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 arranged at the two ends of the shell correspondingly. A motor unit for converting electric energy into rotating kinetic energy, a planetary roller screw pair unit for converting the rotating kinetic energy into linear kinetic energy, and a first-stage angle detection unit and a second-stage angle detection unit for jointly determining the position of the planetary roller screw pair unit are arranged in the shell. The humanoid robot leg linear actuator has a highly integrated and compact structure, a motor, a planetary roller lead screw pair, an angle sensor, a planetary speed reducing mechanism and the like are highly integrated in a limited space, large driving force is provided, and high power density is achieved; through cooperation of the first-stage angle detection unit and the second-stage angle detection unit, the position and movement of the planetary roller lead screw can be accurately detected and controlled. And installation, disassembly and maintenance are easy.
本发明属于传动装置及人形机器人技术领域,具体涉及一种人形机器人腿部线性执行器。执行器包括外壳以及分别设置在外壳两端的关节输出端;外壳内具有将电能转换为旋转动能的电机单元,具有将旋转动能转换为线性动能的行星滚柱丝杠副单元,还具有共同确定行星滚柱丝杠副单元位置的一级角度检测单元和二级角度检测单元。本发明的人形机器人腿部线性执行器,具有高度集成和紧凑的结构,将电机、行星滚柱丝杠副、角度传感器和行星减速机构等在有限空间内高度集成,提供较大的驱动力,实现高的功率密度;通过一级和二级角度检测单元的配合,可以精确检测和控制行星滚柱丝杠的位置和运动;易于安装、拆卸和维护。
Humanoid robot leg linear actuator
一种人形机器人腿部线性执行器
2024-02-06
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
British Library Online Contents | 1997
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