CN118578433A - Ball screw power module and robot - Google Patents

Abstract

The invention provides a ball screw power module, comprising: the assembly mechanism comprises an actuator main shell, an output end cover, an assembly nut and a protection end cover; the first joint bearing passes through the protective end cover through a force detection unit; the joint bearing II penetrates through the assembly nut and the output end cover through a ball screw; the servo driving mechanism comprises a stator core, a stator coil, a rotor magnet, a rotor back iron and a screw nut. The scheme finally realizes the integrated design of a motor structure, a transmission structure and a control structure; the screw rod nut is used as a part of an inner rotor in the motor structure, so that the rotor space of the motor structure is fully utilized, and the joint volume and weight are reduced; meanwhile, the device has the advantages of high transmission efficiency, low manufacturing and maintenance cost, simple structure and high safety.

Description

Ball screw power module and robot

Technical Field

The invention relates to the technical field of robots, in particular to a ball screw power module and a robot.

Background

In the robot industry, the multi-joint robot has better industrial advantages compared with the common robot technology, can bypass obstacles to reach the target, can complete certain special movements in application, and can move from one point to another point in the least time without separating the main joint structure (power module).

In the prior art, a common joint structure (power module) is provided with a planetary speed reducer plus qdd motor combined structure and a harmonic speed reducer moment sensor structure; the complex linear motion and the complex rotary motion of the joint part of the robot are realized, so that the use requirement of the multi-joint robot is met.

The existing planetary reducer transmission mode is adopted, and the performance of the planetary reducer transmission mode in the aspects of precision, noise, friction torque, volume and the like is to be improved; the transmission efficiency of the harmonic speed reducer is low, the whole structure is complex, and the manufacturing and maintenance cost is high; the occurrence of the ball screw power transmission technology can solve the problems, but the existing ball screw power transmission technology adopts a complex rotation groove stopping structure to limit the radial rotation movement of the screw, which can obviously increase the volume and weight of the screw module; how to reduce the volume and weight of the screw rod module while ensuring the stable operation of the ball screw power transmission technology is still to be further developed.

Therefore, it is necessary to provide a ball screw power module to solve the above technical problems.

Disclosure of Invention

The invention provides a ball screw power module, which solves the problem that in the related art, the volume and the weight of the screw module are required to be further researched and developed while the stable operation of a ball screw power transmission technology is ensured.

In order to solve the technical problems, the ball screw power module provided by the invention comprises:

The assembly mechanism comprises an actuator main shell, an output end cover, an assembly nut and a protection end cover, wherein the output end cover is fixedly arranged at one end of the actuator main shell, the assembly nut is in threaded connection with the output end cover, and the protection end cover is fixedly arranged at the other end of the actuator main shell;

the first joint bearing passes through the protective end cover through a force detection unit; the force detection unit is fixedly arranged between the actuator main shell and the protective end cover;

the joint bearing II penetrates through the assembly nut and the output end cover through a ball screw; and the ball screw is inserted into the actuator main housing;

The servo driving mechanism comprises a stator core, a stator coil, a rotor magnet, a rotor back iron and a screw nut, wherein the stator core is fixedly arranged on the actuator main shell, the rotor back iron is rotatably arranged in the stator core through the rotor magnet and the stator coil, and the screw nut is fixedly arranged in the rotor back iron; the shaft end of the ball screw is inserted into the rotor back iron and is in threaded connection with the screw nut; the rotor back iron and the screw nut are respectively and rotatably arranged on the actuator main shell through bearings;

the limiting device is embedded and mounted on the output end cover;

the control mechanism is arranged in the actuator main shell;

The ball screw consists of a straight line section and a screw rod section, wherein the straight line section is of a rectangular structure, the straight line section is fixedly connected with the joint bearing II, and the screw rod section is in threaded connection with the screw rod nut; the limiting device is in sliding connection with the surface of the straight line segment.

Preferably, a nut gasket is filled between the output end cover and the assembly nut.

Preferably, the limiting device is provided with two groups, and the limiting device is symmetrically arranged on two sides of the straight line section.

Preferably, the limiting device is provided with four groups, and the annular arrays are distributed on the outer ring of the straight line section.

Preferably, the output end cover is provided with an oil filling hole.

Preferably, the protective end cover is provided with a wire hole.

Preferably, the control mechanism comprises a PCB, an adapter seat and an encoder magnet, wherein the PCB is fixedly arranged on the actuator main shell, the adapter seat is fixedly arranged on the rotor back iron, and the encoder magnet is arranged on the adapter seat.

Preferably, the servo driving mechanism further comprises a butt joint cover, and the butt joint cover is fixedly arranged on the screw nut;

The ball screw power module further comprises a locking mechanism, wherein the locking mechanism comprises a first telescopic piece and a locking cover, the first telescopic piece is fixedly arranged on the output end cover, and the locking cover is arranged at the telescopic end of the first telescopic piece;

when the second knuckle bearing is required to be locked at a set length relative to the first knuckle bearing, the first telescopic piece controls the locking cover to extend, so that the locking cover is abutted and locked on the butt joint cover.

Preferably, a buffer cavity is formed in the output end cover, a limiting chute is formed in the ball screw, and the limiting chute traverses the straight line section and the screw section; the locking mechanism further comprises a sliding disc and a first connecting piece, wherein the sliding disc is fixedly arranged at the telescopic end of the first telescopic piece, and the first connecting piece is fixedly connected with the sliding disc and the locking cover;

The ball screw power module further comprises a connecting mechanism, the connecting mechanism comprises a connecting cover and a sliding block, the connecting cover is rotatably arranged on the locking cover, the connecting cover is sleeved on the ball screw, one end of the sliding block is fixedly connected with the connecting cover, and the other end of the sliding block is inserted into the limiting sliding groove and is in sliding connection with the ball screw;

The limiting device comprises a sliding frame, a rolling pin and a second telescopic piece, wherein the sliding frame is slidably arranged on the output end cover, the rolling pin is rotatably arranged on the sliding frame, and the second telescopic piece is fixedly arranged on the output end cover;

The sliding frame, the rolling pin and the second telescopic piece are all arranged in the range of the buffer cavity, and the second telescopic piece is used for driving the sliding frame and the rolling pin to be telescopic and adjustable; when the first telescopic part controls the second joint bearing to switch from a linear telescopic mode to a rotation adjusting mode, the second telescopic part controls the sliding frame and the rolling pin to retract so as to provide support for the use of the rotation adjusting mode of the second joint bearing.

The invention also provides a robot which comprises a joint structure and a connecting rod structure, wherein the joint structure adopts the ball screw power module.

Compared with the related art, the ball screw power module provided by the invention has the following beneficial effects:

the rotor back iron and the screw nut are fixedly connected together, so that the screw nut is driven to rotate together after the motor structure rotates; as the rotary motion of the straight line segment is limited by the limiting device on the output end cover; the limiting device is matched with the square straight line section to form a radial stop part, so that the ball screw can only do telescopic movement along the axial direction in the running process of the screw rod nut, and the joint bearing II can be conveniently and linearly telescopic adjusted relative to the joint bearing I.

Finally, the integrated design of a motor structure, a transmission structure and a control structure is realized; the screw rod nut is used as a part of an inner rotor in the motor structure, so that the rotor space of the motor structure is fully utilized, and the joint volume and weight are reduced; meanwhile, the device has the advantages of high transmission efficiency, low manufacturing and maintenance cost, simple structure and high safety.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a three-dimensional view of a ball screw power module provided by the invention;

FIG. 2 is a front view in section of section A-A of FIG. 1;

FIG. 3 is a left side view of the section B-B of FIG. 1;

FIG. 4 is a schematic view of the ball screw shown in FIG. 2;

FIG. 5 is an enlarged schematic view of portion A shown in FIG. 2;

Fig. 6 is a schematic structural diagram of an optimization scheme of the ball screw power module provided by the invention;

FIG. 7 is an enlarged schematic view of portion B shown in FIG. 6;

FIG. 8 is an enlarged schematic view of portion C shown in FIG. 6;

FIG. 9 is a schematic view of the L-shaped chute shown in FIG. 8;

fig. 10 is a schematic diagram of an optimized solution of the ball screw power module provided by the invention, wherein (a 1) is a front view of the second joint bearing in a locked state, (a 2) is a front view of the second joint bearing in a telescopic mode, and (a 3) is a front view of the second joint bearing in a rotating mode;

fig. 11 is a schematic diagram of telescopic adjustment of the first connector in fig. 10, wherein (b 1) is a front view of the locking cover in the state of (a 1), (b 2) is a front view of the locking cover in the state of (a 2), (b 3) is a front view of the locking cover in the state of (a 3), (c 1) is a front view of the first connector in the state of (a 1), (c 2) is a front view of the first connector in the state of (a 2), and (c 3) is a front view of the first connector in the state of (a 3).

Reference numerals illustrate:

1. An assembly mechanism; 11. an actuator main housing; 12. an output end cap; 121. an oil filling hole; 13. assembling a nut; 14. protecting the end cover; 141. a wire hole;

2. a first knuckle bearing; 21. a force detection unit;

3. a second knuckle bearing; 31. a ball screw; 311. a straight line segment; 312. a screw section;

4. A servo drive mechanism; 41. a stator core; 42. a stator coil; 43. a rotor magnet; 44. a rotor back iron; 45. a screw nut;

5. A bearing;

6. a limiting device;

7. a control mechanism;

71. a PCB board; 72. an adapter seat; 73. an encoder magnet;

122. a buffer chamber; 310. limiting sliding grooves;

46. A butt joint cover;

8. A locking mechanism; 81. a first telescopic piece; 82. a slide plate; 83. a first connecting piece; 84. a locking cover; 85. a second connecting piece;

9. a connecting mechanism; 91. a connection cover; 92. a slide block;

61. A carriage; 62. needle roller; 63. a second telescopic member; 611. an L-shaped chute; 6111. a locking section; 6112. unlocking the segment.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The invention provides a ball screw power module.

Example 1

Referring to fig. 1 to 4, in a first embodiment of the present invention, a ball screw power module includes:

the assembly mechanism 1 comprises an actuator main shell 11, an output end cover 12, an assembly nut 13 and a protection end cover 14, wherein the output end cover 12 is fixedly arranged at one end of the actuator main shell 11, the assembly nut 13 is in threaded connection with the output end cover 12, and the protection end cover 14 is fixedly arranged at the other end of the actuator main shell 11;

A knuckle bearing 1, said knuckle bearing 12 passing through said protective end cap 14 by a force sensing unit 21; the force detection unit 21 is fixedly arranged between the actuator main shell 11 and the protective end cover 14 (the first joint bearing 2 is fixedly connected with the force detection unit 21);

The second knuckle bearing 3 passes through the assembly nut 13 and the output end cover 12 through a ball screw 31; the ball screw 31 is inserted into the actuator main housing 11 (the second knuckle bearing 3 is fixedly connected with the ball screw 31);

The servo driving mechanism 4 comprises a stator core 41, a stator coil 42, a rotor magnet 43, a rotor back iron 44 and a screw nut 45, wherein the stator core 41 is fixedly arranged on the actuator main shell 11, the rotor back iron 44 is rotatably arranged in the stator core 41 through the rotor magnet 43 and the stator coil 42, and the screw nut 45 is fixedly arranged in the rotor back iron 44; the shaft end of the ball screw 31 is inserted into the rotor back iron 44 and is in threaded connection with the screw nut 45; the rotor back iron 44 and the screw nut 45 are respectively rotatably mounted on the actuator main shell 11 through bearings 5;

The limiting device 6 is embedded and mounted on the output end cover 12;

a control mechanism 7, the control mechanism 7 being mounted within the actuator main housing 11;

The ball screw 31 is composed of a straight line section 311 and a screw rod section 312, the straight line section 311 is in a rectangular structure, the straight line section 311 is fixedly connected with the joint bearing II 3, and the screw rod section 312 is in threaded connection with the screw rod nut 45; the limiting device 6 is slidably connected with the surface of the straight line segment 311.

In this embodiment, the stator core 41, the stator coil 42, the rotor magnet 43 and the rotor back iron 44 form a motor structure. For driving the screw nut 45 in rotation.

The bearings 5 are provided with two groups, and the two groups of bearings 5 are used for bearing radial high-speed rotation of a rotor (rotor back iron 44 and screw nut 45) of the motor structure; thereby controlling the ball screw 31 to generate a warp pushing force or a pulling force at the load end with respect to the output of the screw nut 45.

The force detection unit 21 is provided with a strain gauge set, and the strain gauge set inputs a push-pull force signal of the first knuckle bearing 2 relative to the second knuckle bearing 3 to the control mechanism 7 for processing to obtain a current accurate push-pull force value.

The rotor back iron 44 and the screw nut 45 are fixedly connected together, so that the screw nut 45 is driven to rotate together after the motor structure rotates; as the rotational movement of the straight section 311 is limited by the limiting means 6 on the output end cap 12; the limiting device 6 cooperates with the square straight line section 311 to form a radial stop component, so that the ball screw 31 can only make telescopic movement along the axial direction in the running process of the screw nut 45, and stable linear telescopic adjustment of the joint bearing II 3 relative to the joint bearing I2 is facilitated.

Finally, the integrated design of a motor structure, a transmission structure and a control structure is realized; the screw nut 45 is used as a part of an inner rotor in the motor structure, so that the rotor space of the motor structure is fully utilized, and the joint volume and weight are reduced; meanwhile, the device has the advantages of high transmission efficiency, low manufacturing and maintenance cost, simple structure and high safety.

In this embodiment, a nut washer is filled between the output end cap 12 and the fitting nut 13. A movable gap is reserved between the nut gasket and the straight line segment 311, so that stable support is provided for adjustment of the straight line segment 311; the tightness of the connection between the output end cap 12 and the fitting nut 13 is increased.

In an alternative embodiment, referring to fig. 3, the limiting device 6 is provided with two groups, symmetrically installed at two sides of the straight line segment 311.

In another alternative embodiment, referring to fig. 3, the limiting device 6 is provided with four groups, and the annular arrays are distributed on the outer ring of the straight line segment 311. For maintaining the stability of the telescopic adjustment of the straight section 311.

Referring to fig. 2 again, the output end cover 12 is provided with an oil filling hole 121. And the filling of the internal lubricating oil is convenient.

In this embodiment, the oil filling hole 121 is provided with a switch valve, so that the oil filling hole 121 is conveniently opened or closed.

Referring to fig. 2 again, the protecting end cap 14 is provided with a wire hole 141. The extension of the equipment wire is facilitated; the outgoing line is convenient and simple.

Referring to fig. 2 and 5 in combination, the control mechanism 7 includes a PCB 71, an adapter 72, and an encoder magnet 73, the PCB 71 is fixedly disposed on the actuator main housing 11, the adapter 72 is fixedly disposed on the rotor back iron 44, and the encoder magnet 73 is mounted on the adapter 72. Wherein, the PCB 71 is composed of an integrated motor encoder and force detection PCB.

In this embodiment, the adapter 72 and the encoder magnet 73 form an encoder unit, and the encoder unit is used for feeding back the absolute position of the rotor part (rotor magnet) relative to the stator part (stator core) on the motor structure to the absolute position encoding chip on the PCB 71 in a magnetic mode; in order to obtain the accurate angle of motor structure, motor structure's rotation angle combines the number of rotations and the parameter of ball screw 31 comes accurate calculation to obtain the flexible length of ball screw 31.

The force detection unit 21 inputs the push-pull force signal of the first knuckle bearing 2 relative to the second knuckle bearing 3 to the PCB 71 for processing, so as to obtain the current accurate push-pull force value.

The working principle of the ball screw power module provided in this embodiment is as follows:

A1, as shown in FIG. 2, when the knuckle bearing II 3 is required to extend relative to the knuckle bearing I2, starting a motor structure, so that the rotor magnet 43 of the motor structure drives the rotor back iron 44 and the screw nut 45 to synchronously rotate, and the screw section 312 extends in the process of rotating the screw nut 45; the screw section 312 drives the joint bearing II 3 to synchronously extend through the straight line section 311, so that the joint bearing II 3 can linearly extend;

A2, while the joint bearing II 3 stretches, the force detection unit 21 detects the push-pull force of the joint bearing II 3 relative to the joint bearing I2 in real time;

a3, detecting the absolute position of a rotor part relative to a stator part in a motor structure in real time by an encoder unit formed by the adapter 72 and the encoder magnet 73 while the second knuckle bearing 3 stretches;

The detected data are transmitted to the PCB 71 for data processing and calculation; the precise rotating angle of the rotor part of the motor structure is obtained, and the number of rotation turns and the extension length of the ball screw 31 are calculated by matching with the size of the ball screw 31.

Example two

When the joint bearing II 3 is loaded relative to the joint bearing I2, the joint bearing II 3 receives a certain load acting force, so that the load pressure received by the motor structure is increased; in order to reduce the pressure of the motor structure, it is necessary to provide a locking structure to realize stability when the second knuckle bearing 3 does not stretch or contract relative to the first knuckle bearing 2, so as to reduce the pressure of the motor structure.

Referring to fig. 6 to fig. 7 in combination, another ball screw power module is provided according to a first embodiment of the present invention. The second embodiment is merely a preferred manner of the first embodiment, and implementation of the second embodiment does not affect the implementation of the first embodiment alone.

Specifically, the second embodiment of the present invention provides a ball screw power module, which is different in that the servo driving mechanism 4 further includes a docking cover 46, and the docking cover 46 is fixedly disposed on the screw nut 45;

the ball screw power module further comprises a locking mechanism 8, the locking mechanism 8 comprises a first telescopic piece 81 and a locking cover 84, the first telescopic piece 81 is fixedly arranged on the output end cover 12, and the locking cover 84 is arranged at the telescopic end of the first telescopic piece 81;

When it is desired to lock the second knuckle bearing 3 to the first knuckle bearing 2 by a predetermined length, the first telescoping member 81 controls the extension of the lock housing 84 such that the lock housing 84 abuts and locks to the docking housing 46.

In this embodiment, the first telescopic member 81 employs a telescopic cylinder to provide a power source for telescopic adjustment of the locking cover 84.

Because the screw nut 45 is in threaded connection with the ball screw 31, when the screw nut 45 cannot rotate, the ball screw 31 cannot be telescopically adjusted, and support is provided for the stability of the use states of the ball screw 31 and the knuckle bearing two 3.

When the second knuckle bearing 3 needs to be locked, the first expansion piece 81 is started, the first expansion piece 81 can drive the locking cover 84 to stretch, the locking cover 84 moves towards the butt joint cover 46 and is mutually abutted and limited, so that the butt joint cover 46 and the screw nut 45 cannot rotate, and stability of the second knuckle bearing 3 in use length is guaranteed.

When the second joint bearing 3 needs to be continuously telescopic, the first telescopic piece 81 is started, the locking cover 84 is controlled to be separated from the docking cover 46, so that the second joint bearing 3 is unlocked, and the second joint bearing 3 can be continuously telescopic.

In an alternative implementation of this embodiment, the docking cover 46 and the locking cover 84 are provided with braking teeth. Resistance and locking stability in the abutting state of the two are increased.

Referring to fig. 7 and 8 in combination, the output end cover 12 is provided with a buffer cavity 122, the ball screw 31 is provided with a limit chute 310, and the limit chute 310 traverses the straight line section 311 and the screw section 312; the locking mechanism 8 further comprises a sliding plate 82 and a first connecting piece 83, wherein the sliding plate 82 is fixedly arranged at the telescopic end of the first telescopic piece 81, and the first connecting piece 83 is fixedly connected with the sliding plate 82 and the locking cover 84;

The ball screw power module further comprises a connecting mechanism 9, the connecting mechanism 9 comprises a connecting cover 91 and a sliding block 92, the connecting cover 91 is rotatably arranged on the locking cover 84, the connecting cover 91 is sleeved on the ball screw 31, one end of the sliding block 92 is fixedly connected with the connecting cover 91, and the other end of the sliding block 92 is inserted into the limiting sliding groove 310 and is in sliding connection with the ball screw 31;

the limiting device 6 comprises a sliding frame 61, a rolling needle 62 and a second telescopic member 63, the sliding frame 61 is slidably arranged on the output end cover 12, the rolling needle 62 is rotatably arranged on the sliding frame 61, and the second telescopic member 63 is fixedly arranged on the output end cover 12;

the sliding frame 61, the needle roller 62 and the second telescopic member 63 are all installed in the range of the buffer cavity 122, and the second telescopic member 63 is used for driving the sliding frame 61 and the needle roller 62 to be telescopically adjusted; when the first telescopic member 81 controls the second joint bearing 3 to switch from the linear telescopic mode to the rotation adjustment mode, the second telescopic member 63 controls the sliding frame 61 and the needle roller 62 to retract, so as to provide support for the rotation adjustment mode of the second joint bearing 3.

In this embodiment, the second knuckle bearing 3 includes two usage modes:

Linear telescopic mode: the joint bearing II 3 can move linearly (can not be adjusted in a relative rotation) relative to the joint bearing I2 and is used for power telescopic support;

rotation adjustment mode: the second knuckle bearing 3 is rotatably adjustable (can not be relatively telescopically adjusted) relative to the first knuckle bearing 2 and is used for power rotation support.

In the present embodiment, "movable mounting" means:

the lock housing 84 is capable of both moving adjustment following the lock housing 84 and rotating adjustment relative to the lock housing 84.

As shown in fig. 11, when the linear telescopic mode is required, the first telescopic member 81 is started, and the first telescopic member 81 drives the sliding plate 82, the first connecting member 83 and the locking cover 84 to move leftwards (in the direction shown in fig. 7) integrally, so that the locking cover 84 is separated from the docking cover 46, and the docking cover 46 and the screw nut 45 are unlocked; and maintains the connection cover 91 and the docking cover 46 in a separated state.

When the rotation adjustment mode is needed, the first telescopic member 81 is started again, the first telescopic member 81 drives the slide plate 82, the first connecting member 83, the locking cover 84 and the connecting cover 91 to move left, and the connecting cover 91 abuts against and is locked on the docking cover 46, so that the docking cover 46 and the connecting cover 91 are locked relatively (in a state of being unable to rotate relatively); the second telescopic member 63 is matched to control the contraction of the carriage 61, so that the carriage 61 and the needle roller 62 contract and provide a movable space for the rotation adjustment of the ball screw 31, and a stable support is provided for the rotation adjustment of the ball screw 31 and the second knuckle bearing 3.

Finally, under the drive of the same motor structure, the telescopic adjustment of the second knuckle bearing 3 and the rotation adjustment of the second knuckle bearing 3 can be realized; the adaptability of the use mode and the use environment of the second knuckle bearing 3 is increased.

In an alternative implementation manner of this embodiment, the abutment surfaces of the abutment cover 46 and the connection cover 91 are respectively provided with corresponding abutment teeth. And the resistance and the relative stability of the connection are increased under the mutual abutting state of the two.

In an alternative embodiment, the second telescoping member 63 is a miniature motorized telescoping rod that provides powered support for telescoping adjustment of the carriage 61.

In another alternative embodiment, referring to fig. 7 to 9, the second telescopic member 63 is an elastic telescopic member; the sliding frame 61 is provided with an L-shaped chute 611, the locking mechanism 8 further comprises a second connecting piece 85, the second connecting piece 85 is in an L-shaped structure, one end of the second connecting piece 85 is fixedly connected with the sliding plate 82, and the other end of the second connecting piece 85 penetrates through the output end cover 12 and is inserted into the L-shaped chute 611;

wherein, the L-shaped chute 611 comprises a locking section 6111 and an unlocking section 6112; when the second connector 85 is located in the locking section 6111, the carriage 61 is in a locked state; when the second connector 85 is located in the unlocking section 6112, the carriage 61 is in an unlocked state.

In the present embodiment, when the carriage 61 is in the locked state, the needle roller 62 on the carriage 61 abuts against the surface of the straight line segment 311;

When the carriage 61 is in an unlocking state, the needle rollers 62 on the carriage 61 can adjust the self-adaptive shrinkage along with the rotation of the straight line section 311, so that self-adaptive avoidance support is provided for the adjustment of the second joint bearing 3, and the stable rotation adjustment of the second joint bearing 3 is facilitated in a rotation adjustment mode.

In this embodiment, the elastic telescopic member provides elastic support for buffering and resetting of the carriage 61 when the carriage 61 is in the unlocked state.

When the second joint bearing 3 is switched from the linear telescopic mode to the rotation adjusting mode, the sliding disc 82 can also drive the second connecting piece 85 to move left synchronously (as shown in fig. 8), the second connecting piece 85 slides into the unlocking section 6112 along the locking section 6111 when moving, and after the second connecting piece 85 completely enters the unlocking section 6112, the sliding frame 61 is automatically unlocked and can adapt to the rotation of the linear section 311 to adaptively stretch.

Finally, in the process of switching the second knuckle bearing 3 from the linear telescopic mode to the rotation adjusting mode, the automatic unlocking of the sliding frame 61 is synchronously realized, so that the use requirement of the second knuckle bearing 3 in the rotation adjusting mode is met.

In an alternative embodiment, referring again to fig. 8, the end of the second connecting member 85 is provided with a chamfer structure. When the device is switched from the rotation adjustment mode to the linear expansion mode, the second connecting piece 85 enters the stability of the locking section 6111 from the unlocking section 6112.

The working principle of the ball screw power module provided by the embodiment is as follows:

As shown in (a 1) in fig. 10 and (b 1) and (c 1) in fig. 11, the device is in a locked state in the initial state, the first connector 83 is in an abutting locking state with the docking cover 46, the connection cover 91 is in a separated unlocking state with the docking cover 46, and the second connector 85 is located within the range of the locking section 6111;

In combination with (a 1) to (a 2) in fig. 10 and (b 1) to (b 2) and (c 1) to (c 2) in fig. 11, when the equipment is required to be adjusted to the linear telescopic mode, the first telescopic member 81 is started, the first telescopic member 81 drives the sliding plate 82 to move left, the sliding plate 82 drives the locking cover 84 to move left through the first connecting member 83, and the locking cover 84 moves left and is separated from the docking cover 46, so that the docking cover 46 is unlocked;

the locking cover 84 moves leftwards and simultaneously drives the connecting cover 91 to move leftwards, and the connecting cover 91 drives the sliding block 92 to slide linearly along the direction of the limiting sliding groove 310;

The sliding plate 82 moves left and drives the second connecting piece 85 to move left, and the second connecting piece 85 moves left along the range of the locking section 6111 and is still positioned in the locking section 6111;

As shown in (a 2) in fig. 10 and (b 2) and (c 2) in fig. 11, the apparatus is in a linear telescopic mode, the first connector 83 is in a separated unlocking state from the docking cover 46, the connection cover 91 is in a separated unlocking state from the docking cover 46, and the second connector 85 is located within the locking section 6111;

In combination with (a 2) to (a 3) in fig. 10 and (b 2) to (b 3) and (c 2) to (c 3) in fig. 11, when the equipment is required to be adjusted to the rotation adjustment mode, the first telescopic member 81 is started again, the first telescopic member 81 drives the sliding plate 82 to continue to move left, the sliding plate 82 drives the locking cover 84 to continue to move left through the first connecting member 83, and the locking cover 84 drives the connecting cover 91 to move left while moving left, so that the connecting cover 91 and the butt joint cover 46 are in abutting locking;

The sliding plate 82 moves leftwards and drives the second connecting piece 85 to move leftwards, the second connecting piece 85 completely enters the range of the unlocking section 6112 along the locking section 6111, so that the sliding frame 61 is unlocked and limited, and the rolling pin 62 on the sliding frame 61 can adjust self-adaptive expansion and contraction according to the rotation of the straight line section 311; the screw nut 45 can synchronously drive the ball screw 31 to rotate and adjust through the butt joint cover 46, the connecting cover 91 and the sliding block 92 which are in a locking state when rotating, so that the device can be applied to a telescopic use environment and a rotating use environment;

as shown in fig. 10 (a 3) and fig. 11 (b 3) and (c 3), the apparatus is in a rotation adjustment mode, the first connector 83 and the docking cover 46 are in a separated and unlocked state, the connection cover 91 and the docking cover 46 are in an abutting and locking state, and the second connector 85 is located within the unlocking section 6112.

Finally, after the first telescopic member 81 controls the docking cover 46 to switch from the locking state to the unlocking state, the use mode of the ball screw 31 can be switched; the carriage 61 is automatically unlocked in the process of switching the modes of the ball screw 31 under the same power driving.

The invention also provides a robot which comprises a joint structure and a connecting rod structure, wherein the joint structure adopts the ball screw power module described in the embodiment.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the specification and drawings of the present invention or direct/indirect application in other related technical fields are included in the scope of the present invention.

Claims (10)

1.A ball screw power module, comprising:

The assembly mechanism comprises an actuator main shell, an output end cover, an assembly nut and a protection end cover, wherein the output end cover is fixedly arranged at one end of the actuator main shell, the assembly nut is in threaded connection with the output end cover, and the protection end cover is fixedly arranged at the other end of the actuator main shell;

the first joint bearing passes through the protective end cover through a force detection unit; the force detection unit is fixedly arranged between the actuator main shell and the protective end cover;

the joint bearing II penetrates through the assembly nut and the output end cover through a ball screw; and the ball screw is inserted into the actuator main housing;

The servo driving mechanism comprises a stator core, a stator coil, a rotor magnet, a rotor back iron and a screw nut, wherein the stator core is fixedly arranged on the actuator main shell, the rotor back iron is rotatably arranged in the stator core through the rotor magnet and the stator coil, and the screw nut is fixedly arranged in the rotor back iron; the shaft end of the ball screw is inserted into the rotor back iron and is in threaded connection with the screw nut; the rotor back iron and the screw nut are respectively and rotatably arranged on the actuator main shell through bearings;

the limiting device is embedded and mounted on the output end cover;

the control mechanism is arranged in the actuator main shell;

The ball screw consists of a straight line section and a screw rod section, wherein the straight line section is of a rectangular structure, the straight line section is fixedly connected with the joint bearing II, and the screw rod section is in threaded connection with the screw rod nut; the limiting device is in sliding connection with the surface of the straight line segment.

2. The ball screw power module of claim 1, wherein a nut washer is filled between the output end cap and the mounting nut.

3. The ball screw power module of claim 2, wherein the limiting device is provided with two groups symmetrically arranged on two sides of the straight line section.

4. The ball screw power module of claim 2, wherein the limiting device is provided with four groups, and the annular array is distributed on the outer ring of the straight line section.

5. The ball screw power module of claim 4, wherein the output end cap is provided with an oil filler hole.

6. The ball screw power module of claim 5, wherein the protective end cap is provided with a wire hole.

7. The ball screw power module of claim 6, wherein the control mechanism comprises a PCB board, an adapter seat and an encoder magnet, the PCB board is fixedly disposed on the actuator main housing, the adapter seat is fixedly disposed on the rotor back iron, and the encoder magnet is mounted on the adapter seat.

8. The ball screw power module of claim 7, wherein the servo drive mechanism further comprises a docking cap secured to the screw nut;

The ball screw power module further comprises a locking mechanism, wherein the locking mechanism comprises a first telescopic piece and a locking cover, the first telescopic piece is fixedly arranged on the output end cover, and the locking cover is arranged at the telescopic end of the first telescopic piece;

when the second knuckle bearing is required to be locked at a set length relative to the first knuckle bearing, the first telescopic piece controls the locking cover to extend, so that the locking cover is abutted and locked on the butt joint cover.

9. The ball screw power module according to claim 8, wherein a buffer cavity is formed on the output end cover, a limit chute is formed on the ball screw, and the limit chute traverses the straight line section and the screw section; the locking mechanism further comprises a sliding disc and a first connecting piece, wherein the sliding disc is fixedly arranged at the telescopic end of the first telescopic piece, and the first connecting piece is fixedly connected with the sliding disc and the locking cover;

The ball screw power module further comprises a connecting mechanism, the connecting mechanism comprises a connecting cover and a sliding block, the connecting cover is rotatably arranged on the locking cover, the connecting cover is sleeved on the ball screw, one end of the sliding block is fixedly connected with the connecting cover, and the other end of the sliding block is inserted into the limiting sliding groove and is in sliding connection with the ball screw;

The limiting device comprises a sliding frame, a rolling pin and a second telescopic piece, wherein the sliding frame is slidably arranged on the output end cover, the rolling pin is rotatably arranged on the sliding frame, and the second telescopic piece is fixedly arranged on the output end cover;

The sliding frame, the rolling pin and the second telescopic piece are all arranged in the range of the buffer cavity, and the second telescopic piece is used for driving the sliding frame and the rolling pin to be telescopic and adjustable; when the first telescopic part controls the second joint bearing to switch from a linear telescopic mode to a rotation adjusting mode, the second telescopic part controls the sliding frame and the rolling pin to retract so as to provide support for the use of the rotation adjusting mode of the second joint bearing.

10. A robot comprising a joint structure and a link structure, wherein the joint structure employs the ball screw power module of any one of claims 1-9.