Linear joint module and robot

Abstract

The invention discloses a linear joint module and a robot, and belongs to the field of joint modules. Comprising a shell, a control assembly, a driving assembly, a telescopic assembly, a sensing assembly, a first joint piece and a second joint piece. The control assembly, the driving assembly, the telescopic assembly and the sensing assembly are all arranged in the shell, the first joint piece is located outside the first end of the shell, and the second joint piece is located outside the second end of the shell; the sensing assembly is electrically connected with the first joint piece and electrically connected with the control assembly, the control assembly is electrically connected with the driving assembly, the driving assembly is connected with the telescopic assembly, and the telescopic assembly is connected with the second joint piece. The sensing assembly is used for sensing external force borne by the first joint piece and sending a sensing signal to the control assembly, and the control assembly controls the driving assembly to operate according to the sensing signal so that the driving assembly can drive the telescopic assembly to operate, and the telescopic assembly can drive the second joint piece to move in the axial direction of the shell.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of joint modules, and particularly relates to a linear joint module and a robot. BACKGROUND

[0002] With the development of science and technology, robots are gradually widely applied. Generally, a linear joint module is arranged in a robot, and the robot can perform corresponding operations through the linear joint module. In the related art, the linear joint module can perform linear motion, that is, the linear joint module can move on the same straight line. However, in the related art, the linear joint module has low integration and large volume. SUMMARY

[0003] The application aims to provide a linear joint module and a robot, and at least solve the problems of low integration and large volume of the linear joint module.

[0004] In a first aspect, an embodiment of the application provides a linear joint module, which comprises a shell, a control assembly, a driving assembly, an extension assembly, a sensing assembly, a first joint piece and a second joint piece.

[0005] The control assembly, the driving assembly, the extension assembly and the sensing assembly are arranged in the shell, the first joint piece is located outside a first end of the shell, and the second joint piece is located outside a second end of the shell.

[0006] The sensing assembly is electrically connected with the first joint piece, and the sensing assembly is electrically connected with the control assembly. The control assembly is electrically connected with the driving assembly. The driving assembly is connected with the extension assembly, and the extension assembly is connected with the second joint piece.

[0007] The sensing assembly is used for sensing an external force received by the first joint piece, and sending a sensing signal to the control assembly. The control assembly controls the driving assembly to operate according to the sensing signal, so that the driving assembly drives the extension assembly to operate, and the extension assembly drives the second joint piece to move along the axial direction of the shell.

[0008] Optionally, the driving assembly comprises a driving coil and a magnetic piece.

[0009] The driving coil is fixed in the shell, and the driving coil is electrically connected with the control assembly. The magnetic piece is internally extended into the driving coil, and the magnetic piece is connected with the extension assembly.

[0010] When the driving coil is energized, the driving coil drives the magnetic piece to rotate relative to the driving coil, and the magnetic piece drives the telescopic assembly to move along the axial direction of the shell.

[0011] Optionally, the telescopic assembly comprises a housing and a lead screw.

[0012] The housing is rotationally connected with the lead screw, the housing is connected with the magnetic piece, and one end of the lead screw is connected with the second joint piece.

[0013] When the housing rotates, the housing drives the lead screw to rotate and move along the axial direction of the shell.

[0014] Optionally, the linear joint module further comprises a guide piece, the shell is provided with a first opening, and the guide piece is fixed to the inner wall of the shell and located at the first opening.

[0015] The guide piece is provided with a guide hole, the lead screw passes through the guide hole and the first opening, and the guide piece is used for limiting the rotation of the lead screw so that the lead screw only moves along the axial direction of the shell.

[0016] Optionally, the linear joint module further comprises a first buffer pad and a second buffer pad.

[0017] Along the axial direction of the shell, the housing has opposite first and second ends, the first buffer pad is arranged at the first end of the housing, the first buffer pad is fixed to the surface of the guide piece away from the inner wall of the shell, and the lead screw passes through the first buffer pad, and the second buffer pad is arranged at the second end of the housing.

[0018] The axial direction projection of the lead screw on the shell at least partially overlaps the axial direction projection of the first buffer pad on the shell, and the axial direction projection of the lead screw on the shell at least partially overlaps the axial direction projection of the second buffer pad on the shell.

[0019] Optionally, the linear joint module further comprises a first sealing ring, the first sealing ring is located between the guide piece and the inner wall of the shell, and the lead screw passes through the first sealing ring.

[0020] Optionally, the linear joint module further comprises a first bearing and a second bearing.

[0021] The first bearing and the second bearing are both fixed to the inner wall of the shell, and along the axial direction of the shell, the first bearing and the second bearing are spaced apart, and the housing passes through the first bearing and the second bearing.

[0022] Optionally, the first joint component includes a first joint bearing and a first joint fixing component, the first joint bearing being embedded in the first joint fixing component, and the first joint fixing component being connected to the sensing component;

[0023] The second joint component includes a second joint bearing and a second joint fixing component. The second joint bearing is embedded in the second joint fixing component, and the second joint fixing component is connected to the telescopic assembly.

[0024] Optionally, the linear joint module further includes a second sealing ring;

[0025] The housing has a second opening, a portion of the first joint fixing member is embedded in the second opening, the second sealing ring is disposed in the second opening and is located inside the housing, and the first joint fixing member passes through the second sealing ring.

[0026] Secondly, embodiments of this application provide a robot, which includes the linear joint module described in any one of the first aspects above.

[0027] In this embodiment, since the sensing component is electrically connected to the first joint member, the control component, the drive component, the telescopic component, and the second joint member, the external force on the first joint member can be sensed by the sensing component. Once the first joint member is subjected to an external force, the sensing component can send a sensing signal to the control component. After receiving the sensing signal, the control component can control the drive component to operate, causing the drive component to drive the telescopic component. The telescopic component can then drive the second joint member, moving it along the axial direction of the housing, either away from or close to the housing. This allows the second joint member to move linearly along the axial direction of the housing, enabling the linear joint module to achieve the corresponding movement. Furthermore, the control component, drive component, telescopic component, and sensing component are all housed within the housing. The first joint member is located outside the first end of the housing, and the second joint member is located outside the second end of the housing. This effectively integrates the control component, drive component, and sensing component of the linear joint module into the same housing, increasing the integration level and reducing the size of the linear joint module. That is, in the embodiments of this application, by setting control components, drive components, telescopic components, sensing components, first joint components and second joint components, the linear joint module can realize corresponding movements. Moreover, by setting control components, drive components, telescopic components and sensing components in the housing, the integration of the linear joint module is improved, which helps to reduce the volume of the linear joint module. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 A perspective view of a linear joint module is shown.

[0029] Figure 2 A sectional view of a linear joint module is shown.

[0030] REFERENCE NUMERALS:

[0031] 10: housing; 11: front cover; 12: first intermediate shell; 13: second intermediate shell; 14: third intermediate shell; 15: rear cover; 20: control assembly; 30: driving assembly; 31: driving coil; 32: magnetic piece; 40: telescopic assembly; 41: outer shell; 42: lead screw; 50: induction assembly; 60: first joint piece; 61: first joint bearing; 62: first joint fixing piece; 70: second joint piece; 71: second joint bearing; 72: second joint fixing piece; 80: guide piece; 90: first buffer pad; 100: second buffer pad; 110: first sealing ring; 120: first bearing; 121: bearing locking sleeve; 130: second bearing; 140: second sealing ring. DETAILED DESCRIPTION

[0032] The terms "first", "second" in the description and claims of the present application 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 specified. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally means that the front and rear associated objects are in an "or" relationship.

[0033] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0034] In the description of the present application, it should be noted that unless specifically stated and limited otherwise, the terms "mounting", "connected", "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] As shown in Figure 1 and Figure 2 , the linear joint module comprises a shell 10, a control assembly 20, a driving assembly 30, a telescopic assembly 40, a sensing assembly 50, a first joint piece 60 and a second joint piece 70.

[0036] The control assembly 20, the driving assembly 30, the telescopic assembly 40 and the sensing assembly 50 are all arranged in the shell 10, the first joint piece 60 is located outside the first end of the shell 10, and the second joint piece 70 is located outside the second end of the shell 10; the sensing assembly 50 is electrically connected with the first joint piece 60, and the sensing assembly 50 is electrically connected with the control assembly 20, the control assembly 20 is electrically connected with the driving assembly 30, the driving assembly 30 is connected with the telescopic assembly 40, and the telescopic assembly 40 is connected with the second joint piece 70; the sensing assembly 50 is used for sensing the external force received by the first joint piece 60, and sending a sensing signal to the control assembly 20, the control assembly 20 controls the driving assembly 30 to operate according to the sensing signal, so that the driving assembly 30 drives the telescopic assembly 40 to operate, and the telescopic assembly 40 drives the second joint piece 70 to move along the axial direction of the shell 10.

[0037] In the embodiment of the present application, since the induction assembly 50 is electrically connected with the first joint 60, the induction assembly 50 is electrically connected with the control assembly 20, the control assembly 20 is electrically connected with the driving assembly 30, the driving assembly 30 is connected with the telescopic assembly 40, and the telescopic assembly 40 is connected with the second joint 70, the external force received by the first joint 60 can be sensed by the induction assembly 50, so that once the first joint 60 receives the external force, the induction assembly 50 can send an induction signal to the control assembly 20, and the control assembly 20 can control the driving assembly 30 to operate according to the induction signal after receiving the induction signal, so that the driving assembly 30 can drive the telescopic assembly 40 to operate, and the telescopic assembly 40 can drive the second joint 70, that is, the telescopic assembly 40 can drive the second joint 70 to move along the axial direction of the housing 10, so that the second joint 70 moves away from the housing 10, or the second joint 70 moves close to the housing 10, that is, the second joint 70 moves linearly along the axial direction of the housing 10, so that the linear joint module can realize corresponding movement. In addition, the control assembly 20, the driving assembly 30, the telescopic assembly 40 and the induction assembly 50 are all arranged in the housing 10, the first joint 60 is located outside the first end of the housing 10, and the second joint 70 is located outside the second end of the housing 10, so that the control assembly 20, the driving assembly 30 and the induction assembly 50 of the linear joint module are integrated in the same housing 10, so that the integration degree of the linear joint module is improved, and the volume of the linear joint module is reduced. That is, in the embodiment of the present application, by arranging the control assembly 20, the driving assembly 30, the telescopic assembly 40, the induction assembly 50, the first joint 60 and the second joint 70, the linear joint module can realize corresponding movement, and the control assembly 20, the driving assembly 30, the telescopic assembly 40 and the induction assembly 50 are arranged in the housing 10, so that the integration degree of the linear joint module is improved, and the volume of the linear joint module is reduced.

[0038] It should be noted that in the embodiment of the present application, the control assembly 20 can be a circuit board with control function, specifically, the control assembly 20 can be a printed circuit board (PCB) with control function, of course, the control assembly 20 can also be a flexible circuit board (FPC) with control function. The specific type of the control assembly 20 is not limited in the embodiment of the present application.

[0039] In addition, in the embodiment of the present application, the sensing assembly 50 can be a tension and pressure sensor, so that the tension and pressure sensor can sense the tension or pressure sensed by the first joint piece 60. In this embodiment, the housing 10 can be provided with a mounting seat, and the sensing assembly 50 can be fixed to the mounting seat, so as to facilitate the installation of the sensing assembly 50 in the housing 10. In addition, in the embodiment of the present application, when the sensing assembly 50 is a tension and pressure sensor, once the first joint piece 60 is subjected to an external force, the tension and pressure sensor can sense the size of the external force acting on the first joint piece 60 and generate a corresponding sensing signal. The sensing signal can contain information of the external force acting on the first joint piece 60, so that the control assembly 20 can determine the extension and contraction amount of the telescopic assembly 40 according to the sensing signal after receiving the sensing signal, so that the telescopic assembly 40 can be correspondingly extended or contracted.

[0040] In addition, in the embodiment of the present application, the housing 10 can include a front cover 11, a first intermediate shell 12, a second intermediate shell 13, a third intermediate shell 14, and a rear cover 15. The first intermediate shell 12, the second intermediate shell 13, and the third intermediate shell 14 are connected in sequence. The first intermediate shell 12 is provided with a first opening, and the front cover 11 is connected to the first opening and covers the first opening. The third intermediate shell 14 is provided with a second opening, and the rear cover 15 is connected to the second opening and covers the second opening. In this embodiment, the front cover 11 can be connected to the first opening by bolts. Of course, the front cover 11 can also be connected to the first opening by other means, for example, the front cover 11 can be welded to the first opening. In this embodiment, the front cover 11 is not limited in this way. In addition, the rear cover 15 can be connected to the second opening by bolts. Of course, the rear cover 15 can also be connected to the second opening by other means, for example, the rear cover 15 can be welded to the second opening. In this embodiment, the rear cover 15 is not limited in this way. In addition, the first intermediate shell 12, the second intermediate shell 13, and the third intermediate shell 14 can be connected in sequence by bolts. Of course, the first intermediate shell 12, the second intermediate shell 13, and the third intermediate shell 14 can also be connected in other ways, for example, the first intermediate shell 12, the second intermediate shell 13, and the third intermediate shell 14 can be connected in sequence by welding. In this embodiment, the first intermediate shell 12, the second intermediate shell 13, and the third intermediate shell 14 are not limited in this way. Of course, in the embodiment of the present application, the housing 10 can also be a one-piece structure.

[0041] In addition, the inner wall of the second intermediate shell 13 can have a fixing portion, and the control assembly 20 can be fixed to the fixing portion, so as to facilitate the control assembly 20. In this embodiment, the control assembly 20 can be fixed to the fixing portion by bolts. Of course, the control assembly 20 can also be fixed to the fixing portion by other means, for example, the control assembly 20 can be fixed to the fixing portion by a pin. In this embodiment, the control assembly 20 is not limited in this way.

[0042] In addition, the inner wall of the third intermediate shell 14 can be provided with a fixed baffle, and the fixed baffle is provided with a threaded hole. The inductive assembly 50 can pass through the threaded hole through a threaded rod to realize the connection of the inductive assembly 50 and the fixed baffle, so that the inductive assembly 50 is fixed.

[0043] In addition, in some embodiments, the driving assembly 30 can include a driving coil 31 and a magnetic piece 32. The driving coil 31 is fixed in the shell 10, and the driving coil 31 is electrically connected with the control assembly 20. The magnetic piece 32 is internally extended in the driving coil 31, and the magnetic piece 32 is connected with the telescopic assembly 40. When the driving coil 31 is powered, the driving coil 31 drives the magnetic piece 32 to rotate relative to the driving coil, and the magnetic piece 32 drives the telescopic assembly 40 to move along the axial direction of the shell 10.

[0044] Since the driving coil 31 is fixed in the shell 10, and the driving coil 31 is electrically connected with the control assembly 20, the magnetic piece 32 is internally extended in the driving coil 31, and the magnetic piece 32 is connected with the telescopic assembly 40, once the first joint piece 60 is subjected to an external force, the inductive assembly 50 can generate an induction signal and transmit the induction signal to the control assembly 20. After the control assembly 20 receives the induction signal, the control assembly 20 can make the driving coil 31 powered, and the driving coil 31 can generate a magnetic field to make the magnetic piece 32 rotate relative to the driving coil 31, that is, the driving coil 31 is equivalent to a stator and does not move, and the magnetic piece 32 is equivalent to a rotor and rotates relative to the driving coil 31. Once the magnetic piece 32 rotates, it is equivalent to that the driving assembly 30 operates, and the magnetic piece 32 can drive the telescopic assembly 40 to move along the axial direction of the shell 10, so that the telescopic assembly 40 drives the second joint piece 70 to move along the axial direction of the shell 10. That is, by arranging the driving coil 31 and the magnetic piece 32, the telescopic assembly 40 can be conveniently driven to operate, and embedding the magnetic piece 32 in the driving coil can also help to reduce the volume of the linear joint module.

[0045] It should be noted that in the embodiments of the present application, the magnetic piece 32 can be a magnetic steel, of course, the magnetic piece 32 can also be other metals with magnetism. For this, the embodiments of the present application are not limited here.

[0046] In addition, in the embodiments of the present application, the magnetic piece 32 and the telescopic assembly 40 can be connected by adhesion, that is, the magnetic piece 32 and the telescopic assembly 40 are adhered by adhesive. Of course, the magnetic piece 32 and the telescopic assembly 40 can also be connected by other ways, for example, the magnetic piece 32 and the telescopic assembly 40 can be welded, and for another example, the magnetic piece 32 and the telescopic assembly 40 can be connected by bolts. For this, the embodiments of the present application are not limited here.

[0047] In addition, in some embodiments, the telescopic assembly 40 can include a housing 41 and a screw rod 42; the housing 41 is rotationally connected with the screw rod 42, the housing 41 is connected with the magnetic member 32, and one end of the screw rod 42 is connected with the second joint member 70; when the housing 41 rotates, the housing 41 drives the screw rod 42 to rotate and move along the axial direction of the shell 10. Part of the screw rod 42 can be externally exposed to the shell 10, and the part of the screw rod 42 is connected with the second joint member 70.

[0048] Since the housing 41 is rotationally connected with the screw rod 42, the housing 41 is connected with the magnetic member 32, and one end of the screw rod 42 is connected with the second joint member 70, once the control assembly 20 supplies power to the driving coil 31, the driving coil 31 generates a magnetic field, the driving coil 31 can drive the magnetic member 32 to rotate, the magnetic member 32 can drive the housing 41 to rotate, the housing 41 can drive the screw rod 42 to rotate, and the screw rod 42 moves along the axial direction of the shell 10, that is, the screw rod 42 rotates and moves linearly, which is equivalent to that the screw rod 42 rotates and moves along the axial direction of the shell 10, so that the screw rod 42 can gradually extend out of the shell 10, that is, the part of the screw rod 42 exposed to the shell 10 gradually increases, and the screw rod 42 drives the second joint member 70 to move away from the shell 10; the screw rod 42 can also gradually retract into the shell 10, that is, the part of the screw rod 42 exposed to the shell 10 gradually decreases, and the screw rod 42 drives the second joint member 70 to move close to the shell 10. That is, by arranging the screw rod 42, the second joint member 70 can move linearly, and the second joint member 70 can move away from or close to the shell 10.

[0049] It should be noted that, in the embodiments of the present application, the telescopic assembly 40 can be a reverse planetary ball screw 42, the reverse planetary ball screw 42 has the housing 41 and the screw rod 42, and when the housing 41 rotates, the housing 41 can drive the screw rod 42 to rotate, and the screw rod 42 moves along the axial direction of the shell 10. The reverse planetary ball screw 42 has a small volume and can bear a large load, thereby facilitating the reduction of the volume of the linear joint module and the increase of the bearable load. Of course, the telescopic assembly 40 can also be other types of screw rods 42, for example, the telescopic assembly 40 is a T-shaped screw rod 42. The specific type of the telescopic assembly 40 is not limited in the embodiments of the present application.

[0050] In addition, in some embodiments, the linear joint module further includes a guide member 80, the shell 10 is provided with a first opening, the guide member 80 is fixed to the inner wall of the shell 10, and the guide member 80 is located at the first opening; the guide member 80 is provided with a guide hole, the screw rod 42 passes through the guide hole and the first opening, and the guide member 80 is used to limit the rotation of the screw rod 42, so that the screw rod 42 only moves along the axial direction of the shell 10.

[0051] Due to the first opening provided on the shell 10, the guide 80 is fixed to the inner wall of the shell 10, and the guide 80 is located at the first opening, and the guide 80 is provided with a guide hole, so that the lead screw 42 can be arranged through the guide hole and the first opening, so that the lead screw 42 is partially located outside the shell 10, so that the lead screw 42 is connected with the second joint 70, and the presence of the guide 80 can limit the lead screw 42 when rotating, so that the part of the lead screw 42 extending out of the shell 10 only performs linear motion and does not perform rotary motion, that is, the lead screw 42 extending out of the shell 10 only moves along the axial direction of the shell 10, so that the lead screw 42 drives the second joint 70 to only perform linear motion, so that the second joint 70 moves along the axial direction of the shell 10, avoiding the problem that the second joint 70 is driven to rotate by the lead screw 42, causing the second joint 70 to be driven to rotate. That is, by arranging the guide 80, the lead screw 42 can drive the second joint 70 to only perform linear motion, effectively avoiding the problem of rotation of the second joint 70.

[0052] It should be noted that when the shell 10 includes the front cover 11, the first opening is provided on the front cover 11. In addition, the guide 80 can be fixed to the inner wall of the shell 10 by bolts, of course, the guide 80 can also be fixed to the inner wall of the shell 10 by welding, and the embodiments of the present application are not limited to this. In addition, when the shell 10 includes the front cover 11, the guide 80 is fixed to the front cover 11.

[0053] In addition, when the lead screw 42 is arranged through the guide hole on the guide 80, the lead screw 42 and the guide hole can be gap-fitted, so that the guide hole can limit the rotation of the lead screw 42, so that the lead screw 42 only performs linear motion, that is, the lead screw 42 only extends or retracts in the shell 10 along the axial direction of the shell 10.

[0054] In addition, in some embodiments, the linear joint module can further include a first buffer pad 90 and a second buffer pad 100; along the axial direction of the shell 10, the outer shell 41 has opposite first and second ends, the first buffer pad 90 is arranged at the first end of the outer shell 41, and the first buffer pad 90 is fixed to the surface of the guide 80 away from the inner wall of the shell 10, and the lead screw 42 is arranged through the first buffer pad 90, and the second buffer pad 100 is arranged at the second end of the outer shell 41; the projection of the lead screw 42 in the axial direction of the shell 10 at least partially overlaps the projection of the first buffer pad 90 in the axial direction of the shell 10, and the projection of the lead screw 42 in the axial direction of the shell 10 at least partially overlaps the projection of the second buffer pad 100 in the axial direction of the shell 10.

[0055] Since the first buffer pad 90 is arranged at the first end of the outer shell 41, the first buffer pad 90 is fixed to the surface of the guide 80 away from the inner wall of the shell 10, and the lead screw 42 is arranged through the first buffer pad 90, and the projection of the lead screw 42 in the axial direction of the shell 10 at least partially overlaps the projection of the first buffer pad 90 in the axial direction of the shell 10, so that during the movement of the lead screw 42, that is, when the lead screw 42 moves from the second end to the first end of the outer shell 41, once the lead screw 42 moves to the limit position, the lead screw 42 will be in contact with the first buffer pad 90, so that the first buffer pad 90 can buffer the lead screw 42, avoiding the problem that the lead screw 42 contacts other components inside the shell 10, causing the other components to be damaged. In addition, the second buffer pad 100 is arranged at the second end of the outer shell 41, and the projection of the lead screw 42 in the axial direction of the shell 10 at least partially overlaps the projection of the second buffer pad 100 in the axial direction of the shell 10, so that during the movement of the lead screw 42, that is, when the lead screw 42 moves from the first end to the second end of the outer shell 41, once the lead screw 42 moves to the limit position, the lead screw 42 will be in contact with the second buffer pad 100, so that the second buffer pad 100 can buffer the lead screw 42, avoiding the problem that the lead screw 42 contacts other components inside the shell 10, causing the other components to be damaged.

[0056] It should be noted that the lead screw 42 can include a first part and a second part, the first part is connected to the second part, the outer diameter of the first part is larger than the outer diameter of the second part, and the second part is arranged through the guide hole on the guide 80, so that when the lead screw 42 moves from the second end to the first end of the outer shell 41, the first buffer pad 90 can buffer the first part to avoid the first part moving to the limit position and contacting other components inside the shell 10; in addition, when the lead screw 42 moves from the first end to the second end of the outer shell 41, the second buffer pad 100 can buffer the first part to avoid the first part moving to the limit position and contacting other components inside the shell 10.

[0057] In addition, in some embodiments, the linear joint module can further include a first sealing ring 110, the first sealing ring 110 is located between the guide 80 and the inner wall of the shell 10, and the lead screw 42 is arranged through the first sealing ring 110.

[0058] By arranging the first sealing ring 110, the first sealing ring 110 can effectively seal the gap between the guide 80 and the shell 10, and seal the first opening, avoiding impurities or liquids outside the shell 10 entering the inside of the shell 10, causing the components inside the shell 10 to be damaged. That is, by arranging the first sealing ring 110, impurities can be effectively prevented from entering the inside of the shell 10, so as to protect the components inside the shell 10.

[0059] It should be noted that the shape of the first sealing ring 110 can be the same as the shape of the first opening.

[0060] In addition, in some embodiments, the linear joint module can further include a first bearing 120 and a second bearing 130; the first bearing 120 and the second bearing 130 are fixed to the inner wall of the shell 10, and the first bearing 120 and the second bearing 130 are spaced apart along the axial direction of the shell 10, and the shell 41 passes through the first bearing 120 and the second bearing 130.

[0061] Since the shell 41 passes through the first bearing 120, when the shell 41 is driven to rotate by the magnetic member 32, the shell 41 can rotate relative to the first bearing 120, and the first bearing 120 can ensure that the rotation of the shell 41 is not affected. That is, by providing the first bearing 120, the effective rotation of the shell 41 can be ensured. In addition, the shell 41 passes through the second bearing 130, so that the second bearing 130 also ensures that the rotation of the shell 41 is not affected, and ensures the effective rotation of the shell 41.

[0062] It should be noted that the number of first bearings 120 can be set according to actual needs, for example, the number of first bearings 120 is 2, and for example, the number of first bearings 120 is 3. For this, the number of first bearings 120 is not limited in the embodiment of the present application. In addition, the number of second bearings 130 can also be set according to actual needs, for example, the number of second bearings 130 is 1, and for example, the number of second bearings 130 is 2. For this, the number of second bearings 130 is not limited in the embodiment of the present application.

[0063] In addition, the first bearing 120 can be an angular contact bearing, and of course, the first bearing 120 can also be of other types, and the specific type of the first bearing 120 is not limited in the embodiment of the present application. In addition, the second bearing 130 can be a deep groove ball bearing, and of course, the second bearing 130 can also be of other types, and the specific type of the second bearing 130 is not limited in the embodiment of the present application.

[0064] In addition, in the embodiment of the present application, the first bearing 120 can be fixed to the inner wall of the shell 10 by a bearing locking sleeve 121, and of course, the first bearing 120 can also be fixed to the inner wall of the shell 10 by other means, for example, the first bearing 120 is welded to the inner wall of the shell 10. For this, the first bearing 120 is not limited in the embodiment of the present application.

[0065] In addition, in some embodiments, the first joint part 60 can include a first joint bearing 61 and a first joint fixing part 62, the first joint bearing 61 being embedded in the first joint fixing part 62, and the first joint fixing part 62 being connected with the sensing assembly 50; the second joint part 70 includes a second joint bearing 71 and a second joint fixing part 72, the second joint bearing 71 being embedded in the second joint fixing part 72, and the second joint fixing part 72 being connected with the telescopic assembly 40.

[0066] Since the first joint fixing part 62 is connected with the sensing assembly 50, and the first joint bearing 61 is embedded in the first joint fixing part 62, once the first joint bearing 61 is connected with other components and the other components are subjected to force, the first joint fixing part 62 can be subjected to force, and the sensing assembly 50 can sense the external force received by the first joint fixing part 62, thereby sending a sensing signal to the control assembly 20. In addition, by arranging the first joint bearing 61, the first joint part 60 can be conveniently connected with other components. In addition, the second joint bearing 71 is embedded in the second joint fixing part 72, and the second joint fixing part 72 is connected with the telescopic assembly 40. Therefore, once the control assembly 20 controls the driving assembly 30 to operate, the telescopic assembly 40 can be telescoped, thereby driving the second joint fixing part 72 to move along the axial direction of the housing 10, and the second joint fixing part 72 can drive the second joint bearing 71 to move, so as to connect other components with the second joint bearing 71, thereby realizing the movement of the other components. In addition, by arranging the second joint bearing 71, the second joint part 70 can be conveniently connected with other components.

[0067] It should be noted that when the telescopic assembly 40 includes a lead screw 42, the lead screw 42 is connected with the second joint fixing part 72. Specifically, the lead screw 42 can be connected with the second joint fixing part 72 through bolts, the lead screw 42 can be connected with the second joint fixing part 72 through nuts, or the lead screw 42 can be welded with the second joint fixing part 72. In this regard, the embodiments of the present application are not limited here.

[0068] In addition, the first joint fixing part 62 can be provided with a threaded hole, and the sensing assembly 50 can be provided with a screw rod. The screw rod can be embedded in the threaded hole, so as to connect the sensing assembly 50 with the first joint fixing part 62.

[0069] In addition, in some embodiments, the linear joint module can further include a second sealing ring 140; the housing 10 is provided with a second opening, part of the first joint fixing part 62 is embedded in the second opening, the second sealing ring 140 is arranged in the second opening, and the second sealing ring 140 is located inside the housing 10, and the first joint fixing part 62 penetrates the second sealing ring 140.

[0070] By setting the second sealing ring 140, the second sealing ring 140 can effectively seal the second opening, and the gap between the first joint fixing part 62 and the shell 10 is sealed, avoiding the problem that impurities or liquid outside the shell 10 enter the inside of the shell 10, causing the components inside the shell 10 to be damaged. That is, by setting the second sealing ring 140, impurities can be effectively prevented from entering the inside of the shell 10, thereby protecting the components inside the shell 10.

[0071] It should be noted that the shape of the second sealing ring 140 can be the same as the shape of the second opening. In addition, when the shell 10 includes the rear cover 15, at this time, the second opening can be arranged on the rear cover 15.

[0072] The robot provided in the embodiments of the present application includes the linear joint module in any of the above embodiments.

[0073] It should be noted that in the embodiments of the present application, the robot includes but is not limited to a biped robot and a quadruped robot.

[0074] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0075] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A linear joint module, characterized in that, The linear joint module includes: a housing, a control component, a drive component, a telescopic component, a sensing component, a first joint member, and a second joint member; The control component, the drive component, the telescopic component, and the sensing component are all disposed in the housing. The first joint is located outside the first end of the housing, and the second joint is located outside the second end of the housing. The sensing component is electrically connected to the first joint member, and the sensing component is electrically connected to the control component. The control component is electrically connected to the drive component. The drive component is connected to the telescopic component. The telescopic component is connected to the second joint member. The sensing component is used to sense the external force on the first joint member and send a sensing signal to the control component. The control component controls the drive component to operate according to the sensing signal, so that the drive component drives the telescopic component to operate, and the telescopic component drives the second joint member to move along the axial direction of the housing.

2. The linear joint module according to claim 1, characterized in that, The driving component includes a driving coil and a magnetic component; The drive coil is fixed in the housing and is electrically connected to the control component. The magnetic element extends inside the drive coil and is connected to the telescopic component. When the drive coil is energized, the drive coil drives the magnetic component to rotate relative to the drive coil, and the magnetic component drives the telescopic assembly to move along the axial direction of the housing.

3. The linear joint module according to claim 2, characterized in that, The telescopic assembly includes a housing and a lead screw; The outer casing is rotatably connected to the lead screw, the outer casing is connected to the magnetic component, and one end of the lead screw is connected to the second joint component; When the outer casing rotates, the outer casing drives the lead screw to rotate and move along the axial direction of the casing.

4. The linear joint module according to claim 3, characterized in that, The linear joint module further includes a guide member. The housing has a first opening, the guide member is fixed to the inner wall of the housing, and the guide member is located at the first opening. The guide member is provided with a guide hole, and the lead screw passes through the guide hole and the first opening. The guide member is used to restrict the rotation of the lead screw so that the lead screw can only move in the axial direction of the housing.

5. The linear joint module according to claim 4, characterized in that, The linear joint module also includes a first buffer pad and a second buffer pad; Along the axial direction of the housing, the housing has a first end and a second end opposite to each other. The first buffer pad is disposed at the first end of the housing and is fixed to the surface of the guide member away from the inner wall of the housing. The lead screw passes through the first buffer pad, and the second buffer pad is disposed at the second end of the housing. The projection of the lead screw in the axial direction of the housing at least partially overlaps with the projection of the first buffer pad in the axial direction of the housing, and the projection of the lead screw in the axial direction of the housing at least partially overlaps with the projection of the second buffer pad in the axial direction of the housing.

6. The linear joint module according to claim 4, characterized in that, The linear joint module further includes a first sealing ring, which is located between the guide and the inner wall of the housing, and the lead screw passes through the first sealing ring.

7. The linear joint module according to claim 3, characterized in that, The linear joint module also includes a first bearing and a second bearing; Both the first bearing and the second bearing are fixed to the inner wall of the housing and are spaced apart along the axial direction of the housing. The outer shell passes through the first bearing and the second bearing.

8. The linear joint module according to any one of claims 1-7, characterized in that, The first joint component includes a first joint bearing and a first joint fixing component. The first joint bearing is embedded in the first joint fixing component, and the first joint fixing component is connected to the sensing component. The second joint component includes a second joint bearing and a second joint fixing component. The second joint bearing is embedded in the second joint fixing component, and the second joint fixing component is connected to the telescopic assembly.

9. The linear joint module according to any one of claims 1-7, characterized in that, The linear joint module also includes a second sealing ring; The housing has a second opening, a portion of the first joint fixing member is embedded in the second opening, the second sealing ring is disposed in the second opening and is located inside the housing, and the first joint fixing member passes through the second sealing ring.

10. A robot, characterized in that, The robot includes the linear joint module according to any one of claims 1-9.

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