Beijing University of Technology

Tengyue Wei

Shuting Ji

Yueming Zhang

Erhao Yuan

Yonghu Ji

Hongju Guang

Yiwan Li

Iijun Xiang

Shoubin Chi

Chiyu Zhang

The present invention discloses a stiffness-variable joint actuator with motor-reducer integration, and belongs to the field of robots. The stiffness-variable joint actuator includes: a torque motor, which includes a casing, a stator, a rotor, pin gears, and pin gear rollers; and a reducer core, which includes cycloidal gears, a planetary carrier, and an eccentric shaft. The motor is connected to a cycloidal-pin gear reducer, thereby achieving the technical effect of enhancing the impact resistance and reverse actuation capability of the actuator. The rotor is disposed outside the stator, the eccentric shaft is connected to the rotor, and the reducer is disposed inside the motor, thereby achieving the technical effect of integrating the motor and the reducer and reducing the axial dimension of the actuator. The cycloidal gears are provided with round holes and special-shaped holes, and the planetary carrier is provided with round dowel pins and special-shaped dowel pins; under a rated load, the round holes are in contact with the round dowel pins, and the special-shaped holes are not in contact with the special-shaped dowel pins; and under a load above the rated load, the round holes and the round dowel pins extrude each other to achieve an allowable deformation, and the special-shaped holes are in contact with the special-shaped dowel pins, thereby achieving the technical effect of changing the stiffness of the actuator.

Stiffness-variable joint actuator with motor-reducer integration

Growing community of inventors

Beijing, China

Tengyue Wei