Ball screw and robot

Abstract

The application relates to a ball screw and a robot, the ball screw comprising a screw shaft, a spline shaft, a sleeve being sleeved on the outer wall of the screw shaft, the screw shaft being capable of screwing and rotating relative to the spline shaft; a screw spline shaft being sleeved on the outer wall of the spline shaft, the spline shaft being capable of driving the screw shaft to reciprocate along the axial direction relative to the screw spline shaft; a screw rod assembly being sleeved on the outer wall of the screw spline shaft, the rotation of the screw rod assembly being capable of driving the screw shaft to reciprocate along the axial direction, or the rotation of the screw rod assembly being capable of driving the screw shaft to rotate and reciprocate along the axial direction at the same time; a spline assembly being sleeved on the outer wall of the screw spline shaft, the screw rod assembly and the screw rod assembly being arranged in the axial direction, the rotation of the spline assembly being capable of driving the screw spline shaft to reciprocate along the axial direction, and further driving the screw shaft to reciprocate along the axial direction. The ball screw and the robot shorten the overall length of the screw shaft without changing the running range, reduce the height of the robot, and improve the flexibility.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a ball screw and a robot. BACKGROUND

[0002] With the development of the robot industry, the application field and application scenario of robots are expanded. Among them, the SCARA (Selective Compliance Assembly Robot Arm, selective compliance assembly robot arm) robot needs to set the ball screw at the front end of the small arm to realize the rotation in the axis direction and the vertical movement along the axis direction. However, such a ball screw needs to occupy a high height in the vertical direction, which increases the overall height of the robot, resulting in reduced flexibility of the robot. SUMMARY

[0003] The purpose of the present application is to provide a ball screw and a robot that shortens the overall length of the screw without changing the operating range, reduces the height of the robot, and improves the flexibility.

[0004] To this end, in a first aspect, the embodiments of the present application provide a ball screw, comprising:

[0005] a screw shaft,

[0006] a spline shaft sleeved on the outer wall of the screw shaft, the screw shaft being capable of rotating spirally relative to the spline shaft;

[0007] a screw spline shaft sleeved on the outer wall of the spline shaft, the screw shaft, the spline shaft and the screw spline shaft being coaxial, the spline shaft being capable of driving the screw shaft and the spline shaft to reciprocate along the axis direction relative to the screw spline shaft;

[0008] a screw assembly sleeved on the outer wall of the screw spline shaft, the rotation of the screw assembly being capable of driving the screw shaft to reciprocate along the axis direction, or the rotation of the screw assembly being capable of driving the screw shaft to rotate and reciprocate along the axis direction at the same time;

[0009] a spline assembly sleeved on the outer wall of the screw spline shaft, the screw assembly and the screw assembly being arranged in the axis direction, the rotation of the spline assembly being capable of driving the screw spline shaft to reciprocate along the axis direction, and in turn driving the screw shaft to reciprocate along the axis direction.

[0010] In a possible implementation, the ball screw includes at least a first working state, a second working state and a third working state. In the first working state, the screw assembly rotates and the spline assembly is static, and rotation of the screw assembly can drive the screw spline shaft to reciprocate along the axial direction, and the screw spline shaft and the screw shaft are relatively static, thereby driving the screw shaft to reciprocate along the axial direction.

[0011] In the second working state, the screw assembly and the spline assembly rotate synchronously, and the screw shaft rotates with the spline shaft.

[0012] In the third working state, the screw assembly and the spline assembly rotate asynchronously, and the screw shaft helically rotates relative to the spline shaft.

[0013] In a possible implementation, the ball screw further includes a first shaft sleeve, the first shaft sleeve is sleeved on the outer wall of the screw shaft, and the first shaft sleeve is fixedly connected with the spline shaft. The screw shaft can helically rotate relative to the first shaft sleeve.

[0014] In a possible implementation, the outer wall of the screw shaft is provided with a helical groove, and the inner side wall of the first shaft sleeve is provided with a first roller, and the first roller is located in the helical groove.

[0015] In a possible implementation, the ball screw further includes a second shaft sleeve, the second shaft sleeve is sleeved on the outer wall of the spline shaft, and the second shaft sleeve is fixedly connected with the screw spline shaft. The second shaft sleeve is movably connected with the spline shaft, the spline shaft is in clearance fit with the screw spline shaft, and the spline shaft can reciprocate along the axial direction relative to the second shaft sleeve.

[0016] In a possible implementation, the inner side wall of the second shaft sleeve is provided with a plurality of second rollers, the second rollers are in contact fit with the outer wall of the spline shaft, and rotation of the second rollers can drive the spline shaft to reciprocate along the axial direction relative to the second shaft sleeve.

[0017] In a possible implementation, the screw assembly includes a sleeved screw female inner ring and a screw female outer ring, the screw female inner ring can rotate relative to the screw female outer ring, the screw female inner ring is movably connected with the outer wall of the screw spline shaft, and rotation of the screw female inner ring can drive the screw spline shaft to helically rotate.

[0018] In a possible implementation, the spline assembly includes a sleeved spline female inner ring and a spline female outer ring, the spline female inner ring can rotate relative to the spline female outer ring, the spline female inner ring is movably connected with the outer wall of the screw spline shaft, and rotation of the spline female inner ring can drive the screw spline shaft to reciprocate along the axial direction.

[0019] In a possible implementation, the ball screw further comprises a spline slide rail fixedly connected to one side of the female inner ring of the screw in the axial direction, the spline is matched with the spline slide rail to enable the spline to reciprocate in the axial direction, and one end of the spline is fixedly connected to the screw spline shaft through a bearing.

[0020] In a second aspect, the embodiments of the present application further provide a robot comprising the ball screw as described above.

[0021] According to the ball screw and the robot provided by the embodiments of the present application, through the cooperation of the screw shaft, the spline shaft and the screw spline shaft, the screw assembly and the spline assembly can enable the screw shaft located at the innermost part to realize different actions such as spiral rotation extension, only rotation, only axial movement, etc. in different rotating or stationary states, so that the ball screw can realize the vertical movement in the axial direction on the basis of rotation, and the screw shaft can be extended to increase the overall length of the ball screw according to the requirement in use, so as to meet the work of a longer stroke. In the non-use state or the use of a shorter stroke, the screw shaft can be retracted into the inside, so as to meet the work requirement in different scenes, and on the basis of achieving the same stroke, the length of the ball screw can be shortened to be shorter, the overall length of the ball screw is shortened without changing the running range, the height of the robot is reduced, and the flexibility is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort. In addition, the same components are marked with the same reference numerals in the drawings, and the drawings are not drawn according to the actual proportion.

[0023] Figure 1 Fig. 1 shows a front view of a robot to which a ball screw provided by an embodiment of the present application is applied, wherein the direction indicated by arrow X is the axial direction;

[0024] Figure 2 Fig. 2 shows a cross-sectional front view of a ball screw provided by an embodiment of the present application, wherein the direction indicated by arrow X is the axial direction;

[0025] Figure 3 Fig. 3 shows a partial enlarged view of part A in Fig. 2, wherein the direction indicated by arrow X is the axial direction; Figure 2

[0026] Fig. 4 shows a partial enlarged view of part B in Fig. 2, wherein the direction indicated by arrow X is the axial direction; Figure 4 Figure 2 ​Part B is a local enlarged view of the arrow X direction is the axis direction.

[0027] Reference signs:

[0028] 1-ball screw; 11-screw shaft; 111-spiral groove; 12-key shaft; 13-screw key shaft; 14-screw assembly; 141-screw female outer ring; 142-screw female inner ring; 143-key sliding rail; 15-key assembly; 151-key female outer ring; 152-key female inner ring; 16-first shaft sleeve; 161-first roller; 17-second shaft sleeve; 171-second roller; 18-bearing; 181-bearing outer ring; 182-bearing inner ring; 19-key; 2-small arm; 3-large arm; 4-base. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0030] Figure 1 A front view of a robot to which a ball screw provided by an embodiment of the present application is applied is shown. Wherein, the arrow X direction is the axis direction.

[0031] Referring to Figure 1 The present application provides a ball screw, which is used in a robot to realize a rotating and vertical motion scene. The robot can be a SCARA robot. The robot includes a base 4 and a large arm 3 connected in rotation. The large arm 3 is connected in rotation with a small arm 2. One end of the small arm 2 is connected with the ball screw 1. A plurality of servo motors are arranged inside the robot to drive the large arm 3 to rotate the small arm 2 and the ball screw 1. The small arm 2 can drive the ball screw 1 to rotate relative to the large arm 3. The ball screw 1 is applied to the SCARA robot and described in detail below.

[0032] Referring to Figure 2, the ball screw 1 comprises a screw shaft 11, a spline shaft 12 sleeved on the outer wall of the screw shaft 11, the screw shaft 11 being capable of screwing rotation relative to the spline shaft 12; a screw spline shaft 13 sleeved on the outer wall of the spline shaft 12, the screw shaft 11, the spline shaft 12 and the screw spline shaft 13 being coaxial, the spline shaft 12 being capable of driving the screw shaft 11 to reciprocate along the axial direction X relative to the screw spline shaft 13; a screw assembly 14 sleeved on the outer wall of the screw spline shaft 13, the rotation of the screw assembly 14 being capable of driving the screw shaft 11 to reciprocate along the axial direction X, or the rotation of the screw assembly 14 being capable of driving the screw shaft 11 to rotate while reciprocating along the axial direction X; a spline assembly 15 sleeved on the outer wall of the screw spline shaft 13, the screw assembly 14 and the spline assembly 15 being arranged in the axial direction X, the rotation of the spline assembly 15 being capable of driving the screw spline shaft 13 to reciprocate along the axial direction X, and further driving the screw shaft 11 to reciprocate along the axial direction X.

[0033] Through the cooperation of the screw shaft 11, the spline shaft 12 and the screw spline shaft 13, the screw assembly 14 and the spline assembly 15 can make the screw shaft 11 located in the innermost part realize different actions such as screwing rotation extension, only rotation, only axial direction X movement, etc. in different rotation or static states, so that the ball screw 1 can realize the vertical movement in the axial direction X on the basis of rotation, and the screw shaft 11 can be extended to increase the overall length of the ball screw 1 according to the requirements, so as to meet the longer stroke work. In the non-use state or shorter stroke use, the screw shaft 11 can be retracted into the inside, so as to meet the work requirements in different scenes, and on the basis of achieving the same stroke, the length of the ball screw 1 can be shortened to be shorter, the overall length of the ball screw 1 is shortened without changing the running range, the height of the robot is reduced, and the flexibility is improved.

[0034] It can be understood that the screw assembly 14 and the spline assembly 15 are fixedly connected to the small arm 2, and the servo motor can drive one or more of the screw assembly and the spline assembly 15 to move according to the requirements, so that the rotation of the screw assembly and / or the rotation of the spline assembly 15 drives the connected screw spline shaft 13 to perform corresponding actions, so as to realize different actions such as rotation, screwing rotation extension, axial direction X reciprocating movement, etc. of the screw shaft 11.

[0035] It is emphasized here that the axis direction X of the ball screw 1 is parallel to the height direction of the robot, and the axes of the ball screw 1 are directly or indirectly connected through the sleeve connection, so as to realize different movements of the screw shaft 11 relative to the robot according to different actions of the screw assembly 14 and the spline assembly 15, so that the screw shaft 11 of the ball screw 1 can be extended or retracted in the ball screw 1 according to the stroke and the state of the robot while the robot realizes different actions such as axial rotation and vertical movement, so as to adapt to different stroke requirements while ensuring good flexibility of the robot.

[0036] Optionally, the screw assembly 14 comprises a sleeve-connected screw female inner ring 142 and a screw female outer ring 141, the screw female inner ring 142 can rotate relative to the screw female outer ring 141, the screw female inner ring 142 is movably connected with the outer wall of the screw spline shaft 13, and the rotation of the screw female inner ring 142 can drive the screw spline shaft 13 to rotate spirally. It can be understood that the screw female outer ring 141 is connected to the small arm 2, and the servo motor can drive the screw female inner ring 142 to rotate or be stationary according to different requirements, and the speed and direction of rotation can be adjusted. The screw female inner ring 142 and the screw female outer ring 141 are connected through rollers, so as to realize the rotation of the screw female inner ring 142.

[0037] Optionally, the spline assembly 15 comprises a sleeve-connected spline female inner ring 152 and a spline female outer ring 151, the spline female inner ring 152 can rotate relative to the spline female outer ring 151, the spline female inner ring 152 is movably connected with the outer wall of the screw spline shaft 13, and the rotation of the spline female inner ring 152 can drive the screw spline shaft 13 to reciprocate along the axis direction X. It can be understood that the spline female outer ring 151 and the screw female outer ring 141 are arranged in the axial direction X, and the two are fixedly connected to different positions of the small arm 2, respectively, the inner wall of the spline female outer ring 151 is rotatably connected with the spline female inner ring 152 through rollers. The rotation of the spline female inner ring 152 is driven by different servo motors, so that the screw female inner ring 142 and the spline female inner ring can be rotated only, synchronously or asynchronously according to different requirements by controlling the corresponding different servo motors, so that the ball screw 1 performs corresponding actions.

[0038] In an optional embodiment, the ball screw 1 comprises at least a first working state, a second working state and a third working state. In the first working state, the screw assembly 14 rotates, the spline assembly 15 is static, the rotation of the screw assembly 14 can drive the screw spline shaft 13 to reciprocate along the axial direction X, the screw spline shaft 13 and the screw shaft 11 are relatively static, and in turn drive the screw shaft 11 to reciprocate along the axial direction X. In the second working state, the screw assembly 14 and the spline assembly 15 rotate synchronously, and the screw shaft 11 rotates with the spline shaft 12. In the third working state, the screw assembly 14 and the spline assembly 15 rotate asynchronously, and the screw shaft 11 rotates helically relative to the spline shaft 12. In the first working state, the ball screw 1 performs vertical movement, and in the second working state, the ball screw 1 performs axial rotation. These two working states are the actions that the ball screw 1 can perform in the prior art. When the required stroke is long, the control converts the ball screw 1 to the second working state, so that the screw shaft 11 extends, thereby increasing the overall length of the ball screw 1. In this length, the first working state or the second working state is converted again, and the rotating or vertical movement action can still be performed. The third working state is mainly used to adjust the length of the ball screw 1 according to the length of the stroke. When the total length of the ball screw 1 is adjusted to the appropriate size, the first working state and the second working state can still perform rotation or vertical movement, meeting the working requirements of different strokes, and reducing the length of the ball screw 1 when not in use, thereby reducing the overall height of the robot and improving the flexibility of the robot.

[0039] In order to smoothly convert the ball screw 1 between different working states, the specific matching structure of the ball screw 1 is described in detail below.

[0040] Referring to Figure 3 , the ball screw 1 further comprises a first shaft sleeve 16, which is sleeved on the outer wall of the screw shaft 11, and the first shaft sleeve 16 is fixedly connected with the spline shaft 12. The screw shaft 11 can rotate helically relative to the first shaft sleeve 16. When the spline shaft 12 is driven to reciprocate along the axial direction X, the first shaft sleeve 16 can move along the axial direction X, thereby driving the screw shaft 11 to extend or retract from the ball screw 1, so as to control the overall length of the ball screw 1 according to the stroke requirement without affecting the first working state and the second working state, thereby meeting different use requirements.

[0041] Optionally, a spline slide rail 143 is further arranged on one side of the female inner ring 142 of the screw rod in the axial direction X, and the spline 19 is matched with the spline slide rail 143 to enable the spline 19 to reciprocate in the axial direction X. One end of the spline 19 is fixedly connected with the screw rod spline shaft 13 through the bearing 18. The matching of the spline slide rail 143 and the spline 19 can guide the movement of the screw rod shaft 11 in the axial direction.

[0042] It can be understood that the bearing 18 is arranged to include a rotatingly connected bearing inner ring 182 and a bearing outer ring 181. The bearing outer ring 181 is fixedly connected with the spline 19, and the bearing inner ring 182 is fixedly connected with the screw rod spline shaft 13. The matching of the rotatingly connected bearing inner ring 182 and the bearing outer ring 181 can avoid interference in movement.

[0043] Optionally, the outer wall of the screw rod shaft 11 is provided with a spiral groove 111, and the inner side wall of the first shaft sleeve 16 is provided with a first roller 161. The first roller 161 is located in the spiral groove 111. The matching of the spiral groove 111 and the first roller 161 enables the screw rod shaft 11 to rotate spirally to extend or retract the ball screw 1. The matching structure is simple, and the precision and stability of the control of the spiral rotation are high.

[0044] In an optional embodiment, referring to Figure 4 , the ball screw 1 further includes a second shaft sleeve 17. The second shaft sleeve 17 is sleeved on the outer wall of the spline shaft 12. The second shaft sleeve 17 is fixedly connected with the screw rod spline shaft 13 and movably connected with the spline shaft 12. The spline shaft 12 is gap-matched with the screw rod spline shaft 13, and the spline shaft 12 can reciprocate in the axial direction X relative to the second shaft sleeve 17. The matching of the second shaft sleeve 17 with the spline shaft 12 and the screw rod spline shaft 13 enables the rotation of the screw rod spline shaft 13 not to affect the spline shaft 12. The movement of the first shaft sleeve 16 in the axial direction X driven by the screw rod spline shaft 13 can drive the spline shaft 12 to reciprocate in the axial direction X, so as to realize different working states according to different driving of the servo motor.

[0045] Optionally, the inner side wall of the second shaft sleeve 17 is provided with a plurality of second rollers 171. The second rollers 171 are in contact with the outer wall of the spline shaft 12. The rotation of the second rollers 171 can drive the spline shaft 12 to reciprocate in the axial direction X relative to the second shaft sleeve 17. The matching structure is simple, and the relative rotation between the second shaft sleeve 17 and the spline shaft 12 is avoided, so as to improve the stability of the matching structure.

[0046] The embodiment of the application further provides a robot. The robot can be a SCARA robot. The robot includes the ball screw 1 described in the above description, and details are not described herein.

[0047] It should be noted that the use of "a" or "an" or "the" or similar referents in the specification are used inclusively and in the discretion of the inventor(s) to refer to both singular and plural, unless otherwise indicated herein and / or by context. The use of "first", "second", or "third" or similar referents in the specification is used inclusively and in the discretion of the inventor(s) to refer to a feature or characteristic that can be combined with another feature or characteristic, unless otherwise indicated herein and / or by context. The use of "one or more" or "at least one" or similar referents in the specification is used inclusively and in the discretion of the inventor(s) to refer to one or more or at least one, unless otherwise indicated herein and / or by context. The use of "including," "containing," or "comprising" or similar referents in the specification are used inclusively and in the discretion of the inventor(s) to refer to processes, methods, articles, or apparatuses that include a series of elements but not exclusive of other elements not specifically listed or inherent to such processes, methods, articles, or apparatuses. The use of "consisting essentially of" or "consisting of" or similar referents in the specification are used inclusively and in the discretion of the inventor(s) to refer to processes, methods, articles, or apparatuses that include a series of elements but not exclusive of other elements not specifically listed or inherent to such processes, methods, articles, or apparatuses, unless otherwise indicated herein and / or by context.

[0048] It will be readily understood that the terms "on", "above", and "over" in the present disclosure are to be interpreted in the broadest context, such that "on" means not only "directly on", but also includes the meaning of "on" with intervening features or layers therebetween, and "above" or "over" includes not only the meaning of "above" or "over", but also the meaning of "above" or "over" with no intervening features or layers therebetween (i.e., directly on).

[0049] Furthermore, spatially relative terms, such as "beneath", "below", "lower", "above", "upper", and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0050] It should be noted that the terms "first", "second", and the like, herein do not necessarily have an either / or relationship, such that the terms "first" and "second" are limited to one or the other, but rather, are used to distinguish one from the other unless otherwise indicated by context. Additionally, the terms "including", "containing", or "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements is not limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprises", or "comprising" does not, without more constraints, exclude the existence of additional elements of the process, method, article, or apparatus that contains the element.

[0051] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A ball screw, characterized by, The ball screw comprises: a screw rod shaft; a spline shaft sleeved on the outer wall of the screw rod shaft, the screw rod shaft being capable of screwing relative to the spline shaft; a screw rod spline shaft sleeved on the outer wall of the spline shaft, the screw rod shaft, the spline shaft and the screw rod spline shaft being coaxial, the spline shaft being capable of driving the screw rod shaft to reciprocate along the axial direction relative to the screw rod spline shaft; a screw nut assembly sleeved on the outer wall of the screw rod spline shaft, the rotation of the screw nut assembly being capable of driving the screw rod shaft to reciprocate along the axial direction or driving the screw rod shaft to rotate while reciprocating along the axial direction; a spline assembly sleeved on the outer wall of the screw rod spline shaft, the screw nut assembly and the screw nut assembly being arranged in the axial direction, the rotation of the spline assembly being capable of driving the screw rod spline shaft to reciprocate along the axial direction, thereby driving the screw rod shaft to reciprocate along the axial direction.

2. The ball screw according to claim 1, characterized in that, The ball screw comprises at least a first working state, a second working state and a third working state, in the first working state, the screw nut assembly rotates, the spline assembly is static, the rotation of the screw nut assembly is capable of driving the screw rod spline shaft to reciprocate along the axial direction, the screw rod spline shaft and the screw rod shaft are relatively static, thereby driving the screw rod shaft to reciprocate along the axial direction; in the second working state, the screw nut assembly and the spline assembly rotate synchronously, the screw rod shaft rotates with the spline shaft; in the third working state, the screw nut assembly and the spline assembly rotate asynchronously, the screw rod shaft screw rotates relative to the spline shaft.

3. The ball screw of claim 1, wherein, The ball screw further comprises a first shaft sleeve, the first shaft sleeve being sleeved on the outer wall of the screw rod shaft, and the first shaft sleeve being fixedly connected with the spline shaft, the screw rod shaft being capable of screwing relative to the first shaft sleeve.

4. The ball screw of claim 3, wherein The outer wall of the screw rod shaft is provided with a spiral groove, and the inner side wall of the first shaft sleeve is provided with a first roller, the first roller being located in the spiral groove.

5. The ball screw of claim 1, wherein, The ball screw further comprises a second shaft sleeve, the second shaft sleeve being sleeved on the outer wall of the spline shaft, the second shaft sleeve being fixedly connected with the screw rod spline shaft, the second shaft sleeve being movably connected with the spline shaft, the spline shaft being in clearance fit with the screw rod spline shaft, the spline shaft being capable of reciprocating along the axial direction relative to the second shaft sleeve.

6. The ball screw of claim 5, wherein, The inner side wall of the second shaft sleeve is provided with a plurality of second rollers, the second rollers being in contact fit with the outer wall of the spline shaft, the rotation of the second rollers being capable of driving the spline shaft to reciprocate along the axial direction relative to the second shaft sleeve.

7. The ball screw of claim 1, wherein The screw nut assembly comprises a screw nut inner ring and a screw nut outer ring, the screw nut inner ring being capable of rotating relative to the screw nut outer ring, the screw nut inner ring being movably connected with the outer wall of the screw rod spline shaft, the rotation of the screw nut inner ring being capable of driving the screw rod spline shaft to screw rotate.

8. The ball screw of claim 1, wherein, The spline assembly comprises a sleeved spline female inner ring and a spline female outer ring, the spline female inner ring can rotate relative to the spline female outer ring, the spline female inner ring is movably connected with the outer wall of the screw spline shaft, and rotation of the spline female inner ring can drive the screw spline shaft to reciprocate along the axial direction.

9. The ball screw of claim 7, wherein, Further comprising a spline slide rail fixedly connected to one side of the screw female inner ring in the axial direction, the spline cooperates with the spline slide rail to enable the spline to reciprocate along the axial direction, and one end of the spline is fixedly connected with the screw spline shaft through a bearing.

10. A robot, characterized in that A ball screw comprising the ball screw as claimed in any one of claims 1-9.

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