Reverse planet roller screw rod based on integral planet carrier

Abstract

The invention discloses a reverse planet roller screw rod based on an integral planet carrier. The reverse planetary roller screw rod comprises a long nut, a screw rod shaft, a roller, an integral planet carrier and a sliding bearing assembly, the integral planet carrier designs a traditional left-side split planet carrier and a traditional right-side split planet carrier into an integral structure, and therefore the phenomenon that the left side and the right side of an original split structure are tiny and asynchronous due to a gear transmission gap is avoided. The integral planet carrier is provided with the rollers, so that the rollers are uniformly borne, the transmission stability and reliability are improved, meanwhile, the sliding bearings are additionally arranged between the integral planet carrier and the rollers and between the integral planet carrier and the lead screw shaft, friction is reduced, and the transmission efficiency is improved.

Description

Technical Field

[0001] The present invention particularly relates to a reverse planetary roller screw based on an integral planetary carrier, and belongs to the technical field of mechanical transmission. Background Art

[0002] The planetary roller screw is a transmission mechanism that can realize the mutual conversion between rotational motion and linear motion. As a new type of linear transmission mechanism, it is widely used in aerospace, humanoid robots and other fields. Compared with the traditional ball screw, it has many advantages such as high rigidity, high load-bearing capacity and smooth transmission. By evenly arranging several rollers around the screw, the planetary roller screw greatly increases the internal force area of ​​the structure, thus having the advantages of high load-bearing capacity and high reliability, and it is more suitable for high-speed and high-acceleration conditions. As aerospace vehicles and humanoid robot actuators continue to develop in the direction of high speed, high efficiency, miniaturization and lightweight, planetary roller screws have gradually replaced ball screws with their performance advantages and become the first choice for linear servo systems.

[0003] Reverse planetary roller screws are widely used in fields such as linear drive joints of humanoid robots due to their easy integration with motors and the output shaft can be made into an optical axis. However, the planetary cages on both sides of the rollers in the current reverse planetary roller screws are usually split. Although the synchronization of the planetary cages on both sides can be roughly maintained through the planetary gear mechanism, there is still a slight asynchrony between the planetary cages on both sides due to the transmission gap in the gear transmission, which causes a slight tilt on both sides of the rollers, resulting in uneven force on each roller, unstable transmission, and reduced transmission efficiency and accuracy. Summary of the invention

[0004] The main purpose of the present invention is to provide a reverse planetary roller screw based on an integral planetary carrier, thereby overcoming the deficiencies in the prior art.

[0005] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention includes:

[0006] The embodiment of the present invention provides a reverse planetary roller screw based on an integral planetary carrier, comprising: a nut, a screw shaft, m rollers, and a planetary carrier, wherein the m rollers and the planetary carrier are arranged between the nut and the screw shaft, the m rollers are assembled on the planetary carrier and arranged around the screw shaft, the rollers are in transmission cooperation with the nut and the screw shaft, the planetary carrier is in rotation cooperation with the screw shaft, and when the screw shaft rotates, the rollers are driven to rotate and perform planetary rotation around the screw shaft together with the planetary carrier;

[0007] The interior of the planetary carrier has a hole along the screw shaft and m roller holes, the screw shaft hole penetrates the planetary carrier along the axial direction of the planetary carrier, and the m roller holes are arranged around the screw shaft hole, and the roller hole has a conduction window that is conductive with the screw shaft hole and the outer circumferential surface of the planetary carrier, a part of the screw shaft is arranged in the screw shaft hole, and the roller is arranged in the roller hole, and a part of the roller is exposed from the conduction window, and the part of the roller exposed from the conduction window is respectively threadedly connected to the nut and the screw shaft, and m≥2.

[0008] Compared with the prior art, the advantages of the present invention include:

[0009] The embodiment of the present invention provides a reverse planetary roller screw based on an integral planetary carrier, which adopts an integral planetary carrier structure, avoids the left and right slight asynchronism phenomenon existing in the original split planetary carrier structure, makes multiple groups of rollers evenly loaded, and makes the transmission more stable, thereby improving the transmission accuracy and transmission efficiency;

[0010] The present invention provides a reverse planetary roller screw based on an integral planetary carrier, in which sliding bearings are arranged in the screw bearing hole and the roller bearing hole of the planetary carrier. In addition to reducing friction and wear during rotation and improving transmission efficiency, it also solves the roller assembly and screw assembly problems caused by the integral planetary carrier, and the structure is simple and compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is an overall cross-sectional view of a reverse planetary roller screw based on an integral planetary carrier provided in a typical implementation case of the present invention;

[0012] Figure 2 It is a schematic diagram of the overall structure of a reverse planetary roller screw based on an integral planetary carrier provided in a typical implementation case of the present invention;

[0013] Figure 3 It is a side view of a reverse planetary roller screw based on an integral planetary carrier provided in a typical implementation case of the present invention;

[0014] Figure 4 It is a schematic structural diagram of a reverse planetary roller screw based on an integral planetary carrier without a nut provided in a typical implementation case of the present invention;

[0015] Figure 5 yes Figure 4 A partial enlarged view of point I in the middle. DETAILED DESCRIPTION

[0016] In view of the deficiencies in the prior art, the inventor of this case has proposed the technical solution of the present invention after long-term research and extensive practice. The technical solution, its implementation process and principle will be further explained as follows.

[0017] The embodiment of the present invention provides a reverse planetary roller screw based on an integral planetary carrier, comprising: a nut, a screw shaft, m rollers, and a planetary carrier, wherein the m rollers and the planetary carrier are arranged between the nut and the screw shaft, the m rollers are assembled on the planetary carrier and arranged around the screw shaft, the rollers are in transmission cooperation with the nut and the screw shaft, the planetary carrier is in rotation cooperation with the screw shaft, and when the screw shaft rotates, the rollers are driven to rotate and perform planetary rotation around the screw shaft together with the planetary carrier;

[0018] The interior of the planetary carrier has a hole along the screw shaft and m roller holes, the screw shaft hole penetrates the planetary carrier along the axial direction of the planetary carrier, and the m roller holes are arranged around the screw shaft hole, and the roller hole has a conduction window that is conductive with the screw shaft hole and the outer circumferential surface of the planetary carrier, a part of the screw shaft is arranged in the screw shaft hole, and the roller is arranged in the roller hole, and a part of the roller is exposed from the conduction window, and the part of the roller exposed from the conduction window is respectively threadedly connected to the nut and the screw shaft, and m≥2.

[0019] Furthermore, the roller channel includes an assembly section and a conduction section, the assembly section is arranged at both ends of the conduction section, and the conduction window is located in the conduction section.

[0020] Furthermore, the conduction section as a whole serves as the conduction window, and the conduction section as a whole is completely conductive with the screw shaft channel and the outer circumferential surface of the planet carrier.

[0021] Furthermore, the conducting sections of the n adjacent roller channels are directly connected, n≥2.

[0022] Furthermore, m assembly openings are provided on the outer circumferential surface of the planetary carrier, and the assembly openings are connected to the assembly sections of the roller channels, and each of the assembly openings is also connected to a conducting window located on the outer circumferential surface of the planetary carrier, and the width of the assembly openings is greater than or equal to the diameter of the portion of the roller located in the assembly section.

[0023] In a more specific embodiment, the planetary carrier includes two assembly disks and at least two rib plates, the rib plates are arranged between the two assembly disks along the axial direction of the planetary carrier and fixedly combined with the assembly disks, at least two rib plates are arranged at intervals along the circumferential direction of the planetary carrier, a screw shaft hole and m roller holes are arranged on the assembly disk, the m roller holes are arranged around the screw shaft hole, and an assembly port connected to the roller hole is also arranged on the outer circumferential surface of the assembly disk, the screw shaft holes on the two assembly disks and the space formed by the two rib plates form the screw shaft channel, the roller holes on the two assembly disks and the space between the two assembly disks form the roller channel, and in the circumferential direction of the planetary carrier, the rib plate is located between two adjacent roller channels.

[0024] Furthermore, the assembly section of the roller channel is located on the assembly disk, and the conducting section is located between the two assembly disks.

[0025] Furthermore, the screw shaft, the roller and the assembly disk are rotationally matched.

[0026] In a more specific implementation manner, a first bearing is further provided between the screw shaft and the planet carrier, and the screw shaft is rotatably matched with the planet carrier via the first bearing.

[0027] Furthermore, the first bearing is arranged between the screw shaft hole of the assembly disk and the screw shaft.

[0028] Furthermore, the first bearing is a sliding bearing.

[0029] Furthermore, two retaining rings are fixedly arranged on the screw shaft, and the planet carrier is restricted between the two retaining rings.

[0030] In a more specific implementation manner, the rolling rod and the planet carrier bracket are further provided with a second bearing, and the rolling rod is rotationally matched with the planet carrier bracket via the second bearing.

[0031] Furthermore, the second bearing is arranged between the roller hole of the assembly disk and the roller.

[0032] Furthermore, the second bearing is a sliding bearing.

[0033] Furthermore, a first gear is fixedly disposed on the screw shaft, and a second gear is fixedly disposed on the roller, and the first gear is meshed with m second gears at the same time.

[0034] The technical solution, its implementation process and principles, etc. will be further explained below in conjunction with the accompanying drawings and specific implementation cases. Unless otherwise specified, the screw shaft, nut, sliding bearing, gear, etc. used in the embodiments of the present invention are all known in the art and can be purchased commercially. Their specific structures and product models are not limited here.

[0035] Example

[0036] See also Figure 1 The reverse planetary roller screw based on the integral planetary carrier comprises a nut 10, a plurality of rollers 11, a screw shaft 12, an integral planetary carrier 13, two first sliding bearings 14, two retaining rings 15 and a plurality of second sliding bearings 16, wherein the plurality of rollers 11 and the integral planetary carrier 13 are arranged between the nut 10 and the screw shaft 12, the plurality of rollers 11 are assembled on the integral planetary carrier 13 and arranged around the screw shaft 12, the first sliding bearing 14 is sleeved between the screw shaft 12 and the integral planetary carrier 13, the screw shaft 12 and the integral planetary carrier 13 are rotationally matched via the first sliding bearing 14, and the two retaining rings 15 are fixed on the screw shaft 12 at intervals along the axial direction of the screw shaft 12. On the shaft 12, the integral planetary carrier 13 is arranged between the two retaining rings 15. In the axial direction of the screw shaft 12, the integral planetary carrier 13 can be in active contact with the two retaining rings 15. The integral planetary carrier 13 is restricted between the two retaining rings 15. Each second sliding bearing 16 is sleeved between a roller 11 and the integral planetary carrier 13. The roller 11 and the integral planetary carrier 13 are rotationally matched through the second sliding bearing 16. The roller 11 is threadedly matched with the nut 10 and the screw shaft 12. The screw shaft 12 is also transmission-matched with multiple rollers 11 at the same time. When the screw shaft 12 rotates, the roller 11 is driven to rotate and rotates around the screw shaft 12 together with the integral planetary carrier 13.

[0037] In this embodiment, the nut 10 is a hollow structure, an internal thread structure is provided on the inner wall of the nut 10, a part of the screw shaft 12 has a threaded section with an external thread structure, and the other part is a smooth axis, both ends of the roller 11 are cylindrical pivots, and the middle part is a threaded section with an external thread structure, and multiple rollers 11 are evenly arranged along the circumference of the screw shaft 12 (it should be noted that the multiple rollers 11 are preferably distributed on the same circumference, and the circumference is coaxially arranged with the screw shaft 12), and the screw shaft 12 has a smooth axis structure The part is rotatably matched with the integral planetary carrier 13, the pivots at both ends of the roller 11 are rotatably matched with the integral planetary carrier 13, the external thread structure of the roller 11 is respectively adapted to mesh with the external thread structure of the screw shaft 12 and the internal thread structure of the nut 10, and a first gear is fixedly provided on the screw shaft 12, and a second gear is also fixedly provided on the roller 11. The first gear on the screw shaft 12 is simultaneously meshed with multiple second gears fixed on multiple rollers 11, thereby realizing the transmission of the screw shaft 12 and multiple rollers 11.

[0038] In this embodiment, two first gears are preferably arranged on the screw shaft 12, the two first gears are arranged coaxially with the screw shaft 12, and the two first gears are preferably arranged at intervals along the axial direction of the screw shaft 12 on both sides of the external thread structure of the screw shaft 12. Correspondingly, two second gears are preferably arranged on each roller 11, the two second gears are arranged coaxially with the roller 11, and the two second gears are preferably arranged at intervals along the axial direction of the roller 11 on both sides of the external thread structure of the roller 11. In this embodiment, the nut 10 and the screw shaft 12 are preferably arranged coaxially, and the axial directions of the plurality of rollers 11 are parallel to the axial direction of the screw shaft 12.

[0039] In this embodiment, the integral planetary carrier 13 and the screw shaft 12 are rotatably matched, but the two should be kept relatively fixed as much as possible in the axial direction of the screw shaft 12. In order to achieve this effect, two retaining rings 15 are fixedly provided on the screw shaft 12. The two retaining rings 15 are arranged at intervals on both sides of the integral planetary carrier 13 along the axial direction of the screw shaft 12. Specifically, the retaining rings 15 can be clearance-matched with the integral planetary carrier 13, or can be in active contact.

[0040] In this example, see Figure 2 The integrated planet carrier 13 includes a first assembly disk 13.1, a second assembly disk 13.3 and a rib plate 13.2. The first assembly disk 13.1 and the second assembly disk 13.3 are fixedly connected via the rib plate 13.2 to form an integrated structure, wherein the number of the rib plates 13.2 is at least two, and at least two rib plates 13.2 are arranged at intervals along the circumference of the integrated planet carrier 13. The integrated planet carrier 13 is a hollow cylindrical structure as a whole, and at least two rib plates 13.2 are arranged at intervals along the circumference of the integrated planet carrier 13, so that the side of the integrated planet carrier 13 forms a hollow structure.

[0041] It should be noted that the rib plate 13.2 is mainly used to rigidly combine the first assembly disk 13.1 and the second assembly disk 13.3 into one. The rib plate 13.2 is arranged between two adjacent rollers, but has no direct contact with the rollers. In the radial direction of the integral planetary carrier 13, the outer side surface of the rib plate 13.2 is located on the inner side of the outer peripheral surface of the roller, that is, the rib plate 13.2 will not interfere with the threaded connection and rotation between the roller and the nut.

[0042] In this embodiment, the structures of the first assembly disk 13.1 and the second assembly disk 13.3 are exactly the same. The specific structure of the first assembly disk 13.1 is described below by taking the first assembly disk 13.1 as an example, and those skilled in the art can understand the structure of the second assembly disk 13.3 without any objection.

[0043] For details, please refer to Figure 3-Figure 5 The first assembly disk 13.1 has a screw shaft hole 13.1.1 and m roller holes 13.1.2 that penetrate along its own axial direction. The m roller holes 13.1.2 are arranged around the screw shaft hole 13.1.1. The two screw shaft holes 13.1.1 on the first assembly disk 13.1 and the second assembly disk 13.3 jointly form a screw shaft channel that is hollowed out in the middle. The m roller holes 13.1.2 on the first assembly disk 13.1 and the second assembly disk 13.3 are one-to-one corresponding, respectively corresponding to the two roller holes 13.1.2 of the first assembly disk 13.1 and the second assembly disk 13.3 jointly form a screw shaft channel that is hollowed out in the middle. The roller channel is hollowed out in the middle, the part of the screw shaft 12 with the optical axis structure is arranged in the screw shaft hole 13.1.1 of the screw shaft positioning ring and is rotatably matched with the first assembly disk 13.1 and the second assembly disk 13.3, the pivots at both ends of each roller 11 are respectively arranged in the roller holes 13.1.2 of the first assembly disk 13.1 and the second assembly disk 13.3 and are rotatably matched with the first assembly disk 13.1 and the second assembly disk 13.3, and the external thread structure of the roller 11 and the external thread structure of the screw shaft 12 are exposed in the hollow part between the first assembly disk 13.1 and the second assembly disk 13.3.

[0044] Specifically, the first assembly disk 13.1 and the second assembly disk 13.3 are coaxially arranged, and the screw shaft holes 13.1.1 on the first assembly disk 13.1 and the second assembly disk 13.3 are also coaxially arranged, and the one-to-one corresponding roller holes 13.1.2 on the first assembly disk 13.1 and the second assembly disk 13.3 are also coaxially arranged, and the centers of the m roller holes 13.1.2 are distributed on a circle, the center of the circle coincides with the center of the screw shaft hole 13.1.1, and the m roller holes 13.1.2 are evenly spaced on the circumference.

[0045] Specifically, in order to achieve better rotational cooperation between the screw shaft 12 and the first assembly disk 13.1 / the second assembly disk 13.3, a first sliding bearing 14 is provided between the screw shaft 12 and the screw shaft hole 13.1.1. More specifically, the first sliding bearing 14 is coaxially arranged in the screw shaft hole 13.1.1, and the part of the screw shaft 12 having the optical axis structure is coaxially arranged in the first sliding bearing 14. More specifically, in order to complete the assembly of the integral planet carrier, the diameter of the screw shaft hole 13.1.1 should be slightly larger than the diameter of the corresponding part of the screw shaft, so that the integral planet carrier 13 can be installed from one end of the screw shaft 12, and then the first sliding bearing 14 is installed in the screw shaft hole 13.1.1.

[0046] Specifically, in order to enable the roller 11 to better achieve rotational cooperation with the first assembly disk 13.1 / the second assembly disk 13.3, a second sliding bearing 16 is arranged between the roller 11 and the roller hole 13.1.2. More specifically, the second sliding bearing 16 is coaxially arranged in the roller hole 13.1.2, and the pivots at both ends of the roller 11 are coaxially arranged in the second sliding bearing 16. In order to complete the assembly of the roller 11 based on the integral planetary carrier, the roller hole 13.1.2 of the integral planetary carrier 13 has an open assembly port in the radial direction, that is, the outer peripheral surface of the first assembly disk 13.1 / the second assembly disk 13.3 is provided with an assembly port that is in communication with the roller hole 13.1.2, and the size of the assembly port is equal to or slightly larger than the diameter of the pivot at both ends of the roller 11 and smaller than the diameter of the second sliding bearing 16, so that during assembly, the roller 11 can be first installed into the roller hole 13.1.2 from the assembly port along the radial direction, and then the second sliding bearing 16 is installed from both ends, thereby solving the problem of roller installation without sacrificing the rigidity of the integral planetary carrier. After all parts are assembled on the screw shaft, the internal thread structure of the nut is screwed into the nut from one side of the nut 10 as a whole, that is, the assembly of the reverse planetary roller screw based on flexible support is completed. Specifically, by providing the first sliding bearing and the second sliding bearing, the friction during the rotation process can be reduced and the overall transmission efficiency can be improved.

[0047] Specifically, a first gear is fixed on the screw shaft 12, and a second gear is fixed on each of the rollers 11, and the first gear is meshed with multiple second gears at the same time. Preferably, the pitch circle diameter of the first gear on the screw shaft 12 is equal to the middle diameter of the external thread structure on the screw shaft 12, and the pitch circle diameter of the second gear on the roller 11 is equal to the middle diameter of the external thread structure on the roller 11. More specifically, the transmission ratio of the first gear to the second gear is equal to the ratio of the number of heads of the thread structure on the screw shaft 12 to the number of heads of the thread structure on the roller 11.

[0048] An embodiment of the present invention provides a reverse planetary roller screw based on an integral planetary carrier. Through the design of the integral planetary carrier structure, in conjunction with the first and second transmission gears, the synchronous movement of multiple rollers can be well guaranteed to avoid the tilt of the rollers, thereby improving the uniformity of the load-bearing of multiple rollers. At the same time, an embodiment of the present invention provides a reverse planetary roller screw based on an integral planetary carrier. The structure is simpler and more compact, and the reliability is high. The arrangement of the first and second sliding bearings can not only reduce friction and wear, but also solve the installation problem of the integral structure.

[0049] An embodiment of the present invention provides a reverse planetary roller screw based on an integral planetary carrier, which adopts an integral planetary carrier structure, avoids the left and right slight asynchronism phenomenon existing in the original split planetary carrier structure, makes multiple groups of rollers evenly loaded, and makes the transmission smoother, thereby improving the transmission efficiency. In addition, an reverse planetary roller screw based on an integral planetary carrier provided by the present invention has sliding bearings arranged in the screw bearing hole and the roller bearing hole of the planetary carrier, which reduces the friction during the rotation process and improves the transmission efficiency.

[0050] It should be understood that the above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A reverse planetary roller screw based on an integral planetary carrier, comprising: A nut, a screw shaft, m rollers, and a planet carrier, wherein the m rollers and the planet carrier are arranged between the nut and the screw shaft, the m rollers are assembled on the planet carrier and arranged around the screw shaft, the rollers are in transmission cooperation with the nut and the screw shaft, the planet carrier is in rotation cooperation with the screw shaft, and when the screw shaft rotates, the rollers are driven to rotate and make planetary rotation around the screw shaft together with the planet carrier; It is characterized in that: the interior of the planetary carrier has a hole along the screw shaft and m roller holes, the screw shaft hole penetrates the planetary carrier along the axial direction of the planetary carrier, and the m roller holes are arranged around the screw shaft hole, and the roller hole has a conduction window that is conductive with the screw shaft hole and the outer circumferential surface of the planetary carrier, a part of the screw shaft is arranged in the screw shaft hole, and the roller is arranged in the roller hole, and a part of the roller is exposed from the conduction window, and the part of the roller exposed from the conduction window is respectively threadedly connected with the nut and the screw shaft, and m≥2.

2. The reverse planetary roller screw based on the integral planetary carrier according to claim 1, characterized in that: The roller channel comprises an assembly section and a conducting section, the assembly section is arranged at two ends of the conducting section, and the conducting window is located in the conducting section.

3. The reverse planetary roller screw based on the integral planetary carrier according to claim 2, characterized in that: The conduction section as a whole serves as the conduction window, and the conduction section as a whole is completely conducted with the screw shaft channel and the outer peripheral surface of the planet carrier.

4. The reverse planetary roller screw based on an integral planetary carrier according to claim 2 or 3, characterized in that: The conducting sections of the n adjacent roller channels are also directly conducting, n ≥ 2.

5. The reverse planetary roller screw based on the integral planetary carrier according to claim 2, characterized in that: The outer circumferential surface of the planetary carrier is also provided with m assembly openings, which are connected to the assembly section of the roller channel, and each of the assembly openings is also connected to a conducting window located on the outer circumferential surface of the planetary carrier, and the width of the assembly opening is greater than or equal to the diameter of the part of the roller located in the assembly section.

6. The reverse planetary roller screw based on an integral planetary carrier according to claim 1, 2 or 5, characterized in that: The planet carrier comprises two assembly disks and at least two rib plates, wherein the rib plate is arranged between the two assembly disks along the axial direction of the planet carrier and fixedly combined with the assembly disks, and at least two rib plates are arranged at intervals along the circumferential direction of the planet carrier, and a screw shaft hole and m roller holes are arranged on the assembly disk, and the m roller holes are arranged around the screw shaft hole, and an assembly port communicating with the roller hole is also arranged on the outer circumferential surface of the assembly disk, and the screw shaft holes on the two assembly disks and the space enclosed by the two rib plates form the screw shaft channel, and the roller holes on the two assembly disks and the space between the two assembly disks form the roller channel, and in the circumferential direction of the planet carrier, the rib plate is located between two adjacent roller channels; And / or, the assembly section of the roller channel is located on the assembly disk, and the conduction section is located between two assembly disks; And / or, the screw shaft, the roller and the assembly disk are rotationally matched.

7. The reverse planetary roller screw based on the integral planetary carrier according to claim 6, characterized in that: A first bearing is further provided between the screw shaft and the planet carrier, and the screw shaft is rotatably matched with the planet carrier via the first bearing; And / or, the first bearing is arranged between the screw shaft hole of the assembly disk and the screw shaft; And / or, the first bearing is a sliding bearing.

8. The reverse planetary roller screw based on an integral planetary carrier according to claim 6, characterized in that: Two retaining rings are also fixedly arranged on the screw shaft, and the planet carrier is restricted between the two retaining rings.

9. The reverse planetary roller screw based on an integral planetary carrier according to claim 6, characterized in that: The rolling rod and the planet carrier bracket are further provided with a second bearing, and the rolling rod is rotatably matched with the planet carrier bracket via the second bearing; And / or, the second bearing is arranged between the roller hole of the mounting plate and the roller; And / or, the second bearing is a sliding bearing.

10. The reverse planetary roller screw based on an integral planetary carrier according to claim 1, characterized in that: A first gear is fixedly arranged on the screw shaft, and a second gear is fixedly arranged on the roller. The first gear is meshed with m second gears at the same time.

Images