CN-224223896-U - Robot joint executor

CN224223896UCN 224223896 UCN224223896 UCN 224223896UCN-224223896-U

Abstract

The utility model discloses a robot joint actuator which comprises an actuator shell, a frameless torque motor, a motor stator arranged in the actuator shell, a motor rotor arranged in the motor stator, a permanent magnet arranged on the motor rotor, a reverse planetary roller screw nested in the frameless torque motor rotor, a planet carrier sleeved on the screw shaft, rotary rollers inserted in the planet carrier and distributed along the circumferential direction of the planet carrier, roller thread grooves matched with the screw thread arranged on the surface of the rotary rollers, and screw nuts sleeved on the rotary rollers and embedded in the motor rotor. The utility model uses the reverse planetary roller screw to cooperate with the frameless torque motor, adopts a coaxial direct connection mode to reduce the occupied space in the length direction and the height direction, and has less occupied space in the height direction compared with the traditional motor foldback structure.

Inventors

YUAN YE
YU ZIDONG
HUANG JUNCHI
Wang shichuang
DENG CHAO
YANG ZEYUAN
CHENG CHENG
DING HAN

Assignees

无锡市锡港沪灵巧机器人有限公司

Dates

Publication Date: 20260512
Application Date: 20250617

Claims (6)

1. A robotic joint actuator, comprising: An actuator housing; A frameless torque motor (18) comprising a motor stator (1803) disposed within the actuator housing, a motor rotor (1801) disposed within the motor stator (1803), and a permanent magnet (1802) disposed on the motor rotor; The reverse planetary roller screw (4) is nested in a rotor of a frameless torque motor (18), and comprises: The screw shaft (401), one end of the screw shaft (401) is provided with a linear guide rail groove (13), and the other end is provided with screw threads; a planet carrier (403) sleeved on the screw shaft (401); the rotary rollers (402) are inserted into the planet carrier (403) and distributed along the circumferential direction of the planet carrier (403), and roller thread grooves matched with the screw threads are formed in the surfaces of the rotary rollers (402); The screw nut (404) is sleeved on the rotary roller (402) and embedded in the motor rotor (1801), and a nut thread matched with the roller thread groove is formed on the inner wall of the screw nut (404).
2. The robot joint actuator of claim 1, wherein the end of the actuator housing is provided with a rear lifting lug (6).
3. The robot joint actuator of claim 1, wherein the screw shaft (401) is connected with a front lifting lug (5) at one end of the linear guide rail groove (13).
4. A robot joint actuator according to claim 1, wherein guide blocks (131) adapted to the linear guide grooves (13) are provided in the actuator housing.
5. The robot joint actuator of claim 1, wherein a cavity is formed in the rotary roller (402), a grease injection hole communicated with the cavity is formed in one end of the rotary roller (402), and an adapting port communicated with the cavity is formed in the other end of the rotary roller; a one-way valve is arranged in the fat injection hole; the surface of the rotary roller (402) is provided with a grease outlet.
6. The robot joint actuator of claim 5, wherein the planet carrier (403) is provided with an extrusion, comprising: a connection block (4021) connected to the carrier (403); -a connection post (4022) passing through the planet carrier (403) and through an adapter port and extending into a chamber within the rotating roller (402); And the extruding plate (4023) is connected with the connecting column (4022), is positioned in the cavity and is matched with the cavity.

Description

Robot joint executor Technical Field The utility model relates to the field of actuators, in particular to a robot joint actuator. Background The technical background of linear actuators for humanoid robot joints stems from the urgent need for highly dynamic motion, precise force control, and compact structure. The traditional rotating motor acceleration and deceleration device scheme has the problems of large volume, slow response and the like, and hydraulic driving faces the bottlenecks of low energy efficiency and complex maintenance, so that a linear actuator suitable for the humanoid robot joint needs to be developed. The linear actuator is one of the end effectors of the current humanoid robots and plays an important role in converting the rotary motion output by the power machine into linear motion. In the context of humanoid robot applications, higher requirements are placed on the overall size, motion accuracy, stability and dynamic response capability of the linear actuator. Conventional linear actuators are typically composed of motors, screw pairs (including ball screws and planetary rotary roller screws), sensors (e.g., torque and position sensors), encoders, drives, and controllers. Although the components can realize accurate motion feedback through closed-loop control, the existing scheme adopts a motor turn-back structure like a full-automatic intelligent control servo electric cylinder, so that the overall size is large, and particularly the occupation of the height space is obvious, and the driving requirement of narrow joint spaces such as a human-shaped robot forearm or wrist cannot be met. Therefore, a compact precise linear actuator needs to be designed, and the problems of overlarge volume, insufficient control precision and the like of the linear actuator in the prior art are solved. Disclosure of utility model The utility model aims to provide a robot joint actuator which solves the problems existing in the prior art. The technical scheme is that the robot joint actuator comprises: An actuator housing; The frameless torque motor comprises a motor stator arranged in the actuator shell, a motor rotor arranged in the motor stator and a permanent magnet arranged on the motor rotor; The rear end of the frameless torque motor is provided with a Hall encoder for monitoring the real-time rotating speed and the rotating angle of the motor; The reverse planetary roller screw is nested in the rotor of the frameless torque motor, and comprises: The screw shaft is provided with a linear guide rail groove at one end and a screw thread at the other end; The planetary carriers are designed into two and sleeved on the screw shaft; The four rotating rollers are designed and inserted into the planet carrier, and distributed along the circumferential direction of the planet carrier, and the surfaces of the rotating rollers are provided with roller thread grooves matched with the screw threads; The screw nut is sleeved on the rotary roller and embedded in the motor rotor, and the inner wall of the screw nut is provided with nut threads matched with the roller thread grooves. The utility model uses the reverse planetary roller screw to cooperate with the frameless torque motor, adopts a coaxial direct connection mode to reduce the occupied space in the length direction and the height direction, compared with the traditional motor turn-back structure, the occupied space in the height direction is less, and meanwhile, the reverse planetary roller screw is designed, so that the scheme has larger transmission ratio, higher transmission efficiency and stronger bearing capacity, and simultaneously, the installation of redundant components is avoided, so that the structure is more compact. The nut threads on the inner wall of the screw nut and the rotary roller form planetary motion fit; the rotary rollers complete axial positioning and circumferential uniform distribution through planetary carriers designed at the front end and the rear end, load distribution of multiple contact points is realized between the screw shaft and the screw nut, the rotary rollers revolve around the screw shaft and rotate, and the planetary carriers ensure synchronous movement of the rotary rollers through bearing supports sleeved on the screw shaft; In a further embodiment, the end of the actuator housing is provided with a rear lifting lug. The shell comprises a front shell, a middle shell and a rear shell which are sequentially connected; the connecting bolts are used for connecting the connecting rods; A grating position sensor is arranged in the front shell; The front shell is provided with a screw rod extending port matched with the screw rod shaft, and an extending port gasket matched with the screw rod shaft is arranged in the screw rod extending port; a bearing end cover gasket matched with the bearing sleeve is further arranged in the front shell; the middle shell is internally provided with a motor mounting seat, the fra