人形机器人旋转关节：核心部件技术解析与产业竞争观察

Core Insights - The article emphasizes the rapid growth of humanoid robots, particularly focusing on the significance of rotary joints as a core component that affects both performance and manufacturing costs [1] - The rotary joints are expected to maintain double-digit growth in the coming years due to the booming humanoid robot industry [1] Group 1: Technology Routes of Rotary Joints - The three main technological routes for rotary joints are rigid actuators, elastic actuators, and quasi-direct drive (QDD) actuators [2] - Rigid actuators have played a crucial role in early humanoid robot development due to their high torque output and precision, maintaining a dominant position in the market [4] - Elastic actuators enhance compliance control but face challenges in industrial application due to complex control algorithms and high hardware costs [4][6] Group 2: QDD Actuators - QDD actuators combine the advantages of both rigid and elastic actuators, becoming a mainstream solution for humanoid robot rotary joints [6] - They optimize structural design and control algorithms to reduce manufacturing costs and system complexity while ensuring joint performance [6][7] Group 3: Motors in Rotary Joints - Motors are critical for rotary joints, requiring high torque output, dynamic response, low inertia, and lightweight characteristics [8] - The frameless torque motor has emerged as a popular choice due to its compact design and flexibility, aligning well with high integration needs [8] - Axial flux motors show promise for future applications in humanoid robots due to their high torque density and efficiency [9] Group 4: Gearboxes in Rotary Joints - Gearboxes play a key role in torque output, precision, and lifespan of rotary joints, with harmonic and planetary gearboxes being the primary types used [10] - Harmonic gearboxes are widely used for their compact size and high precision, while planetary gearboxes are favored for their cost-effectiveness and durability [13][15] - Both types of gearboxes complement each other to meet diverse joint requirements [16] Group 5: Sensors in Rotary Joints - Sensors are essential for measuring force/torque information to achieve precise motion control in humanoid robots [17] - Force/torque sensors provide high precision but are costly and require careful installation [19] - Current loop sensors offer a cost-effective alternative with lower precision, suitable for cost-sensitive applications [21] Group 6: Market Competition in Core Components - The market for humanoid robot rotary joints is characterized by intense competition among core components like motors, gearboxes, and sensors [22] - Domestic companies such as Boke, Haozhi, and Weichuang have made significant advancements in frameless torque motors, enhancing domestic competitiveness [24] - The harmonic gearbox market is led by companies like Harmonic Drive and Lide, while the planetary gearbox sector is competitive with domestic players like Zhongdali and Niusidate [27][31] Group 7: Six-Dimensional Force Sensors - Six-dimensional force sensors are increasingly used in various fields, including humanoid robots, where they have become a standard trend [34] - The market for these sensors is expected to grow significantly, with a current average price of around 40,000 RMB for foreign brands and 20,000 RMB for domestic products [34] - The market is concentrated, with leading companies like ATI and Yuli Instruments holding significant market shares [35] Group 8: Future Outlook - The humanoid robot industry is seen as a new direction in industrial automation with substantial growth potential [36] - The demand for key products like motors, controllers, gearboxes, and six-dimensional force sensors is expected to rise as the industry develops [36] - Companies with technological advantages in gearboxes and sensors are likely to benefit from the growth in humanoid robot demand [36]