Joint driving device

Abstract

The embodiment of the invention provides a joint driving device, and belongs to the technical field of joint driving. The transmission sleeve is installed on the driving body, the driving body drives the transmission sleeve to rotate so as to drive the planetary roller assembly to move in the axial direction of the transmission shaft along with the transmission shaft, the transmission sleeve is provided with internal threads, and the end, away from the limiting section, of the installation section extends out of the driving body. The planetary roller assembly is provided with transition threads meshed with the internal threads and the external threads and located on the side, away from the installation section, of the limiting section, the meshing section limits the planetary roller assembly to move relative to the meshing section in the axial direction of the installation section, and the limiting section at least partially protrudes out of the installation section in the radial direction of the installation section. The limiting part is located on the side, facing the mounting section, of the limiting section, and the limiting section can move to make contact with or be disengaged from the limiting part. According to the joint driving device, the possibility that the planetary roller lead screw is damaged can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of joint driving, and in particular to a joint driving device. Background Art

[0002] In the related art, the joints of the humanoid robot need to perform corresponding movements, and the joint movements of the humanoid robot can be driven by a joint driving device. During the operation of the joint driving device, the planetary roller screw of the joint driving device may be damaged. Summary of the invention

[0003] In view of this, an embodiment of the present application hopes to provide a joint driving device to reduce the possibility of damage to the planetary roller screw.

[0004] In order to achieve the above-mentioned object, a first aspect of an embodiment of the present application provides a joint driving device, comprising:

[0005] A driving body having a limiting portion;

[0006] A planetary roller screw comprises a transmission sleeve, a transmission shaft and a planetary roller assembly, wherein the transmission sleeve is mounted on the driving body, and the driving body drives the transmission sleeve to rotate so as to drive the planetary roller assembly to follow the transmission shaft and move axially along the transmission shaft, the transmission sleeve has an internal thread, and the transmission shaft comprises an engaging section, a limiting section and a mounting section connected in sequence, and the mounting section extends to the outside of the driving body at one end away from the limiting section, the engaging section has an external thread, and the planetary roller assembly has a transition thread respectively engaged with the internal thread and the external thread, the planetary roller assembly is located on a side of the limiting section away from the mounting section, the engaging section limits the planetary roller assembly to move relative to the engaging section along the axial direction of the mounting section, the limiting section at least partially protrudes from the mounting section along the radial direction of the mounting section, the limiting portion is located on a side of the limiting section facing the mounting section, and the limiting section can move to contact or disengage with the limiting portion.

[0007] In one embodiment, the limiting section has a limiting boss protruding from the mounting section in a radial direction of the mounting section, the limiting boss is annular in shape, and the limiting boss is in contact with or disengaged from the limiting portion.

[0008] In one embodiment, the limiting boss is in the shape of a circular ring, and the outer diameter of the limiting boss is greater than the diameter of the mounting section.

[0009] In one embodiment, the planetary roller screw further includes an end stop assembly located at one end of the meshing section away from the mounting section, the end stop assembly is connected to one end of the transmission sleeve, the end surface of the meshing section facing the end stop assembly is a limiting surface, the planetary roller assembly is located between the limiting surface and the limiting section, and the limiting surface can move to contact or disengage with the end stop assembly.

[0010] In one embodiment, the joint drive device further comprises a first bearing, the transmission sleeve has a first shaft shoulder, and the end stop assembly comprises:

[0011] An end plate is mounted on one end of the transmission sleeve, the planetary roller assembly is located between the end plate and the limiting section, and the limiting surface can move to contact or disengage with the end plate;

[0012] The first limiting sleeve is threadedly connected to one end of the transmission sleeve toward the end plate, and the end plate at least partially abuts against the first limiting sleeve and the transmission sleeve along the axial direction of the transmission sleeve, and both sides of the inner ring of the first bearing abut against the first limiting sleeve and the first shaft shoulder respectively.

[0013] In one embodiment, the joint driving device further comprises a bearing seat detachably mounted on the driving body, wherein the bearing seat surrounds the first bearing, and an outer ring of the first bearing is mounted on the bearing seat.

[0014] In one embodiment, the driving body comprises:

[0015] A shell assembly, wherein the limiting portion is formed on the shell assembly, the outer surface of the shell assembly comprises a heat dissipation surface with varying concave and convex shapes, the end of the mounting section away from the limiting section extends to the outside of the shell assembly, and the transmission sleeve, the planetary roller assembly, the meshing section and the limiting section are all located in the shell assembly;

[0016] A stator is installed inside the shell assembly, and the stator contacts an inner surface corresponding to the heat dissipation surface of the shell assembly;

[0017] The rotor is installed on the transmission sleeve. The rotor is located in the shell assembly. The stator is used to drive the rotor to rotate so as to drive the transmission sleeve to rotate.

[0018] In one embodiment, the joint driving device further comprises a driving control board installed in the shell assembly, wherein the driving control board is used to control the stator to drive the rotor to rotate, and the driving control board comprises a power device, and the power device is in contact with the inner surface of the shell assembly.

[0019] In one embodiment, an accommodating cavity is formed at one end of the shell assembly facing away from the mounting section, and the joint driving device also includes a mounting arm and a force sensor at least partially located in the accommodating cavity, and the radial side wall of the accommodating cavity along the transmission sleeve and / or the cavity wall of the accommodating cavity facing away from the transmission sleeve restricts the force sensor from moving out of the accommodating cavity from the side of the accommodating cavity facing away from the transmission sleeve, and the force sensor is sleeved on the mounting arm, and the mounting arm at least partially extends outside the accommodating cavity along one end of the force sensor facing away from the transmission sleeve.

[0020] In one embodiment, the shell assembly comprises:

[0021] A housing, the limiting portion and the heat dissipation surface are formed in the housing, one end of the mounting section away from the limiting section extends outside the housing, and the stator, the rotor, the transmission sleeve, the planetary roller assembly, the meshing section and the limiting section are all located in the housing;

[0022] An end cover is connected to one end of the shell away from the transmission sleeve, and the end cover and the shell are arranged to form the accommodating cavity. An inwardly protruding stop block is formed at the end of the end cover away from the shell to inhibit the force sensor from moving out of the accommodating cavity away from the transmission sleeve.

[0023] In the joint drive device of the embodiment of the present application, since the meshing section in the planetary roller screw restricts the planetary roller assembly from moving axially relative to the meshing section along the mounting section, the rotation of the transmission sleeve drives the planetary roller assembly and the transmission shaft to move axially along the transmission sleeve. When the planetary roller assembly drives the transmission shaft to continuously approach the limiting portion under the action of the transmission sleeve, the limiting section of the transmission shaft will abut against the driving body before the planetary roller assembly to alleviate the impact and collision between the planetary roller assembly and the driving body, thereby reducing the possibility of damage to the planetary roller assembly. The abutment and limiting of the limiting section of the transmission shaft and the limiting portion of the driving body can prevent the transmission shaft and the planetary roller assembly from excessively moving toward the side of the driving body toward the limiting portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 An axonometric diagram of a joint driving device according to an embodiment of the present application;

[0025] Figure 2 This is a schematic diagram of the structure of the joint driving device of an embodiment of the present application, and the section position is shown in the figure;

[0026] Figure 3 Figure 2 Sectional view at position AA;

[0027] Figure 4 for Figure 3 A magnified view at position B in the middle;

[0028] Figure 5 for Figure 3 A magnified view at position C in the middle;

[0029] Figure 6 for Figure 3 A magnified view at position D;

[0030] Figure 7 for Figure 3 Magnified view at position E in the middle.

[0031] Description of reference numerals: 100, driving body; 101, limiting part; 7, shell assembly; 71, heat dissipation surface; 711, concave annular surface; 712, convex annular surface; 72, accommodating chamber; 73, outer shell; 731, shell; 7311, first shell; 7312, second shell; 7313, third shell; 732, sliding bearing; 74, end cover; 741, stop block; 8, stator; 9, rotor; 200, planetary roller screw; 1, transmission sleeve; 11, first shaft Shoulder; 12, second shoulder; 2, transmission shaft; 21, meshing section; 211, limiting surface; 22, limiting section; 221, limiting boss; 23, mounting section; 3, planetary roller assembly; 4, end stop assembly; 41, end plate; 42, first limiting sleeve; 5, first bearing; 6, bearing seat; 901, drive control board; 902, mounting arm; 903, encoder; 904, second bearing; 905, second limiting sleeve; 906, seal; 907, force sensor. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments and technical features in the embodiments of the present application can be combined with each other, and the detailed description in the specific implementation method should be understood as an explanation of the purpose of the present application and should not be regarded as an improper limitation on the present application.

[0033] In the related art, the planetary roller screw can bear a large load and has a high positioning accuracy. During the joint movement of the humanoid robot, the planetary roller screw is driven to rotate by the driving body, and the planetary roller screw converts the rotational motion into a linear motion to drive the joint movement of the humanoid robot, so that the joint of the humanoid robot can adapt to a large load and has a high positioning accuracy. However, during the use of the joint drive device, the planetary roller screw may be damaged, causing the joint drive device to fail to work. Specifically, the planetary roller assembly is arranged on the transmission shaft and follows the transmission shaft along the axial movement of the transmission shaft. The planetary roller assembly moves along the axial direction of the transmission sleeve under the drive of the transmission shaft. Since the movement of the transmission shaft is not limited, when the transmission shaft moves along the axial direction of the transmission sleeve toward the end of the transmission shaft extending out of the driving body, the part of the transmission shaft in the driving body gradually extends out of the driving body, and the planetary roller assembly on the transmission shaft may collide with the driving body, causing the planetary roller assembly to be damaged.

[0034] Exemplarily, the planetary roller assembly includes a roller body and a retaining frame, the roller body is mounted on the retaining frame, and the roller body has a transition thread. When the planetary roller assembly collides with the driving body, the roller body and / or the retaining frame may be damaged, wherein the retaining frame is a component that is more easily damaged.

[0035] In view of this, the present application embodiment provides a joint driving device, please refer to Figure 1 to Figure 7 The joint driving device includes a driving body 100 and a planetary roller screw 200. The driving body 100 has a limiting portion 101. The planetary roller screw 200 includes a transmission sleeve 1, a transmission shaft 2 and a planetary roller assembly 3. The transmission sleeve 1 is installed on the driving body 100. The driving body 100 drives the transmission sleeve 1 to rotate to drive the planetary roller assembly 3 to follow the transmission shaft 2 along the axial movement of the transmission shaft 2. The transmission sleeve 1 has an internal thread. The transmission shaft 2 includes a meshing section 21, a limiting section 22 and a mounting section 23 connected in sequence. The mounting section 23 extends from one end of the limiting section 22 to the outside of the driving body 100. The meshing section 21 has an external thread. The planetary roller assembly 3 has a transition thread that engages with the internal thread and the external thread respectively. The planetary roller assembly 3 is located on the side of the limiting section 22 that is away from the mounting section 23. The engaging section 21 limits the movement of the planetary roller assembly 3 relative to the engaging section 21 along the axial direction of the mounting section 23. The limiting section 22 at least partially protrudes from the mounting section 23 along the radial direction of the mounting section 23. The limiting portion 101 is located on the side of the limiting section 22 facing the mounting section 23. The limiting section 22 can move to contact or disengage with the limiting portion 101.

[0036] The driving body 100 is a part that provides power. The driving body 100 drives the transmission sleeve 1 to rotate. Through the threaded transmission between the transmission sleeve 1, the planetary roller assembly 3 and the meshing section 21 of the transmission shaft 2, the rotational motion of the transmission sleeve 1 driven by the driving body 100 is converted into the linear motion of the transmission shaft 2. The internal thread of the transmission sleeve 1 is meshed with the transition thread of the planetary roller assembly 3 for threaded transmission, and the transition thread of the planetary roller assembly 3 is meshed with the external thread of the meshing section 21 of the transmission shaft 2 for threaded transmission. The rotational motion of the transmission sleeve 1 is converted into the linear motion of the transmission shaft 2 through the threaded transmission of the internal thread, the transition thread and the external thread.

[0037] For example, see Figure 1 to Figure 7 The transmission sleeve 1 and the planetary roller assembly 3 are both located in the driving body 100 .

[0038] For example, see Figure 1 to Figure 7 The meshing section 21 and the limiting section 22 of the transmission shaft 2 are located in the transmission sleeve 1, the installation section 23 of the transmission shaft 2 is partially located in the transmission sleeve 1, the transmission shaft 2 partially extends out of the transmission sleeve 1, and the transmission shaft 2 partially extends out of the driving body 100.

[0039] Exemplarily, the driving body 100 restricts the mounting section 23 of the transmission shaft 2 from rotating.

[0040] Exemplarily, the outer surface of the mounting segment 23 includes a rotation-stopping surface, and the driving body 100 abuts against the rotation-stopping surface to limit the rotation of the mounting segment 23 .

[0041] Exemplarily, the anti-rotation surface is a plane.

[0042] Exemplarily, the driving body 100 may not limit the rotation of the mounting section 23 of the transmission shaft 2 , and the mounting section 23 is connected to the joint of the humanoid robot, and the rotation of the mounting section 23 may be limited by the joint of the humanoid robot connected to the mounting section 23 .

[0043] The engagement section 21 limits the movement of the planetary roller assembly 3 relative to the engagement section 21 along the axial direction of the mounting section 23. Due to the limiting effect of the engagement section 21 on the planetary roller assembly 3, the planetary roller assembly 3 basically does not move relative to the engagement section 21 along the axial direction of the mounting section 23, and the planetary roller assembly 3 moves following the engagement section 21.

[0044] The planetary roller assembly 3 is substantially in a planetary structure, and the planetary roller assembly 3 can rotate around the meshing section 21 .

[0045] The transmission shaft 2 is a screw rod.

[0046] The planetary roller screw 200 is a reverse type planetary roller screw 200 .

[0047] Exemplarily, the planetary roller structure includes a cage and a roller body mounted on the cage, and a transition thread is formed on the roller body. The cage is mounted on the meshing section 21 so that the cage moves along the axial direction of the mounting section 23 following the meshing section 21, and the cage and the roller body can rotate relative to the meshing section 21.

[0048] Exemplarily, when the limiting section 22 of the transmission shaft 2 abuts against the limiting portion 101 of the driving body 100 , the planetary roller assembly 3 is located in the transmission sleeve 1 .

[0049] In the embodiment of the present application, since the meshing section 21 in the planetary roller screw 200 limits the planetary roller assembly 3 to move relative to the meshing section 21 along the axial direction of the mounting section 23, the transmission sleeve 1 rotates to drive the planetary roller assembly 3 and the transmission shaft 2 to move along the axial direction of the transmission sleeve 1. When the planetary roller assembly 3 drives the transmission shaft 2 to continuously approach the limiting portion 101 under the action of the transmission sleeve 1, the limiting section 22 of the transmission shaft 2 will abut against the driving body 100 before the planetary roller assembly 3 to alleviate the impact and collision between the planetary roller assembly 3 and the driving body 100, thereby reducing the possibility of damage to the planetary roller assembly 3. Through the abutment and limiting of the limiting section 22 of the transmission shaft 2 and the limiting portion 101 of the driving body 100, the transmission shaft 2 and the planetary roller assembly 3 can be suppressed from excessively moving toward the side of the driving body 100 toward the limiting portion 101.

[0050] In one embodiment, please refer to Figure 1 to Figure 7 The limiting section 22 has a limiting boss 221 protruding from the mounting section 23 along the radial direction of the mounting section 23 . The limiting boss 221 is annular in shape and is in contact with or disengaged from the limiting portion 101 .

[0051] For example, see Figure 1 to Figure 7 The limiting portion 101 is in a ring shape.

[0052] In the embodiment of the present application, the annular limiting boss 221 can better block the driving body 100 along the circumference of the mounting section 23 , thereby reducing the possibility of the driving body 100 passing over the limiting boss 221 and colliding with the planetary roller assembly 3 .

[0053] It is understandable that the specific structure of the limiting boss 221 is not limited, and the shape of the limiting boss 221 is not necessarily annular. Exemplarily, the limiting boss 221 protrudes along one side of the radial direction of the limiting section 22.

[0054] In one embodiment, please refer to Figure 1 to Figure 7 The limiting boss 221 is in the shape of a circular ring, and the outer diameter of the limiting boss 221 is greater than the diameter of the mounting section 23 .

[0055] See also Figure 1 to Figure 7The outer diameter of the limiting boss 221 is the diameter of the outer surface of the limiting boss 221 .

[0056] In the embodiment of the present application, since the end of the mounting section 23 away from the limiting section 22 extends to the outside of the driving body 100, the mounting section 23 needs to pass through the driving body 100, and the limiting portion 101 of the driving body 100 is located outside the outer surface of the mounting section 23. The outer diameter of the annular limiting boss 221 is relatively large, so that the limiting boss 221 can better contact and limit with the limiting portion 101 of the driving body 100. The limiting boss 221 is in the shape of an annular ring, which is convenient for processing the limiting boss 221 in the limiting section 22.

[0057] It is understandable that the shape of the limiting boss 221 is not limited to a circular ring. Exemplarily, the shape of the limiting boss 221 can be a square ring or other special-shaped ring.

[0058] In one embodiment, please refer to Figure 1 to Figure 7 The planetary roller screw 200 also includes an end stop assembly 4 located at one end of the meshing section 21 away from the mounting section 23, the end stop assembly 4 is connected to one end of the transmission sleeve 1, and the end surface of the meshing section 21 facing the end stop assembly 4 is a limiting surface 211, the planetary roller assembly 3 is located between the limiting surface 211 and the limiting section 22, and the limiting surface 211 can move to contact or disengage with the end stop assembly 4.

[0059] Exemplarily, the limiting surface 211 may be a plane or a curve.

[0060] Exemplarily, the length of the meshing segment 21 along the axial direction of the meshing segment 21 is greater than the length of the planetary roller assembly 3 along the axial direction of the meshing segment 21 .

[0061] In the embodiment of the present application, the planetary roller assembly 3 is located between the limiting surface 211 and the limiting section 22, and the limiting surface 211 is closer to the end stop assembly 4 than the planetary roller assembly 3. When the transmission sleeve 1 rotates to drive the planetary roller assembly 3 and the rotating shaft to continuously approach the end stop assembly 4, the limiting surface 211 of the meshing section 21 of the transmission shaft 2 contacts the end stop assembly 4 before the planetary roller assembly 3 to limit the impact and collision between the planetary roller assembly 3 and the end stop assembly 4, thereby reducing the possibility of damage to the planetary roller screw 200. Through the abutment contact between the limiting surface 211 of the meshing section 21 of the transmission shaft 2 and the end stop assembly 4, the transmission shaft 2 and the planetary roller assembly 3 can be restrained from excessively moving toward the side of the transmission sleeve 1 toward the end stop assembly 4.

[0062] It is understandable that the embodiment of the present application is not limited to the abutment between the limit surface 211 and the end stop assembly 4. For example, the planetary roller screw 200 may not be provided with the end stop assembly 4, and the transmission shaft 2 and the planetary roller assembly 3 may be moved into or out of the transmission sleeve 1 from the opening at one end of the transmission sleeve 1 where the end stop is removed.

[0063] In one embodiment, please refer to Figure 1 to Figure 7 , the joint drive device further includes a first bearing 5, the transmission sleeve 1 has a first shoulder 11, and the end stop assembly 4 includes an end plate 41 and a first limiting sleeve 42. The end plate 41 is mounted at one end of the transmission sleeve 1, the planetary roller assembly 3 is located between the end plate 41 and the limiting section 22, and the limiting surface 211 can move to contact or disengage with the end plate 41. The first limiting sleeve 42 is threadedly connected to one end of the transmission sleeve 1 facing the end plate 41, and the end plate 41 at least partially abuts against the first limiting sleeve 42 and the transmission sleeve 1 along the axial direction of the transmission sleeve 1, and the two sides of the inner ring of the first bearing 5 abut against the first limiting sleeve 42 and the first shoulder 11 respectively.

[0064] For example, see Figure 1 to Figure 7 The joint driving device also includes an encoder 903, which is installed in the driving body 100.

[0065] For example, see Figure 1 to Figure 7 The encoder 903 is at least partially mounted on a bracket, and the bracket is connected to a side of the end plate 41 that faces away from the meshing section 21 of the transmission shaft 2 .

[0066] Exemplarily, the bracket is embedded in the end plate 41 .

[0067] Exemplarily, the encoder 903 includes a magnet and a read head. The magnet is mounted on a bracket.

[0068] In the embodiment of the present application, the first limiting sleeve 42 is abutted against the end plate 41 to press the end plate 41 onto the transmission sleeve 1, so that the end plate 41 blocks the opening of one end of the transmission sleeve 1, thereby better limiting the meshing section 21 of the transmission shaft 2. The end plate 41 is limited and the first limiting sleeve 42 is installed and fixed. The end plate 41 and the first limiting sleeve 42 are made independently, which can reduce the special shape of parts and components, reduce the processing difficulty of the end stop assembly 4, and facilitate the end plate 41 to be processed into the required shape according to actual needs. The first bearing 5 is abutted between the first limiting sleeve 42 and the first shoulder 11 by the two sides of the inner ring of the first bearing 5 respectively. The first bearing 5 is abutted between the first limiting sleeve 42 and the first shoulder 11, so as to better limit the axial position of the first bearing 5. The first limiting sleeve 42 can be used to fix the end plate 41 so that the end plate 41 limits the meshing section 21, and can also cooperate with the first shoulder 11 to limit the first bearing 5.

[0069] It is understandable that the specific structure of the end stop assembly 4 is not limited. For example, the end stop assembly 4 may not be provided with the end plate 41, one end of the first limiting sleeve 42 is closed, and the limiting surface 211 contacts or disengages from the closed end of the first limiting sleeve 42, thereby limiting the engagement section 21.

[0070] In one embodiment, please refer to Figure 1 to Figure 7 The joint driving device also includes a bearing seat 6 detachably mounted on the driving body 100 , the bearing seat 6 surrounds the first bearing 5 , and the outer ring of the first bearing 5 is mounted on the bearing seat 6 .

[0071] In the embodiment of the present application, by providing an additional bearing seat 6 installed on the driving body 100, the first bearing 5 can be better adapted according to actual needs, which is conducive to selecting the first bearing 5 according to actual needs. The bearing seat 6 surrounds the first bearing 5, and the outer ring of the first bearing 5 is installed on the bearing seat 6, so that the bearing seat 6 can better support the first bearing 5.

[0072] It is understandable that the joint driving device may not be provided with the bearing seat 6. Exemplarily, the outer ring of the first bearing 5 is mounted on the driving body 100.

[0073] In one embodiment, please refer to Figure 1 to Figure 7 The driving body 100 includes a shell assembly 7, a stator 8 and a rotor 9. The limiting portion 101 is formed on the shell assembly 7, and one end of the mounting section 23 away from the limiting section 22 extends to the outside of the shell assembly 7. The transmission sleeve 1, the planetary roller assembly 3, the meshing section 21 and the limiting section 22 are all located in the shell assembly 7. The stator 8 is installed inside the shell assembly 7. The rotor 9 is installed in the transmission sleeve 1, and the rotor 9 is located in the shell assembly 7. The stator 8 is used to drive the rotor 9 to rotate so as to drive the transmission sleeve 1 to rotate.

[0074] For example, see Figure 1 to Figure 7 , the bearing seat 6 is installed on the shell assembly 7.

[0075] For example, see Figure 1 to Figure 7 The joint driving device also includes a second bearing 904 installed on the transmission sleeve 1 , and the stator 8 is located between the first bearing 5 and the second bearing 904 along the axial direction of the transmission sleeve 1 .

[0076] In the embodiment of the present application, the transmission sleeve 1 is mounted on the rotor 9, and the rotor 9 is driven to rotate by the stator 8 to drive the transmission sleeve 1 to rotate, thereby moving the mounting section 23. By directly mounting the transmission sleeve 1 on the rotor 9 and integrating the transmission shaft 2 and the like in the shell assembly 7, the stator 8 and the rotor 9 in the shell assembly 7 constitute a frameless motor, which is beneficial to reducing the volume of the joint drive device and improving the power density of the joint drive device when the output power of the rotor 9 remains basically unchanged.

[0077] In one embodiment, please refer to Figure 1 to Figure 7 The outer surface of the shell component 7 includes a heat dissipation surface 71 with a concave-convex shape, and the stator 8 is in contact with the inner surface corresponding to the heat dissipation surface 71 of the shell component 7.

[0078] For example, see Figure 1 to Figure 7 The heat dissipation surface 71 includes a concave annular surface 711 and a convex annular surface 712 , and the concave annular surface 711 and the convex annular surface 712 are alternately arranged along the axial direction of the shell assembly 7 .

[0079] In the embodiment of the present application, the surface area of ​​the outer surface of the shell assembly 7 is increased by the heat dissipation surface 71 with concave and convex changes on the outer surface of the shell assembly 7, and the stator 8 is in contact with the inner surface corresponding to the heat dissipation surface 71 of the shell assembly 7, which is beneficial to transfer the heat generated by the stator 8 and the rotor 9 to the shell assembly 7 and better dissipate the heat through the heat dissipation surface 71 with a larger surface area.

[0080] It is understandable that the structure of the driving body 100 is not limited to the structure of a frameless motor in which the rotor 9 is directly mounted on the transmission sleeve 1. For example, the rotor 9 can be driven to rotate by the stator 8 of the motor, and the rotor 9 of the motor drives the output shaft of the motor to rotate, and then the output shaft of the motor drives the transmission sleeve 1 to rotate.

[0081] It is understandable that the embodiment of the present application is not limited to the outer surface of the shell component 7 being a concave-convex heat dissipation surface 71. Exemplarily, the outer surface of the shell component 7 at the position corresponding to the stator 8 can be a cylindrical surface.

[0082] In one embodiment, please refer to Figure 1 to Figure 7 The joint driving device also includes a driving control board 901 installed in the shell assembly 7, and the driving control board 901 is used to control the stator 8 to drive the rotor 9 to rotate. The driving control board 901 includes a power device, and the power device is in contact with the inner surface of the shell assembly 7.

[0083] For example, see Figure 1 to Figure 7 The drive control board 901 is installed at one end of the bearing seat 6 away from the mounting section 23.

[0084] Exemplarily, the power device of the driving control board 901 may be a semiconductor power device such as a metal-oxide-semiconductor field-effect transistor (MOS).

[0085] In the embodiment of the present application, the power device is the main heat-generating device on the drive control board 901 , and contacting the power device with the inner surface of the shell assembly 7 is conducive to dissipating the heat released by the power device to the outside of the shell assembly 7 through the shell assembly 7 .

[0086] It is understandable that the arrangement of the drive control board 901 is not limited. For example, the drive control board 901 can be arranged at a distance from the shell assembly 7, and the drive control board 901 can be cooled by blowing air into the shell assembly 7.

[0087] In one embodiment, please refer to Figure 1 to Figure 7 An accommodating cavity 72 is formed at one end of the shell assembly 7 facing away from the mounting section 23, and the joint driving device also includes a mounting arm 902 and a force sensor 907 at least partially located in the accommodating cavity 72. The radial side wall of the accommodating cavity 72 along the transmission sleeve 1 and / or the cavity wall of the accommodating cavity 72 facing away from the transmission sleeve 1 restricts the force sensor 907 from moving out of the accommodating cavity 72 from the side of the accommodating cavity 72 facing away from the transmission sleeve 1. The force sensor 907 is sleeved on the mounting arm 902, and the mounting arm 902 at least partially extends to the outside of the accommodating cavity 72 along one end of the force sensor 907 facing away from the transmission sleeve 1.

[0088] For example, see Figure 1 to Figure 7 The end of the accommodating cavity 72 facing the transmission sleeve 1 is a closed end.

[0089] For example, see Figure 1 to Figure 7 One end of the accommodating chamber 72 facing the transmission sleeve 1 is a closed end, and the transmission sleeve 1 is outside the accommodating chamber 72 .

[0090] For example, see Figure 1 to Figure 7 The end of the accommodating chamber 72 facing the transmission sleeve 1 is a closed end, and the bearing seat 6 is outside the accommodating chamber 72 .

[0091] For example, see Figure 1 to Figure 7 The end of the accommodating chamber 72 facing the transmission sleeve 1 is a closed end, and the driving control board 901 is outside the accommodating chamber 72 .

[0092] In the embodiment of the present application, the force sensor 907 is limited to move out of the accommodating cavity 72 from the side of the accommodating cavity 72 away from the transmission sleeve 1 by the radial side wall of the accommodating cavity 72 along the radial side wall of the transmission sleeve 1 and / or the cavity wall of the accommodating cavity 72 away from the transmission sleeve 1, so that the structure for limiting the force sensor 907 from moving out of the side of the accommodating cavity 72 away from the transmission sleeve 1 is mainly on the radial side of the force sensor 907 along the shell assembly 7 or the side of the accommodating cavity 72 away from the transmission sleeve 1, so that the structure for limiting the force sensor 907 from moving out of the side of the accommodating cavity 72 away from the transmission sleeve 1 can utilize part of the space of the mounting arm 902 in the axial direction of the transmission sleeve 1, thereby reducing space occupancy and improving space utilization.

[0093] It is understandable that the structure for limiting the force sensor 907 from being moved out of the accommodating chamber 72 is not limited. Exemplarily, the structure for limiting the force sensor 907 from being moved out of the accommodating chamber 72 is arranged along the axial direction of the transmission sleeve 1 with the mounting arm 902, and the structure for limiting the force sensor 907 from being moved out of the accommodating chamber 72 is connected to the end of the force sensor 907 away from the mounting arm 902.

[0094] In one embodiment, please refer to Figure 1 to Figure 7 The shell assembly 7 includes a shell 73 and an end cover 74. The limiting portion 101 and the heat dissipation surface 71 are formed on the shell 73. The end of the mounting section 23 away from the limiting section 22 extends to the outside of the shell 73. The stator 8, the rotor 9, the transmission sleeve 1, the planetary roller assembly 3, the meshing section 21 and the limiting section 22 are all located in the shell 73. The end cover 74 is connected to the end of the shell 73 away from the transmission sleeve 1. The end cover 74 and the shell 73 are arranged to form the accommodating cavity 72. The end of the end cover 74 away from the shell 73 is formed with an inwardly protruding stopper 741 to inhibit the force sensor 907 from moving out of the accommodating cavity 72 away from the end of the transmission sleeve 1.

[0095] Exemplarily, the housing 73 is detachably connected to the end cover 74 .

[0096] In the embodiment of the present application, the end cover 74 is installed at the end of the shell 73 away from the transmission sleeve 1, and the stop block 741 of the end cover 74 blocks the opening of the accommodating chamber 72 away from the transmission sleeve 1, thereby preventing the force sensor 907 from moving out of the accommodating chamber 72 away from the transmission sleeve 1.

[0097] In one embodiment, please refer to Figure 1 to Figure 7 The housing 73 includes a shell 731 and a sliding bearing 732 installed on the shell 731 , and the limiting portion 101 is formed on the sliding bearing 732 .

[0098] In one embodiment, please refer to Figure 1 to Figure 7The joint driving device further includes a second limiting sleeve 905 and a second bearing 904 mounted on the transmission sleeve 1. The transmission sleeve 1 is formed with a second shaft shoulder 12. The inner ring of the second bearing 904 abuts between the second limiting sleeve 905 and the second shaft shoulder 12. The second limiting sleeve 905 is threadedly connected to the transmission sleeve 1.

[0099] In one embodiment, please refer to Figure 1 to Figure 7 The joint driving device further includes a sealing member 906 sleeved on the sliding bearing 732 , and the second limiting sleeve 905 is sleeved on the sealing member 906 , and the sealing member 906 is in sealing contact with the second limiting sleeve 905 and the sliding bearing 732 respectively.

[0100] In one embodiment, please refer to Figure 1 to Figure 7 The housing 731 includes a first housing 7311731, a second housing 7312731 and a third housing 7313731, and the heat dissipation surface 71 is formed on the first housing 7311731. The second housing 7312731 is connected to one end of the first housing 7311731 facing the force sensor 907, and the third housing 7313731 is connected to one end of the first housing 7311731 facing the sliding bearing 732.

[0101] In one embodiment, please refer to Figure 1 to Figure 7 The bearing seat 6 is partially clamped between the first shell 7311731 and the second shell 7312731.

[0102] In one embodiment, please refer to Figure 1 to Figure 7 , the stator 8 and the rotor 9 are located in the first housing 7311731.

[0103] In one embodiment, please refer to Figure 1 to Figure 7 , the second bearing 904 is located in the first housing 7311731.

[0104] In one embodiment, the mounting arm 902 is a fisheye bearing.

[0105] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A joint driving device, characterized in that: include: A driving body having a limiting portion; A planetary roller screw comprises a transmission sleeve, a transmission shaft and a planetary roller assembly, wherein the transmission sleeve is mounted on the driving body, and the driving body drives the transmission sleeve to rotate so as to drive the planetary roller assembly to follow the transmission shaft and move axially along the transmission shaft, the transmission sleeve has an internal thread, and the transmission shaft comprises an engaging section, a limiting section and a mounting section connected in sequence, and the mounting section extends to the outside of the driving body at one end away from the limiting section, the engaging section has an external thread, and the planetary roller assembly has a transition thread respectively engaged with the internal thread and the external thread, the planetary roller assembly is located on a side of the limiting section away from the mounting section, the engaging section limits the planetary roller assembly to move relative to the engaging section along the axial direction of the mounting section, the limiting section at least partially protrudes from the mounting section along the radial direction of the mounting section, the limiting portion is located on a side of the limiting section facing the mounting section, and the limiting section can move to contact or disengage with the limiting portion.

2. The joint driving device according to claim 1, characterized in that: The limiting section has a limiting boss protruding from the mounting section in a radial direction of the mounting section. The limiting boss is annular in shape and is in contact with or disengaged from the limiting portion.

3. The joint driving device according to claim 2, characterized in that: The limiting boss is in the shape of a circular ring, and the outer diameter of the limiting boss is greater than the diameter of the mounting section.

4. The joint driving device according to any one of claims 1 to 3, characterized in that: The planetary roller screw also includes an end stop assembly located at one end of the meshing section away from the mounting section, the end stop assembly is connected to one end of the transmission sleeve, the end surface of the meshing section facing the end stop assembly is a limiting surface, the planetary roller assembly is located between the limiting surface and the limiting section, and the limiting surface can move to contact or disengage with the end stop assembly.

5. The joint driving device according to claim 4, characterized in that: The joint drive device further comprises a first bearing, the transmission sleeve has a first shaft shoulder, and the end stop assembly comprises: An end plate is mounted on one end of the transmission sleeve, the planetary roller assembly is located between the end plate and the limiting section, and the limiting surface can move to contact or disengage with the end plate; The first limiting sleeve is threadedly connected to one end of the transmission sleeve toward the end plate, and the end plate at least partially abuts against the first limiting sleeve and the transmission sleeve along the axial direction of the transmission sleeve, and both sides of the inner ring of the first bearing abut against the first limiting sleeve and the first shaft shoulder respectively.

6. The joint driving device according to claim 5, characterized in that: The joint driving device further comprises a bearing seat detachably mounted on the driving body, wherein the bearing seat surrounds the first bearing, and an outer ring of the first bearing is mounted on the bearing seat.

7. The joint driving device according to any one of claims 1 to 3, characterized in that: The driving body comprises: A shell assembly, wherein the limiting portion is formed on the shell assembly, the outer surface of the shell assembly comprises a heat dissipation surface with varying concave and convex shapes, the end of the mounting section away from the limiting section extends to the outside of the shell assembly, and the transmission sleeve, the planetary roller assembly, the meshing section and the limiting section are all located in the shell assembly; A stator is installed inside the shell assembly, and the stator contacts an inner surface corresponding to the heat dissipation surface of the shell assembly; The rotor is installed on the transmission sleeve. The rotor is located in the shell assembly. The stator is used to drive the rotor to rotate so as to drive the transmission sleeve to rotate.

8. The joint driving device according to claim 7, characterized in that: The joint driving device also includes a driving control board installed in the shell component, the driving control board is used to control the stator to drive the rotor to rotate, the driving control board includes a power device, and the power device is in contact with the inner surface of the shell component.

9. The joint driving device according to claim 7, characterized in that: An accommodating cavity is formed at one end of the shell assembly facing away from the mounting section, and the joint drive device also includes a mounting arm and a force sensor at least partially located in the accommodating cavity. The radial side wall of the accommodating cavity along the transmission sleeve and / or the cavity wall of the accommodating cavity facing away from the transmission sleeve restricts the force sensor from moving out of the accommodating cavity from the side of the accommodating cavity facing away from the transmission sleeve. The force sensor is sleeved on the mounting arm, and the mounting arm at least partially extends outside the accommodating cavity along one end of the force sensor facing away from the transmission sleeve.

10. The joint driving device according to claim 9, characterized in that: The shell assembly comprises: A housing, the limiting portion and the heat dissipation surface are formed in the housing, one end of the mounting section away from the limiting section extends outside the housing, and the stator, the rotor, the transmission sleeve, the planetary roller assembly, the meshing section and the limiting section are all located in the housing; An end cover is connected to one end of the shell away from the transmission sleeve, and the end cover and the shell are arranged to form the accommodating cavity. An inwardly protruding stop block is formed at the end of the end cover away from the shell to inhibit the force sensor from moving out of the accommodating cavity away from the transmission sleeve.

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