CN117508398A - Human-shaped robot leg linear actuator - Google Patents
Human-shaped robot leg linear actuator Download PDFInfo
- Publication number
- CN117508398A CN117508398A CN202311544029.1A CN202311544029A CN117508398A CN 117508398 A CN117508398 A CN 117508398A CN 202311544029 A CN202311544029 A CN 202311544029A CN 117508398 A CN117508398 A CN 117508398A
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- roller screw
- planetary roller
- planetary
- linear actuator
- screw nut
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- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000010354 integration Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention belongs to the technical field of transmission devices and humanoid robots, and particularly relates to a humanoid robot leg linear actuator. The actuator comprises a shell and joint output ends respectively arranged at two ends of the shell; the housing is internally provided with a motor unit for converting electric energy into rotational kinetic energy, a planetary roller screw pair unit for converting the rotational kinetic energy into linear kinetic energy, and a primary angle detection unit and a secondary angle detection unit for jointly determining the position of the planetary roller screw pair unit. The leg linear actuator of the humanoid robot has a highly integrated and compact structure, integrates a motor, a planetary roller screw pair, an angle sensor, a planetary reduction mechanism and the like in a limited space, provides a larger driving force, and realizes high power density; the position and the movement of the planetary roller screw can be accurately detected and controlled by the cooperation of the first-level angle detection unit and the second-level angle detection unit; easy to install, disassemble and maintain.
Description
Technical Field
The invention belongs to the technical field of transmission devices and humanoid robots, and particularly relates to a humanoid robot leg linear actuator.
Background
Humanoid robots are used as a complete automatic control system, one of the important components is an actuator, and currently, the most widely used electric actuators can be divided into rotary actuators and linear actuators according to motions. With the rapid development of robot technology in recent years, most of the joints of robots adopt rotary actuators to realize power output, the rotary actuators need to realize linear reciprocating motion through a mechanism connected to convert rotary motion into reciprocating motion, longitudinal layout is not possible, and the utilization rate of the internal space of the legs is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses a leg linear actuator of a humanoid robot, which is used for solving the problems of complex robot system, huge volume and limited performance caused by the traditional way that a rotary actuator converts rotary motion into back and forth motion by adopting a connecting rod, a lead screw, a gear and the like.
The invention is realized by the following technical scheme:
a leg linear actuator of a humanoid robot comprises a shell and joint output ends respectively arranged at two ends of the shell; the housing is internally provided with a motor unit for converting electric energy into rotational kinetic energy, a planetary roller screw pair unit for converting the rotational kinetic energy into linear kinetic energy, and a primary angle detection unit and a secondary angle detection unit for jointly determining the position of the planetary roller screw pair unit.
The motor unit comprises a motor stator fixed in the shell and a motor rotor rotatably arranged in the motor stator; the planetary roller screw pair unit comprises a planetary roller screw slidably arranged in the shell and a planetary roller screw nut matched with the planetary roller screw; the planetary roller screw nut is fixedly connected with the motor rotor.
The radial magnetizing magnet which rotates synchronously with the planetary roller screw nut is further arranged in the shell, and the first angle sensor is arranged at the position close to the radial magnetizing magnet to form a first-stage angle detection unit.
The planetary roller screw nut is further provided with a speed reducing mechanism for reducing speed in the shell, the speed reducing mechanism is provided with a radial magnetizing annular magnet, and an angle sensor II is arranged at a position close to the radial magnetizing annular magnet to form a secondary angle detection unit.
The speed reducing ratio of the speed reducing mechanism is controlled, so that the radial magnetizing ring magnet rotates for not more than one whole circle in the travel range of the planetary roller screw.
Further, in the leg linear actuator of the humanoid robot, the whole rotation number of the planetary roller screw nut is determined through the corresponding relation between the second angle sensor and the rotation number of the planetary roller screw nut, the non-whole rotation number of the planetary roller screw nut is determined through the first angle sensor, the whole rotation number of the planetary roller screw nut and the non-whole rotation number of the planetary roller screw nut are combined to obtain the rotation angle of the planetary roller screw nut, and the accurate position of the planetary roller screw is correspondingly obtained.
Further, in the leg linear actuator of the humanoid robot, the motor rotor is arranged in a hollow structure, and the planetary roller screw nut is fixed in the motor rotor.
Further, in the leg linear actuator of the humanoid robot, a limiting sleeve is fixed in a shell, and a limiting groove is formed in the inner wall of the limiting sleeve along the axial direction; a limiting pin shaft is radially arranged in the planetary roller screw rod in a penetrating way, and two ends of the limiting pin shaft are slidably embedded in the limiting groove.
Further, in the leg linear actuator of the humanoid robot, the radial magnetizing magnet and the radial magnetizing ring magnet are arranged on the same plane in concentric rings; a motion control plate is also fixed in the shell and opposite to the radial magnetizing annular magnet, and the angle sensor I and the angle sensor II are integrally arranged on the motion control plate.
Further, in the leg linear actuator of the humanoid robot, the speed reducing mechanism is a planetary speed reducing mechanism and comprises a planet wheel, a sun wheel, a planet carrier and a gear ring; the sun gear is arranged to rotate synchronously with the planetary roller screw nut, the sun gear is meshed with the planetary gear on the planet carrier, and the planetary gear is internally meshed with the gear ring which is fixedly arranged; the radial magnetizing ring magnet is fixed at the end of the planet carrier.
Further, in the above-described humanoid robot leg linear actuator, the planetary reduction mechanism is provided in an oblate shape as a whole.
Further, in the leg linear actuator of the humanoid robot, the planetary gear is provided as a double gear including a large gear and a small gear, the large gear is meshed with the sun gear, and the small gear is meshed with the ring gear.
Further, in the leg linear actuator of the humanoid robot, the reduction ratio of integer multiple is formed between the planet carrier and the planet roller screw nut by setting the number of teeth of the large gear and the small gear in the sun gear, the gear ring and the planet gear.
Advantageous effects
The leg linear actuator of the humanoid robot has a highly integrated and compact structure, integrates a motor, a planetary roller screw pair, an angle sensor, a planetary reduction mechanism and the like in a limited space, provides a larger driving force, and realizes high power density.
The leg linear actuator of the humanoid robot can accurately detect and control the position and the movement of the planetary roller screw rod through the cooperation of the primary angle detection unit and the secondary angle detection unit.
The humanoid robot leg linear actuator is easy to install, disassemble and maintain.
Drawings
Fig. 1 is a schematic view of the structure of an actuator.
Fig. 2 is an exploded view of the actuator.
Fig. 3 is a schematic view of a sliding arrangement of a planetary roller screw.
Fig. 4 is a schematic structural view of the angle detecting unit.
Fig. 5 is a schematic structural view of the planetary reduction mechanism.
In the figure: 1. a first knuckle bearing; 2. a motor end cover; 3. a motion control board; 4. an angle sensor I; 5. an angle sensor II; 6. radial magnetizing magnet; 7. radial magnetizing ring magnet; 8. a planetary reduction mechanism; 9. a fixing seat; 10. angular contact bearing I; 11. planetary roller screw; 12. a torsion flange shaft; 13. planetary roller screw nuts; 14. limiting pin shafts; 15. a motor rotor; 16. a motor rotor positioning sleeve; 17. a motor stator; 18. angular contact bearing II; 19. a limit sleeve; 20. a motor base; 21. a second knuckle bearing; 81. a planet wheel; 82. a sun gear; 83. a planet carrier; 84. and a gear ring.
Detailed Description
Example 1
The embodiment discloses a humanoid robot leg linear actuator shown in fig. 1, which comprises a shell, and a first joint bearing 1 and a second joint bearing 21 which are respectively arranged at two ends of the shell. The motor end cap 2 is covered on the motor base 20 to form a housing. The first knuckle bearing 1 is fixed on the motor end cover 2, and the second knuckle bearing 21 is driven by a power mechanism in the shell to do linear motion.
As shown in fig. 2, the housing has therein a motor unit that converts electric energy into rotational kinetic energy. The motor unit includes a motor stator 17 and a motor rotor 15, the motor stator 17 is fixed in a motor base 20, and the motor rotor 15 is sleeved in the motor stator 17 and is rotatable. The motor stator 17 is powered to generate a rotating magnetic field, which drives the motor rotor 15 to rotate. Thereby, the motor unit converts the electric energy into rotational kinetic energy.
As shown in fig. 2, a planetary roller screw pair unit for converting rotational kinetic energy into linear kinetic energy is further provided in the housing. The planetary roller screw pair unit includes a planetary roller screw 11 and a planetary roller screw nut 13. The planetary roller screw nut 13 is fixedly connected with the motor rotor 15, so that the planetary roller screw nut 13 and the motor rotor 15 synchronously rotate, and the planetary roller screw 11 is driven to do linear motion. It is preferable to provide the motor rotor 15 with a hollow structure and fix the planetary roller screw nut 13 in a hole in the center of the motor rotor 15, so as to improve the integration and compactness of the structure. One end of the planetary roller screw 11 protrudes from the housing, and a knuckle bearing two 21 is fixed to the end. When the planetary roller screw 11 moves linearly, the second knuckle bearing 21 is driven to move linearly.
As shown in fig. 2 and 3, a stop collar 19 is fixed at one end, close to the second joint bearing 21, in the motor base 20, the stop collar 19 is preferably made of copper, a stop slot is axially formed in the inner wall of the stop collar 19, and the length of the stop slot is adapted according to the stroke of the planetary roller screw 11. A limiting pin shaft 14 radially penetrates through the planetary roller screw 11, and two ends of the limiting pin shaft 14 are slidably embedded into the limiting groove. The planetary roller screw 11 is linearly moved when the planetary roller screw nut 13 is rotated because the rotation of the planetary roller screw 11 is restricted by the cooperation of the limit groove and the limit pin 14.
As shown in fig. 3, the planetary roller screw nut 13 is sleeved and fixed on the motor rotor 15 and the inside, a motor rotor positioning sleeve 16 is fixed on the outside of the motor rotor 15 for protecting and limiting the motor rotor 15, and a torsion flange shaft 12 for connecting the detection end is also fixed on the planetary roller screw nut 13. In this way, the planetary roller screw nut 13, the motor rotor 15, the motor rotor positioning sleeve 16 and the torque flange shaft 12 synchronously rotate to form a rotating assembly together. The two ends of the rotating assembly are respectively provided with an angular contact bearing I10 and an angular contact bearing II 18, namely, the two ends of the rotating assembly are respectively arranged in the shell through the angular contact bearings. The angular contact bearing can bear multi-directional loads such as larger radial force, axial force, torque force and the like, has larger precision, and can ensure that the rotating assembly stably rotates, thereby reducing vibration, abrasion and energy loss in the transmission process. In addition, the above structures are assembled together to form a generally cylindrical assembly, which makes very efficient use of the limited space within the motor base 20, resulting in a very compact overall structure with very high power density.
As shown in fig. 3, a radial magnetizing magnet 6 is fixedly connected to the end face of the tail end of the torque flange shaft 12, the radial magnetizing magnet 6 is opposite to a motion control plate 3 fixed in the motor end cover 2, and an angle sensor 4 is fixed on the motion control plate 3. The rotation angle of the radial magnetizing magnet 6 is detected by the first angle sensor 4 to form a first-stage angle detecting unit. The first angle sensor 4 is arranged in close proximity to the radial magnetizing magnet 6, and the cooperation of the first angle sensor and the radial magnetizing magnet 6 is shown in fig. 4.
The above-mentioned primary angle detection unit detects the angle of the planetary roller screw nut 13, i.e., the angle of the rotating assembly. On the basis, a planetary reduction mechanism 8 is further arranged at the end part of the torsion flange shaft 12 to reduce the speed. The planetary reduction mechanism 8 includes, as shown in fig. 5, a planetary gear 81, a sun gear 82, a carrier 83, and a ring gear 84. The sun gear 82 and the torque flange shaft 12 are pressed to form a driving end, the planetary gears 81 on the planetary carriers 83 are driven to rotate, and the planetary gears 81 are further meshed with the gear rings 84 fixedly arranged. In addition, a fixed seat 9 is fixedly arranged in the shell, a bearing is arranged in the fixed seat 9, a planet carrier 83 is pressed on the inner ring of the bearing, and the planet carrier 83 used for supporting rotates and keeps the position of the planet carrier 83; the ring gear 84 is fixed to the fixed base 9. The planetary reduction mechanism 8 is formed in an oblate shape as a whole and is connected to the end of the torque flange shaft 12, thereby making full use of the inner space of the housing. The planetary reduction mechanism 8 forms a large reduction ratio between the torque flange shaft 12 and the planet carrier 83.
As shown in fig. 3, a radial magnetizing ring magnet 7 is fixed to an end of the carrier 83, and an angle sensor two 5 is also provided on the motion control plate 3 so as to face the radial magnetizing ring magnet 7, and the angle sensor two 5 detects an angle of the radial magnetizing ring magnet 7 to form a secondary angle detection unit. The radial magnetizing ring magnet 7 cooperates with the second angle sensor 5 as shown in fig. 4.
As described above, the radial magnetizing magnet 6 is fixedly connected to the end face of the tail end of the torsion flange shaft 12, the sun gear 82 is press-fitted and sleeved on the torsion flange shaft 12, the planetary reduction mechanism 8 is integrally formed into an oblate shape, and the radial magnetizing ring magnet 7 is provided on the end face of the planet carrier 83. In this way, the radial magnetizing magnet 6 and the radial magnetizing ring magnet 7 may be arranged on the same plane in concentric rings, and the first angle sensor 4 and the second angle sensor 5 may be integrated on the same motion control board 3 and disposed in close proximity, so that not only is space saved greatly and the integration level improved, but also the distance between the first angle sensor 4 and the radial magnetizing magnet 6 and the distance between the second angle sensor 5 and the radial magnetizing ring magnet 7 are easily and accurately and stably limited, thereby improving the detection precision of the first-stage and second-stage angle detection units.
As shown in fig. 5, in the planetary reduction mechanism 8, the planetary gear 81 is provided as a double gear including a large gear that meshes with the sun gear 82 and a small gear that meshes with the ring gear 84. Thus, not only the diameter of the whole planetary reduction mechanism 8 can be reduced, but also a plurality of steps of reduction can be obtained to form an extremely high reduction ratio, and the obtaining of a large reduction ratio plays an important role in improving the stroke accuracy of the planetary roller screw 11.
In addition, by providing the number of teeth of the sun gear 82, the ring gear 84, and the large and small gears among the planetary gears 81, a reduction ratio of a high integer multiple can be formed between the carrier 83 and the planetary roller screw nut 13.
The planet carrier 83 drives the radial magnetizing ring magnet 7, and the radial magnetizing ring magnet 7 is subjected to angle analysis by the second angle sensor 5 on the motion control board 3 through the encoder chip. Similarly, the angle sensor 4 detects the angle of the planetary roller screw nut 13, namely, the motor end angle is recorded, but the position of the planetary roller screw 11 cannot be determined after the power is turned on again. The compact planetary reduction mechanism 8 generates a large reduction ratio, so that the radial magnetizing ring magnet 7 rotates within the travel range of the roller screw pair for no more than one complete circle, the rotation angle of the radial magnetizing ring magnet 7 within the travel range of the roller screw pair can correspond to the complete circle of rotation of the motor, and the absolute position of the planetary roller screw 11 can be calculated by utilizing the detection information of the angle sensor 4. That is, the number of complete turns of the planetary roller screw nut 13 is determined by the correspondence between the number of turns of the planetary roller screw nut 13 and the angle sensor two 5, the number of non-complete turns of the planetary roller screw nut 13 is determined by the angle sensor one 4, and the number of complete turns and the number of non-complete turns of the planetary roller screw nut 13 are combined to obtain the angle of rotation of the planetary roller screw nut 13, thereby correspondingly obtaining the precise position of the planetary roller screw 11.
Example 2
The humanoid robot leg linear actuator provided in embodiment 1 has a motor unit, a planetary roller screw pair unit, and a motion control unit highly integrated in a housing, and forms an integrated high-power-density linear motion power component.
The production and installation steps of the actuator are as follows:
(1) The torque flange shaft 12 and the planetary roller screw nut 13 are pressed in advance, and the limit pin shaft 14 and the planetary roller screw 11 are pressed in advance to form a planetary roller screw pair unit;
(2) The limiting sleeve 19, the second angular contact bearing 18, the motor rotor 15, the motor stator 17, the motor rotor positioning sleeve 16 and the planetary roller screw pair unit are sequentially pressed into the motor base 20;
(3) The first angular contact bearing 10 is assembled with the motor base 20 after being pressed on the fixed seat 9;
(4) Assembling the radial magnetizing magnet 6 on a planetary roller screw pair unit, assembling the planetary reduction mechanism 8 on the fixed seat 9, and assembling the radial magnetizing annular magnet 7 on the planetary reduction mechanism 8;
(5) Assembling the motion control plate 3 to the fixed seat 9;
(6) Covering the motor end cover 2 on the fixed seat 9;
(7) And fixing the first joint bearing 1 on the motor end cover 2, and fixing the second joint bearing 21 on the threaded end of the planetary roller screw 11 to complete the assembly of the leg linear actuator of the whole humanoid robot.
The above embodiments are illustrative for the purpose of illustrating the technical concept and features of the present invention so that those skilled in the art can understand the content of the present invention and implement it accordingly, and thus do not limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (9)
1. A humanoid robot shank linear actuator which characterized in that: comprises a shell and joint output ends respectively arranged at two ends of the shell; the shell is internally provided with a motor unit for converting electric energy into rotational kinetic energy, a planetary roller screw pair unit for converting the rotational kinetic energy into linear kinetic energy, and a primary angle detection unit and a secondary angle detection unit for jointly determining the position of the planetary roller screw pair unit;
the motor unit comprises a motor stator (17) fixed in the shell and a motor rotor (15) rotatably arranged in the motor stator (17); the planetary roller screw pair unit comprises a planetary roller screw (11) which is slidably arranged in a shell and a planetary roller screw nut (13) which is matched on the planetary roller screw (11); the planetary roller screw nut (13) is fixedly connected with the motor rotor (15);
a radial magnetizing magnet (6) which rotates synchronously with the planetary roller screw nut (13) is arranged in the shell, and an angle sensor I (4) is arranged at a position close to the radial magnetizing magnet (6) to form a primary angle detection unit;
a speed reducing mechanism for reducing the speed of the planetary roller screw nut (13) is further arranged in the shell, a radial magnetizing annular magnet (7) is arranged on the speed reducing mechanism, and an angle sensor II (5) is arranged at a position close to the radial magnetizing annular magnet (7) to form a secondary angle detection unit;
the reduction ratio of the reduction mechanism is controlled so that the radial magnetizing ring magnet (7) does not rotate more than one complete circle within the stroke range of the planetary roller screw (11).
2. The humanoid robot leg linear actuator of claim 1, wherein: the whole rotation number of the planetary roller screw nut (13) is determined through the corresponding relation between the second angle sensor (5) and the rotation number of the planetary roller screw nut (13), the non-whole rotation number of the planetary roller screw nut (13) is determined through the first angle sensor (4), the whole rotation number of the planetary roller screw nut (13) and the non-whole rotation number are combined to obtain the rotation angle of the planetary roller screw nut (13), and the accurate position of the planetary roller screw (11) is correspondingly obtained.
3. The humanoid robot leg linear actuator of claim 1, wherein: the motor rotor (15) is of a hollow structure, and the planetary roller screw nut (13) is fixed in the motor rotor (15).
4. The humanoid robot leg linear actuator of claim 1, wherein: a limiting sleeve (19) is fixed in the shell, and a limiting groove is formed in the inner wall of the limiting sleeve (19) along the axial direction; a limiting pin shaft (14) is radially arranged in the planetary roller screw rod (11) in a penetrating mode, and two ends of the limiting pin shaft (14) are slidably embedded into the limiting groove.
5. The humanoid robot leg linear actuator of claim 1, wherein: the radial magnetizing magnet (6) and the radial magnetizing ring magnet (7) are arranged on the same plane in concentric rings; and a motion control board (3) is also fixed in the shell and opposite to the radial magnetizing annular magnet (7), and the first angle sensor (4) and the second angle sensor (5) are integrally arranged on the motion control board (3).
6. The humanoid robot leg linear actuator of claim 1, wherein: the speed reducing mechanism is a planetary speed reducing mechanism and comprises a planet wheel (81), a sun wheel (82), a planet carrier (83) and a gear ring (84); the sun gear (82) is arranged to rotate synchronously with the planetary roller screw nut (13), the sun gear (82) is meshed with a planetary gear (81) on the planet carrier (83), and the planetary gear (81) is internally meshed with a fixedly arranged gear ring (84); the radial magnetizing ring magnet (7) is fixed at the end of the planet carrier (83).
7. The humanoid robot leg linear actuator of claim 6, wherein: the planetary reduction mechanism is provided in an oblate shape as a whole.
8. The humanoid robot leg linear actuator of claim 6, wherein: the planet wheel (81) is configured as a double gear comprising a gearwheel and a pinion, the gearwheel being in engagement with the sun wheel (82) and the pinion being in engagement with the ring gear (84).
9. The humanoid robot leg linear actuator of claim 8, wherein: by arranging the number of teeth of the big and small gears in the sun gear (82), the gear ring (84) and the planet gears (81), an integral multiple reduction ratio is formed between the planet carrier (83) and the planet roller screw nut (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311544029.1A CN117508398A (en) | 2023-11-20 | 2023-11-20 | Human-shaped robot leg linear actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311544029.1A CN117508398A (en) | 2023-11-20 | 2023-11-20 | Human-shaped robot leg linear actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117508398A true CN117508398A (en) | 2024-02-06 |
Family
ID=89750945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311544029.1A Pending CN117508398A (en) | 2023-11-20 | 2023-11-20 | Human-shaped robot leg linear actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117508398A (en) |
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2023
- 2023-11-20 CN CN202311544029.1A patent/CN117508398A/en active Pending
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