with the shell end boss (13) on the housing (1). On the right side of the second angular contact bearing (10), the inner ring is locked and limited by the locking round nut (7), and the outer ring is in close contact with the front cover washer (8).

2. The humanoid robot prismatic joint according to claim 1, characterized in that, The input end of the reverse roller screw (5) is provided with a limiting cover (14); it also includes a first elastic retaining ring (15) and a deep groove ball retaining ring (16). The long nut (501) has a groove (17), and the first elastic retaining ring (15) is set in the groove (17). The inner ring of the groove ball bearing is limited on both sides by the first elastic retaining ring (15) and the limiting cover (14) respectively; the outer ring of the deep groove ball bearing (6) is fixed inside the housing (1) by the deep groove ball retaining ring (16).

3. The humanoid robot prismatic joint according to claim 1 or 2, characterized in that, A dustproof ring (18) is coaxially provided between the front cover (2) and the lead screw (502); a first assembly groove (19) is provided on the right side surface of the front cover (2), and the dustproof ring (18) is assembled in the first assembly groove (19).

4. The humanoid robot prismatic joint according to claim 3, characterized in that, The front cover (2) is also provided with a dust cover (20) for axially limiting the dust ring (18).

5. The humanoid robot prismatic joint according to claim 1, 2 or 4, characterized in that, A wear-resistant sleeve (21) is coaxially arranged between the front end cover (2) and the lead screw (502); a second assembly groove (22) is opened on the left side surface of the front end cover (2), the wear-resistant sleeve (21) is arranged in the second assembly groove, and a second elastic retaining ring (23) for axially limiting the wear-resistant sleeve (21) is provided in the second assembly groove (22).

6. The linear joint of the humanoid robot according to claim 5, characterized in that, The output end of the lead screw (502) is a circular milled flat structure; the inner hole of the wear-resistant sleeve (21) is provided with a flat part that matches the lead screw (502) to prevent the lead screw (502) from rotating radially.

7. The humanoid robot prismatic joint according to claim 1, 2, 4 or 5, characterized in that, It also includes a driver (24), a drive cover (25), an electromagnetic encoder (26), a pressure sensor (27), a first joint bearing (28), and a second joint bearing (29); The drive cover (25) is fixedly connected to the rear cover (3) and the housing (1), and the driver (24) is fixed in the inner cavity of the drive cover (25); the electromagnetic encoder (26) is fixed on the reverse roller screw (5) near the end of the rear cover (3); one end of the tension and compression sensor (27) is fixed on the cover of the driver (24), and the other end is equipped with the first joint bearing (28); the second joint bearing (29) is fixed at the end of the output end of the screw (502).

8. A humanoid robot, comprising a humanoid robot body and humanoid robot linear joints as described in any one of claims 1 to 7, wherein the arms and legs of the humanoid robot body are equipped with humanoid robot linear joints.

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