Linear actuator output displacement detection device and robot

Abstract

The invention discloses a linear actuator output displacement detection device and a robot, and relates to the field of robots. The linear actuator output displacement detection device comprises a housing, a sliding piece and a detection piece. An opening is formed in one end, in the first direction, of the cover shell, a containing cavity communicated with the opening is formed in the cover shell, a guide part is arranged on the cavity wall, in the second direction, of the containing cavity, and the cover shell is used for being installed on a shell of the linear actuator. One part of the sliding part penetrates through the opening, one end of the sliding part is used for being connected with the output end of the linear actuator, the sliding part is provided with a sliding part matched with the guide part in the second direction, the sliding part can move on the guide part in the first direction, and the sliding part is provided with a sensed element. The detection piece is at least partially arranged in the containing cavity and used for detecting the displacement of the sensed element in the first direction. According to the linear actuator output displacement detection device provided by the invention, the position of the output end and the generated displacement can be accurately detected.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a linear actuator output displacement detection device and robot. Background Technology

[0002] With the rapid advancement and widespread application of robotics technology, robots have played a crucial role in many fields, including industrial manufacturing, surgery, and home services.

[0003] Actuators are an important component of robot joints, used to power the relative motion between the two moving parts of the robot joint.

[0004] In related technologies, displacement detection at the output end of a reverse planetary roller screw linear actuator is achieved by setting a multi-turn absolute position sensor at the input end of the linear actuator and then calculating the magnitude of the displacement through data processing. However, since the multi-turn absolute position sensor cannot save the current position after power failure, it needs to be continuously powered by a battery. Because the battery is prone to over-discharge, it can easily cause position failure and make the detected displacement data inaccurate. Summary of the Invention

[0005] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a linear actuator output displacement detection device and robot.

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows: In a first aspect, embodiments of this application provide a linear actuator output displacement detection device having a first direction and a second direction that are perpendicular to each other. The linear actuator output displacement detection device includes: The cover has an opening at one end along the first direction, and the cover has a receiving cavity communicating with the opening. A guide portion is provided on the cavity wall along the second direction. The cover is used to be installed on the housing of a linear actuator. A slider, a portion of which passes through the opening, one end of which is connected to the output end of the linear actuator, the slider having a sliding portion that cooperates with the guide portion along the second direction, the sliding portion being movable on the guide portion along the first direction, and the slider having a sensing element. A detection element, at least partially disposed within the receiving cavity, is used to detect the displacement of the sensed element along the first direction.

[0007] The linear actuator output displacement detection device provided in this application has a detection element set on the outside of the linear actuator. At the same time, by setting a sensed element and a sliding part on the slider, when the slider is under the action of the linear actuator, the slider can move stably along the first direction through the cooperation of the sliding part and the guide part. At this time, the detection element detects the position and relative displacement of the sensed element, thus realizing the ability to accurately detect the position and displacement of the output end.

[0008] In addition, the linear actuator output displacement detection device according to this application may also have the following additional technical features: In one embodiment of the first aspect, the linear actuator output displacement detection device further has a third direction that is perpendicular to both the first direction and the second direction; The sliding member includes a straight section and a vertical section fixedly connected. The straight section extends along the first direction, and the vertical section extends along the third direction. The end of the vertical section away from the straight section is used to connect to the output end.

[0009] In one embodiment of the first aspect, the sliding portion is provided at least one end of the straight segment along the second direction.

[0010] In one embodiment of the first aspect, the linear actuator output displacement detection device further includes a base, the detection element is disposed on the base, and the base is used to fix it to the housing.

[0011] In one embodiment of the first aspect, the detection element is either an inductive linear encoder or a magnetic linear encoder.

[0012] In one embodiment of the first aspect, the detection element is an inductive linear encoder, the detection coil of which is laid flat on the base along the first direction.

[0013] In one embodiment of the first aspect, the length of the base along the first direction is greater than the length of the guide portion along the first direction.

[0014] In one embodiment of the first aspect, the slider is provided with a mounting groove at one end away from the output end along the first direction, and the sensing element is disposed in the mounting groove.

[0015] In one embodiment of the first aspect, the sliding portion is provided as a slider that extends and protrudes towards the guide portion along the second direction.

[0016] In one embodiment of the first aspect, the guide portion is a guide groove opened along the first direction, and the slider is a slider that slides in cooperation with the guide groove.

[0017] Secondly, this application also provides a robot, including a linear actuator and the linear actuator output displacement detection device described in any of the above embodiments, wherein the linear actuator output displacement detection device is installed on the linear actuator.

[0018] The robot provided in the second aspect of this application includes the linear actuator output displacement detection device described in any of the above embodiments, and therefore has all the beneficial effects of the linear actuator output displacement detection device, which will not be elaborated here. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This paper shows a three-dimensional structural schematic diagram of a linear actuator output displacement detection device provided in some embodiments of this application; Figure 2 This paper shows a schematic diagram of the linear actuator output displacement detection device provided in some embodiments of the present application from one perspective. Figure 3 It shows Figure 2 A schematic diagram of the cross-sectional structure along the AA direction shown in the figure; Figure 4 It shows Figure 2 The schematic diagram of the cross-sectional structure along the BB direction shown; Figure 5 It shows Figure 2 The diagram shows the structure of the casing. Figure 6 This paper shows a three-dimensional structural diagram of a linear actuator output displacement detection device provided in some embodiments of the present application installed on a linear actuator; Figure 7 It shows Figure 6 A schematic diagram of the linear actuator shown from one perspective; Figure 8 It shows Figure 7 The diagram shows a cross-sectional view along the CC direction.

[0021] Explanation of key component symbols: 100-Linear actuator output displacement detection device; 110-Cover; 1101-Opening; 1102-Receiving cavity; 1103-Guide part; 111-Housing shell; 112-Connector; 120-Sliding part; 1201-Sliding part; 121-Straight section; 122-Vertical section; 123-Mounting groove; 124-Collar; 130-Sensed element; 140-Detection element; 150-Base; 200 - Linear actuator; 210 - Housing; 220 - Output terminal; x - First direction; y - Second direction; z - Third direction. Detailed Implementation

[0022] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0023] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0025] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0026] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0027] In related technologies, the displacement detection of the output end of a reverse planetary roller screw linear actuator is achieved by setting a multi-turn absolute position sensor at the input end of the linear actuator and then calculating the magnitude of the displacement or the current position of the output end through data processing. However, since the multi-turn absolute position sensor cannot save the current position after power failure, it needs to be continuously powered by a battery. Because the battery is prone to over-discharge, it can easily cause position failure, resulting in inaccurate displacement data or inaccurate position of the output end.

[0028] like Figure 1 and Figure 6 As shown, to solve the above-mentioned technical problems, embodiments of this application provide a linear actuator output displacement detection device 100, mainly applied to a linear actuator 200, which is mainly used to provide power for the relative motion between two moving parts of a robot joint. The linear actuator output displacement detection device 100 has a first direction x, a second direction y, and a third direction z that are mutually perpendicular. For ease of description in the following embodiments, the first direction x is the length direction, the second direction y is the width direction, and the third direction z is the height direction, as an example for illustration.

[0029] It should be noted that, for the convenience of the following description of the embodiments, the output terminal 220 of the linear actuator 200 is described using a lead screw as an example.

[0030] Combination Figure 2 and Figure 3 As shown, the linear actuator output displacement detection device 100 includes: a cover 110, a sliding member 120, and a detection member 140.

[0031] Combination Figure 5 As shown, the cover 110 has an opening 1101 at one end along the first direction x, and the cover 110 has a receiving cavity 1102 communicating with the opening 1101. The receiving cavity 1102 has a guide portion 1103 on the cavity wall along the second direction y. The cover 110 is used to install on the housing 210 of the linear actuator 200.

[0032] For example, the housing 110 is fixedly connected to the housing 210 of the offline actuator by screws. Of course, the housing 110 and the housing 210 can also be fixed by adhesive, welding or other fixed connection methods.

[0033] A portion of the slider 120 passes through the opening 1101, and one end of the slider 120 is used to connect to the output end 220 of the linear actuator 200. One end of the slider 120 along the first direction x passes through the opening 1101, so that a portion of the slider 120 is located in the receiving cavity 1102, and the other end of the slider is fixedly connected to the output end 220 of the linear actuator 200.

[0034] The slider 120 is provided with a sliding portion 1201 along the second direction y, which cooperates with the guide portion 1103. The sliding portion 1201 can move on the guide portion 1103 along the first direction x, so as to facilitate the smoothness of the slider 120 during movement and thus facilitate the position detection of the slider 120 during movement. A sensing element 130 is provided on the slider 120.

[0035] The detection element 140 is at least partially disposed within the receiving cavity 1102 and is used to detect the displacement of the sensed element 130 along the first direction x, that is, to detect the linear displacement of the slider 120 along the first direction x, that is, to detect the linear displacement and position of the output end 220 of the linear actuator 200.

[0036] The linear actuator output displacement detection device 100 provided in the embodiments of this application has a detection element 140 disposed on the outside of the linear actuator 200. At the same time, by providing a sensed element 130 and a sliding part 1201 on the slider 120, when the slider 120 is acted upon by the linear actuator 200, the slider 120 and the output end 220 of the linear actuator 200 move synchronously along the first direction x. In this way, the slider 120 can move stably along the first direction x through the cooperation of the sliding part 1201 and the guide part 1103. At this time, the detection element 140 detects the position and relative displacement of the sensed element 130, that is, the detection element 140 detects and identifies the position and relative linear displacement of the slider 120, thereby realizing the ability to accurately detect the position and linear displacement of the output end 220.

[0037] like Figure 1 and Figure 3 As shown, in some embodiments, the linear actuator output displacement detection device 100 also has a third direction z that is mutually perpendicular to the first direction x and the second direction y.

[0038] The slider 120 includes a straight section 121 and a vertical section 122 that are fixedly connected. The straight section 121 extends along a first direction x, and the vertical section 122 extends along a third direction z. The end of the vertical section 122 away from the straight section 121 is used to connect to the output end 220 of the linear actuator 200.

[0039] In this embodiment, the straight section 121 and the vertical section 122 are fixedly connected. The end of the vertical section 122 away from the straight section 121 along the third direction z is fixedly connected to the output end 220 of the linear actuator 200, that is, the vertical section 122 is connected to the lead screw. Exemplarily, a collar 124 is provided at one end of the vertical section 122, and the collar 124 is fitted onto the lead screw for fixed connection. Alternatively, a connecting hole can be provided on the collar 124, and a threaded hole can be provided on the lead screw, with a screw passed through the connecting hole and screwed into the threaded hole for fastening. Of course, in other embodiments, the vertical section 122 can also be fixedly connected to the lead screw by a clamp or a U-shaped bracket, or an arc-shaped connecting piece can be provided extending along the first direction x at one end of the vertical section 122, and the arc-shaped connecting piece and the lead screw can be locked and fixed by screws. The arrangement of the straight section 121 and the vertical section 122 facilitates the assembly of the sliding member 120 and the lead screw.

[0040] For example, the straight section 121 and the vertical section 122 are integrally formed. On the one hand, this facilitates manufacturing, improves production efficiency, thereby reducing production costs and enhancing market competitiveness. On the other hand, the integrally formed straight section 121 and vertical section 122 reduce the probability of breakage at the connection between the straight section 121 and the vertical section 122, and improve the connection strength between the straight section 121 and the vertical section 122.

[0041] It should be noted that integral molding, such as stamping, injection molding, die casting, extrusion, blow molding, 3D printing, etc., does not specifically limit the types of integral molding here.

[0042] like Figure 1 and Figure 4 As shown, in some embodiments, at least one end of the straight segment 121 along the second direction y is provided with a sliding portion 1201. The sliding portion 1201 cooperates with the guide portion 1103 to facilitate smooth movement of the slider 120. Exemplarily, one sliding portion 1201 is provided at one end of the straight segment 121 along the second direction y. Of course, in other embodiments, sliding portions 1201 are provided at both ends of the straight segment 121 along the second direction y. Alternatively, multiple sliding portions 1201 can be provided, spaced apart along the first direction x of the straight segment 121. For example, four sliding portions 1201 are provided, with two sliding portions 1201 at each end of the straight segment 121 along the second direction y, and the two sliding portions 1201 at each end spaced apart along the first direction x of the straight segment 121.

[0043] like Figure 1 and Figure 6 As shown, in some embodiments, the linear actuator output displacement detection device 100 further includes a base 150, and a detection element 140 is disposed on the base 150. The base 150 is used to fix the detection element 140 to the housing 210. In this embodiment, the detection element 140 is fixed on the base 150 by the base 150, which facilitates the installation of the detection element.

[0044] In some embodiments, the detection element 140 is either an inductive linear encoder or a magnetic linear encoder. Exemplarily, the detection element 140 is an inductive linear encoder, and the sensed element 130 is a ferromagnetic component that can be detected and identified by the inductive linear encoder, such as a component with periodic conductive or magnetic gratings engraved on its surface, or an component with alternating metal stripes and insulating gaps, or an component with alternating distribution of ferromagnetic and non-ferromagnetic materials, so that it can be detected and identified by the detection element 140. The detection element 140 detects the position and relative displacement of the sensed element 130, that is, the detection element 140 detects and identifies the position and relative linear displacement of the slider 120, thus achieving accurate detection of the position and linear displacement of the output terminal 220, and also solving the problem of inaccurate displacement and position caused by the easy failure of the multi-turn absolute value sensor battery.

[0045] In some embodiments, the detection element 140 is an inductive linear encoder, and the detection coil of the inductive linear encoder is laid flat on the base 150 along the first direction x. The flat placement of the detection coil on the base 150 facilitates the detection of the movement position of the slider 120, making it easier for the detection element 140 to detect and identify the movement position and relative linear displacement of the slider 120, thereby enabling accurate detection of the position and linear displacement of the output end 220.

[0046] For example, the detection element 140 is a magnetic linear encoder, and the sensed element 130 is a magnet. The movement of the magnet together with the slider 120 will cause a change in the magnetic field strength. After the magnetic linear encoder detects the change in the magnetic field strength, it converts the movement of the magnet into a pulse output to reflect the current position, so that the detection element 140 can easily detect and identify the moving position and relative linear displacement of the slider 120, and realize the ability to accurately detect the position of the output end 220 and the linear displacement that occurs.

[0047] like Figure 3As shown, in some embodiments, the length of the base 150 along the first direction x is greater than the length of the guide portion 1103 along the first direction x. This makes the length of the detection coil laid flat on the base 150 along the first direction x greater than the length of the guide portion 1103 along the first direction x, thereby enabling the detection of the sensed element 130 on the slider 120. This facilitates the detection and identification of the moving position and relative linear displacement of the slider 120 by the detection element 140, achieving accurate detection of the position and linear displacement of the output terminal 220.

[0048] like Figure 3 As shown, in some embodiments, a mounting groove 123 is provided at the end of the slider 120 away from the output end 220 along the first direction x, and the sensing element 130 is disposed in the mounting groove 123. In this embodiment, the mounting groove 123 facilitates the installation of the sensing element 130. Of course, in other embodiments, a mounting cavity may also be provided on the slider 120 to embed the sensing element 130 within the slider 120.

[0049] For example, the mounting groove 123 is formed at the end of the slider 120 away from the output end 220. The sensing element 130 is fixed in the mounting groove 123. The sensing element 130 can be fixed in the mounting groove 123 by interference fit or by adhesive bonding.

[0050] like Figure 4 As shown, in some embodiments, the sliding portion 1201 is a sliding member 120 that extends and protrudes from the guide portion 1103 along the second direction y. This allows the sliding portion 1201 and the sliding member 120 to be integrally formed, which facilitates manufacturing, improves production efficiency, reduces production costs, and also improves the connection strength at the connection between the sliding portion 1201 and the sliding member 120.

[0051] In some embodiments, exemplarily, the guide portion 1103 is a guide groove formed along a first direction x, and the slider 120 is a slider that slides in cooperation with the guide groove. The slider and the guide groove cooperate, resulting in a simple structure that is easy to manufacture.

[0052] It is understood that in other embodiments, the guide portion 1103 may also be a guide rail, and the sliding portion 1201 may be a pulley. Alternatively, the guide portion 1103 may be a dovetail groove, and the sliding portion 1201 may be a dovetail block.

[0053] As another example, the sliding part 1201 can also be a sleeve, and the guide part 1103 can be a guide rod.

[0054] In any of the above embodiments, the cover 110 includes a housing 111 and a connector 112. The connector 112 is disposed at the position where the housing 111 has an opening 1101. The connector 112 extends along the edge away from the opening 1101 in the second direction y. It is fixedly connected to the housing 210 of the linear actuator 200 through the connector 112. The arrangement of the connector 112 makes it easy to install the linear actuator output displacement detection device 100 on the linear actuator 200.

[0055] For example, the opening 1101 is door-shaped, and the connector 112 extends away from the opening 1101 along the door frame of the door shape. This reduces the length of the cover 110 in the first direction x, thereby reducing the space occupied by the cover 110 and facilitating the use of the robot.

[0056] In some embodiments, the connector 112 and the housing 111 are integrally formed. On the one hand, this facilitates manufacturing, improves production efficiency, thereby reducing production costs and enhancing market competitiveness. On the other hand, the integrally formed connector 112 and housing 111 reduce the probability of breakage at the connection between the connector 112 and the housing 111 and improve the connection strength between the connector 112 and the housing 111.

[0057] like Figures 6 to 8 As shown, embodiments of this application also provide a robot, including a linear actuator 200 and a linear actuator output displacement detection device 100 as described in any of the above embodiments, wherein the linear actuator output displacement detection device 100 is mounted on the linear actuator 200.

[0058] The robot provided in the embodiments of this application includes the linear actuator output displacement detection device 100 in any of the above embodiments. Therefore, since the linear actuator output displacement detection device 100 provides a sensed element 130 and a sliding portion 1201 on the slider 120, when the slider 120 is acted upon by the linear actuator 200, the slider 120 and the output end 220 of the linear actuator 200 move synchronously along the first direction x. Thus, the slider 120 can move stably along the first direction x through the cooperation of the sliding portion 1201 and the guide portion 1103. At this time, the detection element 140 detects the position and relative displacement of the sensed element 130, that is, the detection element 140 detects and identifies the moving position and relative linear displacement of the slider 120, achieving accurate detection of the position and linear displacement of the output end 220. In this way, the relative movement position between the two moving parts of the robot joint can be accurately identified by the robot's controller, facilitating the confirmation and control of the robot joint's moving position.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0060] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A linear actuator output displacement detection device, having a first direction and a second direction that are perpendicular to each other, characterized in that, include: The cover has an opening at one end along the first direction, and the cover has a receiving cavity communicating with the opening. A guide portion is provided on the cavity wall along the second direction. The cover is used to be installed on the housing of a linear actuator. A slider, a portion of which passes through the opening, one end of which is connected to the output end of the linear actuator, the slider having a sliding portion that cooperates with the guide portion along the second direction, the sliding portion being movable on the guide portion along the first direction, and the slider having a sensing element. A detection element, at least partially disposed within the receiving cavity, is used to detect the displacement of the sensed element along the first direction.

2. The linear actuator output displacement detection device according to claim 1, characterized in that, The linear actuator output displacement detection device also has a third direction that is perpendicular to both the first direction and the second direction; The sliding member includes a straight section and a vertical section fixedly connected. The straight section extends along the first direction, and the vertical section extends along the third direction. The end of the vertical section away from the straight section is used to connect to the output end.

3. The linear actuator output displacement detection device according to claim 2, characterized in that, The sliding portion is provided at least one end of the straight section along the second direction.

4. The linear actuator output displacement detection device according to any one of claims 1 to 3, characterized in that, The linear actuator output displacement detection device also includes a base, on which the detection element is disposed, and the base is used to fix it to the housing.

5. The linear actuator output displacement detection device according to claim 4, characterized in that, The detection device is either an inductive linear encoder or a magnetic linear encoder.

6. The linear actuator output displacement detection device according to claim 5, characterized in that, The detection element is an inductive linear encoder, and the detection coil of the inductive linear encoder is laid flat on the base along the first direction.

7. The linear actuator output displacement detection device according to claim 4, characterized in that, The length of the base along the first direction is greater than the length of the guide portion along the first direction.

8. The linear actuator output displacement detection device according to claim 1, characterized in that, The slider has a mounting groove at one end away from the output end along the first direction, and the sensing element is disposed in the mounting groove.

9. The linear actuator output displacement detection device according to claim 1, characterized in that, The sliding portion is a protruding part that extends from the sliding member in the second direction toward the guide portion.

10. The linear actuator output displacement detection device according to claim 1, characterized in that, The guide portion is a guide groove opened along the first direction, and the slider is a slider that slides in cooperation with the guide groove.

11. A robot, characterized in that, The device includes a linear actuator and a linear actuator output displacement detection device according to any one of claims 1 to 10, wherein the linear actuator output displacement detection device is installed on the linear actuator.

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