Ball screw power module and robot

Abstract

The utility model provides a ball screw power module, which comprises an assembling mechanism, an output end cover, an assembling nut and a protective end cover, and a driving mechanism, and is characterized in that the assembling mechanism comprises an actuator main shell, an output end cover, an assembling nut and a protective end cover; the first knuckle bearing penetrates through the protection end cover through a force detection unit; the second knuckle bearing penetrates through the assembly nut and the output end cover through a ball screw; and the servo driving mechanism comprises a stator iron core, a stator coil, a rotor magnet, a rotor back iron and a lead screw nut. According to the scheme, an integrated design of a motor structure, a transmission structure and a control structure is finally realized; the lead screw nut serves as a part of an inner rotor in the motor structure, the rotor space of the motor structure is fully utilized, and the size and weight of the joint are reduced. Meanwhile, the transmission efficiency is high, the manufacturing and maintenance cost is low, the structure is simple, and the safety is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a ball screw power module and a robot. Background Art

[0002] In the robotics industry, multi-joint robots have better industrial advantages than ordinary robotics technology. They can bypass obstacles to reach the target. In terms of application, multi-joint robots can complete certain special movements and move from one point to another in the shortest time, which is inseparable from their main joint structure (power module).

[0003] In the prior art, commonly used joint structures (power modules) include a planetary reducer plus a QDD motor combination structure and a harmonic reducer plus a torque sensor structure; these are used to achieve complex linear and rotational motions of the robot's joints to meet the needs of using multi-joint robots.

[0004] The existing planetary reducer transmission method has room for improvement in terms of accuracy, noise, friction torque, volume, etc.; and the harmonic reducer has low transmission efficiency, complex overall structure, and high manufacturing and maintenance costs; the emergence of ball screw power transmission technology can undoubtedly solve the above-mentioned problems, but the existing ball screw power transmission technology adopts a complex rotation groove structure to limit the radial rotation movement of the screw, which will undoubtedly significantly increase the volume and weight of the screw module; how to reduce the volume and weight of the screw module while ensuring the stable operation of the ball screw power transmission technology requires further research and development.

[0005] Therefore, it is necessary to provide a ball screw power module to solve the above technical problems. Utility Model Content

[0006] The utility model provides a ball screw power module, which solves the problem in the related technology that how to reduce the volume and weight of the screw module while ensuring the stable operation of the ball screw power transmission technology needs further research and development.

[0007] In order to solve the above technical problems, the ball screw power module provided by the utility model includes:

[0008] An assembly mechanism, the assembly mechanism comprising an actuator main housing, an output end cover, an assembly nut and a protective end cover, the output end cover being fixedly mounted on one end of the actuator main housing, the assembly nut being threadedly connected to the output end cover, and the protective end cover being fixedly mounted on the other end of the actuator main housing;

[0009] A spherical bearing 1, wherein the spherical bearing 1 passes through the protective end cover through a force detection unit; and the force detection unit is fixedly arranged between the actuator main housing and the protective end cover;

[0010] Spherical bearing 2, the spherical bearing 2 passes through the assembly nut and the output end cover through a ball screw; and the ball screw is inserted into the main housing of the actuator;

[0011] A servo drive mechanism, the servo drive mechanism comprising a stator core, a stator coil, a rotor magnet, a rotor back iron and a lead screw nut, the stator core being fixed on the actuator main housing, the rotor back iron being rotatably mounted in the stator core through the rotor magnet and the stator coil, the lead screw nut being fixed in the rotor back iron; the shaft end of the ball screw being inserted into the rotor back iron and being threadedly connected with the lead screw nut; the rotor back iron and the lead screw nut being rotatably mounted on the actuator main housing through bearings respectively;

[0012] A limiting device, wherein the limiting device is embedded and installed on the output end cover;

[0013] A control mechanism, the control mechanism being mounted in the actuator main housing;

[0014] Among them, the ball screw consists of a straight section and a screw section, the straight section has a rectangular structure, the straight section is fixedly connected to the second joint bearing, and the screw section is threadedly connected to the screw nut; the limit device is slidably connected to the surface of the straight section.

[0015] Preferably, a nut gasket is filled between the output end cover and the assembly nut.

[0016] Preferably, two groups of the limiting devices are provided and symmetrically installed on both sides of the straight section.

[0017] Preferably, four groups of the limiting devices are provided, and the annular array is distributed on the outer circle of the straight line segment.

[0018] Preferably, an oil filling hole is provided on the output end cover.

[0019] Preferably, a wire hole is provided on the protective end cover.

[0020] Preferably, the control mechanism comprises a PCB board, an adapter seat and an encoder magnet, the PCB board is fixed to the actuator main housing, the adapter seat is fixed to the rotor back iron, and the encoder magnet is installed on the adapter seat.

[0021] Preferably, the servo drive mechanism further comprises a docking cover, and the docking cover is fixed on the screw nut;

[0022] The ball screw power module also includes a locking mechanism, which includes a telescopic member 1 and a locking cover, wherein the telescopic member 1 is fixed on the output end cover, and the locking cover is installed on the telescopic end of the telescopic member 1;

[0023] When it is necessary to lock the joint bearing 2 relative to the joint bearing 1 at a specified length, the telescopic member 1 controls the locking cover to extend so that the locking cover abuts against and is locked on the docking cover.

[0024] Preferably, a buffer cavity is provided on the output end cover, and a limit slide groove is provided on the ball screw, and the limit slide groove crosses the straight section and the screw section; the locking mechanism further comprises a sliding plate and a connecting member 1, the sliding plate is fixedly arranged at the telescopic end of the telescopic member 1, and the connecting member 1 is fixedly connected to the sliding plate and the locking cover;

[0025] The ball screw power module also includes a connecting mechanism, which includes a connecting cover and a slider, wherein the connecting cover is rotatably mounted on the locking cover, the connecting cover is sleeved on the ball screw, one end of the slider is fixedly connected to the connecting cover, and the other end of the slider is inserted into the limiting slide groove and is slidably connected to the ball screw;

[0026] The limiting device comprises a slide, a needle roller and a second telescopic member, wherein the slide is slidably mounted on the output end cover, the needle roller is rotatably mounted on the slide, and the second telescopic member is fixedly mounted on the output end cover;

[0027] Among them, the slide, the needle roller and the telescopic part 2 are all installed within the range of the buffer cavity, and the telescopic part 2 is used to drive the telescopic adjustment of the slide and the needle roller; when the telescopic part 1 controls the joint bearing 2 to switch from the linear telescopic mode to the rotational adjustment mode, the telescopic part 2 controls the slide and the needle roller to retract, so as to provide support for the use of the rotational adjustment mode of the joint bearing 2.

[0028] The utility model also provides a robot, comprising a joint structure and a connecting rod structure, wherein the joint structure adopts the ball screw power module.

[0029] Compared with the related art, the ball screw power module provided by the utility model has the following beneficial effects:

[0030] By fixing the rotor back iron and the lead screw nut together, the motor structure rotates and drives the lead screw nut to rotate together; since the rotational movement of the straight line segment is limited by the limit device on the output end cover; the limit device cooperates with the square straight line segment to form a radial stop component, so that during the operation of the lead screw nut, the ball screw can only perform telescopic movement in the axial direction, which facilitates the stable linear telescopic adjustment of the second spherical bearing relative to the first spherical bearing.

[0031] Finally, an integrated design of the motor structure, transmission structure and control structure is achieved; the screw nut, as a part of the inner rotor in the motor structure, fully utilizes the rotor space of the motor structure and reduces the volume and weight of the joint; at the same time, it has high transmission efficiency, low manufacturing and maintenance costs, simple structure and high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0033] Figure 1 A three-dimensional diagram of the ball screw power module provided by the utility model;

[0034] Figure 2 for Figure 1 A front view of the section taken along line AA is shown;

[0035] Figure 3 for Figure 1 The left side view of the section BB shown;

[0036] Figure 4 for Figure 2 The structural diagram of the ball screw shown;

[0037] Figure 5 for Figure 2 An enlarged schematic diagram of section A is shown;

[0038] Figure 6 A schematic diagram of the structure of an optimization solution for a ball screw power module provided by the utility model;

[0039] Figure 7 for Figure 6 An enlarged schematic diagram of part B is shown;

[0040] Figure 8 for Figure 6 An enlarged schematic diagram of section C is shown;

[0041] Fig. 9 for Figure 8 The structural schematic diagram of the L-shaped chute shown;

[0042] Fig.10 The schematic diagram of the optimization scheme of the ball screw power module provided by the utility model, wherein (a1) is a front view of the joint bearing 2 in a locked state, (a2) is a front view of the joint bearing 2 in a telescopic mode, and (a3) ​​is a front view of the joint bearing 2 in a rotating mode;

[0043] Fig.11 for Fig.10 Schematic diagram of the telescopic adjustment of the middle connecting member, wherein (b1) is a front view of the locking cover in the (a1) state, (b2) is a front view of the locking cover in the (a2) state, (b3) is a front view of the locking cover in the (a3) ​​state, (c1) is a front view of the connecting member in the (a1) state, (c2) is a front view of the connecting member in the (a2) state, and (c3) is a front view of the connecting member in the (a3) ​​state.

[0044] Description of Figure Numbers:

[0045] 1. Assembly mechanism; 11. Actuator main housing; 12. Output end cover; 121. Oil filling hole; 13. Assembly nut; 14. Protective end cover; 141. Wire hole;

[0046] 2. Joint bearing 1; 21. Force detection unit;

[0047] 3. Spherical bearing 2; 31. Ball screw; 311. Straight line segment; 312. Screw segment;

[0048] 4. Servo drive mechanism; 41. stator core; 42. stator coil; 43. rotor magnet; 44. rotor back iron; 45. lead screw nut;

[0049] 5. Bearings;

[0050] 6. Limiting device;

[0051] 7. Control agency;

[0052] 71. PCB board; 72. adapter seat; 73. encoder magnet;

[0053] 122, buffer chamber; 310, limit slide;

[0054] 46. ​​Docking cover;

[0055] 8. Locking mechanism; 81. Telescopic member 1; 82. Sliding plate; 83. Connecting member 1; 84. Locking cover; 85. Connecting member 2;

[0056] 9. Connecting mechanism; 91. Connecting cover; 92. Sliding block;

[0057] 61. Slide; 62. Needle roller; 63. Telescopic member 2; 611. L-shaped slide; 6111. Locking section; 6112. Unlocking section.

[0058] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0060] The utility model provides a ball screw power module.

[0061] Embodiment 1

[0062] Please refer to Figures 1 to 4 In the first embodiment of the utility model, the ball screw power module comprises:

[0063] An assembly mechanism 1, the assembly mechanism 1 comprising an actuator main housing 11, an output end cover 12, an assembly nut 13 and a protective end cover 14, the output end cover 12 being fixedly mounted on one end of the actuator main housing 11, the assembly nut 13 being threadedly connected to the output end cover 12, and the protective end cover 14 being fixedly mounted on the other end of the actuator main housing 11;

[0064] A spherical bearing 2, wherein the spherical bearing 2 passes through the protective end cover 14 through a force detection unit 21; and the force detection unit 21 is fixedly arranged between the actuator main housing 11 and the protective end cover 14 (the spherical bearing 2 is fixedly connected to the force detection unit 21);

[0065] Joint bearing 2 3, the joint bearing 2 3 passes through the assembly nut 13 and the output end cover 12 through a ball screw 31; and the ball screw 31 is inserted into the actuator main housing 11 (the joint bearing 2 3 is fixedly connected to the ball screw 31);

[0066] A servo drive mechanism 4, the servo drive mechanism 4 comprises a stator core 41, a stator coil 42, a rotor magnet 43, a rotor back iron 44 and a screw nut 45, the stator core 41 is fixed on the actuator main housing 11, the rotor back iron 44 is rotatably mounted in the stator core 41 through the rotor magnet 43 and the stator coil 42, and the screw nut 45 is fixed in the rotor back iron 44; the shaft end of the ball screw 31 is inserted into the rotor back iron 44 and is threadedly connected with the screw nut 45; the rotor back iron 44 and the screw nut 45 are rotatably mounted on the actuator main housing 11 through the bearing 5 respectively;

[0067] A limiting device 6, wherein the limiting device 6 is embedded and installed on the output end cover 12;

[0068] A control mechanism 7, wherein the control mechanism 7 is installed in the actuator main housing 11;

[0069] Among them, the ball screw 31 is composed of a straight section 311 and a screw section 312, the straight section 311 is a rectangular structure, the straight section 311 is fixedly connected to the joint bearing 2 3, and the screw section 312 is threadedly connected to the screw nut 45; the limit device 6 is slidably connected to the surface of the straight section 311.

[0070] In this embodiment, the stator core 41, the stator coil 42, the rotor magnet 43 and the rotor back iron 44 form a motor structure, which is used to drive the lead screw nut 45 to rotate and adjust.

[0071] The bearings 5 ​​are provided in two groups, and the two groups of bearings 5 ​​are used to bear the radial high-speed rotation of the rotor (rotor back iron 44, screw nut 45) of the motor structure; thereby controlling the ball screw 31 to generate radial thrust or tension at the load end relative to the output of the screw nut 45.

[0072] A strain gauge group is placed on the force detection unit 21, and the strain gauge group inputs the push-pull force signal of the joint bearing 1 2 relative to the joint bearing 2 3 to the control mechanism 7 for processing to obtain the current accurate push-pull force value.

[0073] By fixing the rotor back iron 44 and the screw nut 45 together, the motor structure rotates and drives the screw nut 45 to rotate together; since the rotational movement of the straight segment 311 is limited by the limit device 6 on the output end cover 12; the limit device 6 cooperates with the square straight segment 311 to form a radial stop component, so that during the operation of the screw nut 45, the ball screw 31 can only perform telescopic movement in the axial direction, which facilitates the stable linear telescopic adjustment of the joint bearing 2 3 relative to the joint bearing 1 2.

[0074] Finally, an integrated design of the motor structure, transmission structure and control structure is achieved; the screw nut 45, as a part of the inner rotor in the motor structure, fully utilizes the rotor space of the motor structure and reduces the joint volume and weight; at the same time, it has high transmission efficiency, low manufacturing and maintenance costs, simple structure and high safety.

[0075] In this embodiment, a nut gasket is filled between the output end cover 12 and the assembly nut 13. A movable gap is reserved between the nut gasket and the straight segment 311 to provide stable support for the adjustment of the straight segment 311 and to increase the sealing performance of the connection between the output end cover 12 and the assembly nut 13.

[0076] In an alternative embodiment, see Figure 3 The limiting device 6 is provided with two groups, which are symmetrically installed on both sides of the straight section 311.

[0077] In another alternative embodiment, see Figure 3 The limiting device 6 is provided with four groups, and the annular array is distributed on the outer circle of the straight line segment 311 to maintain the stability of the telescopic adjustment of the straight line segment 311.

[0078] Please refer to the following Figure 2 The output end cover 12 is provided with an oil filling hole 121 to facilitate the filling of internal lubricating oil.

[0079] In this embodiment, the oil filling hole 121 is equipped with a switch valve to facilitate the opening or closing of the oil filling hole 121 .

[0080] Please refer again Figure 2 The protective end cover 14 is provided with a wire hole 141, which is convenient for extending the wires of the equipment; the wire outlet is convenient and simple.

[0081] Please refer to Figure 2 and Figure 5 The control mechanism 7 includes a PCB board 71, an adapter seat 72 and an encoder magnet 73. The PCB board 71 is fixed to the actuator main housing 11, the adapter seat 72 is fixed to the rotor back iron 44, and the encoder magnet 73 is installed on the adapter seat 72. The PCB board 71 is composed of an integrated motor encoder and a force detection PCB board.

[0082] In this embodiment, the adapter seat 72 and the encoder magnet 73 form an encoder unit, and the encoder unit is used to magnetically feed back the absolute position of the rotor part (rotor magnet) relative to the stator part (stator core) in the motor structure to the absolute position encoding chip on the PCB board 71; to obtain the precise angle of the motor structure, the rotation angle of the motor structure is combined with the number of rotations and the parameters of the ball screw 31 to accurately calculate the telescopic length of the ball screw 31.

[0083] The force detection unit 21 inputs the push-pull force signal of the joint bearing 1 2 relative to the joint bearing 2 3 to the PCB board 71 for processing to obtain the current accurate push-pull force value.

[0084] The working principle of the ball screw power module provided in this embodiment is as follows:

[0085] A1, such as Figure 2 As shown, when the joint bearing 2 3 needs to be extended relative to the joint bearing 1 2, the motor structure is started, so that the rotor magnet 43 of the motor structure drives the rotor back iron 44 and the screw nut 45 to rotate synchronously, and during the rotation of the screw nut 45, the screw segment 312 extends; the screw segment 312 drives the joint bearing 2 3 to extend synchronously through the straight segment 311, thereby realizing the linear extension of the joint bearing 2 3;

[0086] A2, when the joint bearing 2 3 is extended, the force detection unit 21 detects the push and pull force of the joint bearing 2 3 relative to the joint bearing 1 2 in real time;

[0087] A3, when the spherical bearing 2 3 is extended, the encoder unit composed of the adapter seat 72 and the encoder magnet 73 detects the absolute position of the rotor part relative to the stator part in the motor structure in real time;

[0088] The data obtained by the detection is transmitted to the PCB board 71 for data processing and calculation; the precise angle of rotation of the rotor part of the motor structure is obtained, and then the number of rotations and the extension length of the ball screw 31 are calculated in combination with the size of the ball screw 31.

[0089] Embodiment 2

[0090] Because when the joint bearing 2 3 is loaded relative to the joint bearing 1 2, the joint bearing 2 3 is subjected to a certain load force, so that the load pressure on the motor structure increases; in order to reduce the pressure on the motor structure, it is necessary to provide a locking structure to achieve the stability of the joint bearing 2 3 when it is not extended or retracted relative to the joint bearing 1 2, thereby reducing the pressure on the motor structure.

[0091] Please refer to Figure 6 to Figure 7 Based on the ball screw power module provided by the first embodiment of the utility model, the second embodiment of the utility model provides another ball screw power module. The second embodiment is only a preferred embodiment of the first embodiment, and the implementation of the second embodiment will not affect the independent implementation of the first embodiment.

[0092] Specifically, the difference of the ball screw power module provided in the second embodiment of the utility model is that the servo drive mechanism 4 further includes a docking cover 46, and the docking cover 46 is fixed on the screw nut 45;

[0093] The ball screw power module also includes a locking mechanism 8, which includes a telescopic member 81 and a locking cover 84. The telescopic member 81 is fixed on the output end cover 12, and the locking cover 84 is installed at the telescopic end of the telescopic member 81.

[0094] When it is necessary to lock the joint bearing 2 3 relative to the joint bearing 1 2 at a specified length, the telescopic member 1 81 controls the locking cover 84 to extend so that the locking cover 84 abuts against and is locked on the docking cover 46 .

[0095] In this embodiment, the telescopic member 81 adopts a telescopic cylinder to provide a power source for the telescopic adjustment of the locking cover 84.

[0096] Since the screw nut 45 is threadedly connected to the ball screw 31 , when the screw nut 45 cannot rotate, the ball screw 31 cannot be telescopically adjusted, thereby providing support for the stability of the use state of the ball screw 31 and the spherical bearing 23 .

[0097] When it is necessary to lock the joint bearing 23, the telescopic member 81 is started, and the telescopic member 81 can drive the locking cover 84 to extend. The locking cover 84 moves toward the docking cover 46 and abuts against each other to limit the position, so that the docking cover 46 and the screw nut 45 cannot rotate, thereby ensuring the stability of the joint bearing 23 when it is in use.

[0098] When the joint bearing 2 3 needs to be further telescopically adjusted, the telescopic member 1 81 is started, and the locking cover 84 is controlled to separate from the docking cover 46 so that the joint bearing 2 3 is unlocked, and the joint bearing 2 3 can continue to be telescopically adjusted.

[0099] In an optional implementation of this embodiment, the docking cover 46 and the locking cover 84 are both provided with braking teeth to increase the resistance and locking stability when the two are in abutment.

[0100] Please refer to Figure 7 and Figure 8 The output end cover 12 is provided with a buffer cavity 122, and the ball screw 31 is provided with a limit slide groove 310, and the limit slide groove 310 crosses the straight section 311 and the screw section 312; the locking mechanism 8 also includes a sliding plate 82 and a connecting member 83, the sliding plate 82 is fixedly arranged at the telescopic end of the telescopic member 81, and the connecting member 83 is fixedly connected to the sliding plate 82 and the locking cover 84;

[0101] The ball screw power module further includes a connecting mechanism 9, which includes a connecting cover 91 and a slider 92. The connecting cover 91 is rotatably mounted on the locking cover 84, and the connecting cover 91 is sleeved on the ball screw 31. One end of the slider 92 is fixedly connected to the connecting cover 91, and the other end of the slider 92 is inserted into the limiting slide groove 310 and is slidably connected to the ball screw 31.

[0102] The limiting device 6 includes a slide 61, a needle roller 62 and a second telescopic member 63, wherein the slide 61 is slidably mounted on the output end cover 12, the needle roller 62 is rotatably mounted on the slide 61, and the second telescopic member 63 is fixedly mounted on the output end cover 12;

[0103] Among them, the slide 61, the needle roller 62 and the telescopic part 2 63 are all installed within the range of the buffer cavity 122, and the telescopic part 2 63 is used to drive the slide 61 and the needle roller 62 to telescopic adjustment; when the telescopic part 1 81 controls the joint bearing 2 3 to switch from the linear telescopic mode to the rotational adjustment mode, the telescopic part 2 63 controls the slide 61 and the needle roller 62 to contract, so as to provide support for the use of the rotational adjustment mode of the joint bearing 2 3.

[0104] In this embodiment, the spherical bearing 2 3 includes two usage modes:

[0105] Linear telescopic mode: the joint bearing 2 3 can move linearly relative to the joint bearing 1 2 (cannot be adjusted by relative rotation), and is used for dynamic telescopic support;

[0106] Rotation adjustment mode: the joint bearing 2 3 can be rotationally adjusted relative to the joint bearing 1 2 (cannot be telescopically adjusted relative to each other) and is used for dynamic rotation support.

[0107] In this example, an "active installation" means:

[0108] The locking cover 84 can be adjusted by following the movement of the locking cover 84 , and can also be adjusted by rotation relative to the locking cover 84 .

[0109] like Fig.11As shown in FIG. 1 , when the linear telescopic mode is required, the telescopic member 81 is activated, and the telescopic member 81 drives the sliding plate 82, the connecting member 83 and the locking cover 84 to move left as a whole (as shown in FIG. 1 ). Figure 7 The locking cover 84 is moved in the direction shown in the figure, so that the locking cover 84 is separated from the docking cover 46, so that the docking cover 46 and the screw nut 45 are unlocked; and the connecting cover 91 and the docking cover 46 are maintained in a separated state.

[0110] When the rotation adjustment mode is needed, the telescopic member 81 is started again, and the telescopic member 81 drives the sliding plate 82, the connecting member 83, the locking cover 84 and the connecting cover 91 to move left, and the connecting cover 91 abuts and locks on the docking cover 46, so that the docking cover 46 and the connecting cover 91 are relatively locked (unable to rotate relative to each other); in conjunction with the telescopic member 2 63 to control the contraction of the slide 61, the slide 61 and the needle roller 62 are contracted and provide a movable space for the rotation adjustment of the ball screw 31, providing stable support for the rotation adjustment of the ball screw 31 and the spherical bearing 2 3.

[0111] Ultimately, it is achieved that under the drive of the same motor structure, it can be used for both the telescopic adjustment of the joint bearing 2 3 and the rotation adjustment of the joint bearing 2 3; thereby increasing the adaptability of the use mode and use environment of the joint bearing 2 3.

[0112] In an optional implementation of this embodiment, the docking surfaces of the docking cover 46 and the connection cover 91 are respectively provided with corresponding docking teeth, so as to increase the resistance and relative stability of the connection when the two are in abutment with each other.

[0113] In an optional embodiment, the second telescopic member 63 is a miniature electric telescopic rod, which provides power support for the telescopic adjustment of the slide 61 .

[0114] In another optional implementation, please refer to Figures 7 to 9 , the telescopic member 63 is an elastic telescopic member; an L-shaped slide groove 611 is provided on the slide frame 61, and the locking mechanism 8 further includes a connecting member 85, the connecting member 85 is an L-shaped structure, and one end of the connecting member 85 is fixedly connected to the slide plate 82, and the other end of the connecting member 85 passes through the output end cover 12 and is inserted into the L-shaped slide groove 611;

[0115] Wherein, the L-shaped slide groove 611 includes a locking section 6111 and an unlocking section 6112; when the second connecting member 85 is located in the locking section 6111, the slide 61 is in a locked state; when the second connecting member 85 is located in the unlocking section 6112, the slide 61 is in an unlocked state.

[0116] In this embodiment, when the slide 61 is in a locked state, the needle roller 62 on the slide 61 abuts against the surface of the straight segment 311;

[0117] When the slide 61 is in an unlocked state, the roller needle 62 on the slide 61 can adaptively shrink following the rotational adjustment of the straight segment 311, thereby providing adaptive avoidance support for the adjustment of the joint bearing 2 3, facilitating the stable rotational adjustment of the joint bearing 2 3 in the rotational adjustment mode.

[0118] In this embodiment, when the slide 61 is in the unlocked state, the elastic telescopic member provides elastic support for the buffering and resetting of the slide 61 .

[0119] When the joint bearing 2 3 is switched from the linear telescopic mode to the rotation adjustment mode, the sliding plate 82 can also drive the connecting member 2 85 to move left synchronously (such as Figure 8 When the second connecting member 85 moves, it slides along the locking section 6111 into the unlocking section 6112. When the second connecting member 85 completely enters the unlocking section 6112, the slide 61 is automatically unlocked and can adapt to the rotation of the straight section 311 and adaptively extend and retract.

[0120] Finally, in the process of switching the joint bearing 2 3 from the linear telescopic mode to the rotational adjustment mode, the slide 61 is automatically unlocked synchronously to meet the use requirements of the joint bearing 2 3 in the rotational adjustment mode.

[0121] In an alternative implementation, please refer again to Figure 8 The end of the second connector 85 is provided with a chamfered structure to increase the stability of the second connector 85 entering the locking section 6111 from the unlocking section 6112 when the device switches from the rotation adjustment mode to the linear telescopic mode.

[0122] The working principle of the ball screw power module provided in this embodiment is as follows:

[0123] like Fig.10 (a1) and Fig.11 (b1) and (c1) in the figure may be defined as follows: in the initial state, the device is in a locked state, the connecting member 1 83 and the docking cover 46 are in a contact locked state, the connecting cover 91 and the docking cover 46 are in a separated unlocked state, and the connecting member 2 85 is within the range of the locking section 6111;

[0124] Combination Fig.10 (a1) to (a2) and Fig.11In (b1) to (b2) and (c1) to (c2), when the device needs to be adjusted to the linear telescopic mode, the telescopic member 81 is activated, the telescopic member 81 drives the sliding plate 82 to move leftward, the sliding plate 82 drives the locking cover 84 to move leftward through the connecting member 83, the locking cover 84 moves leftward and separates from the docking cover 46, so that the docking cover 46 is unlocked;

[0125] When the locking cover 84 moves leftward, the connecting cover 91 is driven to move leftward, and the connecting cover 91 drives the sliding block 92 to slide linearly along the direction of the limiting sliding groove 310;

[0126] When the sliding plate 82 moves to the left, the second connecting member 85 is driven to move to the left. The second connecting member 85 moves to the left along the range of the locking section 6111 and is still located in the locking section 6111.

[0127] like Fig.10 (a2) and Fig.11 In (b2) and (c2), the device is in the linear telescopic mode, the connecting member 83 and the docking cover 46 are in a separated and unlocked state, the connecting cover 91 and the docking cover 46 are in a separated and unlocked state, and the connecting member 85 is located within the range of the locking section 6111;

[0128] Combination Fig.10 (a2) to (a3) ​​and Fig.11 In (b2) to (b3) and (c2) to (c3), when the device needs to be adjusted to the rotation adjustment mode, the telescopic member 81 is started again, and the telescopic member 81 drives the sliding plate 82 to continue to move leftward, and the sliding plate 82 drives the locking cover 84 to continue to move leftward through the connecting member 83. When the locking cover 84 moves leftward, it drives the connecting cover 91 to move leftward, so that the connecting cover 91 is abutted and locked with the docking cover 46;

[0129] When the sliding plate 82 moves to the left, the second connecting member 85 is driven to move to the left, and the second connecting member 85 completely enters the range of the unlocking section 6112 along the locking section 6111, so that the slide 61 releases the locking limit, and the needle roller 62 on the slide 61 can be adaptively extended and retracted according to the rotation adjustment of the straight section 311; when the screw nut 45 rotates, it can synchronously drive the ball screw 31 to rotate and adjust through the docking cover 46 in the locked state and the connecting cover 91 and the slider 92, so that the device can be used in both a telescopic use environment and a rotating use environment;

[0130] like Fig.10 (a3) and Fig.11In (b3) and (c3), the device is in a rotation adjustment mode, the connecting member 83 and the docking cover 46 are in a separated unlocked state, the connecting cover 91 and the docking cover 46 are in a contact locked state, and the connecting member 2 85 is located within the unlocking section 6112.

[0131] Finally, after the telescopic member 81 controls the docking cover 46 to switch from a locked state to an unlocked state, the use mode of the ball screw 31 can also be switched; under the action of the same power drive, the ball screw 31 mode is switched and the slide 61 is automatically unlocked.

[0132] The utility model also provides a robot, comprising a joint structure and a connecting rod structure, wherein the joint structure adopts the ball screw power module described in the above embodiment.

[0133] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the concept of the utility model, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A ball screw power module, characterized in that: include: An assembly mechanism, the assembly mechanism comprising an actuator main housing, an output end cover, an assembly nut and a protective end cover, the output end cover being fixedly mounted on one end of the actuator main housing, the assembly nut being threadedly connected to the output end cover, and the protective end cover being fixedly mounted on the other end of the actuator main housing; A spherical bearing 1, wherein the spherical bearing 1 passes through the protective end cover through a force detection unit; and the force detection unit is fixedly arranged between the actuator main housing and the protective end cover; Spherical bearing 2, the spherical bearing 2 passes through the assembly nut and the output end cover through a ball screw; and the ball screw is inserted into the main housing of the actuator; A servo drive mechanism, the servo drive mechanism comprising a stator core, a stator coil, a rotor magnet, a rotor back iron and a lead screw nut, the stator core being fixed on the actuator main housing, the rotor back iron being rotatably mounted in the stator core through the rotor magnet and the stator coil, the lead screw nut being fixed in the rotor back iron; the shaft end of the ball screw being inserted into the rotor back iron and being threadedly connected with the lead screw nut; the rotor back iron and the lead screw nut being rotatably mounted on the actuator main housing through bearings respectively; A limiting device, wherein the limiting device is embedded and installed on the output end cover; A control mechanism, the control mechanism being mounted in the actuator main housing; Among them, the ball screw consists of a straight section and a screw section, the straight section has a rectangular structure, the straight section is fixedly connected to the second joint bearing, and the screw section is threadedly connected to the screw nut; the limit device is slidably connected to the surface of the straight section.

2. The ball screw power module according to claim 1, characterized in that: A nut gasket is filled between the output end cover and the assembly nut.

3. The ball screw power module according to claim 2, characterized in that: The limiting devices are provided in two groups and are symmetrically installed on both sides of the straight section.

4. The ball screw power module according to claim 2, characterized in that: The limiting devices are provided in four groups, and the annular arrays are distributed on the outer circle of the straight line segment.

5. The ball screw power module according to claim 4, characterized in that: The output end cover is provided with an oil filling hole.

6. The ball screw power module according to claim 5, characterized in that: The protective end cover is provided with a wire hole.

7. The ball screw power module according to claim 6, characterized in that: The control mechanism comprises a PCB board, an adapter seat and an encoder magnet. The PCB board is fixedly arranged on the actuator main housing, the adapter seat is fixedly arranged on the rotor back iron, and the encoder magnet is installed on the adapter seat.

8. The ball screw power module according to claim 7, characterized in that: The servo drive mechanism further comprises a docking cover, which is fixed on the screw nut; The ball screw power module also includes a locking mechanism, which includes a telescopic member 1 and a locking cover, wherein the telescopic member 1 is fixed on the output end cover, and the locking cover is installed on the telescopic end of the telescopic member 1; When it is necessary to lock the joint bearing 2 relative to the joint bearing 1 at a specified length, the telescopic member 1 controls the locking cover to extend so that the locking cover abuts against and is locked on the docking cover.

9. The ball screw power module according to claim 8, characterized in that: The output end cover is provided with a buffer cavity, the ball screw is provided with a limit slide groove, the limit slide groove crosses the straight section and the screw section; the locking mechanism also includes a sliding plate and a connecting member 1, the sliding plate is fixedly arranged at the telescopic end of the telescopic member 1, and the connecting member 1 is fixedly connected to the sliding plate and the locking cover; The ball screw power module also includes a connecting mechanism, which includes a connecting cover and a slider, wherein the connecting cover is rotatably mounted on the locking cover, the connecting cover is sleeved on the ball screw, one end of the slider is fixedly connected to the connecting cover, and the other end of the slider is inserted into the limiting slide groove and is slidably connected to the ball screw; The limiting device comprises a slide, a needle roller and a second telescopic member, wherein the slide is slidably mounted on the output end cover, the needle roller is rotatably mounted on the slide, and the second telescopic member is fixedly mounted on the output end cover; Among them, the slide, the needle roller and the telescopic part 2 are all installed within the range of the buffer cavity, and the telescopic part 2 is used to drive the telescopic adjustment of the slide and the needle roller; when the telescopic part 1 controls the joint bearing 2 to switch from the linear telescopic mode to the rotational adjustment mode, the telescopic part 2 controls the slide and the needle roller to retract, so as to provide support for the use of the rotational adjustment mode of the joint bearing 2.

10. A robot comprising a joint structure and a connecting rod structure, characterized in that: The joint structure adopts the ball screw power module as described in any one of claims 1-9.

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