Linear actuator for driving tendon rope and dexterous manipulator

Abstract

The invention discloses a linear actuator for driving a tendon rope and a dexterous manipulator. The linear actuator comprises a guide support, a lead screw, a rotating source, a nut and the tendon rope, and the lead screw is rotationally connected to the guide support; one end of the screw rod is fixedly connected to the output end of the rotating source; the rotating source is used for driving the screw rod to rotate; the nut is slidably connected to the guide support in the axial direction of the lead screw and is in threaded fit with the lead screw. One end of the tendon rope is fixed to the nut. According to the linear actuator, an extension rod is omitted, the tendon rope is directly fixed to the nut, the maximum axial length of the linear actuator is effectively reduced, and integrated design is better facilitated.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and in particular to a linear actuator for driving tendon chords and a dexterous robotic arm. Background Technology

[0002] A dexterous manipulator is a biomimetic end effector with high degrees of freedom and high dexterity. As a key operating tool at the end of a robot system, its grasping ability, finger manipulation ability, and reliability play an important role in the interaction between the robot and the physical world.

[0003] Dexterous robotic arms are typically designed to mimic the human hand. To achieve a higher number of joint degrees of freedom within a smaller volume, high demands are placed on the actuators and transmission methods of the dexterous robotic arm joints. From a bionic perspective, using ropes such as steel wire ropes and polymer braided ropes for power transmission is one of the mainstream solutions. In the industry, these types of ropes used in the field of dexterous robotic arms are collectively referred to as tendon ropes.

[0004] During the research and development process, the applicant used a winch-type actuator with a twisted reel to drive the tendon rope. Its working principle is as follows: a motor drives the twisted reel to rotate, winding the tendon rope, fixed at one end, onto the reel, thus shortening the rope length to achieve pulling. However, this method has two drawbacks: firstly, the tendon rope needs to be repeatedly wound on the twisted reel, which is prone to fatigue damage due to cyclic bending stress, significantly shortening its service life; secondly, limited by the minimum bending radius of the tendon rope material, the radius of the twisted reel must meet this lower limit requirement. This structural constraint directly hinders the miniaturization design of the actuator, resulting in its generally large size.

[0005] To address the aforementioned issues, the applicant employed a linear pull actuator to drive the tendon cable. A linear pull actuator, in this case, uses a motor to drive a lead screw and nut structure, converting the motor's rotational motion into the nut's linear motion, thereby pulling the tendon cable. Specifically, the linear pull actuator integrates the motor, reduction gear set, lead screw, nut, and extension rod into a single unit. The nut is fixedly connected to the extension rod, and the end of the tendon cable is fixed to the top of the extension rod. The tendon cable is driven by the extension and retraction of the extension rod. This results in an excessively long maximum axial length of the linear pull actuator when the extension rod is fully extended. Summary of the Invention

[0006] The main objective of this application is to propose a linear actuator and a dexterous manipulator for driving tendon chords, aiming to solve the technical problem of excessively long maximum axial length of linear pull actuators.

[0007] To achieve the above objectives, this application proposes a linear actuator for driving tendon chordae, comprising: Guide bracket; A lead screw, which is rotatably connected to the guide bracket; A rotation source is provided, with one end of the lead screw fixedly connected to the output end of the rotation source, and the rotation source is used to drive the lead screw to rotate. A nut, which is slidably connected to the guide bracket along the axial direction of the lead screw, and the nut is threaded into the lead screw; A tendon cord, one end of which is fixed to the nut.

[0008] Optionally, in some embodiments of this application, the nut is provided with at least one winding post, and one end of the tendon rope is wound around the at least one winding post by means of winding fixation.

[0009] Optionally, in some embodiments of this application, the linear actuator further includes a fixing member, the winding post is disposed on the fixing member, and the fixing member is detachably connected to the nut.

[0010] Optionally, in some embodiments of this application, the guide bracket includes a first end, a second end, and a connecting portion, wherein the first end is connected to the second end via the connecting portion; One end of the lead screw is rotatably connected to the first end, and the other end of the lead screw is rotatably connected to the second end. The lead screw is suspended on one side of the connecting part, and the nut is threadedly engaged with the suspended part of the lead screw.

[0011] Optionally, in some embodiments of this application, the second end is provided with a wire passage opening and a wire clamping groove, the wire passage opening being radially connected to the wire clamping groove; The tendon cord can be inserted into and detached from the wire slot along the radial direction through the wire opening; When the tendon cord is inserted into the clamping groove, the other end of the tendon cord passes through the clamping groove along the axial direction of the lead screw and then protrudes.

[0012] Optionally, in some embodiments of this application, the width of the wire passage opening is smaller than the width of the wire slot.

[0013] Optionally, in some embodiments of this application, the first end includes a first support portion and an adapter. The first support portion is connected to the connecting portion. The first support portion has a first through hole that extends through the first support portion along the axial direction of the lead screw. The adapter is inserted into the first through hole. One end of the lead screw is rotatably connected to the adapter. The rotation source is fixed to the adapter; and / or, The second end includes a second support portion and an end cap. The second support portion is connected to the connecting portion. The second support portion is provided with a second through hole. The second through hole passes through the second support portion along the axial direction of the lead screw. The end cap is inserted into the second through hole. The other end of the lead screw is rotatably connected to the end cap. The wire passage opening is provided in the second support portion. The wire clamping groove is provided in the end cap.

[0014] Optionally, in some embodiments of this application, the connecting portion is provided with a window, the window extends along the axial direction of the lead screw, and the lead screw is suspended in the window.

[0015] Optionally, in some embodiments of this application, the connecting portion is provided with a guide groove, which extends along the axial direction of the lead screw; The nut is provided with a guide member, which slides along the axial direction of the lead screw within the guide groove.

[0016] This application also provides a dexterous manipulator, including the aforementioned linear actuator.

[0017] The beneficial effects of the technical solution of this application are as follows: The linear actuator of this application, by omitting the extension rod and directly fixing the tendon rope to the nut, effectively reduces the maximum axial length of the linear actuator and is more conducive to integrated design. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the linear actuator according to an embodiment of this application; Figure 2 This is an exploded view of the linear actuator according to an embodiment of this application; Figure 3 This is a cross-sectional view of the linear actuator according to an embodiment of this application; Figure 4 This is a schematic diagram of the winding method of the tendon cord according to an embodiment of this application; Figure 5 This is a schematic diagram of the assembly of the fastener and nut according to an embodiment of this application; Figure 6 This is an assembly diagram of the adapter and the first bracket portion according to an embodiment of this application; Figure 7 This is an assembly diagram of the end cap and the second bracket portion according to an embodiment of this application; Figure 8 This is a schematic diagram of the assembly of the nut and guide component according to an embodiment of this application.

[0019] Explanation of reference numerals in the attached figures: 100-Guide bracket, 110-First end, 111-First bracket part, 1111-First through hole, 112-Adapter, 1121-First bearing, 113-Second screw, 120-Second end, 121-Second bracket part, 1211-Second through hole, 1212-Wire passage opening, 122-End cap, 1221-Second bearing, 1222-Wire clamping groove, 123-Third screw, 130-Connecting part, 131-Window, 132-Guide groove, 200-Screw rod, 300-Nut, 310-Fixing component, 311-Wire winding post, 312-Baffle, 320-First screw, 330-Limiting groove, 340-Protruding shaft, 341-Guide component, 400-Tendon rope, 500-Rotation source. Detailed Implementation

[0020] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0021] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0022] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0024] Please see Figures 1 to 3This application provides a linear actuator for driving a tendon 400, including a guide bracket 100, a lead screw 200, a nut 300, a tendon 400, and a rotation source 500. The lead screw 200 is rotatably connected to the guide bracket 100; one end of the lead screw 200 is fixedly connected to the output end of the rotation source 500, which drives the lead screw 200 to rotate; the nut 300 is slidably connected to the guide bracket 100 along the axial direction of the lead screw 200, and the nut 300 is threaded into the lead screw 200; one end of the tendon 400 is fixed to the nut 300.

[0025] Compared to the linear pull actuators mentioned in the background art, the linear actuator of this application omits the extension rod and directly fixes the tendon rope 400 to the nut 300, which effectively reduces the maximum axial length of the linear actuator and is more conducive to integrated design.

[0026] Compared to the winch-type actuator, the linear pull actuator of this application can effectively extend the service life of the tendon rope 400 and is also conducive to miniaturization design.

[0027] In some embodiments of this application, such as Figure 4 As shown, the nut 300 is provided with at least one winding post 311, and one end of the tendon rope 400 is wound around the at least one winding post 311 by winding fixation. In this structure, the tendon rope 400 is directly fixed to the winding post 311 on the nut 300 by winding method, omitting the extension rod part in the push rod type linear actuator, greatly reducing the maximum axial length of the linear actuator, and enabling the arrangement of a linear actuator with a longer stroke in a space with limited axial direction.

[0028] Common methods for fixing tendon cords include knot fixing and terminal crimping fixing, while this application uses a wire wrapping fixing method to fix the tendon cord 400.

[0029] Comparing the three chord fixation methods based on their strength: 1. For the knot fixation method, the frictional locking force that a single knot can provide is limited and is positively correlated with the pre-tightening force used in knotting. In actual assembly, it is difficult to ensure that the pre-tightening force of the knot meets the requirements. Furthermore, when the tension of the tendon rope increases, the knot itself will tighten, and the knot will squeeze the tendon rope itself, forming a shear effect, which leads to stress concentration at the knot and easy breakage, greatly reducing the reliability of the knot fixation method.

[0030] 2. For the terminal crimping method, metal terminals are crimped to the end of the tendon cord to form protrusions or rings to fix the end of the tendon cord. This method essentially uses the deformation of the metal terminals to compress the tendon cord to provide sufficient friction. When using braided ropes with weak shear resistance as tendon cords, the compression and shearing effect of the crimped metal terminals will greatly weaken the strength of the tendon cord, resulting in low anchoring reliability. It cannot be used for various tendon cord materials and is usually only applicable to metal tendon cords, with poor versatility.

[0031] 3. The winding fixation method adopted in this application fixes the tendon rope 400 by means of the friction between the tendon rope 400 and the side of the winding post 311. The greater the tension, the greater the friction between the tendon rope 400 and the winding post 311, which can achieve the self-locking of the tendon rope 400 and maintain a firm and reliable connection. Furthermore, the winding fixation method creates multiple stress points on the circumferential surface around the fixed end of the tendon rope 400 that is in close contact with the winding post 311, avoiding stress concentration and greatly improving the reliability of the fixation.

[0032] Comparing the three chord fixation methods based on ease of assembly: 1. The knot fixing method requires fixing the end of the tendon rope to the nut in a confined space. The small knot is difficult to operate, and the fixing position of the knot cannot be precisely controlled. It is impossible to guarantee the distance from the fixing position of the tendon rope end to the load. An additional tensioning mechanism is required to compensate for the error of the knot position.

[0033] 2. The terminal crimping method requires a special crimping tool to perform the crimping process. In scenarios with limited installation space, such as dexterity hands, the crimping tool head is usually difficult and troublesome to use, and the crimping position cannot be precisely controlled.

[0034] 3. When using the winding fixation method, the winding stake 311 can be used as a pulley fulcrum. During the winding process, the tendon rope 400 is continuously tightened, which can easily adjust the winding position of the tendon rope 400 and ensure the accuracy of the distance from the end fixing point of the tendon rope 400 to the load. The winding operation is simple. It only requires using tweezers or similar tools to pull the end of the tendon rope 400 and wrap and tighten it between the winding stakes 311.

[0035] In summary, the winding fixation method used in this application for the tendon cord 400 can stably, reliably, and conveniently fix the end of the tendon cord 400.

[0036] Optionally, the linear motion mechanism formed by the combination of the lead screw 200 and the nut 300 may include various helical transmission mechanisms, such as T-shaped lead screw 200 and nut 300 transmission, ball screw 200 and nut 300 transmission, and planetary ball screw 200 transmission, etc., without being limited to one specific type.

[0037] Specifically, the nut 300 is provided with multiple winding posts 311, and the tendon rope 400 is wound and locked with the multiple winding posts 311, distributing the tension on the tendon rope 400 onto the multiple winding posts 311, converting the tension of the tendon rope 400 into frictional force, and fixing the tendon rope 400 by the frictional force between the outer cylindrical surfaces of the tendon rope 400 and the multiple winding posts 311, so that the tendon rope 400 can tighten and loosen with the winding posts 311.

[0038] Specifically, one end of the tendon cord 400 is wound in a figure-eight pattern along multiple bobbins 311, meaning that adjacent turns of the tendon cord 400 are wound around different bobbins 311. For example, the nut 300 has five bobbins 311 for fixing the tendon cord 400. One end of the tendon cord 400 is fixed to the bobbins 311 by a winding method, and the other end is connected to the load. One end of the tendon cord 400 is wound in a figure-eight pattern along the five bobbins 311, so that the tendon cord 400 is wound and locked with the five bobbins 311, and the tension on the tendon cord 400 is evenly distributed on the five bobbins 311, converting the tension of the tendon cord 400 into friction. The tendon cord 400 is fixed by the friction between the tendon cord 400 and the outer cylindrical surface of the bobbins 311, and the tendon cord 400 can tighten and loosen with the bobbins 311.

[0039] Optionally, the tendon cord 400 is wound multiple times around at least one bobbin 311 to stably connect one end of the tendon cord 400 to the bobbin 311. Preferably, the tendon cord 400 is wound multiple times around each bobbin 311.

[0040] Specifically, the bobbin 311 can be cylindrical to create more stress points on the circumferential surface of the fixed end of the tendon rope 400 that is in close contact with the bobbin 311, further avoiding stress concentration and greatly improving the reliability of the fixation.

[0041] Of course, the number, arrangement, height and winding scheme of the winding stakes 311 on the nut 300 can be adjusted appropriately according to the actual situation and specific needs, as long as it is ensured that the tendon rope 400 can be wound through multiple turns to increase the friction force generated by the tension to counteract the tension of the tendon rope 400 and distribute the tension of the tendon rope 400 so that the tendon rope 400 can be reliably fixed. There is no single limitation here.

[0042] Specifically, in combination Figure 2 and Figure 5The linear actuator also includes a fixing member 310, with a winding post 311 disposed on the fixing member 310. The fixing member 310 is detachably connected to the nut 300. For example, the fixing member 310 can be, but is not limited to, fixedly connected to the nut 300 by a first screw 320, thereby achieving a detachable connection between the fixing member 310 and the nut 300. With this structure, when the linear actuator malfunctions and needs replacement, only the first screw 320 between the fixing member 310 and the nut 300 needs to be removed, and the fixing member 310 and its tendon cable 400 can be separated from the guide bracket 100 to replace the main body of the linear actuator, achieving quick replacement and greatly improving maintainability.

[0043] Specifically, such as Figure 5 As shown, baffles 312 are provided on both sides of the fastener 310, and the nut 300 is located between the baffles 312 on both sides of the fastener 310. The side of the nut 300 is provided with a limiting groove 330, and the baffles 312 are inserted into the limiting groove 330 to limit the relative movement of the fastener 310 and the nut 300 along the axial direction of the lead screw 200, so as to facilitate assembly.

[0044] Specifically, in combination Figure 2 , Figure 6 and Figure 7 The guide bracket 100 includes a first end 110, a second end 120, and a connecting portion 130. The first end 110 is connected to the second end 120 via the connecting portion 130. One end of the lead screw 200 is rotatably connected to the first end 110, and the other end of the lead screw 200 is rotatably connected to the second end 120. The lead screw 200 is suspended on one side of the connecting portion 130, and a nut 300 is threadedly engaged with the suspended portion of the lead screw 200. In this structure, the lead screw 200 is suspended, allowing the nut 300 to operate without interference in the suspended section of the lead screw 200.

[0045] Specifically, in combination Figure 3 and Figure 7 The second end 120 is provided with a wire passage opening 1212 and a wire clamping groove 1222. The wire passage opening 1212 is radially connected to the wire clamping groove 1222. The tendon rope 400 can be radially inserted into and detached from the wire clamping groove 1222 through the wire passage opening 1212. When the tendon rope 400 is inserted into the wire clamping groove 1222, the other end of the tendon rope 400 passes through the wire clamping groove 1222 along the axial direction of the lead screw 200 and protrudes to facilitate connection to the load. In this structure, the tendon rope 400 can be quickly inserted and fixed or radially detached through the radially connected wire passage opening 1212 and wire clamping groove 1222, making the assembly and disassembly operation simple and facilitating the replacement of the linear actuator body. At the same time, after the tendon rope 400 is inserted, it can pass through the wire clamping groove 1222 along the axial direction of the lead screw 200, providing a straight and centered force transmission path for load connection. This not only simplifies assembly but also structurally ensures the reliability and durability of the transmission system.

[0046] Specifically, the width of the wire passage opening 1212 is smaller than the width of the wire locking groove 1222. In this structure, the narrower wire passage opening 1212 serves as a guide channel, while the wider wire locking groove 1222 provides a receiving space for the tendon cord 400. The combination of the two ensures that after the tendon cord 400 is radially inserted, its main body is confined within the wide groove, making it less likely to accidentally detach through the narrow slot, thereby reliably keeping the tendon cord 400 in the predetermined locked state.

[0047] Specifically, the cable groove 1222 is a round hole. In this structure, the cable groove 1222 adopts a round hole design, and its inner wall is smooth, avoiding sharp angle contact, thereby effectively reducing wear and making the tendon rope 400 move more smoothly and stably.

[0048] Specifically, in combination Figure 2 , Figure 3 and Figure 6 The first end portion 110 includes a first support portion 111 and an adapter 112. The first support portion 111 is connected to the connecting portion 130. The first support portion 111 has a first through hole 1111, which extends through the first support portion 111 along the axial direction of the lead screw 200. The adapter 112 is inserted into the first through hole 1111, and one end of the lead screw 200 is rotatably connected to the adapter 112. The rotation source 500 is fixed to the adapter 112. This structure enables the overall disassembly and assembly of the transmission unit, greatly simplifying the assembly process and facilitating subsequent maintenance.

[0049] Optionally, in this embodiment, the rotation source 500 is a motor module, which provides rotational power input to the entire actuator. The motor module can consist of a coreless motor and a gear reducer, reducing the high speed and low torque of the coreless motor by lowering the speed through the gear reducer, thereby increasing the output torque. Of course, depending on the actual situation and specific requirements, the motor module can also be a combination of other types of motors and reducers, and is not limited to this specific configuration.

[0050] Specifically, in combination Figure 2 , Figure 3 and Figure 6 After the adapter 112 is inserted into the first through hole 1111 along the axial direction of the lead screw 200, the second screw 113 passes radially through the first bracket portion 111 and is threaded into the screw hole on the adapter 112, thereby detachably fixing the adapter 112 to the first bracket portion 111. In this embodiment, the adapter 112 and the first through hole 1111 are coaxially engaged. With this structure, after the adapter 112 and the first bracket portion 111 are axially assembled, the second screw 113 is installed, simplifying the assembly process and enabling quick disassembly and reliable fixing of the adapter 112.

[0051] Specifically, in combination Figure 2 and Figure 3The outer ring of the motor module housing has an external thread, and the adapter 112 has an internal thread. The adapter 112 is fitted onto the outer ring of the motor module housing, and the external and internal threads cooperate to fix the motor module on the adapter 112. In this embodiment, the motor module, the adapter 112, and the first through hole 1111 are coaxially coupled. The output end of the motor module is a square shaft, and one end of the lead screw 200 has a square hole. The square shaft is inserted into the square hole to transmit torque and drive the lead screw 200 to rotate.

[0052] Specifically, in combination Figure 2 and Figure 3 The adapter 112 contains a first bearing 1121, and one end of the lead screw 200 is rotatably connected to the adapter 112 via the first bearing 1121. The first bearing 1121 may be, but is not limited to, a thrust ball bearing. The seat ring of the thrust ball bearing is fixedly connected to the adapter 112, and the shaft ring of the thrust ball bearing is fixedly connected to one end of the lead screw 200. The seat ring and the shaft ring are separated by a steel ball cage. By utilizing the rolling friction of the steel balls, the frictional loss of the relative rotational motion between the lead screw 200 and the adapter 112 is reduced, thereby improving the transmission efficiency. At the same time, the thrust ball bearing will bear the axial tensile force on the lead screw 200 during transmission.

[0053] In this embodiment, the adapter 112, the square shaft of the motor module, and the thrust ball bearing cooperate to restrict the axial movement of the lead screw 200, thereby completely fixing the axial position of one end of the lead screw 200.

[0054] Specifically, in combination Figure 2 , Figure 3 and Figure 7 The second end portion 120 includes a second support portion 121 and an end cap 122. The second support portion 121 is connected to the connecting portion 130. The second support portion 121 has a second through hole 1211, which extends through the second support portion 121 along the axial direction of the lead screw 200. The end cap 122 is inserted into the second through hole 1211. The other end of the lead screw 200 is rotatably connected to the end cap 122. A wire passage opening 1212 is provided in the second support portion 121, and a wire clamping groove 1222 is provided in the end cap 122. In this structure, the end cap 122 is inserted into the second through hole 1211 as an independent component, which can provide rotational support for the other end of the lead screw 200, and also provides the key tendon cord 400 guiding structure, the wire clamping groove 1222, resulting in a compact structure. Of course, depending on the actual situation and specific needs, the wire passage opening 1212 and the wire clamping groove 1222 can be set simultaneously in the second bracket part 121, or the wire passage opening 1212 and the wire clamping groove 1222 can be set simultaneously in the end cover 122. There is no single limitation here.

[0055] Specifically, in combination Figure 2 , Figure 3 and Figure 7After the end cap 122 is inserted into the second through hole 1211, the third screw 123 passes radially through the second bracket portion 121 and is threaded into the screw hole on the end cap 122, thereby detachably fixing the end cap 122 to the second bracket portion 121. In this embodiment, the end cap 122 and the second through hole 1211 are coaxially engaged. With this structure, after the end cap 122 and the second bracket portion 121 are axially assembled, the installation of the third screw 123 simplifies the assembly process and enables quick disassembly and reliable fixing of the adapter 112.

[0056] Specifically, in combination Figure 2 and Figure 3 The end cover 122 is equipped with a second bearing 1221, and the other end of the lead screw 200 is rotatably connected to the end cover 122 via the second bearing 1221. The second bearing 1221 may be, but is not limited to, a support bearing. The inner ring of the support bearing is fixedly connected to the other end of the lead screw 200, and the outer ring of the support bearing is fixedly connected to the end cover 122. The support bearing restricts the axial disturbance of the other end of the lead screw 200, ensures the coaxiality of the lead screw 200 and the output shaft of the motor module, and ensures the stable rotation of the lead screw 200.

[0057] Specifically, in combination Figure 1 , Figure 6 and Figure 7 The connecting part 130 is provided with a window 131, which extends along the axial direction of the lead screw 200, and the lead screw 200 is suspended in the window 131. In this structure, the middle section of the lead screw 200 is provided with a thread for transmitting power, and the window 131 exposes the threaded section of the lead screw 200 and the nut 300, which facilitates the installation of the fixing part 310 on the nut 300, and also meets the need to observe the internal operating status of the linear actuator, and facilitates the later addition of lubricating grease for maintenance. In this embodiment, the first support part 111, the connecting part 130 and the second support part 121 can be integrally formed parts.

[0058] Specifically, the connecting part 130 is provided with a guide groove 132, which extends along the axial direction of the lead screw 200; the nut 300 is provided with a guide member 341, which slides in the guide groove 132 along the axial direction of the lead screw 200, thereby allowing the nut 300 to slide in the guide bracket 100 along the axial direction of the lead screw 200.

[0059] Specifically, in combination Figure 3 , Figure 6 and Figure 8The nut 300 has a protruding shaft 340 at its bottom, and a guide member 341 is mounted on the protruding shaft 340. The guide member 341 at the bottom of the nut 300 is inserted into the guide groove 132 of the connecting part 130. In this embodiment, the guide member 341 can be a third bearing. The protruding shaft 340 is fixedly connected to the inner ring of the third bearing, and the side wall of the guide groove 132 contacts the outer ring of the third bearing, restricting the circumferential rotation of the nut 300.

[0060] This application also provides a dexterous manipulator, including the aforementioned linear actuator.

[0061] It should be noted that the technical solutions of the various embodiments of this application can be combined with each other, but only if they can be implemented by those skilled in the art. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0062] The above description is only a part or preferred embodiment of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A linear actuator for driving a tendon, characterized by The linear actuator comprises: a guide support; a screw rod, which is rotationally connected to the guide support; a rotation source, one end of the screw rod being fixedly connected to an output end of the rotation source, the rotation source being used to drive the screw rod to rotate; a nut, which is slidingly connected to the guide support along an axial direction of the screw rod, the nut being threadedly matched with the screw rod; a tendon, one end of the tendon being fixed to the nut.

2. The linear actuator of claim 1, wherein, The nut is provided with at least one winding post, and one end of the tendon is wound on the at least one winding post by winding fixation.

3. The linear actuator of claim 2, wherein, The linear actuator further comprises a fixing member, and the winding post is arranged on the fixing member, and the fixing member is detachably connected to the nut.

4. The linear actuator of claim 1, wherein, The guide support comprises a first end portion, a second end portion and a connecting portion, the first end portion being connected to the second end portion through the connecting portion; one end of the screw rod is rotationally connected to the first end portion, the other end of the screw rod is rotationally connected to the second end portion, the screw rod is suspended on one side of the connecting portion, and the nut is threadedly matched with the suspended part of the screw rod.

5. The linear actuator of claim 4, wherein, The second end portion is provided with a wire passing opening and a wire clamping groove, the wire passing opening is in communication with the wire clamping groove along a radial direction; the tendon can pass through the wire passing opening along the radial direction and be clamped into and separated from the wire clamping groove; when the tendon is clamped into the wire clamping groove, the other end of the tendon is exposed after passing through the wire clamping groove along an axial direction of the screw rod.

6. The linear actuator of claim 5, wherein, The width of the wire passing opening is smaller than the width of the wire clamping groove.

7. The linear actuator of claim 5, wherein, The first end portion comprises a first support portion and an adapter, the first support portion is connected to the connecting portion, the first support portion is provided with a first through hole, the first through hole penetrates through the first support portion along the axial direction of the screw rod, the adapter is inserted into the first through hole, one end of the screw rod is rotationally connected to the adapter, and the rotation source is fixed to the adapter; and / or the second end portion comprises a second support portion and an end cover, the second support portion is connected to the connecting portion, the second support portion is provided with a second through hole, the second through hole penetrates through the second support portion along the axial direction of the screw rod, the end cover is inserted into the second through hole, the other end of the screw rod is rotationally connected to the end cover, the wire passing opening is arranged on the second support portion, and the wire clamping groove is arranged on the end cover.

8. The linear actuator of claim 4, wherein, The connecting portion is provided with a window, the window extends along the axial direction of the screw rod, and the screw rod is suspended in the window.

9. The linear actuator of claim 4, wherein, The connecting portion is provided with a guide groove, the guide groove extends along the axial direction of the screw rod; the nut is provided with a guide member, and the guide member is slidingly matched with the guide groove along the axial direction of the screw rod.

10. A dexterous manipulator, characterized by, The linear actuator comprises any one of claims 1-9.

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