A driving structure for robot compound motion and a robot

Abstract

The application belongs to the technical field of robots, and particularly relates to a driving structure for robot composite motion and a robot. The application provides a driving structure for robot composite motion and a robot, which are characterized by the following: 1. The application only needs a single driving element to realize bidirectional positioning precision control of linear motion and rotation, thereby improving positioning precision and operation efficiency, reducing space occupation, response speed, and dependence on coordination between multiple structures, and being more suitable for working conditions such as high-frequency fine adjustment, narrow operation, and pose adjustment; 2. The linear motion and the rotary motion of the roller screw are relatively independent under the action of the single driving element, thereby solving the disadvantage that multiple motions cannot be controlled independently.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a driving structure for robot compound movement and a robot. BACKGROUND

[0002] With the popularization of robots in medical, warehouse, service and other fields, the requirements for robot driving structures are also becoming higher and higher. The driving structure needs to meet the requirements of high precision, high performance, compactness, high dynamic response and adaptability to operation scenarios. The robot driving structure in the medical field needs to realize the functions of linear propulsion and end rotation fine adjustment in a limited human body cavity. In the service robot field, the execution precision and linkage of the driving structure are relatively high. It not only needs to meet the avoidance demand of retraction after collision, but also needs to adapt to the pose deviation that may occur in high dynamic motion. These have high requirements for the precision, efficiency, performance and scenario adaptability of the robot driving structure.

[0003] The traditional robot driving structure is mostly realized by the series connection of a "linear + rotation" double driving structure in the medical field to achieve the purpose of needle puncture and angle adjustment. In the service robot field, the driving structure mostly directly adopts the emergency stop strategy after collision, and lacks the ability of active fine adjustment to meet the avoidance and pose deviation requirements. Therefore, the existing driving structure is difficult to cope with the operation adaptation of complex scenarios under the same driving effect, and the control effect of the driving structure on the high-precision fine adjustment function is not good.

[0004] For example, a Chinese invention patent with the patent publication number CN119927891A and the publication date of May 6, 2025 discloses a linear joint and a humanoid robot. The structure includes a motor assembly, a ball screw pair, a push rod assembly and a joint shell. The motor assembly and the ball screw pair are arranged in the joint shell. The screw rod in the ball screw pair is placed in the cavity of the rotor back iron of the motor assembly, and an internal circulation type screw nut is placed on the screw rod. The internal circulation type screw nut is connected with the rotor back iron to form a rolling body. The screw rod is connected with the push rod assembly. The rotor back iron is used to drive the screw nut to rotate. The rotation of the screw nut drives the screw rod to move axially. The screw rod is used to drive the push rod assembly to move linearly.

[0005] The linear joint in the invention patent has the following general structure principle: when the motor assembly is energized, the rotor generates a rotary torque. This torque is transmitted to the internal circulation type screw nut through the rotor back iron. The internal circulation type screw nut starts to rotate under the drive of the rotor. The internal ball bearings cooperate with the helical grooves of the screw rod to convert the rotary motion into the axial movement of the screw rod. In the process of axial movement, the screw rod transmits the motion to the push rod assembly. The push rod assembly moves linearly, realizing the extension or retraction of the joint.

[0006] However, the linear joint has at least the following two deficiencies in actual use, in other words, the technical problems to be solved by the present application: 1. The rotation torque of the linear joint can only meet the linear motion requirement of the screw rod, lacks active fine adjustment capability, and if additional rotation driving structure is added, needs to be controlled in zones and has low rotation precision; 2. Lack of narrow space coping strategy, poor work scene adaptability, and unable to meet the driving requirement in narrow space.

[0007] Therefore, as described above, there is an urgent need for a new robot composite motion driving structure and robot with high-precision active fine adjustment control function and strong work scene adaptability. SUMMARY

[0008] The present application provides a robot composite motion driving structure and robot, which is characterized by setting a shell assembly, a rod end bearing, a motor, a driving piece, a guide block and a screw pair, so that: 1. The present application can realize bidirectional positioning precision control of linear + rotation only by a single driving piece, improves positioning precision and operation efficiency, reduces space occupation, response speed and dependence on coordination between multiple structures, and is more suitable for high-frequency fine adjustment, narrow work and pose adjustment and other working conditions; 2. The linear motion and rotation motion of the roller screw are relatively independent under the action of the single driving piece, solving the disadvantage of multiple motions that cannot be controlled independently.

[0009] The application solves the above problems by adopting the technical scheme of a driving structure for robot compound movement, comprising: a shell assembly, comprising a shell, end covers arranged at both ends of the shell, an assembly cavity arranged inside the shell, and an end cover opening arranged on the end cover; a rod end bearing, comprising a movable rod end bearing and a fixed rod end bearing arranged on the two end covers respectively; a motor, comprising a stator and a rotor arranged inside the shell; a driving part, comprising an encoder, a sensor, and a driver arranged integrally inside the shell, the driving part being used to drive the rotor to rotate; a guide block, comprising a block arranged on the inner side of the end cover, a cylindrical through hole arranged through the block, a straight line guide groove, an annular groove, and a limiting stopper arranged in sequence on the inner wall of the cylindrical through hole, the limiting stopper being arranged close to the end cover opening, and the straight line guide groove extending from the side end face of the block to the annular groove and being communicated with the annular groove; a screw rod pair, comprising a roller nut rotatably arranged inside the shell and fixedly connected with the rotor, and a roller screw rod screwedly arranged inside the roller nut and passing through the end cover opening, the roller screw rod being provided with a threaded section, a first execution section, a second execution section, and an extension section used to mount the movable rod end bearing in sequence, the threaded section being screwedly connected with the roller nut, the first execution section being provided with a protrusion, the extension section being limited by the limiting stopper when located in the cylindrical through hole to prevent the extension section from rotating in the cylindrical through hole, the second execution section being shaped to avoid the limiting stopper to be arranged so that the extension section rotates when located outside the cylindrical through hole, and the protrusion sliding in the straight line guide groove / annular groove under the action of the driving part to switch the linear / rotary movement state of the roller screw rod.

[0010] Further preferred technical scheme is that the protrusion is arranged close to the second execution section, the length of the first execution section is a, the length of the second execution section is b, the length of the straight line guide groove is L1, the length of the annular groove is L2, the length of the limiting stopper is L3, and the radial depth length of the end cover opening is L4, and L1=L3, b=L3+L4, and a≥L1+L2 are met.

[0011] Further preferred technical scheme is that the annular groove comprises a first annular groove used to accommodate the rotary movement of the protrusion, and the length of the first annular groove is matched with the length of the protrusion.

[0012] Further preferred technical scheme is that the annular groove further comprises a second annular groove arranged at the side end of the first annular groove, used for linear movement and rotary reset of the protrusion.

[0013] Further preferred technical scheme is that the diameter of the cylindrical through hole is D1, the diameter of the threaded section is D2, and the diameter of the first execution section is D3, and D2>D1≥D3 are met.

[0014] Further preferred technical solutions are that the central angle of the annular groove is 15-45 degrees.

[0015] Further preferred technical solutions are that the annular groove is connected with the tail end of the linear guide groove to form an L-shaped guide groove for the movement of the protrusion.

[0016] Further preferred technical solutions are that the limiting block is a cylinder with a circular arc cross section, which is oppositely arranged on the inner wall of the cylindrical through hole, and the arc surface thereof is attached to the inner wall of the cylindrical through hole.

[0017] A robot comprising the driving structure for robot compound movement as described in any one of the above.

[0018] The technical effects and advantages of the present application are: 1. The linear + rotary bidirectional positioning precision control is realized by the form of a single driving element, which improves the positioning precision and operation efficiency, reduces the space occupation, response speed, and the dependence of coordination between multiple structures, and is more suitable for high-frequency fine adjustment, narrow operation, and pose adjustment; 2. The linear motion and rotary motion of the roller screw are relatively independent under the action of the single driving element, which solves the disadvantage of multiple motions that cannot be controlled independently; 3. The power transmission structure is reduced, and the energy transmission loss caused by intermediate transmission is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is the front view of the initial state of the present application.

[0021] Figure 2 is the front view of the active fine adjustment state of the present application.

[0022] Figure 3 is the right view when the guide block and the roller screw are connected in the present application.

[0023] Figure 4 is the perspective view of the guide block in the present application.

[0024] Figure 5 is the position profile view of the guide block in the present application.

[0025] Figure 6 is the top view of the guide block in the present application.

[0026] Figure 7 It is a perspective view of the roller screw in the present application.

[0027] Figure 8 It is a structural schematic view of the roller screw in the present application.

[0028] Figure 9 It is a perspective view of the present application.

[0029] In the figure, the meaning of each mark is as follows:

[0030] Housing assembly 1, rod end bearing 2, motor 3, driving member 4, guide block 5, screw pair 6;

[0031] Housing 11, end cover 12, end cover port 13, first bearing 14, second bearing 15, movable rod end bearing 21, fixed rod end bearing 22, stator 31, rotor 32, block 51, cylindrical through hole 52, linear guide groove 53, annular groove 54, limiting stopper 55, roller nut 61, roller screw 62, protruding block 63;

[0032] Driver cover 111, bearing fixing seat 112, encoder fixing seat 113, cylinder 114, first annular groove 541, second annular groove 542, threaded section 621, first execution section 622, second execution section 623, protruding section 624, threaded socket 625. DETAILED DESCRIPTION

[0033] The embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following description is merely the preferred embodiments of the present application and is not intended to limit the scope of the present application.

[0034] In the present specification, the orientation terms such as up, down, left, right, front, back, front face, back face, top, bottom, etc. are defined with respect to the configuration shown in the drawings, and the words "inner" and "outer" refer to the direction toward or away from the geometric center of a particular component, which are relative concepts, so they can change accordingly according to different positions, different use states, etc. Therefore, these or other orientation terms should not be interpreted as limiting terms.

[0035] As shown in the accompanying drawings, Figures 1-9As shown, a driving structure for robot compound motion comprises a housing assembly 1, including a housing 11, end covers 12 arranged at both ends of the housing 11, an assembly cavity arranged inside the housing 11, and an end cover opening 13 arranged on the end cover 12; a rod end bearing 2, including a movable rod end bearing 21 and a fixed rod end bearing 22 arranged on the two end covers 12 respectively; a motor 3, including a stator 31 and a rotor 32 arranged inside the housing 11; a driving member 4, including an encoder, a sensor, and a driver integrally arranged in the housing 11, the driving member 4 being used to drive the rotor 32 to rotate; a guide block 5, including a block body 51 arranged on the inner side of the end cover 12, a cylindrical through hole 52 arranged through the block body 51, a linear guide groove 53, an annular groove 54, and a limiting stopper 55 arranged on the inner wall of the cylindrical through hole 52 in sequence, the limiting stopper 55 being arranged close to the end cover opening 13, and the linear guide groove 53 extending from the side end face of the block body 51 to the annular groove 54 and being communicated with the annular groove 54; a screw rod pair 6, including a roller nut 61 rotatably arranged in the housing 11 and fixedly connected with the rotor 32, and a roller screw rod 62 screw-coupled in the roller nut 61 and passing through the end cover opening 13, the roller screw rod 62 being provided with a threaded section 621, a first execution section 622, a second execution section 623, and an extension section 624 for mounting the movable rod end bearing 21 in sequence, the threaded section 621 being screw-coupled with the roller nut 61, the first execution section 622 being provided with a protrusion 63, the extension section 624 being limited by the limiting stopper 55 when located in the cylindrical through hole 52 to prevent the extension section 624 from rotating in the cylindrical through hole 52, the second execution section 623 being shaped to avoid the limiting stopper 55 to make the extension section 624 rotate when located outside the cylindrical through hole 52, and the protrusion 63 sliding in the linear guide groove 53 / annular groove 54 under the action of the driving member 4 to switch the linear / rotary motion state of the roller screw rod 62.

[0036] In the embodiment, the robot composite motion driving structure mainly comprises the shell assembly 1, the rod end bearing 2, the motor 3, the driving member 4, the guide block 5 and the screw rod pair 6. The shell assembly 1 is used for supporting and protecting the components inside, comprising the shell 11, the end cover 12, the end cover port 13, the first bearing 14 and the second bearing 15. The shell 11 provides assembly space for the motor 3, the driving member 4 and the screw rod pair 6, and protects them from external environment interference and damage, ensuring the stability and reliability of the driving structure during operation. The end cover 12 is arranged on both sides of the shell 11, and is buckled with the shell 11 and further fixed by bolts. The end cover 12 close to the screw rod pair 6 is the front end cover, and the other is the rear end cover. The end cover port 13 is arranged on the end cover 12, the end cover port 13 of the rear end cover is used for screwing the fixed rod end bearing 22, the front end cover is provided with the guide block 5, and the end cover port 13 is inserted with the roller screw rod 62. The first bearing 14 and the second bearing 15 are arranged at both ends of the roller nut 61 and rotatably sleeved with the roller nut 61. When the stator 31 is powered, the rotor 32 drives the roller nut 61 between the first bearing 14 and the second bearing 15 to rotate. The roller nut 61 has good rotation stability, avoiding structural vibration problems caused by clearance.

[0037] Secondly, the shell 11 comprises the driver cover 111, the bearing fixing seat 112, the encoder fixing seat 113 and the cylinder 114 arranged in sequence. The driver cover 111 is used for installing the driving member 4. The bearing fixing seat 112 is arranged in the cylinder 114 and used for supporting the first bearing 14. The encoder fixing seat 113 is connected with the driver cover 111 and the cylinder 114 at both ends respectively, clamps the first bearing 14 and is used for installing the encoder. The cylinder 114 is installed with the stator 31 and clamped with the second bearing 15. The driver cover 111, the encoder fixing seat 113, the cylinder 114 and the end cover 12 are clamped with each other and fixed by bolts, which not only facilitates disassembly and installation, but also ensures the integrity and stability of the structure.

[0038] In addition, the motor 3 comprises the stator 31 installed in the cylinder 114 and the rotor 32 fixedly arranged on the outer wall of the roller nut 61. When the motor 3 is powered, the stator 31 and the rotor 32 form a magnetic field to generate a rotating torque. The rotor 32 is a magnetic tile spacedly attached to the outer wall of the roller nut 61, which has good heat dissipation effect and high stability.

[0039] Further, the driving member 4 comprises the encoder, the sensor and the driver which are integrated in the housing 11 (the encoder, the sensor and the driver are known to those skilled in the art, and thus will not be described herein). The encoder is arranged on the encoder fixing seat 113, and is used to convert the angular displacement of the rotor 32 and the roller nut 61 into an electrical signal, and feed back to the driver; the sensor is integrated in the rear end cover, and is used to feed back the output of the robot compound motion driving structure, and detect the force in two directions of the robot compound motion driving structure, so as to realize real-time monitoring and control of the pressure; the driver can output a control instruction to the motor 3 according to the current angle of the rotor 32 and the roller nut 61, convert the control signal into an electrical signal required by the motor, so as to realize accurate control of the speed, position and torque of the motor.

[0040] In addition, the guide block 5 is clamped in the front end cover, and is connected to the screw pair 6 through plug-in cooperation, so as to adjust the linear / rotary motion state of the screw pair 6. The guide block 5 comprises a block body 51, a cylindrical through hole 52, a linear guide groove 53 and an annular groove 54. The cylindrical through hole 52 is a through hole arranged on the block body 51. The block body 51 and the limiting stopper 55 are of an integrated structure. The linear guide groove 53 and the annular groove 54 are arranged on the inner wall of the block body 51, and are matched with the protruding block 63 on the first execution section 622, so as to realize switching of the linear motion / rotary motion state of the extension section 624. The screw pair 6 comprises the roller nut 61, the roller screw 62 and the protruding block 63. The roller screw 62 is of an integrated structure, and comprises the threaded section 621, the first execution section 622, the second execution section 623 and the extension section 624 which are arranged in sequence. The threaded section 621 is threadedly connected with the roller nut 61. The first execution section 622 and the second execution section 623 are smooth cylinders, so that they can rotate freely after entering the cylindrical through hole 52 completely. The first execution section 622 is provided with the protruding block 63 matched with the linear guide groove 53 and the annular groove 54. The extension section 624 is matched with the through space enclosed by the block body 51 and the limiting stopper 55. The limiting stopper 55 is used to limit the rotation of the extension section 624. The extension section 624 is provided with the threaded socket 625 used for screwing the movable rod end bearing 21. The movable rod end bearing 21 is located outside the end cover 12.

[0041] The overall working principle of the robot compound motion driving structure is divided into two stages, namely the extension stage and the rotary fine adjustment stage. As shown in FIG. 6, the extension stage is shown in FIG. 6(a), and the rotary fine adjustment stage is shown in FIG. 6(b). Figure 1As shown, in the extension stage, in the initial state, the threaded segment 621 is located at the end of the roller nut 61 close to the rear end cover, the first execution segment 622 and the second execution segment 623 are located in the roller nut 61, and the extension segment 624 is inserted into the cylindrical through hole 52 and is limited in rotation by the limiting stopper 55. When starting, the driver drives the roller nut 61 and the roller screw 62 to rotate, but because the extension segment 624 is limited by the limiting stopper 55, the roller screw 62 moves linearly along the radial direction of the roller nut 61; when the second execution segment 623 enters the cylindrical through hole 52 and gradually pushes the extension segment 624 out of the cylindrical through hole 52, the first execution segment 622 enters the cylindrical through hole 52, at this time the protrusion 63 enters the linear guide groove 53 and is limited by the linear guide groove 53, the roller screw 62 still maintains linear motion, and the extension and retraction of the roller screw 62 are realized by controlling the rotation direction of the driver.

[0042] As shown in the accompanying drawings Figure 2 As shown, in the rotation fine adjustment stage, when the protrusion 63 continuously moves along the linear guide groove 53 and enters the annular groove 54, at this time the protrusion 63 is out of the limitation of the linear guide groove 53, the extension segment 624 is pushed out of the end cover opening 13 and is not affected by the limiting stopper 55, and the second execution segment 623 avoids the limiting stopper 55, so the protrusion 63 slides in the circumferential direction in the annular groove 54, and the roller screw 62 can rotate freely. The roller screw 62 rotates slightly, and the maximum rotation angle is limited by the central angle of the annular groove 54 (the extension direction of the annular groove 54 is consistent with the rotation direction of the driver when the roller screw 62 is extended, so as to ensure that the annular groove 54 does not limit the rotation freedom of the protrusion 63), and the rotation angle of the roller screw 62 is adjusted by changing the driving direction of the driver. After completing the rotation fine adjustment, the roller screw 62 is driven in reverse to rotate, so that the protrusion 63 returns to the front end of the annular groove 54, at this time it is blocked by the side wall of the front end of the annular groove 54, the roller screw 62 is converted from rotation to linear motion and retreats into the linear guide groove 53.

[0043] The two movement stages achieve the extension and end fine adjustment requirements of the roller screw 62. After the roller screw 62 is extended, the rotation angle of the end can be actively fine adjusted by changing the driving direction. This is not only suitable for the operation requirements of extension and small amplitude fine adjustment in narrow operation scenarios, but also can expand the angle change range of the structure connection of the humanoid robot, so that the robot joint connection has higher flexibility under the premise of ensuring support rigidity, is more consistent with the human motion trajectory, and has higher scene adaptability. In addition, the rotation accuracy and speed of the roller screw 62 and the control system when the roller screw 62 moves linearly are the same set, which ensures the accuracy of linear motion and rotation fine adjustment motion.

[0044] The protrusion 63 is arranged close to the second execution section 623. The length of the first execution section 622 is a, the length of the second execution section 623 is b, the length of the linear guide groove 53 is L1, the length of the annular groove 54 is L2, the length of the limiting block 55 is L3, and the radial depth length of the end cover port 13 is L4, and L1=L3, b=L3+L4, a≥L1+L2 are satisfied.

[0045] In the embodiment, in order to ensure the structural stability and structural strength of the robot composite motion driving structure, the closer the protrusion 63 is arranged to the second execution section 623, the higher the integration and the greater the structural strength of the guide block 5 and the screw pair 6, and the better the limiting effect when the protrusion 63 is located in the linear guide groove 53. When the linear guide groove 53 and the limiting block 55 enter the limiting transition node, double support and limiting are performed by the linear guide groove 53 and the limiting block 55, the structure runs more stably, and the possibility of internal vibration or shaking caused by external force is reduced. The length of the first execution section 622 is greater than or equal to the sum of the lengths of the linear guide groove 53 and the annular groove 54, so as to avoid the case that the first execution section 622 is too short to cause the protrusion 63 to fail to enter the annular groove 54 and lose the fine adjustment function. The length of the linear guide groove 53 is equal to the length of the limiting block 55, and the annular groove 54 is arranged close to the limiting block 55, so that when the protrusion 63 enters the annular groove 54, the extension section 624 is not affected by the limiting block 55, so as to ensure the rotation freedom of the protrusion 63. The second execution section 623 is equal to the sum of the length of the limiting block 55 and the radial depth length of the end cover port 13, so that the second execution section 623 can push the extension section 624 out of the shell assembly 1 and is not affected by the end cover port 13.

[0046] The annular groove 54 includes a first annular groove 541 for accommodating the rotation motion of the protrusion 63, and the length of the first annular groove 541 matches the length of the protrusion 63.

[0047] In the embodiment, the length of the first annular groove 541 is slightly greater than the length of the protrusion 63, so that the protrusion 63 can only rotate after entering the first annular groove 541 and cannot move in the length direction of the first annular groove 541, the rotation is stable, the structure is tightly matched, and the vibration is small; in the embodiment, the operation rhythm of the roller screw 62 is extension-small rotation adjustment-reset, which is effective for application scenarios with higher connection flexibility.

[0048] The annular groove 54 further comprises a second annular groove 542 arranged at the side end of the first annular groove 541 for linear movement and rotation reset of the protrusion 63.

[0049] In the embodiment, the first annular groove 541 and the second annular groove 542 are arranged side by side and communicate with each other, when the protrusion 63 rotates to the end of the first annular groove 541, the side wall of the first annular groove 541 limits the protrusion 63, so that the protrusion 63 enters the second annular groove 542 and moves linearly along the side wall of the second annular groove 542 until reaching the required position, and the rotation angle of the roller screw 62 is adjusted again by changing the driving direction of the driver. When starting to reset, the driver is reversely driven until the protrusion 63 reaches the front end of the second annular groove 542, and is retracted under the limiting of the side wall of the front end of the second annular groove 542, and enters the linear guide groove 53. In the embodiment, the operation rhythm of the roller screw 62 is extension-small rotation-small advance-rotation again, and after completing the work, it is rotated and retracted once, which can adapt to more complex work scenarios.

[0050] The diameter of the cylindrical through hole 52 is D1, the diameter of the threaded segment 621 is D2, and the diameter of the first execution segment 622 is D3, and D2>D1≥D3 is satisfied.

[0051] In the embodiment, the diameter of the threaded segment 621 is greater than the diameter of the cylindrical through hole 52, and the diameter of the cylindrical through hole 52 is greater than or equal to the diameter of the first execution segment 622, so that the threaded segment 621 is limited by the guide block 5 or the end cover 12, avoiding the roller screw 62 and the roller nut 61 from being separated or interfering with other structures, affecting the service life of the threaded segment 621.

[0052] The central angle θ of the annular groove 54 is 15°-45°.

[0053] In the embodiment, the central angle of the annular groove 54 determines the rotation amplitude of the roller screw 62, and for the fine adjustment requirements of various work scenarios, the central angle of the annular groove 54 is 15°-45°, which is optimal.

[0054] The front end of the annular groove 54 is connected with the tail end of the linear guide groove 53 to form an L-shaped guide groove for the movement of the protrusion 63.

[0055] In the embodiment, the front end of the annular groove 54 is connected with the tail end of the linear guide groove 53, as shown in the attached Figure 6 The protrusion 63 is located in different grooves to switch the linear / rotary movement state of the roller screw 62, avoiding the possibility that the roller screw 62 cannot reset and retreat due to the T-shaped groove.

[0056] The limiting block 55 is a column with a circular arc cross section, which is oppositely arranged on the inner wall of the cylindrical through hole 52, and the arc surface thereof is attached to the inner wall of the cylindrical through hole 52.

[0057] In the embodiment, a specific protrusion shape is disclosed, which is preferably arranged at the upper and lower ends of the inner wall of the cylindrical through hole 52, and cooperates with the common conical cross section of the roller screw on the market.

[0058] A robot comprises the driving structure for robot composite motion as described in any of the above embodiments.

[0059] In the embodiment, the robot comprises the driving structure for robot composite motion as described in any of the above embodiments. Preferably, since the driving structure for robot composite motion has a small amplitude fine adjustment function, it is suitable for narrow working space, and more suitable for the connection of the joints of the robot. The present application overcomes the defect that the joints of the existing robot can only rotate in one plane, and through the cooperation of linear and rotary double degrees of freedom, the multi-angle rotation of the joints of the robot in three-dimensional space can be realized, and the motion trajectory is more flexible, which is more suitable for the motion demand of part of the robot.

[0060] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the present application.

Claims

1. A driving structure for compound motion of a robot, characterized in that: include: The housing assembly comprises a housing, end caps provided at both ends of the housing, an assembly cavity provided inside the housing, and end cap openings provided on the end caps; A rod end bearing, comprising a movable rod end bearing and a fixed rod end bearing respectively located on the two end covers; a motor comprising a stator and a rotor disposed within the housing; A driving member, comprising an encoder, a sensor, and a driver integrated in the housing, the driving member being used to drive the rotor to rotate; The guide block includes a block body provided on the inner side of the end cover, a cylindrical through hole provided on the block body, a linear guide groove, an annular groove and a limit block provided in sequence on the inner wall of the cylindrical through hole, the limit block being provided near the end cover opening, and the linear guide groove extending from the side end surface of the block body to the annular groove and communicating with each other; The screw pair comprises a roller nut rotatably arranged in the housing and fixedly connected to the rotor, a roller screw screw threadedly arranged in the roller nut and passing through the end cover opening, the roller screw being sequentially provided with a threaded section, a first execution section, a second execution section, and an extension section for mounting the movable rod end bearing, the threaded section being threadedly connected to the roller nut, a protrusion being provided on the first execution section, the extension section being limited by the limit stop when located in the cylindrical through hole to prevent the extension section from rotating in the cylindrical through hole, the shape of the second execution section avoiding the limit stop setting so that the extension section rotates when located outside the cylindrical through hole, the protrusion slides in the linear guide groove and / or the annular groove under the action of the driving member, thereby switching the linear and / or rotational motion state of the roller screw; The annular groove includes a first annular groove for accommodating the rotational movement of the protrusion, and the length of the first annular groove matches the length of the protrusion; The annular groove further includes a second annular groove provided at a side end of the first annular groove for the projection to move linearly and rotate to reset.

2. A robot compound motion driving structure according to claim 1, characterized in that: The protrusion is arranged close to the second execution section, the length of the first execution section is a, the length of the second execution section is b, the length of the linear guide groove is L1, the length of the annular groove is L2, the length of the limit block is L3, the diameter-depth length of the end cover opening is L4, and L1=L3, b=L3+L4, a≥L1+L2 are satisfied.

3. A driving structure for compound motion of a robot according to claim 2, characterized in that: The diameter of the cylindrical through hole is D1, the diameter of the threaded section is D2, the diameter of the first execution section is D3, and D2>D1≥D3 is satisfied.

4. The driving structure for compound motion of a robot according to claim 1, characterized in that: The central angle θ of the annular groove is 15°-45°.

5. The driving structure for compound motion of a robot according to claim 1, characterized in that: The front end of the annular groove is connected to the rear end of the linear guide groove to form an L-shaped guide groove for the projection to move.

6. The driving structure for compound motion of a robot according to claim 1, characterized in that: The limit stopper is a column with a circular arc-shaped cross-section, which is relatively arranged on the inner wall of the cylindrical through hole, and its arc surface is in contact with the inner wall of the cylindrical through hole.

7. A robot, characterized in that: The invention comprises a driving structure for compound motion of a robot as described in any one of claims 1 to 6.

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