[{"data":1,"prerenderedAt":497},["ShallowReactive",2],{"\u002Fblog\u002Fjoint-motor-selection-guide":3},{"id":4,"title":5,"alt":6,"author":7,"body":8,"date":485,"description":486,"extension":487,"image":488,"keywords":489,"locale":490,"meta":491,"navigation":492,"path":493,"seo":494,"stem":495,"updated":490,"__hash__":496},"blog\u002Fblog\u002Fzh\u002Fjoint-motor-selection-guide.md","BXI 85\u002F70\u002F50 系列关节电机选型指南","BXI 半醒科技关节电机系列","BXI Robotics",{"type":9,"value":10,"toc":473},"minimark",[11,15,19,23,267,278,281,284,325,328,349,353,381,385,404,408,422,425,428,431,437,443,449,455,461],[12,13,5],"h1",{"id":14},"bxi-857050-系列关节电机选型指南",[16,17,18],"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按明确测试条件完成验证,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。",[20,21,22],"h2",{"id":22},"完整参数表",[24,25,26,48],"table",{},[27,28,29],"thead",{},[30,31,32,36,39,42,45],"tr",{},[33,34,35],"th",{},"参数",[33,37,38],{},"BXI8515-19",[33,40,41],{},"BXI7010-19",[33,43,44],{},"BXI5018-19",[33,46,47],{},"BXI5014-19",[49,50,51,69,86,100,114,128,144,158,175,191,208,224,239,253],"tbody",{},[30,52,53,57,60,63,66],{},[54,55,56],"td",{},"额定扭矩",[54,58,59],{},"40 N·m",[54,61,62],{},"15 N·m",[54,64,65],{},"11 N·m",[54,67,68],{},"7 N·m",[30,70,71,74,77,80,83],{},[54,72,73],{},"峰值扭矩",[54,75,76],{},"150 N·m",[54,78,79],{},"50 N·m",[54,81,82],{},"35 N·m",[54,84,85],{},"25 N·m",[30,87,88,91,94,96,98],{},[54,89,90],{},"额定电压",[54,92,93],{},"24–48 V",[54,95,93],{},[54,97,93],{},[54,99,93],{},[30,101,102,105,108,110,112],{},[54,103,104],{},"空载转速",[54,106,107],{},"200 rpm",[54,109,107],{},[54,111,107],{},[54,113,107],{},[30,115,116,119,122,124,126],{},[54,117,118],{},"额定输出转速",[54,120,121],{},"100 rpm",[54,123,121],{},[54,125,121],{},[54,127,121],{},[30,129,130,133,136,139,142],{},[54,131,132],{},"峰值相电流",[54,134,135],{},"90 A",[54,137,138],{},"60 A",[54,140,141],{},"30 A",[54,143,141],{},[30,145,146,149,152,154,156],{},[54,147,148],{},"减速比",[54,150,151],{},"19.5",[54,153,151],{},[54,155,151],{},[54,157,151],{},[30,159,160,163,166,169,172],{},[54,161,162],{},"重量",[54,164,165],{},"1.4 kg",[54,167,168],{},"0.8 kg",[54,170,171],{},"0.55 kg",[54,173,174],{},"0.5 kg",[30,176,177,180,183,186,189],{},[54,178,179],{},"安装外径",[54,181,182],{},"99 mm",[54,184,185],{},"81 mm",[54,187,188],{},"64 mm",[54,190,188],{},[30,192,193,196,199,202,205],{},[54,194,195],{},"高度",[54,197,198],{},"73 mm",[54,200,201],{},"68 mm",[54,203,204],{},"70.5 mm",[54,206,207],{},"66.5 mm",[30,209,210,213,216,219,222],{},[54,211,212],{},"中空孔径",[54,214,215],{},"10 mm",[54,217,218],{},"9 mm",[54,220,221],{},"6 mm",[54,223,221],{},[30,225,226,229,232,235,237],{},[54,227,228],{},"编码器",[54,230,231],{},"双绝对值(磁式输入 + 电感式输出)",[54,233,234],{},"同左",[54,236,234],{},[54,238,234],{},[30,240,241,244,247,249,251],{},[54,242,243],{},"轴承",[54,245,246],{},"交叉滚子轴承",[54,248,234],{},[54,250,234],{},[54,252,234],{},[30,254,255,258,261,263,265],{},[54,256,257],{},"通信接口",[54,259,260],{},"CAN \u002F CANFD",[54,262,260],{},[54,264,260],{},[54,266,260],{},[268,269,270],"blockquote",{},[16,271,272,273,277],{},"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 ",[274,275,276],"strong",{},"-19"," 对应约 19.5 的减速比。",[20,279,280],{"id":280},"关键参数怎么看",[16,282,283],{},"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:",[285,286,287,302,308,314,319],"ul",{},[288,289,290,293,294,297,298,301],"li",{},[274,291,292],{},"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",[274,295,296],{},"连续工况落在额定扭矩内",",把",[274,299,300],{},"瞬态峰值留给峰值扭矩","。",[288,303,304,307],{},[274,305,306],{},"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\"。",[288,309,310,313],{},[274,311,312],{},"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。",[288,315,316,318],{},[274,317,132],{},"：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。",[288,320,321,324],{},[274,322,323],{},"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。",[20,326,327],{"id":327},"选型三步法",[329,330,331,337,343],"ol",{},[288,332,333,336],{},[274,334,335],{},"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。",[288,338,339,342],{},[274,340,341],{},"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。",[288,344,345,348],{},[274,346,347],{},"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。",[20,350,352],{"id":351},"怎么选按关节部位匹配扭矩","怎么选?按关节部位匹配扭矩",[285,354,355,364,372],{},[288,356,357,360,361,363],{},[274,358,359],{},"髋\u002F膝等大扭矩腿部关节","：选 ",[274,362,38],{},"(峰值 150 N·m),提供足够的支撑与动态扭矩。",[288,365,366,360,369,371],{},[274,367,368],{},"肩\u002F肘等手臂主关节",[274,370,41],{},"(峰值 50 N·m),兼顾扭矩与重量。",[288,373,374,360,377,380],{},[274,375,376],{},"腕\u002F末端等轻量关节",[274,378,379],{},"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。",[20,382,384],{"id":383},"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",[285,386,387,393,399],{},[288,388,389,392],{},[274,390,391],{},"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。",[288,394,395,398],{},[274,396,397],{},"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。",[288,400,401,403],{},[274,402,246],{},"：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。",[20,405,407],{"id":406},"通信与控制cancanfd-mit-协议","通信与控制:CAN\u002FCANFD + MIT 协议",[16,409,410,411,416,417,421],{},"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 ",[412,413,415],"a",{"href":414},"\u002Fmotors\u002Fcontrol-modules","PCIE-CAN 控制模块","(最多 24 路 CAN、1 KHz 控制)集中调度;",[412,418,420],{"href":419},"\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。",[20,423,424],{"id":424},"整机验证",[16,426,427],{},"85\u002F70\u002F50 系列已在多款人形机器人整机上按明确测试条件完成验证，并应用于 Elf 3 关节系统，覆盖腿部承力与手臂操作等场景。",[20,429,430],{"id":430},"常见问题",[16,432,433,436],{},[274,434,435],{},"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。",[16,438,439,442],{},[274,440,441],{},"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。",[16,444,445,448],{},[274,446,447],{},"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。",[16,450,451,454],{},[274,452,453],{},"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。",[16,456,457,460],{},[274,458,459],{},"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。",[16,462,463,464,468,469,301],{},"需要选型建议或样机,欢迎",[412,465,467],{"href":466},"\u002Fcontact","联系我们",",也可查看",[412,470,472],{"href":471},"\u002Fmotors\u002Fadvanced-motors","关节电机产品页",{"title":474,"searchDepth":475,"depth":475,"links":476},"",2,[477,478,479,480,481,482,483,484],{"id":22,"depth":475,"text":22},{"id":280,"depth":475,"text":280},{"id":327,"depth":475,"text":327},{"id":351,"depth":475,"text":352},{"id":383,"depth":475,"text":384},{"id":406,"depth":475,"text":407},{"id":424,"depth":475,"text":424},{"id":430,"depth":475,"text":430},"2026-06-20","对比 BXI 85\u002F70\u002F50 系列关节电机的额定与峰值扭矩、重量、尺寸、编码器和 CAN\u002FCANFD 支持，辅助机器人关节选型。","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":486},"blog\u002Fzh\u002Fjoint-motor-selection-guide","gQtHYpfjH10wqCO0Xm49R3C6gThOtStUGSnV8aj86TQ",1785156465929]