Intelligent robot joint driven by planetary roller

Abstract

This invention relates to a planetary roller driven intelligent robot joint, belonging to the field of intelligent robot technology. It features an active, controllable sealing assembly consisting of a sealing strip and a sealing cylinder, with the sealing cylinder integrated into the outer wall of a fixed block. The sealing strip is installed in a sealing groove communicating with the sliding block, allowing the sealing strip to actively extend and retract according to the sliding block's movement. When the sliding block retracts inward to reset, the sealing strip is compressed and deformed, tightly adhering to the outer wall to achieve a dynamic seal. When the sliding block extends outward, the sealing strip releases the compression and springs back to its original shape while maintaining a sealing fit. This transforms the passive alternating friction caused by traditional interference fits into active, time-division controllable contact, fundamentally avoiding fatigue aging and failure caused by the long-term alternating deformation of the sealing strip with the sliding block.

Description

Technical Field

[0001] This invention belongs to the field of intelligent robot technology, specifically relating to a planetary roller driven intelligent robot joint. Background Technology

[0002] With the rapid development of industrial automation, mobile robots, special bionic robots and medical rehabilitation robots, linear drive joints, as the core actuators for realizing the extension, retraction and pushing / pulling actions of components, are increasingly widely used in fields such as automated grasping. Many application conditions require linear joints to have fast dynamic response, long effective stroke and continuous reciprocating extension and retraction.

[0003] The existing linear joint mainly consists of a fixed joint block, a movable joint block, a sealing strip, and a planetary roller assembly. The movable joint block is slidably mounted on the end of the fixed joint block, and the planetary roller assembly is built into the fixed joint block. The output end of the planetary roller assembly is fixedly connected to the movable joint block, and the planetary roller assembly drives the movable joint block to reciprocate along the axial direction of the fixed joint block. The sealing strip is mounted on the outer end of the fixed joint block and is assembled with the outer wall of the movable joint block by interference fit. The interference fit seals the gap between the fixed joint block and the movable joint block, preventing dust and impurities from entering the fixed joint block from the gap and ensuring the service life of the internal planetary roller assembly.

[0004] However, the existing sealing method has obvious defects: the sealing strip relies on an interference fit to fill the assembly gap between the fixed joint block and the moving joint block, and the part of the sealing strip that fits against the moving joint block undergoes pre-assembly deformation in the assembled state. Under the reciprocating extension and retraction of the moving joint block, when the moving joint block extends outward, the friction of the contact surface pulls the sealing strip to produce a reverse deformation; when the moving joint block retracts inward, it pulls the sealing strip in the opposite direction to produce a reverse secondary deformation. During the high-frequency reciprocating extension and retraction of the joint, the sealing strip continuously and repeatedly undergoes alternating deformation with the moving joint block. Long-term alternating stress easily causes fatigue aging and failure of the sealing strip, significantly shortening the service life of the sealing component.

[0005] To address the issue of repeated localized deformation and subsequent failure of sealing strips, a conventional approach is to lengthen the overall length of the sealing strip. This increases the effective sealing contact area, delaying localized wear and aging, and thus extending the strip's lifespan. However, lengthening the sealing strip inevitably increases the contact friction area between the sealing strip and the moving joint block, leading to a corresponding increase in frictional resistance. Especially in applications requiring long-stroke reciprocating extension and retraction and rapid dynamic response, the increased frictional resistance significantly increases the drive load of the planetary roller assembly, increases joint drive power consumption, and restricts the high-speed response performance of the joint, making it impossible to simultaneously meet the requirements of sealing life and long-stroke rapid drive. Summary of the Invention

[0006] To address the issues of fatigue aging and failure caused by repeated alternating deformation of the sealing strip due to interference fit in existing linear drive joints, and the fact that conventional methods of lengthening the sealing strip increase contact friction resistance, drive load and power consumption, and restrict the performance of the joint in long-stroke reciprocating extension and rapid dynamic response scenarios, thus failing to balance the sealing life and high-efficiency drive requirements, this invention provides a planetary roller driven intelligent robot joint.

[0007] The objective of this invention can be achieved through the following technical solutions: A planetary roller driven intelligent robot joint includes a hollow fixed block, a sliding block, and a planetary roller assembly. The sliding block is slidably mounted on one end of the fixed block, the planetary roller assembly is disposed inside the fixed block, and the output end of the planetary roller assembly is connected to the sliding block. It also includes a sealing assembly, which includes a sealing strip and a sealing cylinder. The sealing cylinder is disposed on the outer wall of the fixed block. The inner wall of the fixed block has a sealing groove and a connecting groove that are interconnected. The sealing strip is disposed in the sealing groove. The output end of the sealing cylinder is connected to the sealing strip through the connecting groove. The sealing groove and the gap between the fixed block and the sliding block form a sealing space. The sealing cylinder drives the sealing strip to extend and retract within the sealing space; when the sliding block retracts inward to reset, the outer wall of the sliding block presses against the sealing strip, and the sealing strip is forced to compress and deform, thus achieving a dynamic seal by adhering tightly to the outer wall of the sliding block; when the sliding block extends outward, the sealing strip is released from compression and springs back to its original shape, and the sealing strip and the sliding block still maintain a sealing fit.

[0008] In a preferred embodiment of the present invention, when the sealing strip is under compression deformation, the height of the sealing strip is higher than the gap height between the fixed block and the sliding block.

[0009] As a preferred embodiment of the present invention, the cross-sectional shape of the sealed space is an annular quadrilateral, and four sets of sealing components are provided. The four sets of sealing components correspond to the four sides of the sealed space respectively. The sealing strip of any sealing component is disposed in the corresponding side of the sealed space. The four sealing strips fit together to form a sealing ring, and the sealing ring seals the sealed space together.

[0010] As a preferred embodiment of the present invention, the sealing space is provided in two sets, the sealing ring is provided in two sets, the two sets of sealing rings and the two sets of sealing spaces are matched accordingly, and any one of the sealing rings is disposed in the corresponding sealing space; The sealing assembly also includes a connector, and the inner wall of the fixing block is provided with four connecting slots. The four connecting slots correspond to the four sides of the sealing space, and the two ends of any one of the connecting slots are connected to the two sealing spaces respectively. The connector is disposed in the connecting slot, and the two ends of the connector are connected to the two sealing strips respectively.

[0011] As a preferred embodiment of the present invention, the two sealing rings together form a cleaning space, and the cleaning component also includes a cleaning assembly. The cleaning assembly includes a hollow collection box, a cleaning pump, a nozzle, and an air pipe. The inner wall of the fixing block is provided with a cleaning groove, which is centrally located at the bottom of the cleaning space. The collection box is disposed on the outer wall of the fixing block and communicates with the cleaning space through the cleaning groove. The cleaning pump is located outside the cleaning space. The cleaning pump is connected to the nozzle through the air pipe. The nozzle is located on either the left or right side wall of the cleaning space. The initial air jet direction of the nozzle is opposite to the location of the collection box.

[0012] As a preferred embodiment of the present invention, the fixed block and the sliding block together form a telescopic space with variable volume. The fixed block is provided with a telescopic slot and an air jet slot. The telescopic slot is located in the telescopic space, and the air jet slot is located in the cleaning space. The cleaning pump is disposed on the fixed block and is connected to the telescopic slot. One end of the air pipe is connected to the telescopic slot, and the other end is connected to the nozzle through the air jet slot.

[0013] As a preferred embodiment of the present invention, the cleaning component further includes a sealing valve disposed within the cleaning slot, the sealing valve being capable of locking or releasing the connection between the cleaning space and the collection box.

[0014] As a preferred embodiment of the present invention, the cleaning assembly further includes a control module, which is communicatively connected to the sealing valve and the sealing cylinder. When the control module detects that the sliding block retracts inward to reset, the control module controls the sealing valve to lock the sealing relationship between the cleaning space and the collection box. When the control module detects that the sliding block extends outward, the control module controls the sealing valve to release the sealing relationship between the cleaning space and the collection box.

[0015] The beneficial effects of this invention are as follows: By designing an active, controllable sealing assembly consisting of a sealing strip and a sealing cylinder, with the sealing cylinder integrated into the outer wall of the fixed block and the sealing strip installed in a sealing groove communicating with the gap between the sliding block and the sealing strip, the sealing strip can actively extend and retract according to the movement of the sliding block: when the sliding block retracts inward to reset, the sealing strip is compressed and deformed to fit tightly against the outer wall to achieve a dynamic seal; when the sliding block extends outward, the sealing strip is released from compression and rebounds to its original shape while still maintaining a sealing fit. This transforms the passive alternating friction caused by traditional interference fit into active, time-division controllable contact, fundamentally avoiding fatigue aging and failure caused by the long-term reciprocating deformation of the sealing strip with the sliding block; at the same time, since it does not require lengthening as in conventional improvement approaches... The sealing strip is used to delay the fatigue aging of the sealing strip, which reduces the contact area between the sealing strip and the sliding block, thus reducing the contact friction resistance between them. In addition, when the sliding block extends, the sealing strip maintains its sealing fit with the sliding block while reducing the pressing force between the sealing strip and the sliding block, further reducing the contact friction resistance between them. This successfully solves the inherent contradiction between sealing life and drive efficiency under long stroke and high frequency reciprocating extension conditions, and avoids the adverse effects of increased friction resistance on the drive load and joint power consumption of the planetary roller assembly. It significantly improves the high-speed response performance and service life of the joint while ensuring high sealing reliability. Attached Figure Description

[0016] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 This is an overall view of a planetary roller driven intelligent robot joint according to the present invention. Figure 2 This is a front sectional view of a planetary roller driven intelligent robot joint according to the present invention. Figure 3 This is a cross-sectional view of the fixing block of a planetary roller driven intelligent robot joint according to the present invention. Figure 4 For the present invention Figure 1 Enlarged view of point A; Figure 5 This is a side sectional view of a planetary roller driven joint fixing block for an intelligent robot according to the present invention.

[0018] Explanation of main symbols In the diagram: 1. Fixed block; 101. Sealing slot; 102. Connecting slot; 103. Sealing space; 104. Cleaning slot; 105. Telescopic space; 106. Telescopic slot; 107. Air jet slot; 2. Sliding block; 3. Planetary roller assembly; 4. Sealing assembly; 401. Sealing strip; 402. Sealing cylinder; 403. Connector; 5. Cleaning space; 6. Cleaning assembly; 601. Collection box; 602. Cleaning pump; 603. Nozzle; 604. Air pipe; 605. Sealing valve. Detailed Implementation

[0019] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description of the specific implementation methods, structures, features and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0020] Please see Figures 1-5This embodiment provides a planetary roller driven intelligent robot joint, including a hollow fixed block 1, a sliding block 2, and a planetary roller assembly 3. The sliding block 2 is slidably mounted on one end of the fixed block 1, and the planetary roller assembly 3 is disposed within the fixed block 1. The output end of the planetary roller assembly 3 is connected to the sliding block 2. It also includes a sealing assembly 4, which includes a sealing strip 401 and a sealing cylinder 402. The sealing cylinder 402 is disposed on the outer wall of the fixed block 1. The inner wall of the fixed block 1 has interconnected sealing slots 101 and connecting slots 102, and the sealing strip 401 is disposed within the sealing slots 101. The output end of the sealing cylinder 402 is connected to the sealing strip 401 through the connecting slot 102. The sealing slot 101 and the gap between the fixed block 1 and the sliding block 2 form a sealing space 103. The sealing cylinder 402 drives the sealing strip 401 to extend and retract within the sealing space 103. When the sliding block 2 retracts inward to reset, the outer wall of the sliding block 2 presses against the sealing strip 401, and the sealing strip 401 is forced to compress and deform and sticks tightly to the outer wall of the sliding block 2 to achieve dynamic sealing. When the sliding block 2 extends outward, the sealing strip 401 is released from compression and springs back to its original shape. The sealing strip 401 and the sliding block 2 still maintain a sealing fit. By designing an active and controllable sealing assembly 4 consisting of a sealing strip 401 and a sealing cylinder 402, and integrating the sealing cylinder 402 into the outer wall of the fixed block 1, and installing the sealing strip 401 in the sealing slot 101 that communicates with the gap of the sliding block 2, the sealing strip 401 can actively extend and retract according to the movement state of the sliding block 2: when the sliding block 2 retracts inward to reset, the sealing strip 401 is compressed and deformed to fit tightly against the outer wall to achieve dynamic sealing; when the sliding block 2 extends outward, the sealing strip 401 is released from compression and rebounds to restore its original shape while still maintaining a sealing fit. This transforms the passive alternating friction caused by traditional interference fit into active, time-division controllable contact, fundamentally avoiding fatigue aging and failure caused by the long-term reciprocating alternating deformation of the sealing strip 401 with the sliding block 2; at the same time, since it does not require the conventional improvement approach... The lengthening of the sealing strip 401 delays its fatigue aging, which reduces the contact area between the sealing strip 401 and the sliding block 2, thus lowering the contact friction resistance between them. Furthermore, when the sliding block 2 extends, the sealing strip 401, while maintaining its sealing fit with the sliding block 2, further reduces the contact friction resistance by decreasing the pressing force between them. This successfully resolves the inherent contradiction between sealing life and drive efficiency under long-stroke, high-frequency reciprocating extension conditions, avoiding the adverse effects of increased friction resistance on the drive load and joint power consumption of the planetary roller assembly 3. This significantly improves the high-speed response performance and service life of the joint while ensuring high sealing reliability.

[0021] Furthermore, when the sealing strip 401 is under compression deformation, the height of the sealing strip 401 is higher than the gap height between the fixed block 1 and the sliding block 2. By designing the height of the sealing strip 401 under compression deformation to be greater than the gap height between the fixed block 1 and the sliding block 2, it is ensured that when the sealing cylinder 402 pushes the sealing strip 401 out and is squeezed by the outer wall of the sliding block 2, the sealing strip 401 can generate sufficient interference compression, tightly fill the entire gap and form reliable contact pressure, thereby achieving a zero-leakage dynamic sealing effect during the critical sealing stage when the sliding block 2 retracts and resets inward.

[0022] Furthermore, the cross-sectional shape of the sealed space 103 is an annular quadrilateral. Four sets of sealing components 4 are provided, with each set corresponding to one of the four sides of the sealed space 103. The sealing strip 401 of any sealing component 4 is located within the corresponding side of the sealed space 103. The four sealing strips 401 adhere to each other to form a sealing ring, which together seals the sealed space 103. Since the sealed space 103 is designed as an annular quadrilateral, by setting four sets of sealing components 4 corresponding to the four sides of the sealed space 103, each sealing strip 401 can independently extend and retract within the side of the sealed space 103. At the same time, the four sealing strips 401 adhere to each other to form a sealing ring. Thus, while ensuring that each sealing strip 401 is individually controllable and flexibly extend and retract, they are combined into a whole to achieve complete sealing of the sealed space 103.

[0023] Furthermore, the sealing space 103 is provided in two sets, and the sealing ring is provided in two sets. The two sets of sealing rings and the two sets of sealing spaces 103 are matched accordingly. Any sealing ring is set in the corresponding sealing space 103. The sealing assembly 4 also includes a connector 403. The inner wall of the fixing block 1 is also provided with four connecting slots. The four connecting slots correspond to the four sides of the sealing space 103 respectively. The two ends of any connecting slot are connected to two sealing spaces 103 respectively. The connector 403 is set in the connecting slot. The two ends of the connector 403 are connected to two sealing strips 401 respectively. When the sliding block 2 retracts inward to reset, the sealing cylinder 402 drives the sealing strip 401 to extend and be compressed by interference fit. At this time, the sealing strip 401 not only tightly fits against the outer wall of the sliding block 2 to achieve dynamic sealing, but also, through the scraping action of the interference fit, pushes and removes dust and impurities adhering to the surface of the sliding block 2 from the gap. However, relying on only one set of sealing rings is not enough to ensure that all impurities are completely removed, and there is still a risk that residual trace dust will pass through the first sealing ring and enter the interior of the fixed block 1. To this end, this solution is provided with two sets of sealing rings. When the sliding block 2 continues to retract, the second set of sealing rings is also compressed by interference fit, further blocking residual dust that may penetrate the first sealing ring, thereby effectively preventing dust from entering the interior of the fixed block 1 and ensuring the service life of the internal planetary roller assembly 3. In addition, by opening four connecting slots and setting connectors 403 in them, the two ends of the connectors 403 are respectively connected to the sealing strips 401 on the same side of the two sealing rings, realizing the linkage control of the two sets of sealing rings. The advantage of this design is that it eliminates the need for an additional sealing cylinder 402 for the second set of sealing rings. Instead, the sealing strips 401 of the two sealing rings can move synchronously through the transmission of the connecting piece 403. This ensures the consistency of the double sealing action, simplifies the control logic of the sealing system, and reduces the complexity of the overall structure and manufacturing cost. Furthermore, because the two sets of sealing rings move synchronously, when the sliding block 2 extends outward, the two sets of sealing strips 401 rebound synchronously to release the compression, without increasing frictional resistance. Thus, while achieving double sealing protection, the device still maintains its advantages of low friction and rapid dynamic response.

[0024] In addition, to remove dust located between the two sealing rings, the two sealing rings together form a cleaning space 5, and the solution also includes a cleaning component 6. The cleaning component 6 includes a hollow collection box 601, a cleaning pump 602, a nozzle 603, and an air pipe 604. The inner wall of the fixing block 1 is provided with a cleaning slot 104, which is centrally located at the bottom of the cleaning space 5. The collection box 601 is set on the outer wall of the fixing block 1 and is connected to the cleaning space 5 through the cleaning slot 104. The cleaning pump 602 is set outside the cleaning space 5 and is connected to the nozzle 603 through the air pipe 604. The nozzle 603 is set on either the left or right side wall of the cleaning space 5, and the initial air jet direction of the nozzle 603 is opposite to the setting position of the collection box 601.

[0025] When one sealing ring retracts from the sliding block 2, it scrapes away most of the surface dust through an interference fit. The other sealing ring further blocks residual dust. However, the scraped dust does not disappear automatically but accumulates in the cleaning space 5 between the two sealing rings. If this accumulated dust is not cleaned in time, it may be carried into the fixed block 1 with the reciprocating motion of the sliding block 2, causing contamination of the planetary roller assembly 3. On the other hand, excessive dust accumulation will block the expansion and contraction channels of the sealing rings, affecting the normal pressing and rebound of the sealing strip 401, and even accelerating the wear of the sealing strip 401. To address this, this solution involves placing a collection box 601 on the outer wall of the fixed block 1 and connecting it to the cleaning space 5 via a cleaning slot 104. Simultaneously, a nozzle 603 is positioned on either the left or right sidewall of the cleaning space 5, with the initial jet direction of the nozzle 603 opposite to the location of the collection box 601. This creates an airflow-guided dust removal mechanism: when the cleaning pump 602 starts, compressed air is ejected from the nozzle 603 via the air pipe 604. Since the jet direction points away from the collection box 601, and the nozzle 603 is located on one sidewall of the cleaning space 5, the airflow first originates from the nozzle 603, flows to the top of the cleaning space 5, then flows along the other sidewall of the cleaning space 5, and finally to the bottom of the cleaning space 5. This blows dust particles suspended or deposited within the cleaning space 5 towards the collection box 601, ultimately drawing them into the collection box 601 for storage through the cleaning slot 104. This design ensures that the nozzle 603 does not directly "blow" dust towards the collection box 601. Instead, it utilizes the reflection or circulation of airflow within a limited space to carry the dust towards the opening of the collection box 601, avoiding the risk of dust spreading deeper due to direct blowing. Simultaneously, this design ensures that the airflow generated by a single nozzle 603 can completely remove dust from the entire cleaning space 5, improving the long-term reliability of the sealing system, especially suitable for harsh industrial environments with high dust levels and high-frequency repetitive cycles. It should be noted that the collection box 601 in this design is equipped with a one-way valve. After the airflow within the cleaning space 5 enters the collection box 601 through the cleaning slot 104, it is discharged outside the device through the one-way valve, ensuring that the airflow direction remains unchanged.

[0026] Furthermore, in this design, the fixed block 1 and the sliding block 2 together form a variable-volume telescopic space 105. The fixed block 1 has a telescopic slot 106 and an air jet slot 107. The telescopic slot 106 is located within the telescopic space 105, and the air jet slot 107 is located within the cleaning space 5. The cleaning pump 602 is mounted on the fixed block 1 and is connected to the telescopic slot 106. One end of the air pipe 604 is connected to the telescopic slot 106, and the other end is connected to the nozzle 603 through the air jet slot 107. Through this design, the cleaning pump 602 can transmit ambient air into the telescopic space 105. The airflow within the telescopic space 105 is delivered to the nozzle 603 via the air pipe 604, thereby carrying away the heat located within the telescopic space 105. This not only removes dust from the cleaning space 5 but also removes the heat accumulated within the telescopic space 105, enhancing the heat dissipation between the fixed block 1 and the sliding block 2. It is worth noting that because the gas flows unidirectionally from the telescopic space 105 to the cleaning space 5, dust from the cleaning space 5 is prevented from moving into the telescopic space 105 via the airflow, thus avoiding the possibility of dust flowing into the telescopic space 105 and contaminating the planetary roller assembly 3. It should be noted that before the external air self-cleaning pump 602 flows into the telescopic space 105, it passes through a purification component to purify the dust and impurities in the air; details will not be elaborated here.

[0027] Furthermore, it should be noted that during the process of nozzle 603 blowing dust from the cleaning space 5 to the collection box 601 using airflow, there is a problem: because the airflow forms a circulation at the bottom of the cleaning space 5, it generates turbulence and negative pressure at the cleaning slot 104, hindering the dust from settling downwards. As a result, the dust collected at the bottom cannot all pass smoothly through the cleaning slot 104 and fall into the collection box 601, and tends to accumulate and remain near the cleaning slot 104. Based on this, this solution is equipped with a sealing valve 605, which is located inside the cleaning slot 104. Under normal conditions, the sealing valve 605 locks the sealing relationship between the cleaning space 5 and the collection box 601. At this time, airflow is delivered into the cleaning space 5, which will gradually increase the air pressure inside the cleaning space 5. During this period, the dust located on both sides and the top of the cleaning space 5 will fall to the bottom of the cleaning space 5 due to the airflow. After the air pressure inside the cleaning space 5 reaches a certain level, the sealing valve 605 starts to work, disconnecting the connection between the cleaning space 5 and the collection box 601. Due to the air pressure difference, the dust located at the bottom of the cleaning space 5 will fall into the collection box 601 through the cleaning slot 104, completing the dust removal process of the cleaning space 5. This effectively prevents the long-term accumulation of dust from clogging the cleaning slot 104 and ensures the continuous and stable operation of the dust removal function.

[0028] In addition, the cleaning component 6 also includes a control module, which is communicatively connected to the sealing valve 605 and the sealing cylinder 402. When the control module detects that the sliding block 2 retracts inward to reset, it controls the sealing valve 605 to lock the sealing relationship between the cleaning space 5 and the collection box 601. When the control module detects that the sliding block 2 extends outward, it controls the sealing valve 605 to release the sealing relationship between the cleaning space 5 and the collection box 601. When the sliding block 2 retracts inward to reset, and the sealing strip 401 is forced to compress and deform, forming a dynamic seal against the outer wall of the sliding block 2, the control module controls the sealing valve 605 to close, cutting off the connection between the cleaning space 5 and the collection box 601. Relying on the tight sealing of the sealing strip 401, the cleaning space 5 forms a sealed cavity, and the internal airflow continuously accumulates, causing the air pressure to gradually increase, and the air pressure will not leak outward. As the sliding block 2 extends outward, and the sealing strip 401 is released from compression and springs back to its original shape, the control module simultaneously controls the sealing valve 605 to open, creating a significant air pressure difference between the cleaning space 5 and the collection box 601. The high-pressure airflow quickly flows towards one side of the collection box 601. Under the suction of the airflow, not only can the dust at the bottom of the cleaning space 5 be taken away, but the dust adhering to the surface of the sealing strip 401 on one side of the cleaning space 5 can also be sucked into the collection box 601, greatly improving the dust removal effect on the sealing strip 401 and realizing the integrated automatic operation of sealing, pressurization, and negative pressure dust collection.

[0029] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A planetary roller driven intelligent robot joint, comprising a hollow fixed block, a sliding block, and a planetary roller assembly, wherein the sliding block is slidably mounted on one end of the fixed block, the planetary roller assembly is disposed within the fixed block, and the output end of the planetary roller assembly is connected to the sliding block; Its features are: It also includes a sealing assembly, which includes a sealing strip and a sealing cylinder. The sealing cylinder is disposed on the outer wall of the fixed block. The inner wall of the fixed block has a sealing groove and a connecting groove that are interconnected. The sealing strip is disposed in the sealing groove. The output end of the sealing cylinder is connected to the sealing strip through the connecting groove. The sealing groove and the gap between the fixed block and the sliding block form a sealing space. The sealing cylinder drives the sealing strip to extend and retract within the sealing space; when the sliding block retracts inward to reset, the outer wall of the sliding block presses against the sealing strip, and the sealing strip is forced to compress and deform, thus achieving a dynamic seal by adhering tightly to the outer wall of the sliding block; when the sliding block extends outward, the sealing strip is released from compression and springs back to its original shape, and the sealing strip and the sliding block still maintain a sealing fit.

2. The planetary roller driven intelligent robot joint according to claim 1, characterized in that: When the sealing strip is under compression deformation, the height of the sealing strip is higher than the gap height between the fixed block and the sliding block.

3. The planetary roller driven intelligent robot joint according to claim 1, characterized in that: The cross-sectional shape of the sealed space is an annular quadrilateral. There are four sets of sealing components, each corresponding to one of the four sides of the sealed space. The sealing strip of any sealing component is located inside the corresponding side of the sealed space. The four sealing strips fit together to form a sealing ring, which together seals the sealed space.

4. The planetary roller driven intelligent robot joint according to claim 3, characterized in that: The sealing space is provided in two sets, and the sealing ring is provided in two sets. The two sets of sealing rings and the two sets of sealing spaces are matched accordingly, and any one of the sealing rings is set in the corresponding sealing space. The sealing assembly also includes a connector, and the inner wall of the fixing block is provided with four connecting slots. The four connecting slots correspond to the four sides of the sealing space, and the two ends of any one of the connecting slots are connected to the two sealing spaces respectively. The connector is disposed in the connecting slot, and the two ends of the connector are connected to the two sealing strips respectively.

5. A planetary roller driven intelligent robot joint according to claim 3, characterized in that: The two sealing rings together form a cleaning space and also include a cleaning assembly. The cleaning assembly includes a hollow collection box, a cleaning pump, a nozzle, and an air tube. The inner wall of the fixing block has a cleaning slot, which is centrally located at the bottom of the cleaning space. The collection box is disposed on the outer wall of the fixing block and communicates with the cleaning space through the cleaning slot. The cleaning pump is located outside the cleaning space. The cleaning pump is connected to the nozzle through the air pipe. The nozzle is located on either the left or right side wall of the cleaning space. The initial air jet direction of the nozzle is opposite to the location of the collection box.

6. The planetary roller driven intelligent robot joint according to claim 5, characterized in that: The fixed block and the sliding block together form a telescopic space with variable volume. The fixed block has a telescopic slot and an air jet slot. The telescopic slot is located in the telescopic space, and the air jet slot is located in the cleaning space. The cleaning pump is mounted on the fixed block and is connected to the telescopic slot. One end of the air pipe is connected to the telescopic slot, and the other end is connected to the nozzle through the air jet slot.

7. A planetary roller driven intelligent robot joint according to claim 5, characterized in that: The cleaning assembly also includes a sealing valve disposed within the cleaning slot, which can lock or release the connection between the cleaning space and the collection box.

8. A planetary roller driven intelligent robot joint according to claim 7, characterized in that: The cleaning assembly also includes a control module, which is communicatively connected to the sealing valve and the sealing cylinder. When the control module detects that the sliding block retracts inward to reset, the control module controls the sealing valve to lock the sealing relationship between the cleaning space and the collection box. When the control module detects that the sliding block extends outward, the control module controls the sealing valve to release the sealing relationship between the cleaning space and the collection box.

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