Planetary roller screw for industrial robot

Abstract

The invention relates to the field of robot production parts, in particular to a planetary roller screw for an industrial robot, which comprises a nut main body, threads are processed in the nut main body, gear discs are respectively arranged on two sides of the nut main body, the gear discs are fixedly connected with the nut main body, and an oil thread roller is arranged in the nut main body. A plurality of threaded pin rollers are evenly arranged in the circumferential direction of the nut body, planetary gears are fixedly installed at the two ends of each threaded pin roller respectively, the planetary gears are meshed with the inner side of the gear disc, threads on the threaded pin rollers are meshed with threads on the nut body, and the gear disc is coaxially and rotationally connected with an oil planetary disc frame. And a screw rod in which oil is meshed with the threaded roller is arranged in the middle of the nut body, and an oil filtering device is arranged in the nut body, so that the problem that in the prior art, a planetary roller screw cannot treat metal chippings, and consequently abrasion of internal parts is aggravated can be solved.

Description

Technical Field

[0001] The present invention relates to the field of robot production parts, and in particular to a planetary roller screw used on an industrial robot. Background Art

[0002] Industrial robots play a vital role in modern manufacturing. They have the characteristics of high speed, high precision and high stability, and can perform production operations continuously and for a long time, thereby greatly improving production efficiency. Planetary roller screws are widely used in industrial robots. They have the characteristics of high precision, high bearing capacity, long life and small size.

[0003] The planetary roller screw is mainly composed of a screw, a nut, planetary rollers and an inner gear ring retainer. During the operation of the planetary roller screw, the gears fixed at both ends of the planetary roller will engage with the inner gear ring on the nut. At the same time, a threaded connection will be formed between the planetary roller and the screw, and a threaded connection will also be formed between the planetary roller and the nut. In this process, metal debris will be generated in the initial running-in stage and after a long period of operation. Traditional planetary roller screws cannot process these metal debris. The metal debris stays on the surface of the planetary roller and the screw, which will affect the accuracy of the planetary roller screw operation and accelerate the wear of the internal parts of the planetary roller screw. Summary of the Invention

[0004] The present invention provides a planetary roller screw for an industrial robot, which can solve the problem in the prior art that the planetary roller screw cannot process metal debris, thereby causing increased wear of internal parts.

[0005] The present invention provides a planetary roller screw for an industrial robot, comprising:

[0006] A nut body, wherein the interior of the nut body is processed with threads;

[0007] A gear plate, one of which is provided on each side of the nut body, and is fixedly connected to the nut body;

[0008] Threaded rollers, the threaded rollers are arranged in the nut body, and a plurality of threaded rollers are evenly arranged along the circumference of the nut body. A planetary gear is fixedly installed at each end of the threaded rollers, the planetary gears are meshed with the inner side of the gear plate, and the threads on the threaded rollers are meshed with the threads on the nut body;

[0009] A planetary disc carrier, the planetary disc carrier is coaxial with the gear disc, the planetary disc carrier is rotatably connected to the nut body, and the planetary disc carrier is rotatably connected to all the threaded rollers;

[0010] A screw rod passing through all the threaded rollers and being threadedly connected to the threaded rollers;

[0011] A filter device is provided in the nut body.

[0012] Preferably, an oil sealing screw sleeve is rotatably connected to the planetary disc frame, and the oil sealing screw sleeve is threadedly connected to the screw rod.

[0013] Preferably, the filtering device includes a filter drive gear, a filter screw and a filter mechanism, the filter drive gear is rotatably connected to the nut body, the edge of the planetary disc frame is processed with teeth, the filter drive gear is engaged with the edge of the planetary disc frame, an extrusion groove is opened in the side wall of the nut body along the axial direction of the nut body, a filter screw is rotatably connected in the extrusion groove, a spiral blade is fixedly installed on the filter screw, a filter groove is also opened in the nut body, a filter mechanism is set in the filter groove, a first oil groove is opened between the extrusion groove and the middle position of the nut body, a second oil groove is opened between the filter groove and the middle position of the nut body, and the filter groove and the extrusion groove are connected through a third oil groove.

[0014] Preferably, the filter groove is an annular groove that rotates around the nut body, and multiple layers of annular filter screens are fixedly installed side by side in the filter groove along the axial direction of the nut body.

[0015] Preferably, a filter cleaning mechanism is provided in the filter tank, and the filter cleaning mechanism includes a first filter cleaning gear, a revolving gear and a scraper rod. The revolving gear is rotatably connected in the filter tank, the first filter cleaning gear is coaxially fixedly connected to the filter screw, the first filter cleaning gear is meshed with the revolving gear, and a scraper rod is fixedly connected to the revolving gear, and the scraper rod is in contact with the filter.

[0016] Preferably, the filter groove is an arc shape surrounding the central axis of the nut body, and the filter mechanism includes a filter insert block, which is fixedly inserted into the filter groove. The middle of the filter insert block is hollow, and a plurality of filter retracting and releasing mechanisms are arranged in the middle of the filter insert block.

[0017] Preferably, the filter retracting and releasing mechanism includes a filter retracting and releasing roller and an unfolding filter. The filter retracting and releasing rollers are provided in multiple groups, and each group of filter retracting and releasing rollers includes two filter retracting and releasing rollers symmetrically mounted on both sides of the filter insertion block, and the two filter retracting and releasing rollers are connected by unfolding the filter. The filter insertion block is rotatably connected to a driving roller at one end close to the central axis of the nut body, and all the driving rollers and the filter retracting and releasing rollers are connected by belts. The filter screw is coaxially fixedly connected to a second filter cleaning gear, and the drive roller is coaxially fixedly connected to a filter unfolding gear, and the filter unfolding gear and the second filter cleaning gear are meshed.

[0018] Preferably, the threaded mother body is provided with an oil blocking mechanism at positions corresponding to the first oil groove and the second oil groove, and the oil blocking mechanism includes an oil blocking slide plate, and the oil blocking slide plate is slidably connected to the threaded body, and the oil blocking slide plate is provided with oil holes corresponding to the first oil groove and the second oil groove, and an adjusting screw is rotatably connected to the nut body, and the adjusting screw is threadedly connected to the oil blocking slide plate.

[0019] Preferably, the filter tank is cylindrical, and the filter mechanism includes a filter frame, on which a plurality of coaxial filter mounting rings are coaxially fixedly mounted, and the filter mounting rings are fixedly mounted with filters.

[0020] Preferably, except for the filter screen on the innermost filter screen mounting ring, the remaining filter screens are provided with holes and slots.

[0021] Beneficial effects:

[0022] 1. The present invention fills the filter tank and the chamber formed between the nut body and the screw with lubricating oil by rotating the filter screw. During the operation of the planetary roller screw, the screw and the threaded roller are meshed, and the threaded roller rotates circumferentially around the planetary roller screw, thereby driving the rotation of the planetary disc carrier. During the rotation of the planetary disc carrier, it is meshed with the filter drive gear, causing the filter drive gear to rotate. The filter drive gear drives the rotation of the filter screw. The spiral blades on the filter screw push the lubricating oil so that the lubricating oil enters the filter tank through the third oil groove. The lubricating oil then passes through the second oil groove to squeeze the lubricating oil from the filter groove into the cavity between the screw rod and the nut body. The lubricating oil then passes through the first oil groove to transfer the lubricating oil from the cavity between the screw rod and the nut body to the extrusion groove. In this process, the lubricating oil will bring metal debris from the cavity formed between the screw rod and the nut body into the filter groove, and filter the metal debris through the filter mechanism, effectively preventing the metal debris from staying on the surface of the planetary roller and screw, which will affect the accuracy of the planetary roller screw operation and reduce the wear of the internal parts of the planetary roller screw.

[0023] 2. The present invention drives the second filter cleaning gear to rotate through the filter screw, and the second filter cleaning gear engages with the filter expansion gear. The filter expansion gear drives the rotation of the drive roller, and the drive roller drives all the filter retracting rollers to rotate through the belt. The filter retracting roller drives the filter to be retracted. At the same time, the filter has a certain elasticity, so that a longer filter can participate in the filtration of metal debris, thereby increasing the service life and filtering effect of the filter.

[0024] 3. The present invention connects the third oil trough to the position outside the filter frame in the filter tank, and connects the second oil trough to the middle position of the filter frame. The oil passes through the multi-layer filter screen from the outside of the filter frame, thereby filtering the metal debris. The above-mentioned filtering method can effectively reduce the space occupied by the filter mechanism while achieving good filtering effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic cross-sectional view of the first embodiment of the present invention;

[0027] Figure 3 for Figure 2 A schematic diagram of the partially enlarged structure at center A;

[0028] Figure 4 for Figure 2 A schematic diagram of the partially enlarged structure at point B in the middle;

[0029] Figure 5 This is a schematic cross-sectional view of the second embodiment of the present invention;

[0030] Figure 6 for Figure 5 Schematic diagram of the local enlarged structure at C;

[0031] Figure 7 Schematic diagram of the filter retracting and extending mechanism of the present invention;

[0032] Figure 8 This is a structural diagram of the filter retracting and extending mechanism of the present invention from another perspective;

[0033] Figure 9 This is a schematic cross-sectional view of the third embodiment of the present invention;

[0034] Figure 10 for Figure 9 The schematic diagram of the local enlarged structure at D in the middle;

[0035] Figure 11 It is a structural schematic diagram of the oil blocking mechanism in the present invention.

[0036] Description of reference numerals:

[0037] 1. Nut body; 11. Squeeze-in groove; 3. Threaded roller; 31. Planetary gear; 4. Planetary disc carrier; 41. Oil-sealing screw; 5. Screw; 6. Filter device; 61. Filter drive gear; 62. Filter screw; 621. Spiral blade; 63. Filter mechanism; 631. Filter insert; 632. Filter retraction mechanism; 6321. Filter retraction roller; 6322. Filter expansion; 6323. Drive roller. 6324, second filter cleaning gear; 6325, filter expansion gear; 633, filter frame; 634, filter mounting ring; 64, first oil trough; 65, second oil trough; 66, third oil trough; 67, filter trough; 7, filter cleaning mechanism; 71, first filter cleaning gear; 72, revolving gear; 73, scraper rod; 8, oil blocking mechanism; 81, oil blocking slide plate; 811, oil hole; 82, adjusting screw. DETAILED DESCRIPTION

[0038] The specific embodiments of the present invention are described in detail below, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0039] Example 1:

[0040] like Figures 1 to 11 As shown, a planetary roller screw for an industrial robot comprises:

[0041] A nut body 1, wherein the interior of the nut body 1 is threaded;

[0042] A gear plate 2 is provided on each side of the nut body 1, and the gear plate 2 is fixedly connected to the nut body 1;

[0043] Threaded rollers 3, which are disposed within the nut body 1. A plurality of threaded rollers 3 are evenly disposed along the circumference of the nut body 1. A planetary gear 31 is fixedly mounted at each end of the threaded rollers 3. The planetary gear 31 meshes with the inner side of the gear plate 2. The threads on the threaded rollers 3 mesh with the threads on the nut body 1.

[0044] A planetary disc carrier 4, the planetary disc carrier 4 is coaxial with the gear disc 2, the planetary disc carrier 4 is rotatably connected to the nut body 1, and the planetary disc carrier 4 is rotatably connected to all the threaded rollers 3;

[0045] a screw rod 5 passing through all the threaded rollers 3 and being threadedly connected to the threaded rollers 3;

[0046] The filter device 6 is provided in the nut body 1 .

[0047] It should be noted that during the operation of the planetary roller screw, the motor drives the rotation of the screw 5, and the threaded roller 3 rolls between the nut body 1 and the screw. At the same time, the threaded roller 3 will be threadedly connected to the nut body 1. The nut body 1 is usually fixedly connected to the load end, and it itself usually does not rotate but moves along the axial direction of the screw 5. At the same time, the planetary gear 31 will mesh with the gear disk 2 and be fixedly mounted on the planetary disk frame 4, thereby ensuring the position of each threaded roller 3 in the process of meshing with the screw 5 and the nut body 1. Lubricating oil will be added to the filter device 6. During the operation of the planetary roller screw, the oil will circulate between the chamber between the screw 5 and the nut body 1 and the filter device 6, and filter out metal debris in the filter device 6, effectively preventing metal debris from staying on the surface of the planetary roller and the screw, which will affect the accuracy of the planetary roller screw operation and reduce the wear of the internal parts of the planetary roller screw.

[0048] An oil sealing screw sleeve 41 is rotatably connected to the planetary disc frame 4 , and the oil sealing screw sleeve 41 is threadedly connected to the screw rod 5 .

[0049] The oil sealing screw sleeve 41 can seal the oil to prevent excessive oil leakage during the process of processing metal chips through oil circulation.

[0050] Example 2:

[0051] like Figures 1 to 11 As shown, the filtering device 6 includes a filter drive gear 61, a filter screw 62 and a filter mechanism 63. The filter drive gear 61 is rotatably connected to the nut body 1. The edge of the planetary disc frame 4 is processed with teeth, and the filter drive gear 61 is engaged with the edge of the planetary disc frame 4. An extrusion groove 11 is provided in the side wall of the nut body 1 along the axial direction of the nut body 1. The filter screw 62 is rotatably connected in the extrusion groove 11, and a spiral blade 621 is fixedly mounted on the filter screw 62. A filter groove 62 is also provided in the nut body 1, and a filter mechanism 63 is provided in the filter groove 62. A first oil groove 64 is provided between the extrusion groove 11 and the middle position of the nut body 1. A second oil groove 65 is also provided between the filter groove 62 and the middle position of the nut body 1. The filter groove 62 is connected to the extrusion groove 11 through a third oil groove 66.

[0052] It should be noted that a nozzle communicating with the extrusion groove 11 is provided on the nut body 1, and lubricating oil can be added to the extrusion groove 11 through the nozzle, and the lubricating oil is filled into the filter groove 62 and the chamber formed between the nut body 1 and the screw rod 5 by the rotation of the filter screw 62. During the operation of the planetary roller screw, the screw rod 5 will mesh with the threaded roller 3, and the threaded roller 3 will rotate circumferentially around the planetary roller screw, thereby driving the rotation of the planetary disc carrier 4. During the rotation, the planetary disc carrier 4 will mesh with the filter drive gear 61, thereby causing the filter drive gear 61 to rotate, and the filter drive gear 61 will drive As the filter screw 62 rotates, the spiral blades 621 on the filter screw 62 push the lubricating oil so that the lubricating oil enters the filter tank 62 through the third oil groove 66. The lubricating oil then squeezes the lubricating oil from the filter tank 62 into the chamber between the screw rod 5 and the nut body 1 through the second oil groove 65. Thereafter, the lubricating oil transfers the lubricating oil from the chamber between the screw rod 5 and the nut body 1 to the extrusion groove 11 through the first oil groove 64. During this process, the lubricating oil will bring metal debris from the chamber formed between the screw rod 5 and the nut body 1 into the filter tank 62, and filter the metal debris through the filter mechanism 63.

[0053] like Figures 1 to 4 As shown, the filter groove 62 is an annular groove that rotates around the nut body 1. Multiple layers of annular filter screens are fixedly installed side by side in the filter groove 62 along the axial direction of the nut body 1.

[0054] It should be noted that when the metal debris in the lubricating oil is filtered through the filter mechanism 63, the lubricating oil enters the filter tank 62 through the third oil groove 66, and the metal debris in the lubricating oil can be effectively filtered through the multi-layer replacement filter.

[0055] like Figures 1 to 4 As shown, a filter cleaning mechanism 7 is provided in the filter tank 62, and the filter cleaning mechanism 7 includes a first filter cleaning gear 71, a revolving gear 72 and a scraper rod 73. The revolving gear 72 is rotatably connected in the filter tank 62, and the first filter cleaning gear 71 is coaxially fixedly connected to the filter screw 62. The first filter cleaning gear 71 is meshed with the revolving gear 72, and a scraper rod 73 is fixedly connected to the revolving gear 72, and the scraper rod 73 is in contact with the filter.

[0056] It should be noted that during the rotation of the filter screw 62, the filter screw 62 will drive the rotation of the first filter cleaning gear 71, and the first filter cleaning gear 71 will engage with the epicyclic gear 72 to rotate the epicyclic gear 72. During the rotation, the epicyclic gear 72 will drive the scraper rod 73 to scrape the surface of the filter, thereby preventing metal debris from accumulating in a certain place of the filter, so that the filter maintains a better filtering effect.

[0057] like Figure 1 、 Figures 5 to 8 As shown, the filter groove 62 is an arc shape surrounding the central axis of the nut body 1, and the filter mechanism 63 includes a filter insertion block 631, which is fixedly inserted into the filter groove 62. The middle of the filter insertion block 631 is hollow, and a plurality of filter retracting mechanisms 632 are set in the middle of the filter insertion block 631.

[0058] like Figure 1 、 Figures 5 to 8 As shown, the filter retracting mechanism 632 includes a filter retracting roller 6321 and an unfolded filter 6322. The filter retracting roller 6321 is provided with multiple groups, and each group of filter retracting rollers 6321 includes two filter retracting rollers 6321 symmetrically rotatably mounted on both sides of the filter insertion block 631, and the two filter retracting rollers 6321 are connected by the unfolded filter 6322. The filter insertion block 631 is rotatably connected to the drive roller 6323 at one end close to the central axis of the nut body 1, and all the drive rollers 6323 and the filter retracting roller 6321 are connected by belts. The filter screw 62 is coaxially fixedly connected to the second filter cleaning gear 6324, and the drive roller 6323 is coaxially fixedly connected to the filter unfolding gear 6325. The filter unfolding gear 6325 and the second filter cleaning gear 6324 are meshed.

[0059] It should be noted that in the process of filtering metal debris, the lubricating oil enters the filter tank 62 from the third oil groove 66 and passes through the filter screen between the multiple groups of filter screen retracting and releasing rollers 6321, thereby filtering the metal debris. At the same time, in this process, the filter screw 62 will drive the second filter screen cleaning gear 6324 to rotate, and the second filter screen cleaning gear 6324 will engage with the filter screen unfolding gear 6325. The filter screen unfolding gear 6325 will drive the driving roller 6323 to rotate, and the driving roller 6323 will drive all the filter screen retracting and releasing rollers 6321 to rotate through the belt. The filter screen retracting and releasing rollers 6321 will drive the filter screen to reel up. At the same time, the filter screen has a certain elasticity, so that a longer filter screen can participate in the filtering of metal debris, thereby increasing the service life and filtering effect of the filter screen. At the same time, the filter screen insertion block 631 is fixedly installed in the filter tank 62 by bolts, which can easily replace the filter mechanism 63.

[0060] like Figure 11As shown, the threaded mother body is provided with an oil blocking mechanism 8 at positions corresponding to the first oil groove 64 and the second oil groove 65. The oil blocking mechanism 8 includes an oil blocking slide 81, and the oil blocking slide 81 is slidably connected to the threaded body 1. The oil blocking slide 81 is provided with oil holes 811 corresponding to the first oil groove 64 and the second oil groove 65. An adjusting screw 82 is rotatably connected to the nut body 1, and the adjusting screw 82 is threadedly connected to the oil blocking slide 81.

[0061] It should be noted that when there is no need to process the metal debris or lubricate the mechanism in the planetary roller screw, by rotating the adjusting screw 82, the adjusting screw 82 is threadedly connected to the oil blocking slide 81 so that the oil hole 811 and the first oil groove 64 and the second oil groove 65 are staggered with each other, thereby achieving the blocking of the oil circuit.

[0062] Example 3:

[0063] like Figure 9 and Figure 10 As shown, the filter tank 62 is cylindrical, and the filter mechanism 63 includes a filter frame 633 , on which a plurality of coaxial filter mounting rings 634 are coaxially fixedly mounted, and the filter mounting rings 634 are fixedly mounted with filters.

[0064] It should be noted that in the process of filtering metal debris through the filter mechanism 63, the third oil groove 66 is connected to the position of the filter groove 62 located outside the filter frame 633, and the second oil groove 65 is connected to the middle position of the filter frame 633. The oil passes through the multiple layers of filter screens from the outside of the filter frame 633 to filter the metal debris. The above-mentioned filtering method can effectively reduce the space occupied by the filter mechanism 63 while achieving a good filtering effect.

[0065] like Figure 9 and Figure 10 As shown, except for the filter screen on the innermost filter screen mounting ring 634, the remaining filter screens are all provided with holes and slots.

[0066] In this way, even if the filtering effect of the outer filter is reduced after a long period of filtration, it will not affect the filtering effect of the inner filter.

[0067] The above disclosures are only a few specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. A planetary roller screw for an industrial robot, characterized in that: include: A nut body (1), wherein the interior of the nut body (1) is processed with threads; A gear plate (2), one gear plate (2) is provided on each side of the nut body (1), and the gear plate (2) is fixedly connected to the nut body (1); A threaded roller (3), the threaded roller (3) being arranged in the nut body (1), a plurality of the threaded rollers (3) being evenly arranged along the circumference of the nut body (1), a planetary gear (31) being fixedly mounted at each end of the threaded roller (3), the planetary gear (31) being meshed with the inner side of the gear plate (2), and the threads on the threaded roller (3) being meshed with the threads on the nut body (1); A planetary disc carrier (4), the planetary disc carrier (4) and the gear disc (2) are coaxial, the planetary disc carrier (4) is rotatably connected to the nut body (1), and the planetary disc carrier (4) is rotatably connected to all the threaded rollers (3); a screw rod (5), the screw rod (5) passing through all the threaded rollers (3) and being threadedly connected to the threaded rollers (3); A filter device (6) is provided in the nut body (1).

2. A planetary roller screw for an industrial robot according to claim 1, characterized in that: An oil sealing screw sleeve (41) is rotatably connected to the planetary disc frame (4), and the oil sealing screw sleeve (41) is threadedly connected to the screw rod (5).

3. A planetary roller screw for an industrial robot according to claim 1, characterized in that: The filtering device (6) comprises a filtering drive gear (61), a filtering screw (62) and a filter screen mechanism (63); the filtering drive gear (61) is rotatably connected to the nut body (1); the edge of the planetary disc frame (4) is processed with teeth; the filtering drive gear (61) is meshed with the edge of the planetary disc frame (4); an extrusion groove (11) is provided in the side wall of the nut body (1) along the axial direction of the nut body (1); the filtering screw (62) is rotatably connected to the extrusion groove (11); A spiral blade (621) is fixedly mounted on the filter screw (62). A filter groove (67) is further provided in the nut body (1). A filter screen mechanism (63) is provided in the filter groove (67). A first oil passage groove (64) is provided between the extrusion groove (11) and the middle position of the nut body (1). A second oil passage groove (65) is also provided between the filter groove (67) and the middle position of the nut body (1). The filter groove (67) and the extrusion groove (11) are connected via a third oil passage groove (66).

4. A planetary roller screw for an industrial robot according to claim 3, characterized in that: The filter groove (67) is an annular groove that rotates around the nut body (1) for one circle. Multiple layers of annular filter screens are fixedly installed side by side in the filter groove (67) along the axial direction of the nut body (1).

5. The planetary roller screw for an industrial robot according to claim 4, characterized in that: A filter screen cleaning mechanism (7) is provided in the filter tank (67), and the filter screen cleaning mechanism (7) comprises a first filter screen cleaning gear (71), a revolving gear (72) and a scraper (73). The revolving gear (72) is rotatably connected to the filter tank (67), the first filter screen cleaning gear (71) is coaxially fixedly connected to the filter screw (62), the first filter screen cleaning gear (71) is meshed with the revolving gear (72), and the revolving gear (72) is fixedly connected to the scraper (73), and the scraper (73) is in contact with the filter screen.

6. The planetary roller screw for an industrial robot according to claim 3, characterized in that: The filter groove (67) is arc-shaped and surrounds the central axis of the nut body (1). The filter mechanism (63) includes a filter insert block (631). The filter insert block (631) is fixedly inserted into the filter groove (67). The middle of the filter insert block (631) is hollow. A plurality of filter retracting and releasing mechanisms (632) are arranged in the middle of the filter insert block (631).

7. A planetary roller screw for an industrial robot according to claim 6, characterized in that: The filter retracting and releasing mechanism (632) includes a filter retracting and releasing roller (6321) and an unfolded filter (6322). The filter retracting and releasing roller (6321) is provided in multiple groups. Each group of filter retracting and releasing rollers (6321) includes two filter retracting and releasing rollers (6321) symmetrically mounted on both sides of the filter insert block (631). The two filter retracting and releasing rollers (6321) are connected by the unfolded filter (6322). The filter insert block (631) is close to the main nut. One end of the central axis of the body (1) is rotatably connected to a driving roller (6323), and all the driving rollers (6323) and the filter retracting and unfolding roller (6321) are connected via belts. The filter screw (62) is coaxially fixedly connected to a second filter cleaning gear (6324), and the driving roller (6323) is coaxially fixedly connected to a filter unfolding gear (6325), and the filter unfolding gear (6325) and the second filter cleaning gear (6324) are meshed.

8. The planetary roller screw for an industrial robot according to claim 3, characterized in that: The threaded mother body is provided with an oil blocking mechanism (8) at positions corresponding to the first oil groove (64) and the second oil groove (65). The oil blocking mechanism (8) includes an oil blocking slide plate (81). The oil blocking slide plate (81) is slidably connected to the threaded body (1). The oil blocking slide plate (81) is provided with oil holes (811) corresponding to the first oil groove (64) and the second oil groove (65). The nut body (1) is rotatably connected with an adjusting screw (82), and the adjusting screw (82) is threadedly connected to the oil blocking slide plate (81).

9. The planetary roller screw for an industrial robot according to claim 3, characterized in that: The filter tank (67) is cylindrical, and the filter mechanism (63) comprises a filter frame (633). A plurality of coaxial filter mounting rings (634) are coaxially fixedly mounted on the filter frame (633), and a filter is fixedly mounted on the filter mounting ring (634).

10. The planetary roller screw for an industrial robot according to claim 9, characterized in that: Except for the filter screen on the innermost filter screen mounting ring (634), the remaining filter screens are all provided with holes and slots.

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