A linear robot joint module based on ball screw transmission

Abstract

The application relates to the technical field of linear robot joints, in particular to a linear robot joint module based on ball screw transmission, which comprises an outer wall sleeve, a sealing cover is installed on the outer wall sleeve; further comprising a telescopic joint arranged in the outer wall sleeve; a locking piece is arranged between the telescopic joint and the sealing cover, and the locking piece is used for limiting the telescopic joint; a motor is installed in the outer wall sleeve, a driving sleeve is installed on the output end of the motor; a transmission piece connected with the driving sleeve is arranged on the telescopic joint; when the driving sleeve rotates, the transmission piece can drive the telescopic joint to act to extend or retract in the outer wall sleeve; a limiting piece is arranged on the telescopic joint; during normal work, the locking piece is limited to rotate, and the module shows the linear transmission characteristics of high rigidity; when external force is pulled or pressed, the transmission piece allows the telescopic joint to produce slight movement and compress the spring, and the resistance nonlinearly increases with the stroke. The characteristics of rigidity and flexibility are perfectly matched with man-machine cooperation and complex environment operation.

Description

Technical Field

[0001] This invention relates to the field of linear robot joint technology, specifically a linear robot joint module based on ball screw transmission. Background Technology

[0002] Robot joint modules are the core functional units that enable multi-degree-of-freedom motion in robots. Linear joint modules, also known as linear drive units, are primarily used to convert the rotational motion of a motor into precise linear motion along a single axis at the output end. These modules are widely used in the telescopic axes of industrial robotic arms, muscle drive units of bionic robots, feed mechanisms of surgical robots, and positioning systems of precision optical platforms. Their performance directly determines the robot's load capacity, motion accuracy, and response speed.

[0003] The linear joint modules on the market mainly use the following transmission structures to achieve linear displacement: ball screw drive, gear-rack drive, and belt / synchronous belt drive. Among them, the ball screw drive drives the screw to rotate through a servo motor, and converts the rotational motion into linear motion by meshing the screw and nut. In order to ensure accuracy, a high-precision guide rail or guide shaft is usually required to limit the rotation of the output shaft. The gear-rack drive uses the meshing of the gear and rack to achieve long-distance linear movement, but there is a problem of backlash in reversing and high-precision positioning scenarios. Belt / synchronous belt drives are mostly used in light-load, high-speed response applications, but they have poor rigidity and are prone to elastic deformation.

[0004] When using ball screw drives to achieve linear displacement, a rigid connection between the motor and the screw is typically employed. When the robot's end effector encounters an accidental collision, workpiece jamming, or a control system malfunction leading to overtravel, the motor's output torque increases dramatically and instantaneously. Lacking physical torque limiting or slippage mechanisms, the enormous reaction force is directly transmitted to the transmission chain, easily causing ball screw stripping, bearing breakage, or motor rotor stall and burnout, resulting in costly repairs, equipment downtime, and compromised reliability. Furthermore, the purely rigid transmission method cannot provide the passive cushioning capabilities of biological muscles. Even with complex software algorithms for force control upon contact with workpieces or the human body, response lag exists, making rigid impacts highly likely. This not only affects the operational accuracy of precision assembly but also poses serious safety hazards in human-robot collaborative scenarios. Summary of the Invention

[0005] The purpose of this invention is to provide a linear robot joint module based on ball screw transmission to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A linear robot joint module based on ball screw transmission includes an outer sleeve, on which a sealing cover is installed; It also includes a telescopic joint disposed within the outer wall sleeve, and both the outer wall sleeve and the telescopic joint are equipped with mounting joints; a locking member is provided between the telescopic joint and the sealing cover, and the locking member is used to limit the telescopic joint so that it can only slide out or retract within the outer wall sleeve. A motor is installed inside the outer wall sleeve, and a drive sleeve is installed on the output end of the motor. The drive sleeve and the outer wall sleeve are connected by ball bearings. The telescopic joint is provided with a transmission component connected to the drive sleeve. When the drive sleeve rotates, the transmission component can drive the telescopic joint to extend or retract into the outer sleeve. The telescopic joint is provided with a limiting member, which is used to limit the telescopic joint at the maximum stroke of the telescopic joint driven by the transmission member; and after the telescopic joint cooperates with the limiting member, the transmission member disconnects the power connection between the telescopic joint and the drive sleeve.

[0007] As described above, the linear robot joint module based on ball screw transmission includes: a telescopic threaded groove formed in the drive sleeve; a telescopic external threaded sleeve threadedly connected to the telescopic threaded groove is fitted on the telescopic joint; an installation sleeve is mounted on the telescopic external threaded sleeve; a protruding post is mounted on the installation sleeve; a set of grooves is formed on the telescopic joint to slide and engage with the protruding post; multiple sets of baffles are installed on the telescopic joint, and the multiple sets of baffles are respectively installed at both ends of the installation sleeve; a spring is fitted on the telescopic joint, and the two ends of the spring abut against the baffles and the installation sleeve respectively.

[0008] As described above, the linear robot joint module based on ball screw transmission includes multiple sets of vertical grooves and annular grooves. The two ends of the vertical grooves are respectively connected to multiple sets of annular grooves. When the protruding post is located in the vertical groove, the rotation of the drive sleeve can drive the telescopic external threaded sleeve to move. When the protruding post is located in the annular groove, the drive sleeve can drive the telescopic external threaded sleeve to rotate synchronously. The connection end between the vertical groove and the annular groove is an arc surface.

[0009] As described above, the linear robot joint module based on ball screw transmission includes: a locking component comprising a limiting ring rotatably mounted on the sealing cover; the limiting ring slidably engaging with the telescopic joint; a plurality of limiting teeth blocks equidistantly arranged along its circumference mounted on the limiting ring; a plurality of locking blocks slidably engaged within the sealing cover; a plurality of locking teeth blocks meshing with the limiting teeth blocks mounted on the locking blocks; an mounting plate provided within the outer sleeve; a plurality of follower columns mounted on the mounting plate; wedges cooperating with the locking blocks mounted on the follower columns; and a slot for slidably engaging with the follower columns on the sealing cover.

[0010] As described above, the linear robot joint module based on ball screw transmission has the following characteristics: both the locking tooth block and the limiting tooth block are sharp; the wedge block is inclined at one end near the motor; the side of the wedge block near the telescopic joint is vertically arranged, and the side of the locking block away from the telescopic joint is vertically arranged. The two vertical surfaces can abut and engage, and at this time, the locking tooth block and the limiting tooth block are engaged, and the telescopic joint can only slide out or retract from the outer sleeve.

[0011] As described above, the linear robot joint module based on ball screw transmission includes: a reset threaded groove formed on the drive sleeve; a reset external threaded sleeve is threadedly connected to the reset threaded groove; a reset telescopic sleeve is installed on the reset external threaded sleeve; and a reset telescopic column is installed on the mounting plate and slides with the reset telescopic sleeve.

[0012] As described above, the linear robot joint module based on ball screw transmission includes: a limiting threaded groove formed on the drive sleeve; a limiting external threaded sleeve is threadedly connected to the limiting threaded groove; the limiting external threaded sleeve abuts against the baffle; a limiting telescopic sleeve is installed on the limiting external threaded sleeve; and a limiting telescopic post is installed on the reset external threaded sleeve that slides and engages with the limiting telescopic sleeve.

[0013] As described above, in the linear robot joint module based on ball screw transmission: when the drive sleeve rotates, the telescopic external threaded sleeve and the reset external threaded sleeve move in the same direction, but in the opposite direction to the movement of the limiting external threaded sleeve; and the pitch of the telescopic threaded groove is greater than the pitch of the limiting threaded groove and the reset threaded groove.

[0014] As described above, in the linear robot joint module based on ball screw transmission: when the drive sleeve rotates, the limiting telescopic column slides outward or inward within the limiting telescopic sleeve, and the reset telescopic column slides inward or outward within the reset telescopic sleeve.

[0015] As described above, in the linear robot joint module based on ball screw transmission: a support sleeve that is rotatably mounted on the sealing cover and slidably fitted with the telescopic joint is provided.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. Through the power transmission function of the transmission component and the limiting function of the locking component, the power driving the sleeve to rotate can be converted into the power for the linear motion of the telescopic joint. During this process, the telescopic joint can only move linearly and cannot rotate, thereby ensuring the stability of power transmission and realizing the efficient conversion of rotational power into high-precision linear output, providing a solid motion foundation for the joint module; 2. The transmission mechanism provides the telescopic joint with a certain buffering capacity. When the telescopic joint is pulled or pressed by external force, it can slide relative to the outer sleeve (extending or retracting). As the sliding stroke increases, the resistance to sliding increases. When the telescopic joint slides to its maximum buffering stroke (i.e., the limit load of the telescopic joint's movement), the transmission mechanism disconnects the power connection between the drive sleeve and the telescopic joint. In this state, the motor-driven drive sleeve will not be able to drive the telescopic joint in a straight line, thus achieving flexible protection of the robot's joints and hardware overload protection, effectively preventing mechanical jamming and motor burnout caused by sudden impacts or program control errors. 3. During normal operation, the locking mechanism restricts rotation, and the module exhibits high-rigidity linear transmission characteristics. When subjected to external pulling or pressing forces, the transmission mechanism allows the telescopic joint to make micro-movements and compress the spring, with resistance increasing non-linearly with the stroke. This combination of rigidity and flexibility allows the robot to maintain operational precision while absorbing impacts like biological muscles, perfectly adapting to human-robot collaboration and complex environment operations, effectively improving the stability, safety, and practicality of the joint module. When the external force disappears (and the drive sleeve completes its reset), the transmission mechanism can quickly restore the power connection between the drive sleeve and the telescopic joint, ensuring the continuity of the joint module's operation. This effectively improves the robot's environmental adaptability and service life under complex working conditions, and also solves the problem of traditional rigid robots being easily damaged in uncertain environments through a combination of rigid and flexible methods. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a linear robot joint module based on ball screw transmission; Figure 2 for Figure 1 A structural schematic diagram from a cross-sectional perspective; Figure 3 for Figure 2 Schematic diagram of the structure at point A; Figure 4 for Figure 2 Schematic diagram of the structure at point B; Figure 5 This is a schematic diagram of the drive sleeve in a linear robot joint module based on ball screw transmission; Figure 6 This is a schematic diagram of the telescopic joint in a linear robot joint module based on ball screw transmission. Figure 7 This is a schematic diagram of the spring structure in a linear robot joint module based on ball screw transmission; Figure 8 This is a schematic diagram of the sealing cover in a linear robot joint module based on ball screw transmission. Figure 9 for Figure 8 Schematic diagram of the structure at point C; Figure 10 for Figure 8 A schematic diagram of the structure at point D.

[0018] In the diagram: 1. Outer sleeve; 101. Sealing cap; 102. Groove; 2. Expansion joint; 201. Baffle; 202. Vertical groove; 203. Annular groove; 204. Arc surface; 3. Installation section; 4. Electric motor; 5. Drive sleeve; 501. Telescopic threaded groove; 502. Limiting threaded groove; 503. Reset threaded groove; 6. Ball bearings; 7. Telescopic external threaded sleeve; 8. Spring; 9. Install the sleeve; 901. Protruding post; 10. Limiting external threaded sleeve; 1001. Limiting telescopic sleeve; 11. Reset external threaded sleeve; 1101. Limiting telescopic column; 1102. Reset telescopic sleeve; 12. Support sleeve; 13. Mounting plate; 1301. Reset telescopic column; 14. Follower column; 1401. Wedge block; 15. Locking block; 1501. Locking tooth block; 16. Limiting ring; 1601. Limiting tooth block. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Furthermore, elements in this invention are referred to as being "fixed to" or "set on" another element, which may be directly on the other element or may also include an intervening element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or may also include an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0021] Please see Figure 1-10 As an embodiment of the present invention, the linear robot joint module based on ball screw transmission includes an outer sleeve 1, and a sealing cover 101 is installed on the outer sleeve 1. It also includes a telescopic joint 2 disposed inside the outer wall sleeve 1, and an installation joint 3 is installed on both the outer wall sleeve 1 and the telescopic joint 2; a locking member is provided between the telescopic joint 2 and the sealing cover 101, and the locking member is used to limit the telescopic joint 2 so that it can only slide out or retract inside the outer wall sleeve 1. A motor 4 is installed inside the outer wall sleeve 1, and a drive sleeve 5 is installed on the output end of the motor 4. The drive sleeve 5 and the outer wall sleeve 1 are connected by a ball bearing 6. The telescopic joint 2 is provided with a transmission component connected to the drive sleeve 5. When the drive sleeve 5 rotates, the transmission component can drive the telescopic joint 2 to move, so as to extend or retract into the outer wall sleeve 1. The telescopic joint 2 is provided with a limiting member, which is used to limit the telescopic joint 2 at the maximum stroke of the transmission member driving the telescopic joint 2; and after the telescopic joint 2 cooperates with the limiting member, the transmission member disconnects the power connection between the telescopic joint 2 and the drive sleeve 5.

[0022] In this embodiment, the mounting section 3 is used to connect the two ends of the robot joint structure; and the mounting section 3 can rotate relative to the outer sleeve 1.

[0023] Through the power transmission of the transmission components and the limiting action of the locking components, the power driving the sleeve 5 to rotate can be converted into the power for the linear motion of the telescopic joint 2. During this process, the telescopic joint 2 can only move linearly and cannot rotate, thus ensuring the stability of power transmission. Furthermore, the transmission components give the telescopic joint 2 a certain buffering capacity. That is, when an external force pulls or presses the telescopic joint 2, it can slide relative to the outer sleeve 1, extending or retracting. As the sliding stroke increases, the resistance to sliding of the telescopic joint 2 increases. And when the telescopic joint 2 reaches its maximum buffering stroke (i.e., the limit load of the telescopic joint 2's operation), the transmission components... The power connection between the drive sleeve 5 and the telescopic joint 2 will be disconnected. In this state, the motor 4 will not be able to drive the telescopic joint 2 to move linearly, thus achieving flexible protection of the robot joint and hardware overload protection. This effectively avoids mechanical jamming and motor 4 stalling and burning out due to sudden impact or program control errors, thereby improving the stability, safety and practicality of the joint module. When the external force disappears (and the drive sleeve 5 completes its reset), the transmission component can quickly restore the power connection between the drive sleeve 5 and the telescopic joint 2, ensuring the continuous operation of the joint module. This improves the robot's environmental adaptability and service life under complex working conditions.

[0024] Normal state (the travel of the telescopic joint 2 is less than the preset limit travel): By controlling the motor 4 to drive the drive sleeve 5 to rotate (by using the ball bearing 6 to reduce the wear of the drive sleeve 5 and the stability of its rotation), the telescopic joint 2 is driven to extend or retract from the outer sleeve 1 through the transmission components.

[0025] Extreme state (the travel of telescopic joint 2 exceeds the preset limit): During the process of the drive sleeve 5 rotating and driving the telescopic joint 2 to move linearly through the transmission component, the limit component moves at the same time. When the telescopic joint 2 extends and comes into contact with the limit component, the power connection is disconnected through the transmission component. At this time, the telescopic joint 2 will be unable to continue linear movement, thus ensuring that it will not stall and burn out under the over-limit state. At the same time, it avoids hard collisions and mechanical damage to core components such as drive sleeve 5, transmission component and telescopic joint 2, effectively improving the operational safety and service life of the joint module under complex working conditions.

[0026] Reset: The locking component first releases the limiting state of the telescopic joint 2 (the telescopic joint 2 can both rotate and slide), thereby cooperating with the action of the transmission component; it drives the drive sleeve 5 to rotate in the opposite direction, so that the transmission component and the limiting component are disengaged, thereby restoring the power connection between the telescopic joint 2 and the drive sleeve 5. Then the locking component returns to the limiting state, thus completing the entire reset process, and enabling the motor 4 to normally drive the telescopic joint 2 to perform linear reciprocating motion through the drive sleeve 5 and the transmission component.

[0027] As a further embodiment of the present invention, the transmission component includes a telescopic threaded groove 501 formed within the drive sleeve 5; a telescopic external threaded sleeve 7 threadedly connected to the telescopic threaded groove 501 is fitted onto the telescopic joint 2, an installation sleeve 9 is mounted on the telescopic external threaded sleeve 7, and a protruding post 901 is mounted on the installation sleeve 9; a set of grooves is formed on the telescopic joint 2 to slidably engage with the protruding post 901; multiple sets of baffles 201 are mounted on the telescopic joint 2, and the multiple sets of baffles 201 are respectively mounted at both ends of the installation sleeve 9; a spring 8 is fitted onto the telescopic joint 2, and both ends of the spring 8 abut against the baffles 201 and the installation sleeve 9, respectively.

[0028] As a further embodiment of the present invention, the groove group includes multiple sets of vertical grooves 202 and annular grooves 203; both ends of the vertical grooves 202 are respectively connected to the multiple sets of annular grooves 203; when the protruding post 901 is located in the vertical groove 202, the rotation of the driving sleeve 5 can drive the telescopic external threaded sleeve 7 to move; and when the protruding post 901 is located in the annular groove 203, the driving sleeve 5 can drive the telescopic external threaded sleeve 7 to rotate synchronously; and the connection end between the vertical groove 202 and the annular groove 203 is an arc surface 204.

[0029] In this embodiment, an arc-shaped transition portion, i.e., an arc surface 204, is provided at the connection between the vertical groove 202 and the annular groove 203. The transition portions 204 between the two connected vertical grooves have equal radii and form a semi-circular arc surface on the expansion joint 2.

[0030] Normal telescopic mode (powered operation): When motor 4 drives drive sleeve 5 to rotate forward, the locking element restricts the circumferential rotation of telescopic joint 2, and the protruding post 901 mounted on telescopic joint 2 is confined within the vertical groove 202. At this time, the thread engagement between telescopic external thread sleeve 7 and drive sleeve 5 generates axial thrust, driving telescopic joint 2 to extend linearly. Conversely, when motor 4 reverses, it drives telescopic joint 2 to retract.

[0031] Flexible buffer mode (load adaptive): If external resistance (such as collision or pressing) is encountered during the movement of telescopic joint 2, the external force acts on telescopic joint 2, overcoming the preload force of spring 8, forcing the mounting sleeve 9 to slide relative to telescopic joint 2 (the protruding post 901 moves slightly within the vertical groove 202), thereby compressing or stretching spring 8. Passive compliance of the joint module is achieved through the transmission component, converting rigid impact into elastic potential energy absorption, and the resistance increases nonlinearly with the increase of stroke.

[0032] Limit Protection Mode (Power Cut-off): When the telescopic joint 2 moves to the maximum stroke end point (the preset stroke end, where the telescopic joint 2 still retains space to extend) and abuts against the limiting member, the telescopic joint 2 stops moving. At this time, the drive sleeve 5 continues to rotate, and the telescopic external thread sleeve 7 continues to move accordingly; thus, the protruding post 901 slides into the vertical groove 202 and the annular groove 203, and the spring 8 on one side is gradually compressed; during this process, the telescopic joint 2 slides relative to the telescopic external thread sleeve 7, so the protruding post 901 can slide into the annular groove 203 on one side in the vertical groove 202. When the protruding post 901 enters the position corresponding to the arc surface 204, because the protruding post 901 contacts the circumference of the telescopic external thread sleeve 7... The drive sleeve 5 rotates to a limit position, so the drive sleeve 5 will drive the telescopic external thread sleeve 7 to rotate synchronously until the protruding post 901 abuts against the arc surface 204. That is, the protruding post 901 will slide along the arc surface 204 to the annular groove 203 at the position corresponding to the arc surface 204. After the protruding post 901 crosses the arc surface 204 and enters the annular groove 203 (the spring 8 is compressed), the rotation of the drive sleeve 5 will drive the telescopic external thread sleeve 7 to rotate synchronously. Therefore, the protruding post 901 makes a circular motion in the annular groove 203.

[0033] Once the protruding post 901 enters the annular groove 203, the telescopic external threaded sleeve 7 is no longer axially constrained by the telescopic joint 2, but instead rotates synchronously with the drive sleeve 5. At this time, the power connection is physically disconnected, and the motor 4 is in a no-load idling state, thereby effectively preventing the motor 4 from stalling and mechanical structure damage.

[0034] Automatic Reset: After the telescopic joint 2 engages with the limiting component, the telescopic external threaded sleeve 7 continues to move (during the process of increasing the compression of the spring 8), driving the locking component to release the circumferential limitation on the telescopic joint 2. Then, the motor 4 drives the drive sleeve 5 to rotate in the opposite direction. At this time, the limiting component activates, allowing the telescopic joint 2 to extend further under the elastic force of the spring 8. Since the telescopic joint 2 can rotate freely at this time, the protruding post 901 can smoothly slide from the annular groove 203 into the vertical groove 202, or enter the vertical groove 202 through the guiding action of the arc surface 204 (due to relative rotation of the telescopic joint 2), thus restoring the threaded drive engagement. Subsequently, the locking component relocks, and the module resumes its normal linear motion function. Due to the change in the position of the limiting component, the telescopic joint 2 can move under the elastic force of the spring 8, and at this time, the locking component is released. When the protruding post 901 is not aligned with the vertical groove 202, the protruding post 901 can move in the annular groove 203 towards the vertical groove 202. During this process, the protruding post 901 will first come into contact with the arc surface 204. After contact, the elastic force of the spring 8 will cause the protruding post 901 to squeeze the arc surface 204, so that the telescopic joint 2 generates a tangential force that can rotate, thus enabling it to rotate slightly, which is the alignment stage of the protruding post 901 and the vertical groove 202. Guided by the arc surface 204, the protruding post 901 is driven into the straight groove, that is, the telescopic joint 2 rotates slightly. When aligned, it directly enters the vertical groove 202.

[0035] When the telescopic joint 2 moves to the maximum stroke end point (the preset stroke end, the telescopic joint 2 still retains the space to extend) and abuts against the limiting member, the rotation of the drive sleeve 5 can drive the telescopic external threaded sleeve 7 to continue moving. During this process, the compression of the spring 8 near the direction of the motor 4 gradually increases, and the protruding post 901 gradually slides into the annular groove 203 near the direction of the motor 4. After entering the annular groove 203, the drive sleeve 5 rotates, but it cannot drive the telescopic external threaded sleeve 7 to move through the threaded connection. On the contrary, the telescopic external threaded sleeve 7 rotates synchronously with the drive sleeve 5 (idling). Throughout the process, the locking member maintains the limiting of the telescopic joint 2.

[0036] As the idling continues, the reset external threaded sleeve 11 continues to move (the reset telescopic column 1301 slides to the maximum stroke in the reset telescopic sleeve 1102), and drives the mounting plate 13 to move synchronously, so as to disengage the wedge block 1401 from the locking block 15.

[0037] When motor 4 rotates in the reverse direction, the reset external threaded sleeve 11 moves in the reverse direction, and the reset telescopic column 1301 first slides outward in the reset telescopic sleeve 1102. The mounting plate 13 does not move. During this process, under the action of the limiting component, the spring 8 releases its elastic force, thereby restoring the power connection of the transmission component. The reset external threaded sleeve 11, which continues to move, will drive the wedge block 1401 to reset, so as to re-limit the telescopic joint 2. During the stage of spring 8 elastic force release, the telescopic joint 2 can rotate, so that when the protruding column 901 is not aligned with the vertical groove 202, the protruding column 901 is driven into the straight groove by the guiding action of the arc surface 204, that is, the telescopic joint 2 rotates slightly. When aligned, it directly enters the vertical groove 202.

[0038] As a further embodiment of the present invention, the locking element includes a limiting ring 16 rotatably mounted on the sealing cover 101; the limiting ring 16 is slidably engaged with the telescopic joint 2, and a plurality of limiting teeth 1601 are mounted on the limiting ring 16 at equal intervals along its circumference; a plurality of locking blocks 15 are slidably engaged inside the sealing cover 101; a plurality of locking teeth 1501 that mesh with the limiting teeth 1601 are mounted on the locking blocks 15; an mounting plate 13 is provided inside the outer wall sleeve 1; a plurality of follower columns 14 are mounted on the mounting plate 13; a wedge 1401 that cooperates with the locking blocks 15 is mounted on the follower columns 14; and a slot 102 is provided on the sealing cover 101 that slidably engages with the follower columns 14.

[0039] As a further embodiment of the present invention, both the locking tooth block 1501 and the limiting tooth block 1601 are sharp; the wedge block 1401 is inclined at one end near the motor 4; the side of the wedge block 1401 near the telescopic joint 2 is vertically arranged, and the side of the locking block 15 away from the telescopic joint 2 is vertically arranged, the two vertical surfaces can abut and engage, and at this time the locking tooth block 1501 and the limiting tooth block 1601 are engaged, and the telescopic joint 2 can only slide out or retract the outer sleeve 1.

[0040] In this embodiment, the normal locking mode (allowing only linear sliding): when the module is in normal working condition (i.e., the follower column 14 is not pulled by external force), the locking block 15 always tends to slide towards the center under the pressure of the wedge block 1401. At this time, the side of the locking block 15 away from the telescopic joint 2 and the side of the wedge block 1401 close to the telescopic joint 2 (both are vertical surfaces) are in close contact. Under this positioning action, the locking block 15 moves towards the center, so that the locking tooth block 1501 on it is firmly engaged with the limiting tooth block 1601 on the limiting ring 16.

[0041] Since both the locking tooth block 1501 and the limiting tooth block 1601 are designed with sharp edges, their engagement not only provides excellent anti-reverse effect but also converts axial sliding friction into a vertical component force on the tooth surface, further tightening the joint. At this point, the circumferential rotation of the telescopic joint 2 is completely restricted, allowing it to slide smoothly and precisely in a straight line along the axial direction.

[0042] Unlocking mode (releasing rotational freedom): When the module triggers the limit protection, the follower column 14 moves away from the motor 4. The follower column 14 drives the wedge block 1401 to slide synchronously, so that the inclined surface of the wedge block 1401 aligns with the locking block 15, and then the wedge block 1401 and the locking block 15 are completely disengaged.

[0043] Then the motor 4 reverses, and under the elastic force of the spring 8 and the squeezing action of the arc surface 204 on the protruding post 901, the telescopic joint 2 can rotate, thereby driving the limiting tooth block 1601 to squeeze the locking tooth block 1501; driving the locking block 15 away from the limiting ring 16; at this time, the locking tooth block 1501 and the limiting tooth block 1601 disengage, and the limiting ring 16 returns to freedom, so that the protruding post 901 can enter the vertical groove 202. During this process, the wedge block 1401 does not cooperate with the locking block 15.

[0044] Afterwards, the wedge block 1401 continues to move and presses the locking block 15 through the inclined surface, causing the locking block 15 to move towards the limiting ring 16, so that the locking tooth block 1501 and the limiting tooth block 1601 re-engage until the two vertical surfaces abut against each other again; the reverse power of the driving sleeve 5 drives the telescopic joint 2 to retract into the outer wall sleeve 1 through the transmission component.

[0045] As a further embodiment of the present invention, the locking member further includes a reset threaded groove 503 formed on the drive sleeve 5; a reset external threaded sleeve 11 is threadedly connected to the reset threaded groove 503; a reset telescopic sleeve 1102 is installed on the reset external threaded sleeve 11; and a reset telescopic post 1301 that slides and engages with the reset telescopic sleeve 1102 is installed on the mounting plate 13.

[0046] In this embodiment, when the drive sleeve 5 rotates in the forward direction, it can drive the telescopic external thread sleeve 7 and the reset external thread sleeve 11 to move simultaneously and in the same direction. During this process, the reset telescopic column 1301 slides inward in the reset telescopic sleeve 1102, the mounting plate 13 does not move, the vertical surface of the wedge block 1401 remains in close contact with the vertical surface of the locking block 15, and the telescopic joint 2 can only slide in a straight line.

[0047] When the telescopic joint 2 moves to its limit position, triggering the transmission component to disengage (the protruding post 901 slides into the annular groove 203), the module enters a protection state. At this time, although the motor 4 is still rotating, the power has been cut off. The locking component remains in the locked state (the locking tooth block 1501 engages with the limiting tooth block 1601), ensuring that the telescopic joint 2 will not idle or wobble in the non-working state, maintaining the rigidity of the structure; while the continuing to move reset external threaded sleeve 11 continues to move (the reset telescopic post 1301 slides in the reset telescopic sleeve 1102 to the maximum stroke), and drives the mounting plate 13 to move synchronously, so as to drive the wedge block 1401 to disengage from the locking block 15.

[0048] When motor 4 rotates in the reverse direction, the reset external threaded sleeve 11 moves in the reverse direction, and the reset telescopic column 1301 first slides outward in the reset telescopic sleeve 1102. The mounting plate 13 does not move. During this process, under the action of the limiting component, the spring 8 releases its elastic force, thereby restoring the power connection of the transmission component. The reset external threaded sleeve 11, which continues to move, will drive the wedge block 1401 to reset, so as to re-limit the telescopic joint 2.

[0049] As a further embodiment of the present invention, the limiting member includes a limiting threaded groove 502 formed on the driving sleeve 5; a limiting external threaded sleeve 10 is threadedly connected to the limiting threaded groove 502, the limiting external threaded sleeve 10 abuts against the baffle 201, a limiting telescopic sleeve 1001 is installed on the limiting external threaded sleeve 10, and a limiting telescopic post 1101 that slides and engages with the limiting telescopic sleeve 1001 is installed on the reset external threaded sleeve 11.

[0050] As a further embodiment of the present invention, when the driving sleeve 5 rotates, the telescopic external thread sleeve 7 moves in the same direction as the reset external thread sleeve 11, but in the opposite direction to the movement of the limiting external thread sleeve 10; and the pitch of the telescopic thread groove 501 is greater than the pitch of the limiting thread groove 502 and the reset thread groove 503.

[0051] When the telescopic external threaded sleeve 7 moves away from the motor, the limiting external threaded sleeve 10 moves in the opposite direction. The pitch ratio between the telescopic external threaded sleeve 7 and the limiting external threaded sleeve 10 is set according to the actual needs of the telescopic joint 2. That is, the maximum stroke of the telescopic joint 2 is set by the distance between the telescopic external threaded sleeve 7 and the limiting external threaded sleeve 10. When the telescopic external threaded sleeve 7 moves, causing the baffle 201 to abut against the limiting external threaded sleeve 10, the two external threaded sleeves that continue to move can compress the spring 8, thereby causing the protruding post 901 to enter the annular groove 203. During this process, the reset external threaded sleeve 11 cannot push the locking element to unlock. During subsequent idling, the reset external threaded sleeve 11 pushes the locking element to unlock.

[0052] As a further embodiment of the present invention, when the driving sleeve 5 rotates, the limiting telescopic column 1101 slides outward or inward within the limiting telescopic sleeve 1001, and the reset telescopic column 1301 slides inward or outward within the reset telescopic sleeve 1102.

[0053] In this embodiment, when the drive sleeve 5 rotates, the telescopic external threaded sleeve 7, which controls the forward and backward movement of the telescopic joint 2, and the reset external threaded sleeve 11, which controls the reset of the locking element, move in the same direction (e.g., simultaneously retreating towards the motor 4). The limiting external threaded sleeve 10, which performs a hard limiting function, moves in the opposite direction to both. That is, when the telescopic joint 2 extends outward, the limiting external threaded sleeve 10 moves synchronously in the opposite direction of the extension. Since the limiting external threaded sleeve 10 actively faces the baffle 201 on the telescopic joint 2, it effectively shortens the time difference of the limit trigger, making the limiting response extremely agile and effectively reducing the overshoot of the telescopic joint 2.

[0054] Furthermore, when the baffle 201 comes into contact with the limiting external threaded sleeve 10, the continuing to move telescopic external threaded sleeve 7 will drive the protruding post 901 to squeeze into the annular groove 203, and the spring 8 will be compressed. During this process, the wedge block 1401 and the locking block 15 will disengage.

[0055] Then the motor 4 reverses, the limiting external thread sleeve 10 moves in the opposite direction, and the telescopic external thread sleeve 7 does not move. Therefore, the elastic force of the spring 8 can drive the telescopic joint 2 to slide outward so that the protruding post 901 enters the annular groove 203. After the locking part returns to the locked state, the transmission part can drive the telescopic joint 2 to reset.

[0056] As a further embodiment of the present invention, a support sleeve 12 that is rotatably mounted on the sealing cover 101 and slidably fitted with the telescopic joint 2 is provided.

[0057] In this embodiment, by adding a support sleeve 12 that slides and engages with the telescopic joint 2 to the sealing cover 101, it is equivalent to adding a high-precision radial bearing at the outermost end of the module. This effectively improves the module's ability to resist lateral loads.

[0058] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A linear robot joint module based on ball screw transmission, characterized in that, Includes an outer wall sleeve, on which a sealing cap is installed; It also includes a telescopic joint disposed within the outer wall sleeve, and both the outer wall sleeve and the telescopic joint are equipped with mounting joints; a locking member is provided between the telescopic joint and the sealing cover, and the locking member is used to limit the telescopic joint so that it can only slide out or retract within the outer wall sleeve. A motor is installed inside the outer wall sleeve, and a drive sleeve is installed on the output end of the motor. The drive sleeve and the outer wall sleeve are connected by ball bearings. The telescopic joint is provided with a transmission component connected to the drive sleeve. When the drive sleeve rotates, the transmission component can drive the telescopic joint to extend or retract into the outer sleeve. The telescopic joint is provided with a limiting member, which is used to limit the telescopic joint at the maximum stroke of the telescopic joint driven by the transmission member; and after the telescopic joint cooperates with the limiting member, the transmission member disconnects the power connection between the telescopic joint and the drive sleeve. The transmission component includes a telescopic threaded groove formed in the drive sleeve; a telescopic external threaded sleeve that is threadedly connected to the telescopic threaded groove is fitted on the telescopic joint, an installation sleeve is installed on the telescopic external threaded sleeve, and a protruding post is installed on the installation sleeve; a set of grooves that slide and engage with the protruding post are formed on the telescopic joint; multiple sets of baffles are installed on the telescopic joint, and the multiple sets of baffles are respectively installed at both ends of the installation sleeve; a spring is fitted on the telescopic joint, and both ends of the spring abut against the baffles and the installation sleeve respectively. The groove group includes multiple sets of vertical grooves and annular grooves; both ends of the vertical grooves are respectively connected to multiple sets of annular grooves. When the protruding post is located in the vertical groove, the rotation of the drive sleeve can drive the telescopic external threaded sleeve to move. When the protruding post is located in the annular groove, the drive sleeve can drive the telescopic external threaded sleeve to rotate synchronously. The connection end between the vertical groove and the annular groove is an arc surface.

2. A linear robot joint module based on ball screw transmission according to claim 1, characterized in that, The locking element includes a limiting ring rotatably mounted on the sealing cover; the limiting ring slidably engages with the telescopic joint, and the limiting ring is equipped with multiple sets of limiting teeth equidistantly arranged along its circumference; multiple sets of locking blocks are slidably engaged inside the sealing cover; multiple sets of locking teeth are installed on the locking blocks and mesh with the limiting teeth; an installation plate is provided inside the outer wall sleeve; multiple sets of follower columns are installed on the installation plate; wedges that cooperate with the locking blocks are installed on the follower columns; and a slot is provided on the sealing cover to slidably engage with the follower columns.

3. A linear robot joint module based on ball screw transmission according to claim 2, characterized in that, Both the locking tooth block and the limiting tooth block are sharp; the wedge block is inclined at one end near the motor; the side of the wedge block near the telescopic joint is vertically arranged, and the side of the locking block away from the telescopic joint is vertically arranged. The two vertical surfaces can abut and engage, and at this time the locking tooth block and the limiting tooth block are engaged, and the telescopic joint can only slide out or retract the outer sleeve.

4. A linear robot joint module based on ball screw transmission according to claim 2, characterized in that, The locking component further includes a reset threaded groove formed on the drive sleeve; a reset external threaded sleeve is threadedly connected to the reset threaded groove; a reset telescopic sleeve is installed on the reset external threaded sleeve; and a reset telescopic post is installed on the mounting plate that slides and engages with the reset telescopic sleeve.

5. A linear robot joint module based on ball screw transmission according to claim 4, characterized in that, The limiting component includes a limiting threaded groove formed on the driving sleeve; a limiting external threaded sleeve is threadedly connected to the limiting threaded groove, the limiting external threaded sleeve abuts against the baffle, a limiting telescopic sleeve is installed on the limiting external threaded sleeve, and a limiting telescopic post is installed on the resetting external threaded sleeve that slides and engages with the limiting telescopic sleeve.

6. A linear robot joint module based on ball screw transmission according to claim 5, characterized in that, When the drive sleeve rotates, the telescopic external threaded sleeve moves in the same direction as the reset external threaded sleeve, but in the opposite direction to the movement of the limiting external threaded sleeve; and the pitch of the telescopic threaded groove is greater than the pitch of the limiting threaded groove and the reset threaded groove.

7. A linear robot joint module based on ball screw transmission according to claim 5, characterized in that, When the drive sleeve rotates, the limiting telescopic column slides outward or inward within the limiting telescopic sleeve, and the reset telescopic column slides inward or outward within the reset telescopic sleeve.

8. A linear robot joint module based on ball screw transmission according to claim 1, characterized in that, A support sleeve that slides into the telescopic joint is rotatably mounted on the sealing cover.

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