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CN-122009361-A - Robot straight joint module with autonomous decision function

CN122009361ACN 122009361 ACN122009361 ACN 122009361ACN-122009361-A

Abstract

The application provides a robot linear joint module with an autonomous decision function, which comprises a housing assembly, a motor, a planetary reducer, a driver and a driver, wherein the housing assembly is provided with a containing cavity, the motor comprises a stator and a permanent magnet, the stator and the permanent magnet are arranged in the containing cavity, the planetary reducer comprises a sun gear shaft and a planet carrier, the sun gear shaft is fixedly connected with the permanent magnet, a screw rod mechanism comprises a screw rod and a ball screw, the screw rod is fixedly connected with the planet carrier, the ball screw rod is matched with the screw rod through a screw pair, the motor drives the ball screw rod to axially move through the planetary reducer, and the driver is provided with an NPU function and is integrated on the housing assembly, is electrically connected with the motor and is used for autonomous decision and controlling the movement of the ball screw rod. According to the application, through integrating the NPU function on the driver, the reasonable position and speed of the push rod can be independently decided and controlled in motion.

Inventors

  • GU JINGJUN
  • SHI BO

Assignees

  • 上海新奇机器人有限公司

Dates

Publication Date
20260512
Application Date
20260319

Claims (10)

  1. 1. Robot straight line joint module that possesses autonomous decision function, its characterized in that includes: A housing assembly having a receiving cavity; The motor comprises a stator and a permanent magnet, and is arranged in the accommodating cavity; The planetary reducer comprises a sun gear shaft and a planet carrier, wherein the sun gear shaft is fixedly connected with the permanent magnet; the screw rod mechanism comprises a screw and a ball screw, the screw is fixedly connected with the planet carrier, the ball screw is matched with the screw through a screw pair, and the motor drives the ball screw to axially move through the planetary reducer; And the driver is provided with an NPU function, is integrated on the shell component, is electrically connected with the motor and is used for independently deciding and controlling the movement of the ball screw.
  2. 2. The robot linear joint module with autonomous decision making function according to claim 1, wherein the housing assembly comprises a first housing, a second housing, a third housing, and an end flange; The third shell is arranged between the first shell and the second shell, the tail end flange is arranged on the first shell, and the first shell, the second shell, the third shell and the tail end flange are connected through screws; The motor, the planetary reducer and the screw mandrel mechanism are arranged in the second shell, and the driver is fixed in the first shell through a copper column; The device comprises a sun gear shaft, a planet wheel and a planet wheel, wherein the end, close to the planet wheel, of the sun gear shaft is provided with involute teeth, a certain ratio is arranged between the axial length of the sun gear shaft and the pitch circle diameter of the involute teeth, and the ratio is larger than 5.
  3. 3. The robot linear joint module with the autonomous decision function according to claim 2, further comprising a detection unit disposed in the first housing; the detection unit comprises an encoder and a strain gauge module, wherein the encoder is connected with the sun gear shaft through an encoder shaft and is used for detecting the rotation number and the angle position of the sun gear shaft; The strain gauge module is fixed on the inner side end face of the tail end flange of the shell assembly and is used for detecting micro deformation of the tail end flange and calculating the axial force of the ball screw according to the deformation.
  4. 4. A robot linear joint module with autonomous decision making function according to claim 3, wherein the encoder comprises an encoder body, an encoding shaft and an encoding magnetic ring; One end of the coding shaft is fixedly connected with the sun gear shaft, the other end of the coding shaft is fixedly connected with the coding magnetic ring, and the coder body is fixed in the first shell and is arranged opposite to the coding magnetic ring.
  5. 5. The robot linear joint module with the autonomous decision function according to claim 2, further comprising a heat conducting structure, disposed in the second housing, for dissipating heat; The heat conducting structure comprises a heat conducting ring and a heat conducting plate, wherein the inner ring of the heat conducting ring is fixedly connected with the stator of the motor, and the outer ring of the heat conducting ring is fixedly connected with the inner wall of the second shell and is used for transmitting heat generated by the stator to the second shell; The heat conducting plate is connected with the outer end face of the tail end flange and is used for conducting out heat accumulated in the module; the heat conducting ring and the heat conducting plate are made of graphene.
  6. 6. The robot linear joint module with the autonomous decision function according to claim 2, wherein the planetary reducer further comprises an internal gear, a planetary gear and a bearing group; The bearing group comprises a fifth bearing and a sixth bearing, two ends of the planet wheel are fixedly connected with inner rings of the fifth bearing and the sixth bearing respectively, an outer ring of the inner gear is fixedly connected with the second housing, inner teeth of the inner gear are meshed with outer teeth of the planet wheel, and outer teeth of the planet wheel are meshed with gears of the sun gear shaft; the planet carrier comprises a first planet carrier, a second planet carrier and a third planet carrier which are connected coaxially and concentrically, an inner hole of the first planet carrier is fixedly connected with an outer ring of the fifth bearing, and an inner hole of the second planet carrier is fixedly connected with an outer ring of the sixth bearing.
  7. 7. The robot linear joint module with autonomous decision making function according to claim 6, wherein the screw rod mechanism further comprises a first screw seat, a second screw seat, a guide sleeve and a threaded end cover; The first nut seat is fixedly connected with the third planet carrier, and the outer ring of the nut is fixedly connected with the inner ring of the first nut seat and the inner ring of the second nut seat respectively; a first bearing and a second bearing are arranged between the first screw seat and the second screw seat and between the second housing, and are used for supporting and rotating the screw in the second housing; The guide sleeve is fixed at one end of the second housing far away from the planetary reducer, sleeved on the ball screw and used for providing guide and support for axial movement of the ball screw; the threaded end cover is in threaded connection with the second housing, and the inner side end surface of the threaded end cover is abutted with the outer ring end surface of the first bearing and used for limiting the axial movement of the screw mandrel mechanism; The screw is provided with a closed-loop ball groove, a ball made of ceramic material is arranged between the ball screw and the screw, the ball circularly rolls in the ball groove, and the ball screw and the screw form spiral pair movement through the ball.
  8. 8. The robot linear joint module with the autonomous decision function according to claim 7, further comprising an organ cover, wherein one end of the organ cover is fixed to the threaded end cover through a screw, and the other end of the organ cover is fixed to the ball screw for dust protection.
  9. 9. The robot linear joint module with the autonomous decision function according to claim 2, further comprising a bearing seat, a third bearing and a fourth bearing; The bearing seat is fixed in the second shell and is positioned between the motor and the planet carrier; The outer ring of the third bearing is fixedly connected with the inner hole of the bearing seat, the outer ring of the fourth bearing is fixedly connected with the inner hole of the third shell, and two ends of the sun gear shaft are respectively fixedly connected with the third bearing and the inner ring of the fourth bearing and are used for limiting the axial displacement of the sun gear shaft.
  10. 10. The robot linear joint module with the autonomous decision function according to claim 3, wherein a fine hole is formed at the tail end of the tail end flange, a joint bearing outer ring is fixed in the fine hole, and the strain gauge module is fixed on the inner side end surface of the tail end flange and used for detecting the tiny deformation of the tail end flange to estimate the axial force.

Description

Robot straight joint module with autonomous decision function Technical Field The application relates to the technical field of robots and related automation, in particular to a robot linear joint module with an autonomous decision function. Background With the development of robots and artificial intelligence, more and more humanoid robots use joint modules to drive the movement of legs and arms. The biped humanoid robot generally has the actions of walking, jogging, jumping and the like, requires extremely large explosive force, simultaneously has a plurality of motion joints, and needs to autonomously control a plurality of joints, so that the calculation force requirement on the whole main control hardware equipment is higher. The joint module commonly used in the market is usually a rotary joint module, mainly comprising a harmonic speed reducer, a driver and a torque motor, wherein the harmonic speed reducer has poor shock resistance, and the driver does not have an autonomous decision function. Disclosure of Invention Aiming at one of the defects in the prior art, the application aims to provide the robot straight joint module with an autonomous decision function. In a first aspect of the present application, a robot linear joint module with an autonomous decision function is provided, including: A housing assembly having a receiving cavity; The motor comprises a stator and a permanent magnet, and is arranged in the accommodating cavity; The planetary reducer comprises a sun gear shaft and a planet carrier, wherein the sun gear shaft is fixedly connected with the permanent magnet; the screw rod mechanism comprises a screw and a ball screw, the screw is fixedly connected with the planet carrier, the ball screw is matched with the screw through a screw pair, and the motor drives the ball screw to axially move through the planetary reducer; And the driver is provided with an NPU function, is integrated on the shell component, is electrically connected with the motor and is used for independently deciding and controlling the movement of the ball screw. Optionally, the housing assembly includes a first housing, a second housing, a third housing, and an end flange; The third shell is arranged between the first shell and the second shell, the tail end flange is arranged on the first shell, and the first shell, the second shell, the third shell and the tail end flange are connected through screws; The motor, the planetary reducer and the screw mandrel mechanism are arranged in the second shell, and the driver is fixed in the first shell through a copper column; one end of the sun gear shaft is provided with involute teeth, a certain ratio is arranged between the axial length of the sun gear shaft and the pitch circle diameter of the involute teeth, and the ratio is larger than 5. Optionally, the device further comprises a detection unit arranged in the first shell; the detection unit comprises an encoder and a strain gauge module, wherein the encoder is connected with the sun gear shaft through an encoder shaft and is used for detecting the rotation number and the angle position of the sun gear shaft; The strain gauge module is fixed on the inner side end face of the tail end flange of the shell assembly and is used for detecting micro deformation of the tail end flange and calculating the axial force of the ball screw according to the deformation. Optionally, the encoder comprises an encoder body, an encoding shaft, and an encoding magnetic ring; One end of the coding shaft is fixedly connected with the sun gear shaft, the other end of the coding shaft is fixedly connected with the coding magnetic ring, and the coder body is fixed in the first shell and is arranged opposite to the coding magnetic ring. Optionally, the heat-conducting structure is arranged in the second shell and used for radiating heat; The heat conducting structure comprises a heat conducting ring and a heat conducting plate, wherein the inner ring of the heat conducting ring is fixedly connected with the stator of the motor, and the outer ring of the heat conducting ring is fixedly connected with the inner wall of the second shell and is used for transmitting heat generated by the stator to the second shell; The heat conducting plate is connected with the outer end face of the tail end flange and is used for conducting out heat accumulated in the module; the heat conducting ring and the heat conducting plate are made of graphene. Optionally, the planetary reducer further comprises an internal gear, a planetary gear and a bearing group; The bearing group comprises a fifth bearing and a sixth bearing, two ends of the planet wheel are fixedly connected with inner rings of the fifth bearing and the sixth bearing respectively, an outer ring of the inner gear is fixedly connected with the second housing, inner teeth of the inner gear are meshed with outer teeth of the planet wheel, and outer teeth of the planet wheel are meshed with gears of th