Shanghai Zhenghe Robot Co ltd A micro-chain actuator and dex

CN120503165B · Shanghai Zhenghe Robot Co ltd, Qingdao Choho Industrial Co Ltd

Patent number
CN120503165B
Applicant
Shanghai Zhenghe Robot Co ltd, Qingdao Choho Industrial Co Ltd
Filing date
2025-05-30
CPC class
B25J7/00
Pillar
Muscle

The invention discloses a micro-chain actuator for a humanoid robot, comprising a driving module, a speed reducing module, and a pushing module arranged in parallel to minimize space. The driving module uses a motor and servo driver; the speed reducing module employs worm-turbine gearing; the pushing module uses a miniature chain sprocket, U-shaped sliding miniature chain, and push rod in a housing with guide grooves and displacement sensor. This design addresses limitations of traditional linear actuators (e.g., ball screws, planetary rollers) by offering greater extension stroke, lower volume, reduced manufacturing/maintenance costs, and better suitability for dexterous hands. The dexterous hand integrates multiple such actuators in the palm to drive fingers.

Claims

Independent claim covers the micro-chain actuator structure with parallel modules, worm-turbine reduction, miniature chain in U-shaped guide for push rod actuation, and return spring/displacement sensor. Additional claims detail chain tooth geometry, housing construction, and the dexterous hand assembly using multiple actuators for finger control. Focus on compact, high-stroke linear actuation for humanoid robotics.

Technical analysis

This patent introduces a novel chain-based linear actuator optimized for space-constrained humanoid robot hands. By decoupling actuator mass and using a flexible miniature chain for force transmission (similar to tendon-driven systems but with integrated push mechanism), it achieves high dexterity-to-weight ratio. The parallel module layout and worm-gear reduction enable compact packaging while providing long stroke and precise control via integrated sensors. Addresses key pain points in humanoid hands: actuator volume, cost, and stroke limitations of screw-based systems. CPC B25J7/00 confirms micromanipulator focus.

Commercial impact

Enables more compact, cost-effective, and dexterous humanoid robot hands by replacing bulky or expensive actuators (e.g., planetary roller screws). Potential to accelerate commercialization of affordable humanoid robots for manufacturing, service, and prosthetics. Assignees (Chinese robotics firms) position this for domestic humanoid market growth; licensing or integration could impact global players seeking lightweight hand designs. High relevance to 2025-2026 humanoid IP trends emphasizing tendon/chain actuation.

Related patents

All patents · Source filing