Linear joint module and robot

Abstract

The invention provides a linear joint module and a robot, the linear joint module comprises a joint shell, a motor, a forward planetary ball screw assembly and a guide shaft sleeve, the motor and the forward planetary ball screw assembly are both arranged in the joint shell, and the forward planetary ball screw assembly at least comprises a screw body and a nut body; the lead screw body is driven by the motor, the guide shaft sleeve is located on the periphery of the nut body and fixedly connected with the nut body, the end, away from the nut body, of the lead screw body is supported on the joint shell through a rolling bearing, and one end of the guide shaft sleeve extends into the joint shell. And a sliding bearing is arranged between the outer peripheral wall of the guide shaft sleeve and the inner peripheral wall of the joint shell. The forward planetary ball screw assembly and the sliding bearing are light in weight, and the weight of the linear joint module can be reduced by arranging the forward planetary ball screw assembly and the sliding bearing, so that the rotational inertia of the linear joint module can be reduced, and the acceleration and deceleration performance of the linear joint module can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent equipment, more specifically, relates to a linear joint module and a robot. BACKGROUND

[0002] The linear joint module can output linear motion and is widely used in various robots. When the linear joint module is applied to a humanoid robot, it needs to meet the high dynamic demand of rapid acceleration and deceleration, which requires a high rotational inertia of the linear joint module. The smaller the rotational inertia of the linear joint module, the better the acceleration and deceleration performance of the actuator under the same power. However, the current linear joint module has a large rotational inertia, which makes it difficult to achieve high acceleration and deceleration performance and meet the demand of high dynamics for reinforcement learning. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a linear joint module and a robot to solve the technical problem of large rotational inertia of the linear joint module in the prior art.

[0004] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is to provide a linear joint module, which comprises a joint shell, a motor, a forward planetary ball screw assembly and a guide shaft sleeve. The motor and the forward planetary ball screw assembly are arranged inside the joint shell. The forward planetary ball screw assembly at least comprises a screw rod body and a nut body. The screw rod body is driven by the motor. The guide shaft sleeve is located on the outer periphery of the nut body and is fixedly connected with the nut body. The end of the screw rod body away from the nut body is supported on the joint shell through a rolling bearing. One end of the guide shaft sleeve extends into the interior of the joint shell, and a sliding bearing is arranged between the outer peripheral wall of the guide shaft sleeve and the inner peripheral wall of the joint shell.

[0005] Optionally, the joint shell comprises a first shell segment, a second shell segment and a transition segment. The first shell segment and the second shell segment are connected through the transition segment. The outer diameter of the first shell segment is larger than that of the second shell segment. The motor and the rolling bearing are arranged in the first shell segment, and the sliding bearing and the nut body are arranged in the second shell segment.

[0006] Optionally, in the axial direction of the screw rod body, the motor is arranged between the rolling bearing and the sliding bearing.

[0007] Optionally, the end of the guide shaft sleeve extending into the interior of the joint shell extends radially outward to form a skirt stop structure.

[0008] Optionally, the linear joint module further comprises a locking nut for fixedly connecting the guide sleeve and the nut body, the guide sleeve is hollow, and an inner circumferential wall of the guide sleeve is provided with a first stop step; the nut body is arranged inside the guide sleeve; and the locking nut is threadedly connected to the inner circumferential wall of the guide sleeve and presses the nut body against the first stop step.

[0009] Optionally, the linear joint module further comprises a bearing support and a circuit board assembly, the bearing support is fixed to the inside of the joint shell, the rolling bearing is arranged between the inner circumferential wall of the bearing support and the outer circumferential wall of the screw rod body, and an axial one end of the bearing support faces the motor and is fixedly connected to the circuit board assembly.

[0010] Optionally, the linear joint module further comprises a sensor support, a force sensor and an axial stop structure, the axial stop structure is fixed to the inner wall of the joint shell and is used for axially limiting the force sensor, the force sensor is fixed to an axial one end of the sensor support, an axial other end of the sensor support abuts against the bearing support, the inside of the joint shell is provided with a second stop step, and an end of the bearing support away from the sensor support abuts against the second stop step.

[0011] Optionally, the bearing support comprises a first support section and a second support section connected to each other, the second support section is fixedly arranged close to the inner circumferential wall of the joint shell, the first support section and the inner circumferential wall of the joint shell form a mounting gap, and an axial other end of the sensor support extends into the mounting gap and abuts against the second support section.

[0012] Optionally, the force sensor is connected with a first cross universal shaft assembly, and the guide sleeve is connected with a second cross universal shaft assembly.

[0013] The application further provides a robot comprising the linear joint module.

[0014] The linear joint module and the robot provided by the application have the following advantages: compared with the prior art, the linear joint module comprises a joint shell, a motor, a forward planetary ball screw assembly and a guide sleeve, the motor drives the forward planetary ball screw assembly to move, the nut body of the forward planetary ball screw assembly and the guide sleeve move synchronously in a straight line, the guide sleeve and the joint shell are supported by the sliding bearing arranged therebetween, the weight of the forward planetary ball screw assembly and the sliding bearing is relatively light, and the weight of the linear joint module can be reduced by arranging the forward planetary ball screw assembly and the sliding bearing, so that the rotational inertia of the linear joint module can be reduced and the acceleration and deceleration performance thereof can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0016] Figure 1 A sectional view of the linear joint module provided by the embodiments of the present application;

[0017] Figure 2 A sectional view of the linear joint module provided by the embodiments of the present application; Figure 1 An enlarged view of the left end in the middle;

[0018] Figure 3 An enlarged view of the left end in the middle; Figure 2 An enlarged view of the left end in the middle;

[0019] Figure 4 An enlarged structural view of the linear joint module provided by the embodiments of the present application at the nut body;

[0020] Figure 5 An enlarged structural view of the linear joint module provided by the embodiments of the present application at the nut body; Figure 4 An enlarged structural view of the linear joint module provided by the embodiments of the present application at the nut body;

[0021] In the drawings, various reference signs represent:

[0022] 10-joint shell; 11-first shell segment; 111-second stop step; 12-second shell segment; 121-first stop step; 13-transition segment; 20-motor; 30-forward planetary ball screw assembly; 31-screw body; 32-nut body; 40-guide bushing; 41-skirt stop structure; 42-lock nut; 51-rolling bearing; 52-sliding bearing; 53-bearing bracket; 530-mounting gap; 531-first bracket segment; 532-second bracket segment; 54-circuit board assembly; 541-encoder assembly; 55-sensor bracket; 551-bracket cylinder; 552-mounting wall; 56-force sensor; 57-axial stop structure; 61-first cross universal shaft assembly; 62-second cross universal shaft assembly. DETAILED DESCRIPTION

[0023] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clearly understood, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0024] It is to be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element.

[0025] It is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like, indicate directions or positions based on the directions or positions shown in the drawings, and are used for convenience of description and simplification of description only, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the present application.

[0026] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and cannot be construed as indicating or implying relative importance or an implied indication of the number of technical features indicated. Therefore, the features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0027] The linear joint module can output linear motion and is widely used in various robots. When the linear joint module is applied to a humanoid robot, it needs to meet the high dynamic demand of rapid acceleration and deceleration, which requires a high moment of inertia of the linear joint module. The smaller the moment of inertia of the linear joint module, the better the acceleration and deceleration performance of the actuator under the same power. However, the current linear joint module has a relatively large moment of inertia, which makes it difficult to achieve high acceleration and deceleration performance and meet the demand of reinforcement learning for high dynamics.

[0028] In order to alleviate or solve the above technical problems, the embodiment of the present application provides a linear joint module and a robot. The linear joint module comprises a joint shell 10, a motor 20, a forward planetary ball screw assembly 30 and a guide shaft sleeve 40. The forward planetary ball screw assembly 30 can output linear motion by the nut body 32, and then one end of the forward planetary ball screw assembly 30 is supported by the rolling bearing 51, and the other end can be supported by the sliding bearing 52. The weight of the forward planetary ball screw assembly 30 and the sliding bearing 52 is relatively light, so that the moment of inertia of the linear joint module can be reduced, and the acceleration and deceleration performance of the actuator can be improved.

[0029] The linear joint module provided by the embodiment of the present application will be described.

[0030] Please refer to Figure 1The linear joint module comprises a joint shell 10, a motor 20, a forward planetary ball screw assembly 30 and a guide sleeve 40. The motor 20 and the forward planetary ball screw assembly 30 are arranged inside the joint shell 10. The forward planetary ball screw assembly 30 at least comprises a screw rod body 31 and a nut body 32. The screw rod body 31 is driven by the motor 20. The guide sleeve 40 is located on the outer periphery of the nut body 32 and is fixedly connected with the nut body 32. The screw rod body 31 is supported on the joint shell 10 through a rolling bearing 51 at the end away from the nut body 32. One end of the guide sleeve 40 extends into the interior of the joint shell 10. A sliding bearing 52 is arranged between the outer peripheral wall of the guide sleeve 40 and the inner peripheral wall of the joint shell 10.

[0031] The joint shell 10 is a shell structure of the linear joint module. The joint shell 10 provides mounting positions for the motor 20, the forward planetary ball screw assembly 30 and the guide sleeve 40 and can protect the above-mentioned components. In the linear joint module, the joint shell 10 is generally in a cylindrical structure and is matched with the shape of the motor 20 and other structures.

[0032] The motor 20 is a component capable of being driven by electricity and outputting rotary motion. The motor 20 is arranged inside the joint shell 10. Generally, the motor 20 is fixed to the inner peripheral wall of the joint shell 10. The motor 20 comprises a stator and a rotor. The stator is fixed to the joint shell 10. The rotor outputs rotary motion.

[0033] The forward planetary ball screw assembly 30 is an assembly structure for converting rotary motion into linear motion. The forward planetary ball screw assembly 30 at least comprises a screw rod body 31 and a nut body 32 and further comprises a planetary roller group. The screw rod body 31 converts the motion of the screw rod into linear motion of the nut body 32 through the planetary ball group. The forward planetary ball screw assembly 30 refers to that the screw rod rotates and the nut body 32 outputs linear motion. The reverse planetary ball screw assembly refers to that the nut rotates and the screw rod outputs linear motion. The forward planetary ball screw assembly 30 has smaller weight and smaller rotational inertia. In the embodiment, the rotational inertia of the rotor assembly is more than 8 times smaller than that of the rotor assembly formed by using the reverse planetary ball screw assembly.

[0034] In the forward planetary ball screw assembly 30, the screw rod body 31 is connected with the rotor of the motor 20. Thus, the motor 20 drives the screw rod body 31 to rotate. Generally, the screw rod body 31 is arranged through the motor 20 along the axial direction of the motor 20. This can make the overall size of the linear joint module smaller and the structure more compact.

[0035] The guide sleeve 40 is fixedly connected with the nut body 32, and the guide sleeve 40 is sleeved on the outer periphery of the nut body 32. When the nut body 32 moves linearly, the guide sleeve 40 moves linearly synchronously with the nut body 32. One end of the guide sleeve 40 is located inside the joint shell 10, and the other end is located outside the joint shell 10, and is used for being connected with an actuator or the like.

[0036] One end of the screw rod body 31 away from the nut body 32 is supported on the joint shell 10 through a rolling bearing 51. The screw rod body 31 is provided with a support bearing at one end provided with the nut body 32 to support the nut body 32. In this way, the screw rod body 31 is stably rotated, and the nut body 32 is stably moved, by being supported at two ends of the positive planetary ball screw assembly 30 through the rolling bearing 51 and the sliding bearing 52 respectively. In this embodiment, the nut body 32 outputs linear motion, so that the sliding bearing 52 can be used to support the nut body 32. Compared with the scheme of supporting by the double-sided rolling bearing 51, the sliding bearing 52 is lighter in weight and simpler in structure, and can further reduce the moment of inertia of the linear joint module.

[0037] It should be noted that the “axial direction” in the present application is the axial direction of the screw rod, and the axial directions of the screw rod, the motor 20 and the guide sleeve 40 are the same.

[0038] The linear joint module in the above embodiment comprises the joint shell 10, the motor 20, the positive planetary ball screw assembly 30 and the guide sleeve 40. The motor 20 drives the positive planetary ball screw assembly 30 to move. The nut body 32 of the positive planetary ball screw assembly 30 and the guide sleeve 40 move linearly synchronously. The guide sleeve 40, the nut body 32 and the screw rod body 31 are supported by the sliding bearing 52 arranged between the guide sleeve 40 and the joint shell 10. The positive planetary ball screw assembly 30 and the sliding bearing 52 are lighter in weight. By arranging the positive planetary ball screw assembly 30 and the sliding bearing 52, the weight of the linear joint module can be reduced, so that the moment of inertia of the linear joint module can be reduced, and the acceleration and deceleration performance thereof can be improved.

[0039] In some embodiments of the present application, please refer to Figure 1 and Figure 2The joint shell 10 comprises a first shell segment 11, a second shell segment 12 and a transition segment 13, the first shell segment 11 and the second shell segment 12 are connected through the transition segment 13, the outer diameter of the first shell segment 11 is larger than that of the second shell segment 12; the motor 20 and the rolling bearing 51 are arranged in the first shell segment 11, and the sliding bearing 52 and the nut body 32 are arranged in the second shell segment 12. The first shell segment 11, the transition segment 13 and the second shell segment 12 are sequentially connected in the axial direction, and the first shell segment 11, the second shell segment 12 and the transition segment 13 are all thin-walled shell structures. The motor 20 and the rolling bearing 51 are arranged in the first shell segment 11 with a larger diameter, because the rolling bearing 51 has rolling bodies arranged inside, the radial dimension thereof is relatively large, and the outer diameter dimension of the motor 20 is also relatively large, accordingly, the outer diameter of the first shell segment 11 is also relatively large to accommodate the components such as the motor 20 and the rolling bearing 51. The sliding bearing 52 and the nut body 32 are arranged in the second shell segment 12 with a smaller outer diameter, the radial dimension of the nut body 32 is small, accordingly, the radial dimension of the sliding bearing 52 is also small, therefore, the diameter of the second shell segment 12 can also be designed to be smaller.

[0040] The joint shell 10 comprises the first shell segment 11, the transition segment 13 and the second shell segment 12 sequentially connected, because the nut body 32 is supported through the sliding bearing 52, the radial dimension here is small, and the outer diameter of the second shell segment 12 is also relatively small, which can further concentrate the mass of the rotating components in the linear joint module at the position of the axis line, and the rotational inertia is smaller.

[0041] In some embodiments, the first shell segment 11 and the second shell segment 12 are both equal-diameter structures, the outer diameters thereof remain unchanged, the transition segment 13 is a structure with gradually changing outer diameters, one end of the transition segment 13 has a large outer diameter, and the other end has a small outer diameter, thereby making the outer diameters of the first shell segment 11 and the second shell segment 12 different.

[0042] Optionally, the connection between the first shell segment 11 and the transition segment 13 is smooth, and the connection between the transition segment 13 and the second shell segment 12 is smooth.

[0043] In some embodiments, the wall thicknesses of the first shell segment 11 and the second shell segment 12 are the same, accordingly, the inner diameter of the first shell segment 11 is also larger than that of the second shell segment 12. Generally, because the first shell segment 11 and the second shell segment 12 are both thin-walled structures, even if the wall thicknesses of the first shell segment 11 and the second shell segment 12 are different, the inner diameter of the first shell segment 11 is also larger than that of the second shell segment 12.

[0044] In some embodiments of the present application, please refer to Figure 1The motor 20 is arranged between the rolling bearing 51 and the sliding bearing 52 in the axial direction of the screw rod body 31. The motor 20 is arranged at the middle of the screw rod body 31 in the axial direction, so that the mass distribution of the linear joint module is more uniform, and the rolling bearing 51 and the sliding bearing 52 are arranged close to the two ends of the screw rod, so that the support effect of the screw rod body 31 is better.

[0045] In some embodiments of the present application, referring to Figure 4 and Figure 5 , the end of the guide sleeve 40 extending into the joint shell 10 radially outwardly forms a skirt stop structure 41. The skirt stop structure 41 is located at the end of the guide sleeve 40 extending into the joint shell 10, and the end of the guide sleeve 40 radially outwardly extending is that the outer periphery of the end of the guide sleeve 40 extends away from the center. The skirt stop structure 41 is used to stop the sliding bearing 52, and the axial position of the sliding bearing 52 is limited. Specifically, the sliding bearing 52 includes a bearing seat and a bearing bush arranged in the bearing seat, the bearing seat and the bearing bush can relatively linearly move, and the bearing seat and the bearing bush have lubricating oil therebetween, the bearing seat is fixed to the inner circumferential wall of the joint shell 10, and the bearing bush is fixed to the outer circumferential wall of the guide sleeve 40. When the guide sleeve 40 moves linearly, the bearing bush also moves linearly, and when the guide sleeve 40 moves to the rightmost end, the skirt stop structure 41 abuts against the bearing seat of the sliding bearing 52, so that the guide sleeve 40 cannot move to the right any more. Therefore, through the cooperation of the skirt stop structure 41 and the sliding bearing 52, the axial position of the guide sleeve 40 is limited, and the guide sleeve 40 is prevented from falling out of the joint shell 10.

[0046] By arranging the skirt stop structure 41 at the end of the guide sleeve 40 extending into the inner wall of the joint shell 10, the axial position of the guide sleeve 40 can be limited through the cooperation with the sliding bearing 52, and the guide sleeve 40 is prevented from falling out of the joint shell 10.

[0047] In some embodiments, the number of sliding bearings 52 is multiple, and the sliding bearings 52 are arranged in sequence and spaced apart in the axial direction of the joint shell 10. Through the multiple sliding bearings 52, the sliding of the guide sleeve 40 can be supported, and the sliding of the guide sleeve 40 can be more stable. For example, the number of sliding bearings 52 is two, three, etc.

[0048] In some embodiments, referring to Figure 1 and Figure 4 , the sliding bearing 52 close to the skirt stop structure 41 is a stop sliding bearing 52, which cooperates with the skirt stop structure 41 to limit the limit position of the guide sleeve 40.

[0049] In some embodiments of the present application, referring to Figure 1 , Figure 4 andFigure 5 The linear joint module further comprises a locking nut 42 for fixedly connecting the guide sleeve 40 and the nut body 32. The guide sleeve 40 is hollow, and the inner circumferential wall of the guide sleeve 40 is provided with a first stop step 121. The nut body 32 is arranged inside the guide sleeve 40. The locking nut 42 is threadedly connected to the inner circumferential wall of the guide sleeve 40, and the nut body 32 is pressed against the first stop step 121. The guide sleeve 40 and the nut body 32 are fixedly connected to each other by the locking nut 42. Specifically, the screw rod body 31 passes through the locking nut 42 and the nut body 32. The nut body 32 is threadedly connected to the screw rod body 31. The locking nut 42 is threadedly connected to the guide sleeve 40. The nut body 32 is located between the locking nut 42 and the first stop step 121. Therefore, when the locking nut 42 is fixedly locked inside the guide sleeve 40, the nut body 32 is pressed, and the nut body 32, the locking nut 42, and the guide sleeve 40 become an integral whole. When the screw rod body 31 rotates, the nut body 32, the locking nut 42, and the guide sleeve 40 move together.

[0050] The guide sleeve 40 and the nut body 32 are fixedly connected by the thread connection between the locking nut 42 and the guide sleeve 40, so that the guide sleeve 40 and the nut body 32 can move axially synchronously. The guide sleeve 40 can be connected to an actuator to perform a predetermined operation.

[0051] In some embodiments, a safety gap is provided between the locking nut 42 and the screw rod body 31 to prevent the locking nut 42 and the screw rod body 31 from colliding with each other, thereby avoiding interference of the locking nut 42 with the rotation of the screw rod body 31.

[0052] In some embodiments of the present application, please refer to Figures 1 to 3 The linear joint module further comprises a bearing bracket 53 and a circuit board assembly 54. The bearing bracket 53 is fixedly arranged inside the joint shell 10. The rolling bearing 51 is arranged between the inner circumferential wall of the bearing bracket 53 and the outer circumferential wall of the screw rod body 31. The axial one end of the bearing bracket 53 faces the motor 20, and the axial one end of the bearing bracket 53 is fixedly connected to the circuit board assembly 54. The bearing bracket 53 is used to support the rolling bearing 51 and also to fix the circuit board assembly 54. The circuit board assembly 54 is used to control the speed, start and stop of the motor 20. The bearing bracket 53 is fixedly arranged inside the joint shell 10, and the rolling bearing 51 is fixedly arranged inside the bearing bracket 53. The rolling bearing 51 is arranged between the inner circumferential wall of the bearing bracket 53 and the outer circumferential wall of the screw rod body 31. Specifically, the outer ring of the rolling bearing 51 is fixedly arranged on the inner circumferential wall of the bearing bracket 53, and the inner ring of the rolling bearing 51 is fixedly arranged on the outer circumferential wall of the screw rod body 31.

[0053] The setting of the circuit board assembly 54 can control the running speed and start-stop of the motor 20. The setting of the bearing support 53 can install the rolling bearing 51 and the circuit board assembly 54.

[0054] In some embodiments, referring to Figures 1 to 3 , the one end of the screw body 31 close to the circuit board assembly 54 is provided with an encoder assembly 541, and the circuit board assembly 54 is correspondingly provided with a reading head. The reading head can convert the detected signal into an electrical signal and transmit it to the circuit board assembly 54, so that the angular position of the motor 20 can be obtained, and then the position of the guide shaft sleeve 40 can be determined.

[0055] In some embodiments of the present application, referring to Figures 1 to 3 , the linear joint module further comprises a sensor support 55, a force sensor 56, and an axial stop structure 57. The axial stop structure 57 is fixed to the inner wall of the joint shell 10 and is used for axially limiting the force sensor 56. The force sensor 56 is fixed to the axial one end of the sensor support 55. The axial other end of the sensor support 55 abuts against the bearing support 53. The inside of the joint shell 10 has a second stop step 111. The one end of the bearing support 53 away from the sensor support 55 abuts against the second stop step 111. The force sensor 56 is used for detecting the external force received by the linear joint module. The sensor support 55 is used for installing and fixing the force sensor 56. At the same time, the sensor support 55 is fixed in the inside of the joint shell 10. In the axial direction, the axial stop structure 57, the sensor support 55, the bearing support 53, and the second stop step 111 are sequentially arranged. Therefore, the sensor support 55 and the bearing support 53 can be fixed in the axial direction, and then the force sensor 56 and the rolling bearing 51 can be axially fixed.

[0056] The setting of the force sensor 56 can detect the external force received by the linear joint module. The mutual cooperation of the axial stop structure 57 and the second stop step 111 can axially fix the sensor support 55 and the bearing support 53, and prevent the sensor support 55 and the bearing support 53 from axially moving.

[0057] In some embodiments, the force sensor 56 is a tension-compression force sensor 56 or a torque sensor.

[0058] In some embodiments, the end face of the force sensor 56 is closer to the axial stop structure 57 than the end face of the sensor support 55 in the axial direction. The axial stop structure 57 abuts against the end face of the force sensor 56.

[0059] In some embodiments, the end face of the sensor support 55 is closer to the axial stop structure 57 than the end face of the force sensor 56 in the axial direction. The axial stop structure 57 abuts against the end face of the sensor support 55.

[0060] In some embodiments, the axial stop structure 57 is a nut which is threadedly connected to the inner peripheral wall of the joint housing 10. In other embodiments, the axial stop structure 57 can also be interference-fitted to the inner peripheral wall of the joint housing 10.

[0061] In some embodiments of the present application, referring to Figures 1 to 3 , the bearing bracket 53 comprises a first bracket segment 531 and a second bracket segment 532 which are connected to each other, the second bracket segment 532 is fixedly attached to the inner peripheral wall of the joint housing 10, the first bracket segment 531 has a mounting gap 530 formed with the inner peripheral wall of the joint housing 10, and the other axial end of the sensor bracket 55 extends into the mounting gap 530 and abuts against the second bracket segment 532. The mounting gap 530 is formed between the first bracket segment 531 and the inner peripheral wall of the joint housing 10, and therefore, the outer diameter of the first bracket segment 531 is smaller than the inner diameter of the joint housing 10 at this location. The second bracket segment 532 is fixedly attached to the inner peripheral wall of the joint housing 10, and the outer diameter of the second bracket segment 532 matches the inner diameter of the joint housing 10 at this location.

[0062] By forming the mounting gap 530 between the first bracket segment 531 and the joint housing 10, the sensor bracket 55 can abut against the second bracket segment 532 of the bearing bracket 53, which can effectively support the rolling bearing 51 and shorten the axial space occupied by the sensor bracket 55 and the bearing bracket 53, making the structure more compact.

[0063] In some embodiments, referring to Figures 1 to 3 , the sensor bracket 55 comprises a bracket cylinder 551 and a mounting wall 552, the mounting wall 552 is arranged in the bracket cylinder 551 and connected to the inner wall of the bracket cylinder 551, the bracket cylinder 551 is fixed to the inside of the joint housing 10, and the force sensor 56 is fixed to the mounting wall 552. The axial one end of the bracket cylinder 551 extends into the above-mentioned mounting gap 530.

[0064] In some embodiments of the present application, referring to Figure 1 , the force sensor 56 is connected with a first cross universal shaft assembly 61, and the guide sleeve 40 is connected with a second cross universal shaft assembly 62. The cross universal shaft assembly is a mechanical component for transmitting power and torque, which is used to connect the linear joint module and other components and can produce relative rotation in a predetermined direction. Since the second cross universal shaft assembly 62 connects the guide sleeve 40 and the external component, the external component is fixed in the circumferential direction of the screw body 31, and therefore, the nut body 32 keeps linear motion under the limitation of the external component.

[0065] The application further provides a robot, which comprises the linear joint module in any of the above embodiments. The robot can be a humanoid robot, a service robot, an industrial robot, etc. The robot can further comprise an effector, etc.

[0066] The robot provided by the application adopts the linear joint module, which comprises a joint shell 10, a motor 20, a forward planetary ball screw assembly 30 and a guide sleeve 40. The motor 20 drives the forward planetary ball screw assembly 30 to move, the nut body 32 of the forward planetary ball screw assembly 30 and the guide sleeve 40 move synchronously in a straight line, the guide sleeve 40 and the joint shell 10 are supported by the sliding bearing 52, the weight of the forward planetary ball screw assembly 30 and the sliding bearing 52 is light, the weight of the linear joint module is reduced by arranging the forward planetary ball screw assembly 30 and the sliding bearing 52, and thus the rotational inertia of the linear joint module is reduced, and the acceleration and deceleration performance is improved.

[0067] The above only describes the preferred embodiments of the application and is not intended to limit the application. Any modification, equivalent replacement and improvement within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A linear joint module, characterized in that: The device includes a joint housing, a motor, a forward planetary ball screw assembly, and a guide bushing. The motor and the forward planetary ball screw assembly are both disposed inside the joint housing. The forward planetary ball screw assembly includes at least a screw body and a nut body. The screw body is driven by the motor. The guide bushing is located on the outer periphery of the nut body and is fixedly connected to the nut body. The end of the screw body away from the nut body is supported on the joint housing by a rolling bearing. One end of the guide bushing extends into the interior of the joint housing, and a sliding bearing is provided between the outer peripheral wall of the guide bushing and the inner peripheral wall of the joint housing.

2. The linear joint module as described in claim 1, characterized in that: The joint housing includes a first housing segment, a second housing segment, and a transition segment. The first housing segment and the second housing segment are connected by the transition segment. The outer diameter of the first housing segment is larger than the outer diameter of the second housing segment. The motor and the rolling bearing are both disposed in the first housing segment, and the sliding bearing and the nut body are disposed in the second housing segment.

3. The linear joint module as described in claim 2, characterized in that: In the axial direction of the lead screw body, the motor is disposed between the rolling bearing and the sliding bearing.

4. The linear joint module as described in claim 1, characterized in that: The guide bushing extends radially outward from one end inside the joint housing to form a skirt-like stop structure.

5. The linear joint module as described in claim 1, characterized in that: The linear joint module further includes a locking nut for fixing the guide bushing and the nut body. The guide bushing is hollow and has a first stop step on its inner peripheral wall. The nut body is disposed inside the guide bushing. The locking nut is threaded to the inner peripheral wall of the guide bushing and presses the nut body against the first stop step.

6. The linear joint module as described in claim 1, characterized in that: The linear joint module also includes a bearing bracket and a circuit board assembly. The bearing bracket is fixed inside the joint housing. The rolling bearing is disposed between the inner peripheral wall of the bearing bracket and the outer peripheral wall of the lead screw body. One axial end of the bearing bracket faces the motor, and the axial end of the bearing bracket is fixedly connected to the circuit board assembly.

7. The linear joint module as described in claim 6, characterized in that: The linear joint module also includes a sensor bracket, a force sensor, and an axial stop structure. The axial stop structure is fixed to the inner wall of the joint housing and is used to axially limit the force sensor. The force sensor is fixed to one axial end of the sensor bracket, and the other axial end of the sensor bracket abuts against the bearing bracket. The interior of the joint housing has a second stop step, and the end of the bearing bracket away from the sensor bracket abuts against the second stop step.

8. The linear joint module as described in claim 7, characterized in that: The bearing bracket includes a first bracket section and a second bracket section connected to each other. The second bracket section is tightly fixed to the inner peripheral wall of the joint housing. The first bracket section and the inner peripheral wall of the joint housing form an installation gap. The other axial end of the sensor bracket extends into the installation gap and abuts against the second bracket section.

9. The linear joint module as described in claim 7, characterized in that: The force sensor is connected to a first universal joint assembly, and the guide sleeve is connected to a second universal joint assembly.

10. A robot, characterized in that: Includes the linear joint module as described in any one of claims 1-9.

Images