An electric cylinder transmission type robot joint and cylinder execution module

Abstract

The application relates to the technical field of robot joints, in particular to an electric roller transmission type robot joint and a roller execution module. The electric roller transmission type robot joint comprises a main joint and a secondary joint, one end of the main joint is rotationally connected with one end of the secondary joint; the electric roller transmission type robot joint further comprises a buffer, the buffer comprises a sliding block, and a plurality of groups of sliding blocks are rotationally installed at two ends of the roller execution module; when the roller execution module moves, the main joint and the secondary joint can be driven to relatively rotate, so that the mechanical arm of the robot can perform a straightening or bending action; in the process, the sliding block can slide on the main joint or the secondary joint; when a slight collision occurs, the buffer first acts, and impact is absorbed through elastic deformation; when the collision is so severe that the buffer cannot completely absorb the impact, the protection member is triggered immediately, and the power source is cut off; the buffer and the protection member cooperate with each other, and a complete safety barrier from soft landing to hard cutting is constructed, so that the stability of the joint and the roller execution module under extreme working conditions is improved.

Description

Technical Field

[0001] This invention relates to the field of robot joint technology, specifically an electric roller-driven robot joint and a roller execution module. Background Technology

[0002] With the deepening development of industrial automation and intelligent manufacturing, robot technology is increasingly widely used in logistics handling, precision assembly, and human-robot collaboration. As the core kinematic pair connecting the robotic arm (link), the robot joint bears the important responsibility of transmitting power and changing the posture of the end effector. Its motion accuracy, load capacity, and dynamic response characteristics directly determine the overall performance of the robot.

[0003] To achieve bending and straightening movements of a robotic arm, rotary actuators (roller actuators), linear actuators, and rope-driven actuators are commonly used. Among these, roller actuators are widely used due to their compact structure and high output force. Traditional roller actuators often employ a single-screw push-pull structure, with both ends rotating and mounted on the joints, driven by the forward and reverse rotation of a motor.

[0004] Traditional roller actuator modules are mostly rigidly connected. When the robotic arm accidentally collides or touches a hard limit, the huge impact energy cannot be absorbed by the mechanical structure itself, but is directly reflected onto the threaded connection. When the impact kinetic energy is too large, it is very easy to damage the thread quality, causing plastic deformation, stripping, or even cracking of the thread teeth. Once the thread precision is damaged, it will not only cause irreversible backlash in the joint movement, seriously affecting the position control accuracy, but in severe cases, it may even cause the screw to jam, directly rendering the entire joint module unusable. Furthermore, since the motor actively limits the current through feedback from the current loop or torque sensor when the load suddenly increases, the unavoidable delay (millisecond level) in the response of the control system can easily cause the motor to stall, overheat, or even burn out the windings before the power-off protection takes effect. At the same time, it cannot prevent the huge impact energy from causing destructive damage to the mechanical transmission structure. Summary of the Invention

[0005] The purpose of this invention is to provide an electric roller-driven robot joint and a roller execution module to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An electric roller-driven robot joint includes a main joint and a sub-joint. One end of the main joint is mounted on the robot's robotic arm; one end of the sub-joint is mounted on another robotic arm of the robot, and the other end of the main joint is rotatably connected to the other end of the sub-joint. It also includes buffer components respectively disposed on the main joint and the sub-joint, the buffer components including sliders, and multiple sets of sliders are rotatably mounted at both ends of the roller actuator module; When the rolling module performs its actions, it can drive the main joint and the sub-joint to rotate relative to each other, so that the robot's robotic arm can perform straightening or bending actions. During this process, the slider can slide on the main joint or the sub-joint. When the robotic arm is subjected to external force, the buffer can cause the main joint and the secondary joint to rotate relative to each other, and after the external force is removed, the buffer can drive the main joint and the secondary joint to return to their original positions.

[0007] As described above, the electric roller-driven robot joint has hinge rods rotatably mounted on both the main joint and the sub-joint, and multiple sets of hinge rods are rotatably mounted on a mounting block, which is mounted on the roller execution module; the main joint, the sub-joint, the two sets of hinge rods, and the mounting block together constitute a parallelogram linkage mechanism.

[0008] As described above, the electric roller-driven robot joint includes: the buffer further includes stops installed on the main joint and the sub-joint, and multiple sets of stops are respectively installed at both ends of the slider; multiple sets of buffer springs are sleeved on both the main joint and the sub-joint, and the two ends of the buffer springs abut against the slider and the stops respectively; the stops can limit the maximum sliding displacement of the slider, and the buffer springs located on both sides of the slider are always in a pre-compressed state; When the robotic arm is subjected to an external force and rotates relative to the other side, the buffer spring on one side is further compressed, while the buffer spring on the other side is gradually released. The impact energy is absorbed by the elastic deformation of the buffer spring, and the restoring force of the buffer spring is used to drive the main joint and the secondary joint to reset after the external force is removed.

[0009] The electric roller-driven robot joint described above has multiple sets of weight-reduction grooves on both the main joint and the sub-joint.

[0010] A roller actuator module for driving the joints of an electric roller-driven robot to perform extension or bending actions includes an outer sleeve and a mounting block mounted on the outer sleeve. A drive sleeve is rotatably mounted inside the outer sleeve, and a main telescopic joint and a secondary telescopic joint are sleeved inside the drive sleeve. The main telescopic joint is hinged to a slider on a main joint, and the secondary telescopic joint is hinged to a slider on a secondary joint. It also includes a synchronous telescopic component and a driving component. The driving component is used to drive the driving sleeve to rotate around its own axis, thereby driving the synchronous telescopic component to move. When the drive sleeve rotates, it can force the main telescopic joint and the auxiliary telescopic joint to move linearly along the axial direction of the drive sleeve, and the displacement velocities of the two are equal in magnitude and opposite in direction; wherein the movement stroke of the main telescopic joint and the auxiliary telescopic joint is symmetrical about the central section of the drive sleeve, so that the angular velocity of the main joint and the auxiliary joint is kept consistent during the rotation process, thereby driving the main joint and the auxiliary joint to rotate relative to each other.

[0011] As described above, the roller actuator module includes a motor mounted on the outer sleeve, a rotating shaft rotatably mounted on the outer sleeve, a small gear mounted on one end of the rotating shaft, a large gear meshing with the small gear mounted on the drive sleeve, and a protective component connecting the output end of the motor to the rotating shaft. The size of the small gear is smaller than the size of the large gear.

[0012] As described above, the roller actuator module includes: a protective component consisting of a main turntable mounted on the output end of the motor, on which multiple sets of main tooth blocks are equidistantly arranged along its circumference are mounted; a sliding turntable is slidably fitted onto the rotating shaft, on which multiple sets of secondary tooth blocks are equidistantly arranged along its circumference are mounted; the main tooth blocks and the secondary tooth blocks are capable of meshing with each other; a retaining spring is sleeved on the rotating shaft, with both ends of the retaining spring abutting against the sliding turntable and the rotating shaft, respectively.

[0013] As described above, in the roller actuator module: both the main tooth block and the auxiliary tooth block are sharp, and their cross-sectional profiles are wedge-shaped; when the main tooth block and the auxiliary tooth block mesh with each other, the sides of their contact are both inclined surfaces, which are used to generate axial component force during torque transmission, so as to cooperate with the clamping spring to achieve axial sliding disengagement under overload.

[0014] As described above, the roller actuator module includes a main thread groove and a secondary thread groove formed within the drive sleeve; a main external thread protrusion threadedly connected to the main thread groove is mounted on the main expansion joint; and a secondary external thread protrusion threadedly connected to the secondary thread groove is mounted on the secondary expansion joint.

[0015] As described above, in the roller actuator module: the main thread groove and the auxiliary thread groove have opposite thread directions, and when the drive sleeve rotates, the main thread groove and the main external thread protrusion, as well as the auxiliary thread groove and the auxiliary external thread protrusion, enable the main expansion joint and the auxiliary expansion joint to move in the same amount.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. The buffer can effectively improve the impact resistance of robot joints. When subjected to external force, the main joint and the secondary joint can rotate under the action of the buffer without changing the action state of the rolling execution module. It can effectively protect the structural integrity of the robot joint structure and avoid interference from the robot's actions caused by external force impact, thereby improving the accuracy of the robot's execution commands. 2. The protective component is a purely mechanical structure, which does not rely on electrical signals and is not easily affected by environmental interference. No matter how harsh the environment, as long as the mechanical structure is intact, the overload protection function will always be online, which greatly improves the robustness and reliability of the robot under extreme working conditions. When the robotic arm encounters a sudden jam or collision, causing the output torque to surge instantaneously and exceed the preset threshold, the protective component will actively disconnect the power connection, which can effectively reduce the risk of motor stall and burnout, thereby improving the operational safety and overall service life of the rolling execution module. 3. By using synchronous telescopic components to drive the main telescopic joint and the auxiliary telescopic joint to move in opposite directions with equal displacement speeds in a linear motion, the main joint and the auxiliary joint can be subjected to balanced forces, effectively reducing radial off-center loads, thereby reducing frictional resistance and noise during the movement process; at the same time, with the self-locking characteristic of the threaded fit, when the motor is powered off or stops output in an emergency, the external load cannot push the main telescopic joint and the auxiliary telescopic joint to move in the opposite direction, thus giving the robot joints a very strong power-off holding force, greatly improving the safety and energy efficiency of the equipment operation; 4. When a minor collision occurs, the buffer takes effect first, absorbing the impact through elastic deformation; when the collision is so severe that the buffer cannot completely absorb it (i.e. the slider reaches its limit or the resistance torque increases dramatically), the protective component is triggered to cut off the power source. The two work together to form a complete safety barrier from soft landing to hard cut-off, thereby improving the stability of the joint and the rolling actuator under extreme working conditions. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the joints and roller actuator module of an electric roller-driven robot. Figure 2 This is a schematic diagram of the hinge rod in the joint and roller execution module of an electric roller-driven robot. Figure 3 This is a schematic diagram of the buffer spring in the joint and roller execution module of an electric roller-driven robot. Figure 4 This is a structural schematic diagram of the roller actuator module; Figure 5 for Figure 4 A structural schematic diagram from a cross-sectional perspective; Figure 6 for Figure 5 Schematic diagram of the structure at point A; Figure 7 This is a schematic diagram of the drive sleeve in the joint and roller execution module of an electric roller-driven robot. Figure 8 This is a structural diagram of the main telescopic joint and the auxiliary telescopic joint in the joint and roller execution module of an electric roller-driven robot. Figure 9 This is a schematic diagram of the small gear in the joint and roller execution module of an electric roller-driven robot. Figure 10 for Figure 9 A schematic diagram of the structure at point B.

[0018] In the diagram: 1. Main joint; 2. Accessory joints; 3. Weight reduction tank; 4. Slider; 5. Stop; 6. Buffer spring; 7. Installation block; 8. Hinge rod; 9. Outer wall sleeve; 10. Drive sleeve; 1001. Main thread groove; 1002. Secondary thread groove; 11. Main expansion joint; 1101. Main external thread protrusion; 12. Secondary expansion joint; 1201. Secondary external thread protrusion; 13. Large gear; 14. Electric motor; 15. Main turntable; 1501. Main gear block; 16. Sliding turntable; 1601. Secondary gear block; 17. Shaft; 18. Clamping spring; 19. Small gear. 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 electric roller-driven robot joint includes a main joint 1 and a secondary joint 2. One end of the main joint 1 is mounted on the robot's robotic arm; one end of the secondary joint 2 is mounted on the other robotic arm of the robot, and the other end of the main joint 1 is rotatably connected to the other end of the secondary joint 2. It also includes buffer components respectively disposed on the main joint 1 and the sub-joint 2, the buffer components including sliders 4, and multiple sets of sliders 4 are rotatably installed at both ends of the roller execution module; When the rolling execution module performs its actions, it can cause the main joint 1 and the sub-joint 2 to rotate relative to each other, increasing or decreasing the angle between them, so that the robot's mechanical arm can perform straightening or bending actions. During this process, the slider 4 can slide on the main joint 1 or the sub-joint 2. When the robotic arm is subjected to external force, the buffer can cause the main joint 1 and the secondary joint 2 to rotate relative to each other, and after the external force is removed, the buffer can drive the main joint 1 and the secondary joint 2 to reset.

[0022] In this embodiment, when the robotic arm needs to bend or straighten, the rollers perform module actions, pushing or pulling the sliders 4 at both ends. Since the sliders 4 can only slide and cannot disengage from the main joint 1 and the secondary joint 2, the movement of the sliders 4 forces the main joint 1 and the secondary joint 2 to rotate relative to each other around their hinge points, thereby changing the included angle between them. When the included angle decreases, the robotic arm performs a bending action; when the included angle increases, the robotic arm performs a straightening action; during this process, the distance between the multiple sets of sliders 4 decreases or increases.

[0023] When the roller actuator stops, if the end effector of the robotic arm accidentally hits an obstacle (i.e., is subjected to external force), the impact force is transmitted to the main joint 1 and the secondary joint 2. At this time, the buffer mechanism comes into play: the external force overcomes the resistance of the buffer mechanism, forcing the slider 4 to slide on the main joint 1 and the secondary joint 2, causing a relatively small relative rotation between the main joint 1 and the secondary joint 2 (i.e., yielding). During this process, the impact force is converted into the mechanical energy of the slider 4's movement and absorbed. When the external force is removed, the energy stored in the buffer mechanism is released, causing the slider 4 to reset, thus restoring the main joint 1 and the secondary joint 2 to their original working angle. Similarly, when the robotic arm is subjected to an external force that drives it to straighten, the buffer mechanism cushions the external force.

[0024] The sliding guide structure between slider 4 and main joint 1 and secondary joint 2 is a linear bearing structure. Ball bearings are provided between slider 4 and main joint 1 and secondary joint 2 to reduce frictional loss.

[0025] The buffer effectively improves the impact resistance of the robot joints. When subjected to external force, the main joint 1 and the secondary joint 2 can rotate under the action of the buffer without changing the motion state of the rolling execution module. This effectively protects the structural integrity of the robot joint structure and avoids interference from external force impacts on the robot's motion, thereby improving the accuracy of the robot's execution commands.

[0026] As a further embodiment of the present invention, hinge rods 8 are rotatably mounted on both the main joint 1 and the secondary joint 2, and multiple sets of hinge rods 8 are rotatably mounted on the mounting block 7, which is mounted on the roller execution module; the main joint 1, the secondary joint 2, the two sets of hinge rods 8 and the mounting block 7 together constitute a parallelogram linkage mechanism.

[0027] In this embodiment, when the roller execution module drives the main joint 1 and the sub-joint 2 to rotate relative to each other (i.e., the included angle changes to achieve bending or straightening), since the length of the hinge rod 8 is fixed, the included angle between the multiple sets of hinge rods 8 also changes synchronously. When the robotic arm bends, the included angle between the hinge rods 8 becomes smaller, and the rolling execution module moves away from the hinge point of the main joint 1 and the sub-joint 2; conversely, the rolling execution module moves closer to the hinge point of the main joint 1 and the sub-joint 2. Furthermore, by limiting the rolling execution module through the hinge rod 8, the power waste of the rolling execution module can be avoided (to prevent the rolling execution module from rotating itself).

[0028] As a further embodiment of the present invention, the buffer also includes a stop block 5 installed on the main joint 1 and the secondary joint 2, and multiple sets of stop blocks 5 are respectively installed at both ends of the slider 4. Multiple sets of buffer springs 6 are sleeved on both the main joint 1 and the secondary joint 2, and the two ends of the buffer springs 6 abut against the slider 4 and the stop block 5 respectively. The stop block 5 can limit the maximum sliding displacement of the slider 4, and the buffer springs 6 located on both sides of the slider 4 are always in a pre-compressed state. When the robotic arm is subjected to an external force and rotates relative to the other side, the buffer spring 6 on one side is further compressed, while the buffer spring 6 on the other side is gradually released. The impact energy is absorbed by the elastic deformation of the buffer spring 6, and the restoring force of the buffer spring 6 is used to drive the main joint 1 and the sub-joint 2 to reset after the external force is removed.

[0029] In this embodiment, under the pre-compression force of the buffer spring 6, the slider 4 is tightly clamped in the middle position of the stroke by the buffer springs 6 on both sides; this continuous elastic pre-tension force can automatically eliminate all mechanical gaps between the slider 4 and the main joint 1, the secondary joint 2, and the hinge point, ensuring that the joint has no idle stroke and no impact when changing direction, effectively improving the position control accuracy.

[0030] The two buffer springs 6 are elastic elements with the same specifications and parameters. The slider 4 is located in the balance position between the two, forming a balanced state. The pitch of the buffer spring 6 maintains a certain deformation space in the pre-compression state.

[0031] When the end effector of the robotic arm encounters a sudden collision or overload, the huge external force forces the main joint 1 and the secondary joint 2 to rotate slightly relative to each other. At this time, the slider 4 slides on the main joint 1 and the secondary joint 2, the buffer spring 6 on one side is compressed (stores energy), and the buffer spring 6 on the other side relaxes (releases energy). By converting the rigid impact kinetic energy into the elastic potential energy of the spring, the risk of motor 14 stalling is effectively prevented, thereby improving the stability and service life of the joint.

[0032] Once the external force disappears, the compressed buffer spring 6 releases its stored restoring force, pushing the slider 4 to quickly return to the middle position of its stroke, thereby causing the main joint 1 and the secondary joint 2 to automatically return to their original working angles.

[0033] The buffer effectively improves the impact resistance of the robot joints. When subjected to external force, the main joint 1 and the secondary joint 2 can rotate under the action of the buffer without changing the motion state of the rolling execution module. This effectively protects the structural integrity of the robot joint structure and avoids interference from external force impacts on the robot's motion, thereby improving the accuracy of the robot's execution commands.

[0034] As a further embodiment of the present invention, both the main joint 1 and the secondary joint 2 are provided with multiple sets of weight-reducing grooves 3 for weight reduction.

[0035] In this embodiment, the weight reduction groove 3 effectively reduces the weight of the main joint 1 and the secondary joint 2, thereby reducing their moment of inertia relative to the rotation axis. This significantly reduces the acceleration torque required by the roller actuator when driving the joint to start and stop, thereby improving the robot's movement speed and agility.

[0036] A roller actuator module for driving the joints of an electric roller-driven robot to perform extension or bending actions includes an outer sleeve 9 and a mounting block 7 mounted on the outer sleeve 9. A drive sleeve 10 is rotatably mounted inside the outer sleeve 9. A main telescopic joint 11 and a secondary telescopic joint 12 are sleeved inside the drive sleeve 10. The main telescopic joint 11 is hinged to a slider 4 on a main joint 1, and the secondary telescopic joint 12 is hinged to a slider 4 on a secondary joint 2. It also includes a synchronous telescopic component and a driving component. The driving component is used to drive the driving sleeve 10 to rotate around its own axis, thereby driving the synchronous telescopic component to move. When the drive sleeve 10 rotates, it can force the main telescopic joint 11 and the auxiliary telescopic joint 12 to move linearly along the axial direction of the drive sleeve 10, and the displacement velocities of the two are equal in magnitude and opposite in direction; wherein the movement stroke of the main telescopic joint 11 and the auxiliary telescopic joint 12 is symmetrical about the central section of the drive sleeve 10, so that the angular velocity of the main joint 1 and the auxiliary joint 2 is kept consistent during the rotation process, thereby driving the main joint 1 and the auxiliary joint 2 to rotate relative to each other.

[0037] In this embodiment, the main telescopic joint 11 and the secondary telescopic joint 12 are respectively hinged to different sliders 4, thereby restricting their rotation around their own axis so that the kinetic energy driving the sleeve 10 to rotate can be well converted into the kinetic energy of their linear motion, thereby reducing the energy consumption and stability of the joint movement.

[0038] When the robot needs to perform bending or straightening actions, the drive sleeve 10 is driven to rotate around its own axis by the drive component, thereby driving the synchronous telescopic component to move, which in turn drives the main telescopic joint 11 and the secondary telescopic joint 12 to move linearly, thereby causing multiple sets of sliders 4 to move closer or further apart. During this process, the included angle between the main joint 1 and the secondary joint 2 decreases or increases.

[0039] By using synchronous telescopic components to drive the main telescopic joint 11 and the secondary telescopic joint 12 to make linear movements with opposite directions and equal displacement speeds, the main joint 1 and the secondary joint 2 can be subjected to balanced forces, effectively reducing radial off-center load, thereby reducing frictional resistance and noise during the movement process.

[0040] As a further embodiment of the present invention, the driving component includes a motor 14 mounted on the outer wall sleeve 9, a rotating shaft 17 rotatably mounted on the outer wall sleeve 9, a small gear 19 mounted on one end of the rotating shaft 17, a large gear 13 meshing with the small gear 19 mounted on the driving sleeve 10, and the output end of the motor 14 being connected to the rotating shaft 17 via a protective component; the size of the small gear 19 is smaller than the size of the large gear 13.

[0041] In this embodiment, the motor 14 can drive the pinion 19 to rotate forward or backward through the protective component, thereby driving the drive sleeve 10 to rotate in reverse or forward through its meshing with the large gear 13, so as to drive the main telescopic joint 11 and the auxiliary telescopic joint 12 to move closer or further apart, thereby realizing the bending or straightening of the robot arm.

[0042] Since the robot's joint movements require low speed and high torque, the output speed can be effectively reduced by driving the large gear 13 through the small gear 19. At the same time, the high speed and low torque of the motor 14 are converted into low speed and high torque to drive the sleeve 10, which perfectly matches the needs of joint drive and enables the robotic arm to lift heavy objects far exceeding the direct drive capability of the motor 14.

[0043] As a further embodiment of the present invention, the protective component includes a main turntable 15 mounted on the output end of the motor 14, on which multiple sets of main tooth blocks 1501 are equidistantly arranged along its circumference are mounted; a sliding turntable 16 is slidably fitted onto the rotating shaft 17, on which multiple sets of secondary tooth blocks 1601 are equidistantly arranged along its circumference are mounted; the main tooth blocks 1501 and the secondary tooth blocks 1601 can mesh with each other; a retaining spring 18 is sleeved on the rotating shaft 17, and the two ends of the retaining spring 18 abut against the sliding turntable 16 and the rotating shaft 17 respectively.

[0044] As a further embodiment of the present invention, both the main tooth block 1501 and the auxiliary tooth block 1601 are sharp, and their cross-sectional profiles are wedge-shaped. When the main tooth block 1501 and the auxiliary tooth block 1601 mesh with each other, the sides of their contact are both inclined surfaces, which are used to generate axial component force during torque transmission, so as to cooperate with the clamping spring 18 to achieve axial sliding disengagement under overload.

[0045] In this embodiment, the clamping spring 18 has a pre-compression amount, and its elasticity enables the sliding turntable 16 to be tightly pressed against the main turntable 15, thereby making the main tooth block 1501 and the secondary tooth block 1601 mesh tightly.

[0046] When the motor 14 is running normally, the tooth block has a wedge-shaped (sharp) cross-section and its contact surface is an inclined plane. When transmitting torque, the tangential component of the inclined plane is used to drive the rotating shaft 17 to rotate, while the axial component is canceled by the reaction force of the clamping spring 18, ensuring that the main tooth block 1501 and the auxiliary tooth block 1601 will not disengage.

[0047] When the robotic arm encounters a sudden jam or collision, causing the output torque to surge instantaneously and exceed the preset threshold, the axial component force on the contact surface of the wedge-shaped main tooth block 1501 and the secondary tooth block 1601 will increase sharply. Once this axial component force exceeds the preload of the retaining spring 18, the sliding turntable 16 will be forcibly pushed backward, causing the main tooth block 1501 and the secondary tooth block 1601 to slip axially and disengage instantly (slippage), that is, the main turntable 15 will be unable to drive the sliding turntable 16 to rotate.

[0048] Once the overload factor disappears, the retaining spring 18 pushes the sliding turntable 16 back again, and the main gear block 1501 and the secondary gear block 1601 re-mesh, restoring normal power transmission. The reset process requires no manual intervention.

[0049] Furthermore, the pitch of the retaining spring 18 maintains a certain deformation space in the pre-compressed state; when the load on the robotic arm exceeds the designed load value or encounters a sudden jam or collision, the resistance to the rotation of the sliding turntable 16 increases. In this state, the resistance to rotation will be greater than the resistance to sliding, so the rotation of the motor 14 will not be able to drive the sliding turntable 16 to rotate, but can only drive it to move axially, and the pre-compressed retaining spring 18.

[0050] As a further embodiment of the present invention, the synchronous telescopic member includes a main threaded groove 1001 and a secondary threaded groove 1002 formed in the drive sleeve 10; the main telescopic joint 11 is equipped with a main external threaded protrusion 1101 that is threadedly connected to the main threaded groove 1001; and the secondary telescopic joint 12 is equipped with a secondary external threaded protrusion 1201 that is threadedly connected to the secondary threaded groove 1002.

[0051] As a further embodiment of the present invention, the main thread groove 1001 and the secondary thread groove 1002 have opposite thread directions, and when the drive sleeve 10 rotates, the main thread groove 1001 and the main external thread protrusion 1101 are threaded together, and the secondary thread groove 1002 and the secondary external thread protrusion 1201 are threaded together, so that the main telescopic joint 11 and the secondary telescopic joint 12 can move in the same amount.

[0052] In this embodiment, when the drive sleeve 10 rotates around the axis under the drive of the drive member, the main telescopic joint 11 and the auxiliary telescopic joint 12 are restricted from rotating, so the main external thread protrusion 1101 and the auxiliary external thread protrusion 1201 are forced to move along the axial direction, thereby driving the main telescopic joint 11 and the auxiliary telescopic joint 12 to move linearly.

[0053] Through the threaded engagement of the main thread groove 1001 and the main external thread protrusion 1101, and the threaded engagement of the auxiliary thread groove 1002 and the auxiliary external thread protrusion 1201, the main telescopic joint 11 and the auxiliary telescopic joint 12 can be driven to move at the same speed, i.e., the same amount of extension. This effectively ensures the absolute synchronization of the movements on both sides, reduces hardware costs, and avoids displacement deviations on both sides caused by circuit delays or signal errors, ensuring that the angular velocities of the main joint 1 and the auxiliary joint 2 always remain perfectly consistent. Moreover, the threaded transmission itself has high lead accuracy, which can convert the tiny rotation angle of the motor 14 into extremely precise linear displacement. This enables the robot joint to achieve bending precision control, meeting the needs of fine-tuned operations. At the same time, due to the self-locking characteristic of the threaded engagement, when the motor 14 is powered off or stops outputting in an emergency, the external load cannot reverse the movement of the main telescopic joint 11 and the auxiliary telescopic joint 12, thus giving the robot joint a very strong power-off holding force, greatly improving the safety and energy efficiency of the equipment operation.

[0054] 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. An electric roller-driven robot joint, characterized in that, It includes a main joint and a secondary joint. One end of the main joint is mounted on the robot's robotic arm; one end of the secondary joint is mounted on the robot's other robotic arm, and the other end of the main joint is rotatably connected to the other end of the secondary joint. It also includes buffer components respectively disposed on the main joint and the sub-joint, the buffer components including sliders, and multiple sets of sliders are rotatably mounted at both ends of the roller actuator module; The roller actuator module includes an outer sleeve, on which a mounting block is mounted. A drive sleeve is rotatably mounted within the outer sleeve, and a main telescopic joint and a secondary telescopic joint are sleeved within the drive sleeve. The main telescopic joint is hinged to a slider on a main joint, and the secondary telescopic joint is hinged to a slider on a secondary joint. The module also includes a synchronous telescopic component and a drive component. The drive component drives the drive sleeve to rotate about its own axis, thereby causing the synchronous telescopic component to move. The synchronous telescopic component drives the main telescopic joint and the secondary telescopic joint to perform linear movements with opposite directions and equal displacement speeds. When the roller performs the module action, it can drive the main joint and the sub-joint to rotate relative to each other, so that the robot's robotic arm can perform straightening or bending actions. During this process, the slider can slide on the main joint or the sub-joint. When the robotic arm is subjected to external force, the buffer can cause the main joint and the secondary joint to rotate relative to each other, and after the external force is removed, the buffer can drive the main joint and the secondary joint to return to their original positions. Both the main joint and the secondary joint are rotatably mounted with hinge rods, and multiple sets of hinge rods are rotatably mounted on the mounting block, which is mounted on the roller actuation module; the main joint, the secondary joint, the two sets of hinge rods, and the mounting block together constitute a parallelogram linkage mechanism; The buffer also includes stops installed on the main joint and the sub-joint, and multiple sets of stops are respectively installed at both ends of the slider. Multiple sets of buffer springs are sleeved on both the main joint and the sub-joint, and the two ends of the buffer springs abut against the slider and the stops respectively. The stops can limit the maximum sliding displacement of the slider, and the buffer springs located on both sides of the slider are always in a pre-compressed state. When the robotic arm is subjected to an external force and rotates relative to the other side, the buffer spring on one side is further compressed, while the buffer spring on the other side is gradually released. The impact energy is absorbed by the elastic deformation of the buffer spring, and the restoring force of the buffer spring is used to drive the main joint and the secondary joint to reset after the external force is removed.

2. The electric roller-driven robot joint according to claim 1, characterized in that, Both the main joint and the secondary joint have multiple sets of weight-reducing grooves for weight reduction.

3. The electric roller-driven robot joint according to claim 1, characterized in that, When the drive sleeve rotates, it can force the main telescopic joint and the auxiliary telescopic joint to move linearly along the axial direction of the drive sleeve, and the displacement velocities of the two are equal in magnitude and opposite in direction; wherein the movement stroke of the main telescopic joint and the auxiliary telescopic joint is symmetrical about the central section of the drive sleeve, so that the angular velocity of the main joint and the auxiliary joint is kept consistent during the rotation process, thereby driving the main joint and the auxiliary joint to rotate relative to each other.

4. The electric roller-driven robot joint according to claim 3, characterized in that, The driving component includes a motor mounted on the outer sleeve, a rotating shaft rotatably mounted on the outer sleeve, a small gear mounted on one end of the rotating shaft, a large gear meshing with the small gear mounted on the driving sleeve, and the output end of the motor connected to the rotating shaft through a protective component; the size of the small gear is smaller than the size of the large gear.

5. The electric roller-driven robot joint according to claim 4, characterized in that, The protective component includes a main turntable mounted on the output end of the motor, on which multiple sets of main tooth blocks are equidistantly arranged along its circumference are installed; a sliding turntable is slidably fitted onto the rotating shaft, on which multiple sets of secondary tooth blocks are equidistantly arranged along its circumference are installed; the main tooth blocks and the secondary tooth blocks can mesh with each other; a retaining spring is sleeved on the rotating shaft, and the two ends of the retaining spring abut against the sliding turntable and the rotating shaft respectively.

6. The electric roller-driven robot joint according to claim 5, characterized in that, Both the main tooth block and the auxiliary tooth block are sharp, and their cross-sectional profiles are wedge-shaped. When the main tooth block and the auxiliary tooth block mesh with each other, the sides of their contact are both inclined surfaces, which are used to generate axial component force during torque transmission, so as to cooperate with the clamping spring to achieve axial sliding disengagement under overload.

7. The electric roller-driven robot joint according to claim 3, characterized in that, The synchronous telescopic component includes a main thread groove and a secondary thread groove formed in the drive sleeve; the main telescopic joint is equipped with a main external thread protrusion that is threadedly connected to the main thread groove; the secondary telescopic joint is equipped with a secondary external thread protrusion that is threadedly connected to the secondary thread groove.

8. The electric roller-driven robot joint according to claim 7, characterized in that, The main thread groove and the auxiliary thread groove have opposite thread directions. When the drive sleeve rotates, the main thread groove and the main external thread protrusion engage with each other, and the auxiliary thread groove and the auxiliary external thread protrusion engage with each other, so that the main expansion joint and the auxiliary expansion joint can move in the same amount.

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