[{"data":1,"prerenderedAt":498},["ShallowReactive",2],{"\u002Fblog\u002Fjoint-motor-selection-guide":3},{"id":4,"title":5,"alt":6,"author":7,"body":8,"date":486,"description":487,"extension":488,"image":489,"keywords":490,"locale":491,"meta":492,"navigation":493,"path":494,"seo":495,"stem":496,"updated":491,"__hash__":497},"blog\u002Fblog\u002Fzh\u002Fjoint-motor-selection-guide.md","BXI 85\u002F70\u002F50 系列关节电机选型指南（含完整参数表）","BXI 半醒科技关节电机系列","BXI Robotics",{"type":9,"value":10,"toc":474},"minimark",[11,16,20,24,268,279,282,285,326,329,350,354,382,386,405,409,423,426,429,432,438,444,450,456,462],[12,13,15],"h1",{"id":14},"bxi-857050-系列关节电机选型指南","BXI 85\u002F70\u002F50 系列关节电机选型指南",[17,18,19],"p",{},"BXI 半醒科技的关节电机采用中空轴行星减速结构,全系配备双绝对值编码器(磁式输入 + 电感式输出)与交叉滚子轴承,兼容 MIT 协议的 CAN\u002FCANFD 通信。这套执行器已在多款人形机器人整机上完成极端工况验证,模块化设计同时适配机械臂与腿部等高自由度具身系统。本文给出四款主力型号的完整参数、参数解读与一套可落地的选型方法,帮助研发与采购团队按扭矩和尺寸需求快速决策。",[21,22,23],"h2",{"id":23},"完整参数表",[25,26,27,49],"table",{},[28,29,30],"thead",{},[31,32,33,37,40,43,46],"tr",{},[34,35,36],"th",{},"参数",[34,38,39],{},"BXI8515-19",[34,41,42],{},"BXI7010-19",[34,44,45],{},"BXI5018-19",[34,47,48],{},"BXI5014-19",[50,51,52,70,87,101,115,129,145,159,176,192,209,225,240,254],"tbody",{},[31,53,54,58,61,64,67],{},[55,56,57],"td",{},"额定扭矩",[55,59,60],{},"40 N·m",[55,62,63],{},"15 N·m",[55,65,66],{},"11 N·m",[55,68,69],{},"7 N·m",[31,71,72,75,78,81,84],{},[55,73,74],{},"峰值扭矩",[55,76,77],{},"150 N·m",[55,79,80],{},"50 N·m",[55,82,83],{},"35 N·m",[55,85,86],{},"25 N·m",[31,88,89,92,95,97,99],{},[55,90,91],{},"额定电压",[55,93,94],{},"24–48 V",[55,96,94],{},[55,98,94],{},[55,100,94],{},[31,102,103,106,109,111,113],{},[55,104,105],{},"空载转速",[55,107,108],{},"200 rpm",[55,110,108],{},[55,112,108],{},[55,114,108],{},[31,116,117,120,123,125,127],{},[55,118,119],{},"额定输出转速",[55,121,122],{},"100 rpm",[55,124,122],{},[55,126,122],{},[55,128,122],{},[31,130,131,134,137,140,143],{},[55,132,133],{},"峰值相电流",[55,135,136],{},"90 A",[55,138,139],{},"60 A",[55,141,142],{},"30 A",[55,144,142],{},[31,146,147,150,153,155,157],{},[55,148,149],{},"减速比",[55,151,152],{},"19.5",[55,154,152],{},[55,156,152],{},[55,158,152],{},[31,160,161,164,167,170,173],{},[55,162,163],{},"重量",[55,165,166],{},"1.4 kg",[55,168,169],{},"0.8 kg",[55,171,172],{},"0.55 kg",[55,174,175],{},"0.5 kg",[31,177,178,181,184,187,190],{},[55,179,180],{},"安装外径",[55,182,183],{},"99 mm",[55,185,186],{},"81 mm",[55,188,189],{},"64 mm",[55,191,189],{},[31,193,194,197,200,203,206],{},[55,195,196],{},"高度",[55,198,199],{},"73 mm",[55,201,202],{},"68 mm",[55,204,205],{},"70.5 mm",[55,207,208],{},"66.5 mm",[31,210,211,214,217,220,223],{},[55,212,213],{},"中空孔径",[55,215,216],{},"10 mm",[55,218,219],{},"9 mm",[55,221,222],{},"6 mm",[55,224,222],{},[31,226,227,230,233,236,238],{},[55,228,229],{},"编码器",[55,231,232],{},"双绝对值(磁式输入 + 电感式输出)",[55,234,235],{},"同左",[55,237,235],{},[55,239,235],{},[31,241,242,245,248,250,252],{},[55,243,244],{},"轴承",[55,246,247],{},"交叉滚子轴承",[55,249,235],{},[55,251,235],{},[55,253,235],{},[31,255,256,259,262,264,266],{},[55,257,258],{},"通信接口",[55,260,261],{},"CAN \u002F CANFD",[55,263,261],{},[55,265,261],{},[55,267,261],{},[269,270,271],"blockquote",{},[17,272,273,274,278],{},"以上为理论值,实际值可能因工况有所偏差。型号前两位对应机座尺寸系列(85\u002F70\u002F50),后缀 ",[275,276,277],"strong",{},"-19"," 对应约 19.5 的减速比。",[21,280,281],{"id":281},"关键参数怎么看",[17,283,284],{},"选型前先弄清几个参数的含义,能避免\"扭矩够不够\"的反复试错:",[286,287,288,303,309,315,320],"ul",{},[289,290,291,294,295,298,299,302],"li",{},[275,292,293],{},"额定扭矩 vs 峰值扭矩","：额定扭矩是可长期连续输出的扭矩,用于评估关节的持续保持与稳态负载;峰值扭矩是短时可达的上限,用于覆盖起步、冲击与动态摆动。选型时应让",[275,296,297],{},"连续工况落在额定扭矩内",",把",[275,300,301],{},"瞬态峰值留给峰值扭矩","。",[289,304,305,308],{},[275,306,307],{},"减速比 19.5","：全系采用 19.5 的行星减速比,用转速换扭矩——输出转速约为电机转速的 1\u002F19.5,因此额定输出转速统一为 100 rpm。减速比相同的好处是扭矩主要随机座尺寸递增,选型只需对齐\"扭矩档位\"。",[289,310,311,314],{},[275,312,313],{},"额定电压 24–48 V","：兼容常见机器人母线电压,可在 24 V 与 48 V 系统间复用。",[289,316,317,319],{},[275,318,133],{},"：反映驱动器需要提供的电流能力,机座越大需求越高(BXI8515-19 达 90 A),据此匹配电源与驱动余量。",[289,321,322,325],{},[275,323,324],{},"重量与末端惯量","：越靠近末端(腕\u002F手)的关节越应选轻型号,降低末端惯量有利于动态响应与能耗;5014\u002F5018 低至 0.5 kg 正是为此设计。",[21,327,328],{"id":328},"选型三步法",[330,331,332,338,344],"ol",{},[289,333,334,337],{},[275,335,336],{},"定扭矩档位","：估算关节在最不利姿态下的持续保持扭矩和峰值冲击扭矩,据此圈定型号——保持扭矩对齐额定扭矩,冲击扭矩对齐峰值扭矩。",[289,339,340,343],{},[275,341,342],{},"校尺寸与重量","：在满足扭矩的前提下,优先选更小外径、更轻的型号,尤其是手臂远端关节,以压低惯量与整机重量。",[289,345,346,349],{},[275,347,348],{},"核走线与接口","：确认中空孔径能容纳线缆与传感走线(6–10 mm 可选),并统一 CAN\u002FCANFD 通信与母线电压。",[21,351,353],{"id":352},"怎么选按关节部位匹配扭矩","怎么选?按关节部位匹配扭矩",[286,355,356,365,373],{},[289,357,358,361,362,364],{},[275,359,360],{},"髋\u002F膝等大扭矩腿部关节","：选 ",[275,363,39],{},"(峰值 150 N·m),提供足够的支撑与动态扭矩。",[289,366,367,361,370,372],{},[275,368,369],{},"肩\u002F肘等手臂主关节",[275,371,42],{},"(峰值 50 N·m),兼顾扭矩与重量。",[289,374,375,361,378,381],{},[275,376,377],{},"腕\u002F末端等轻量关节",[275,379,380],{},"BXI5018-19 \u002F BXI5014-19","(峰值 35 \u002F 25 N·m),重量低至 0.5 kg,利于减小末端惯量。",[21,383,385],{"id":384},"核心技术中空轴-双绝对值编码器-交叉滚子轴承","核心技术:中空轴 + 双绝对值编码器 + 交叉滚子轴承",[286,387,388,394,400],{},[289,389,390,393],{},[275,391,392],{},"中空轴行星减速","：大直径中空输出为线缆、液压与传感模块腾出走线空间,显著简化整机布线,并增大关节活动范围;行星减速兼顾扭矩密度与结构紧凑。",[289,395,396,399],{},[275,397,398],{},"双绝对值编码器","：输入端与输出端各一颗绝对值编码器,可直接在输出端测量真实角度,带来更高的闭环控制精度,并实现上电免归零——开机即知关节位置,无需回零标定。",[289,401,402,404],{},[275,403,247],{},"：单一轴承同时承受径向、轴向与倾覆载荷,提升关节刚度与回转精度,适合承力关节。",[21,406,408],{"id":407},"通信与控制cancanfd-mit-协议","通信与控制:CAN\u002FCANFD + MIT 协议",[17,410,411,412,417,418,422],{},"全系采用 CAN \u002F CANFD 通信并兼容 MIT 协议,支持力矩 \u002F 速度 \u002F 位置的混合控制,便于在统一总线上实现高带宽、低时延的多关节协同。在高自由度整机上,可搭配 ",[413,414,416],"a",{"href":415},"\u002Fmotors\u002Fcontrol-modules","PCIE-CAN 控制模块","(最多 24 路 CAN、1 KHz 控制)集中调度;",[413,419,421],{"href":420},"\u002Fblog\u002Felf3-humanoid-robot-specifications","Elf 3 人形机器人","即以 PCIE-CANFD 架构实现 >1000 Hz 的整机控制频率。",[21,424,425],{"id":425},"整机验证",[17,427,428],{},"这套执行器并非纸面参数——85\u002F70\u002F50 系列已在多款人形机器人整机上完成极端工况测试,并作为 Elf 3 全身 31 个关节的动力来源,覆盖从腿部承力到手臂灵巧操作的全场景。",[21,430,431],{"id":431},"常见问题",[17,433,434,437],{},[275,435,436],{},"这些电机的扭矩范围是多少?"," 全系额定扭矩 7–40 N·m,峰值扭矩 25–150 N·m,覆盖从末端到腿部的关节需求。",[17,439,440,443],{},[275,441,442],{},"额定扭矩和峰值扭矩怎么用?"," 连续保持与稳态负载按额定扭矩选,起步、冲击与动态摆动按峰值扭矩选,留出余量更稳妥。",[17,445,446,449],{},[275,447,448],{},"支持什么通信协议?"," CAN \u002F CANFD,兼容 MIT 协议,支持力矩 \u002F 速度 \u002F 位置混合控制。",[17,451,452,455],{},[275,453,454],{},"为什么用双绝对值编码器?"," 输入与输出端均直接测量真实角度,提升闭环精度,并支持上电免归零,简化标定流程。",[17,457,458,461],{},[275,459,460],{},"手臂和腿部分别选哪款?"," 腿部承力关节选 BXI8515-19(150 N·m),手臂主关节选 BXI7010-19(50 N·m),腕\u002F末端等轻量关节选 BXI5018-19 \u002F BXI5014-19。",[17,463,464,465,469,470,302],{},"需要选型建议或样机,欢迎",[413,466,468],{"href":467},"\u002Fcontact","联系我们",",也可查看",[413,471,473],{"href":472},"\u002Fmotors\u002Fadvanced-motors","关节电机产品页",{"title":475,"searchDepth":476,"depth":476,"links":477},"",2,[478,479,480,481,482,483,484,485],{"id":23,"depth":476,"text":23},{"id":281,"depth":476,"text":281},{"id":328,"depth":476,"text":328},{"id":352,"depth":476,"text":353},{"id":384,"depth":476,"text":385},{"id":407,"depth":476,"text":408},{"id":425,"depth":476,"text":425},{"id":431,"depth":476,"text":431},"2026-06-20","半醒科技 85\u002F70\u002F50 系列中空轴行星减速关节电机选型指南:峰值扭矩 25–150 N·m、重量 0.5–1.4 kg、减速比 19.5、双绝对值编码器,兼容 MIT 协议 CAN\u002FCANFD,涵盖人形机器人手臂与腿部的执行器选型方法与参数解读。","md","\u002Fmotors\u002Fadvanced-motors\u002Fall_1.webp","关节电机, 中空轴电机, 行星减速电机, 机器人关节模组, 力矩电机, 双绝对值编码器, 关节电机选型, 人形机器人执行器",null,{},true,"\u002Fblog\u002Fzh\u002Fjoint-motor-selection-guide",{"title":5,"description":487},"blog\u002Fzh\u002Fjoint-motor-selection-guide","fF-lZFY1JVkxgPwEonJLQJ5Ci5sL8DCPkSsJbHPaA1c",1782300801330]