Transmission lead screw, joint actuator and robot

Abstract

The utility model provides a transmission lead screw, a joint actuator and a robot. The transmission lead screw comprises a lead screw body and a bearing, and the lead screw body comprises a threaded section and a bearing installation section. The bearing installation section comprises a first section and a second section connected with the first section, and at least one part of the second section protrudes out of the first section in the radial direction. The bearing is assembled in the first section, one end of the bearing inner ring is connected with the first section, and the other end of the bearing inner ring abuts against the second section, so that the bearing not only can support radial loads, but also can bear bidirectional axial loads, and push-pull reliability aiming at a transmission part can be achieved.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular to a transmission screw, a joint actuator and a robot. Background Art

[0002] The drive screw can use its own thread to cooperate with the transmission part to convert the rotational motion of the drive screw into the linear motion of the transmission part. It has the advantages of high transmission accuracy, strong load-bearing capacity, simple and reliable structure. Therefore, it is widely used in CNC machine tools, joint actuators, vehicle steering actuators, vehicle seat actuators and other scenarios that require linear motion.

[0003] However, in the related art, when the transmission screw is applied to mechanical equipment, it is necessary to set up an assembly formed by multiple bearings that bear radial loads and bidirectional axial loads respectively, which leads to a complex structure and low integration, affecting the processing and assembly efficiency, consistency and miniaturization of the transmission mechanical equipment. Utility Model Content

[0004] The present disclosure provides a transmission screw, a joint actuator and a robot to solve related technical problems.

[0005] A first aspect of the present disclosure provides a transmission screw, comprising:

[0006] The lead screw body includes a threaded section and a bearing mounting section;

[0007] The bearing mounting section comprises a first section and a second section connected to the first section, and at least a portion of the second section protrudes from the first section in the radial direction;

[0008] The bearing is assembled in the first section; one end of the inner ring of the bearing is connected to the first section, and the other end is abutted against the second section.

[0009] Optionally, the threaded section is provided with a reversible thread, and the threaded section is in transmission cooperation with a threaded structure of a transmission member to drive the transmission member to move and / or transfer an external load acting on the transmission member to a driving mechanism.

[0010] Optionally, the threaded section is arranged at one end of the screw body, and the bearing mounting section is arranged at the other end of the screw body.

[0011] Optionally, the bearing comprises a deep groove ball bearing.

[0012] Optionally, the transmission screw further includes a planet carrier; the planet carrier includes a base plate and a pin arranged on a side of the base plate facing away from the bearing mounting section, and the pin is used for rotationally connecting with the planetary gear.

[0013] Optionally, the planet carrier and the lead screw body form an integrated structure.

[0014] Optionally, at least one mounting notch penetrating the substrate is provided in an edge region of the substrate.

[0015] Optionally, the pin shafts and the mounting notches are alternately arranged in the circumferential direction of the substrate.

[0016] Optionally, the substrate includes a third section and a fourth section arranged along the axial direction of the transmission screw, the fourth section is located on the side of the third section away from the bearing mounting section; the projection area of ​​the fourth section on the axial direction of the transmission screw is larger than the projection area of ​​the third section on the axial direction of the transmission screw.

[0017] According to a second aspect of the present disclosure, there is provided a joint actuator, the joint actuator comprising a housing, a transmission member and any one of the transmission screws described in the first aspect;

[0018] The transmission member is movably assembled to the housing along the axial direction of the transmission screw, and the transmission member includes a accommodating space provided with a threaded structure; the threaded structure is transmission-connected to the threaded section, and the screw body retracts or extends out of the accommodating space along with the threaded transmission.

[0019] Optionally, the joint actuator further includes a primary planetary transmission gear train and a driving mechanism;

[0020] The first-stage planetary transmission gear train includes a planet carrier, a planetary gear rotatably assembled on the planet carrier, and a sun gear drivingly matched with the planetary gear; the planet carrier is assembled on the lead screw body; the sun gear is assembled on the output end of the driving mechanism;

[0021] An internal gear which cooperates with the planetary gear transmission is arranged in the housing.

[0022] Optionally, the driving mechanism includes a casing assembled with the shell and a motor installed in the casing.

[0023] Optionally, the output shaft of the motor extends from the front of the casing, and a bearing seat and a rolling bearing are provided at the rear of the casing opposite to the front. The bearing seat is provided with a bearing hole and a shoulder located at one axial end of the bearing hole; the rolling bearing is assembled in the bearing hole and abuts against the shoulder to limit the position.

[0024] Optionally, the shell is provided with a first positioning structure and a second positioning structure, the first positioning structure cooperates with the casing to limit the position, and the second positioning structure cooperates with the motor to limit the position, so that the output end of the motor is coaxial with the transmission screw.

[0025] Optionally, the housing is an integrated structure;

[0026] A guide space, a bearing mounting hole and an internal gear are provided in the housing; the transmission member is movably assembled in the guide space along the axial direction of the transmission screw; and the outer ring of the bearing is fixedly assembled in the bearing mounting hole.

[0027] Optionally, the outer ring of the bearing is connected to the edge of the hole of the bearing mounting hole by means of screws, and the head of the screw presses the outer ring of the bearing.

[0028] Optionally, a rib is provided at the first end of the bearing mounting hole, one end of the bearing outer ring abuts against the first end, and the other end of the bearing outer ring is fixedly connected to the second end of the bearing mounting hole.

[0029] Optionally, the joint actuator includes a magnetic element;

[0030] The tail shaft of the motor is provided with a first annular magnet, which is magnetized in its radial direction; and / or the transmission member is provided with a second magnet, the N pole and S pole of which are arranged in a direction parallel to the axial direction of the transmission screw.

[0031] According to a third aspect of the present disclosure, a robot is provided, the robot comprising:

[0032] Any transmission screw described in the first aspect;

[0033] Or, any joint actuator described in the second aspect.

[0034] The technical solution provided by the present disclosure can at least achieve the following beneficial effects:

[0035] The transmission screw disclosed in the present invention includes a screw body and a bearing. One end of the inner ring of the bearing is connected to the first section of the bearing mounting section, and the other end is abutted against the second section, so that the bearing is limited in both bidirectional axial directions of the transmission screw, thereby enabling the bearing to withstand both radial loads and bidirectional axial loads, which helps to simplify the structure of the transmission screw and the joint actuator using the above-mentioned transmission screw and reduce costs.

[0036] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0038] Figure 1 is a schematic diagram of a three-dimensional structure of a transmission screw in an exemplary embodiment of the present disclosure;

[0039] Figure 2 is a schematic diagram of a three-dimensional structure of a transmission screw in another exemplary embodiment of the present disclosure;

[0040] Figure 3 is a schematic cross-sectional structure diagram of a transmission screw in an exemplary embodiment of the present disclosure;

[0041] Figure 4 is a schematic diagram of the exploded structure of a joint actuator in an exemplary embodiment of the present disclosure;

[0042] Figure 5 is a schematic cross-sectional structure diagram of a joint actuator in an exemplary embodiment of the present disclosure when the transmission member is in an extended state;

[0043] Figure 6 is a schematic cross-sectional structure diagram of a joint actuator in an exemplary embodiment of the present disclosure when the transmission member is retracted;

[0044] Figure 7 is a schematic diagram of a three-dimensional structure of a joint actuator in an exemplary embodiment of the present disclosure when the transmission member is extended;

[0045] Figure 8 is a schematic diagram of a three-dimensional structure of a joint actuator in an exemplary embodiment of the present disclosure when the transmission member is retracted;

[0046] Fig. 9 is a schematic diagram of a three-dimensional structure of a housing of a joint actuator in an exemplary embodiment of the present disclosure in a certain posture;

[0047] Fig.10 is a schematic diagram of a three-dimensional structure of a housing of a joint actuator in another posture in an exemplary embodiment of the present disclosure;

[0048] Fig.11 is a schematic diagram of a three-dimensional structure of a motor in an exemplary embodiment of the present disclosure;

[0049] Fig.12 is a schematic diagram of a three-dimensional structure of a sun gear in an exemplary embodiment of the present disclosure;

[0050] Fig.13 is a schematic cross-sectional structure diagram of a housing of a joint actuator in an exemplary embodiment of the present disclosure;

[0051] Fig.14 It is a schematic diagram of the three-dimensional structure of a circuit board in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this specification. Instead, they are merely examples of devices and methods consistent with some aspects of this specification as detailed in the appended claims.

[0053] The terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit the disclosure. Unless otherwise defined, the technical terms or scientific terms used in this specification should be understood by people with ordinary skills in the field to which the disclosure belongs. The words "first", "second" and similar words used in this specification and claims do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantitative limit, but indicate the existence of one. "Multiple" or "several" means two and more than two. Unless otherwise specified, words such as "front", "rear", "lower" and / or "upper" are only for the convenience of explanation and are not limited to one position or one spatial orientation. Words such as "include" or "comprise" mean that the elements or objects appearing in front of "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect.

[0054] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms of "a", "the" and "the" used in this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0055] The transmission screw can use its own thread to cooperate with the transmission part to convert the rotational motion of the transmission screw into the linear motion of the transmission part. It has the advantages of high transmission accuracy, strong load-bearing capacity, simple and reliable structure, etc. Therefore, it is widely used in CNC machine tools, joint actuators, vehicle steering actuators, vehicle seat actuators and other scenes that require linear motion. However, in the related technology, when the transmission screw is applied to mechanical equipment, it is necessary to set up a component formed by multiple bearings that bear radial loads and bidirectional axial loads, which leads to a complex structure and low integration, affecting the processing and assembly efficiency, consistency and miniaturization of the transmission mechanical equipment.

[0056] The present disclosure provides a transmission screw. Figure 1 is a three-dimensional structural schematic diagram of a transmission screw in an exemplary embodiment of the present disclosure, Figure 2 is a three-dimensional structural schematic diagram of a transmission screw in another exemplary embodiment of the present disclosure, Figure 3 is a schematic cross-sectional structure diagram of a transmission screw in an exemplary embodiment of the present disclosure, such as Figure 1-Figure 3 As shown, the transmission screw 1 includes a screw body 11 and a bearing 13, and the screw body 11 includes a threaded section 111 and a bearing mounting section 112. The bearing mounting section 112 includes a first section 1121 and a second section 1122 connected to the first section 1121, and at least a portion of the second section 1122 protrudes radially from the first section 1121. The bearing 13 is assembled in the first section 1121, and one end of the inner ring of the bearing 13 is connected to the first section 1121, and the other end is abutted against the second section 1122.

[0057] The second section 1122 is used to limit one end of the inner ring of the bearing 13, and the other end of the inner ring of the bearing 13 is connected to the first section 1121, so that the bearing 13 can not only support the radial load, but also withstand the bidirectional axial load, which helps to achieve the push-pull reliability of the transmission member 22. In this embodiment, radial support and axial support are achieved through one bearing 13, avoiding space occupation, complex structure and cost increase caused by using multiple sets of bearings 13.

[0058] The connection between the inner ring of the bearing 13 and the first section 1121 may be a fixed connection such as welding or bonding, or a detachable connection such as snap-fitting, and the present disclosure does not limit this.

[0059] It should be noted that the bearing 13 may be a deep groove ball bearing or other types of bearings 13, and the present disclosure is not limited thereto.

[0060] In some embodiments, the transmission screw 1 includes a screw body 11 and a planet carrier 12, the planet carrier 12 may include a base plate 121 and a pin 122 disposed on the side of the base plate 121 facing away from the bearing mounting section 112, the pin 122 is used to be rotatably connected with the planetary gear 14, the screw body 11 includes a threaded section 111 and a bearing mounting section 112, the planet carrier 12 is connected to the bearing mounting section 112, and is located on the side of the bearing mounting section 112 away from the threaded section 111. The pins 122 may be evenly distributed on the base plate 121 along the circumference of the base plate 121.

[0061] In some embodiments, the planet carrier 12 and the screw body 11 form an integrated structure, which avoids the reduction in efficiency and consistency caused by assembling the screw body 11 and the planet carrier 12 separately, and can also improve integration, reduce assembly tolerance and assembly difficulty, and help to achieve the miniaturization of components or equipment such as joint actuators 2 and robots containing the above-mentioned transmission screw. Among them, the base plate 121 and the pin 122 as part of the planet carrier 12 can form an integrated structure with the screw body 11.

[0062] In other embodiments, the planet carrier 12 may also be assembled to an end of the bearing mounting section 112 away from the threaded section 111 to enhance the convenience of selecting, replacing and repairing the planet carrier.

[0063] In some embodiments, the threaded segment 111 is provided with a reversible thread, and the threaded segment 111 cooperates with the threaded structure of the transmission member 22 to drive the transmission member 22 to move and / or transfer the external load acting on the transmission member 22 to the driving mechanism 21. This can not only ensure that the transmission screw 1 drives the transmission member 22 to move back and forth through rotation, but also transfer the external load to the driving mechanism 21 through the transmission member 22, so that the transmission screw 1 has the ability to sense and feedback the external load conditions, so that the transmission screw 1 can be applied to application scenarios that require sensing of external loads.

[0064] It should be noted that the above-mentioned reversible thread can be a reverse thread, and the left-hand thread of the reverse thread is opposite to the ordinary thread, so that the reverse drive effect can be achieved. In addition, other types of threads can be obtained by adjusting other parameters of the thread to achieve the reversible thread effect.

[0065] In some embodiments, the threaded segment 111 can be set at one end of the screw body 11, and the bearing mounting segment 112 can be set at the other end of the screw body 11 to avoid structural interference between the threaded segment 111 and the bearing mounting segment 112 during the transmission and assembly process, thereby reducing the difficulty of assembly and matching of the transmission screw 1.

[0066] The planet carriers 12 may be respectively assembled with planetary gears 14 , which are drivingly connected to the output end of the driving mechanism 21 to realize a single-stage planetary gear transmission, thereby obtaining a QDD (Quasi-Direct Drive) joint transmission effect.

[0067] The transmission structure has good force transmission transparency and excellent force control performance. In the absence of an external force sensor, better force control can be achieved through the current loop at a lower cost.

[0068] In some embodiments, the edge area of ​​the substrate 121 is provided with at least one installation notch 123 penetrating the substrate 121. The installation notch 123 can provide an operating space for assembling the bearing 13 or other components of the transmission screw 1, thereby improving assembly convenience.

[0069] The number of the mounting notches 123 can be one or more. For example, one end of the housing 23 of the joint actuator 2 can be provided with a threaded mounting hole 237, so that a screw can pass through the threaded mounting hole 237 to fix the outer ring of the bearing 13, and the mounting notch 123 can correspond to the position of the threaded mounting hole 237 in the axial direction of the transmission screw 1.

[0070] In the above embodiment, the pins 122 and the installation notches 123 can be alternately arranged in the circumferential direction of the substrate 121 to avoid structural interference between the installation notches 123 and the pins 122 and improve the flexibility of the arrangement of the pins 122 in the radial direction of the substrate 121.

[0071] In the above embodiment, the base plate 121 may include a third section 1211 and a fourth section 1212 arranged along the axial direction of the transmission screw 1, the fourth section 1212 is located on the side of the third section 1211 away from the bearing installation section 112, and the projection area of ​​the fourth section 1212 in the axial direction of the transmission screw 1 is larger than the projection area of ​​the third section 1211 in the axial direction of the transmission screw 1. In the axial direction of the transmission screw 1, the projection area of ​​the fourth section 1212 is larger than the third section 1211, thereby providing sufficient space for the arrangement of the pin 122 and the installation notch 123, and the third section 1211 not only ensures the structural strength of the base plate 121, but also avoids the waste of material cost and installation space.

[0072] The present disclosure further provides a joint actuator 2, such as Figure 4-Figure 7 As shown, Figure 5 , Figure 6 The dotted arrow in the figure may refer to the axial direction of the transmission screw 1. The joint actuator 2 includes a housing 23, a transmission member 22 and the transmission screw 1. The transmission member 22 is movably assembled in the housing 23 along the axial direction of the transmission screw 1. The transmission member 22 includes a receiving space 222 provided with a threaded structure, and the threaded structure is in transmission connection with the threaded segment. The screw body 11 is retracted or extended from the receiving space 222 with the threaded transmission. An internal gear 231 is provided in the housing 23 to cooperate with the planetary gear 14. The transmission member 22 cooperates with the threaded segment 111 of the screw body 11 to generate displacement along the axial direction of the transmission screw 1, thereby realizing the movement of extending or retracting the transmission member 22.

[0073] Furthermore, the joint actuator can also include a primary planetary transmission gear train and a driving mechanism 21, wherein the primary planetary transmission gear train includes a planetary carrier 12, a planetary wheel 14 rotatably assembled on the planetary carrier 12, and a sun wheel 26 that is transmission-coordinated with the planetary wheel 14, the planetary carrier 12 is assembled on the screw body 11, and the sun wheel 26 is assembled on the output end of the driving mechanism 21.

[0074] The output power of the driving mechanism 21 can drive the planetary gear 14 to rotate through the sun gear 26, thereby driving the planetary carrier 12 and the lead screw body 11 to rotate. The force transmission transparency of the first-stage planetary transmission gear train is good, and the force control performance is excellent.

[0075] Since the second section 1122 of the bearing installation section 112 is used to limit one end of the inner ring of the bearing 13, and the other end of the inner ring of the bearing 13 is connected to the first section 1121, the bearing 13 can not only support the radial load, but also withstand the bidirectional axial load, which helps to achieve the push-pull reliability of the transmission member 22. In this embodiment, radial support and axial support are achieved through one bearing 13, avoiding space occupation, complex structure and cost increase caused by using multiple sets of bearings 13.

[0076] In some embodiments, Figure 8 As shown, the driving mechanism 21 includes a housing 212 assembled with the shell 23 and a motor 211 installed in the housing 212 .

[0077] The output end of the driving mechanism 21 may be an end of the motor shaft for transmission connection with the transmission screw 1. The transmission member 22 may be a nut or other structure type capable of threading with the transmission screw 1 and generating displacement, which is not limited in the present disclosure.

[0078] In the above embodiment, the output shaft of the motor 211 can extend from the front of the housing 212, and the rear of the housing 212 arranged opposite to the front can be provided with a bearing seat 2121 and a rolling bearing. The bearing seat 2121 is provided with a bearing hole and a shaft shoulder 2122 located at one axial end of the bearing hole. The rolling bearing is assembled in the bearing hole of the bearing seat 2121 and abuts against the shaft shoulder 2122 for limiting. The rolling bearing is installed in the above bearing seat 2121 so that the housing 212 can swing with a degree of freedom of 1, reducing the transmission gap, and the transmission pair is rolling friction and has low running resistance, avoiding the problem of excessive transmission gap and friction resistance caused by multi-degree-of-freedom movement. In theory, the above transmission gap can be as small as zero gap.

[0079] In some embodiments, the axis of the bearing hole of the bearing seat 2121 can be orthogonal to the axial direction of the transmission screw 1 to achieve a good force transmission effect.

[0080] It should be noted that the rolling bearing and the bearing seat 2121 may be clearance fit, transition fit or interference fit. The bearing 13 may be a ball bearing or a roller bearing.

[0081] In the above embodiment, a shoulder 2122 may be provided at one axial end of the bearing seat 2121 to achieve positioning and installation of the outer ring of the rolling bearing, reduce transmission clearance, and improve transmission accuracy.

[0082] Among them, the output shaft of the motor 211 can extend from the front of the casing 212, and the structure for eliminating the transmission gap including the shaft shoulder 2122 formed by the bearing seat 2121 can be set at the rear of the casing 212 opposite to the front. The bearing seat 2121 located at the rear and the rolling bearing assembled on the bearing seat 2121 can provide a single degree of freedom of swinging.

[0083] In some embodiments, Fig. 9 , Fig.10 As shown, the housing 23 may be provided with a first positioning structure 235 and a second positioning structure 236, the first positioning structure 235 and the housing 212 are limited in position, and the second positioning structure 236 and the motor 211 are limited in position, so that the output end of the motor 211 is coaxial with the transmission screw 1, and the housing 23 and the housing 212 are coaxially assembled by the first positioning structure 235 and the second positioning structure 236, so as to avoid the axial deviation between the motor 211 and the transmission screw 1 and affect the transmission effect. Among them, the first positioning structure 235 and the second positioning structure 236 can be a positioning protrusion 234 or a positioning recess provided at one end of the housing 23.

[0084] like Fig.11 , Fig.12 As shown, the output end of the motor 211 can be connected to a sun gear 26, and the sun gear 26 is respectively matched with the planetary gear 14 to realize power transmission. Among them, one of the output end of the motor 211 and the sun gear 26 can be provided with a D-shaped hole 261, and the other can be provided with a D-shaped shaft 2111 matching the structure of the D-shaped hole 261, so as to realize the positioning and assembly of the output end of the motor 211 and the sun gear 26, and avoid relative rotation between the sun gear 26 and the output end of the motor 211. In some embodiments, as Fig.13 As shown, the housing 23 is an integrated structure. A guide space 233, a bearing mounting hole 232 and an internal gear 231 are provided in the housing 23. The transmission member 22 is movably assembled in the guide space 233 along the axial direction of the transmission screw 1, and the outer ring of the bearing 13 is fixedly assembled in the bearing mounting hole 232. The integrated housing 23 avoids the reduction in efficiency and consistency caused by the assembly of the internal gear 231, and can also improve integration, reduce assembly tolerances and assembly difficulties, and help to achieve the miniaturization of components or equipment such as joint actuators 2, robots, etc. that include the above-mentioned transmission screw.

[0085] The transmission member 22 and the guide space 233 can be clearance-fitted, and the guide space 233 can limit the rotation of the nut during movement to ensure the linear movement of the nut. Grease can be applied between the guide space 233 and the transmission member 22 to reduce operating friction.

[0086] It should be noted that the cross-sectional shape of the guide space 233 perpendicular to the axial direction of the transmission screw 1 can be a rectangle, a polygon or other irregular shapes to prevent the transmission member 22 from rotating during the cooperation with the threaded segment 111 .

[0087] The first end of the bearing mounting hole 232 is provided with a rib 2321, one end of the outer ring of the bearing 13 is in contact with the first end, and the other end of the outer ring of the bearing 13 is fixedly connected to the second end of the bearing mounting hole 232, so that the bearing 13 can withstand bidirectional axial loads. The outer ring of the bearing 13 and the bearing mounting hole 232 can be fixed by threaded connection, welding, etc., and the present disclosure does not limit this. For example, the outer ring of the bearing 13 and the hole edge of the bearing mounting hole 232 are connected by screws, and the head of the screw presses the outer ring of the bearing 13. The use of screw connection improves the compactness of the structure and reduces the space occupied by the outer ring of the bearing 13 and the bearing mounting hole 232 during the fixed connection process.

[0088] In some embodiments, Figure 4 , Fig.14 As shown, the joint actuator 2 includes a magnetic element. The tail shaft of the motor is provided with a first annular magnet 2112, and the first magnet 2112 is magnetized along its own radial direction. And / or, the transmission member 22 is provided with a second magnet 221, and the N pole and S pole arrangement direction of the second magnet 221 are parallel to the axial direction of the transmission screw 1, so as to realize the position monitoring of the rotating shaft of the motor 211 and / or the transmission member 22, and improve the transmission accuracy. For example, the magnetic element may include a high-speed end magnetic encoder of the tail shaft arranged at the tail of the motor 211 to monitor the rotating shaft position of the motor 211, so as to be used for servo control. The magnetic element may also include a low-speed end linear Hall sensor 241 of the circuit board 24 arranged on the outside to monitor the position of the transmission member 22, and obtain a non-contact position monitoring device with high precision and good linearity, thereby improving reliability and service life. Among them, the second magnet 221 can be arranged at one end of the transmission member 22 close to the bearing mounting hole 232 to reduce the optimized layout and reduce space occupancy.

[0089] like Figure 4 , Fig. 9 , Fig.10 As shown, the joint actuator 2 may further include a front cover 25, and a positioning protrusion 234 may be provided at one end of the housing 23 away from the inner gear 231, and the positioning protrusion 234 is positioned and assembled with the front cover 25. The front cover 25, the housing 23, and the casing 212 may be fixedly connected together by long screws.

[0090] The present disclosure further provides a robot, which includes the above-mentioned transmission screw 1 or the above-mentioned joint actuator 2.

[0091] Since the above-mentioned transmission screw 1 includes a screw body 11 and a planetary carrier 12, the planetary carrier 12 and the screw body 11 form an integrated structure, which avoids the reduction in efficiency and consistency caused by separately assembling the screw body 11 and the planetary carrier 12, and can also improve integration, which is helpful to achieve the miniaturization of components or equipment such as joint actuators 2, robots, etc. that include the above-mentioned transmission screw.

[0092] It should be noted that the robot may be a manipulator, a mechanical arm, a humanoid robot, or a robot of other types or shapes, and the present disclosure does not limit this. The manipulator may be a gripper manipulator or a dexterous hand.

[0093] In addition, the above-mentioned transmission screw 1 and joint actuator 2 can also be applied to CNC machine tools, vehicle front axle steering actuators, vehicle seat actuators or other multi-degree-of-freedom parallel mechanism platforms and other equipment that requires linear motion.

[0094] The above is only a preferred embodiment of the present disclosure and does not limit the present disclosure in any form. Although the present disclosure has been disclosed as a preferred embodiment as above, it is not used to limit the present disclosure. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present disclosure. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present disclosure without departing from the content of the technical solution of the present disclosure are still within the scope of the technical solution of the present disclosure.

Claims

1. A transmission screw, characterized in that: include: The lead screw body comprises a threaded section and a bearing mounting section; the bearing mounting section comprises a first section and a second section connected to the first section, and at least a portion of the second section protrudes radially from the first section; The bearing is assembled in the first section; one end of the inner ring of the bearing is connected to the first section, and the other end is abutted against the second section.

2. The transmission screw according to claim 1, characterized in that: The threaded section is provided with a reversible thread, and the threaded section is in transmission cooperation with the threaded structure of the transmission member to drive the transmission member to move and / or transmit the external load acting on the transmission member to the driving mechanism.

3. The transmission screw according to claim 1, characterized in that: The threaded section is arranged at one end of the lead screw body, and the bearing mounting section is arranged at the other end of the lead screw body.

4. The transmission screw according to claim 1, characterized in that: The bearing comprises a deep groove ball bearing.

5. The transmission screw according to claim 1, characterized in that: It also includes a planetary frame; the planetary frame includes a base plate and a pin arranged on the side of the base plate facing away from the bearing installation section, and the pin is used for rotationally connecting with the planetary gear.

6. The transmission screw according to claim 5, characterized in that: The planet carrier and the lead screw body form an integrated structure.

7. The transmission screw according to claim 5, characterized in that: At least one installation notch penetrating through the substrate is provided in an edge area of ​​the substrate.

8. The transmission screw according to claim 7, characterized in that: The pin shafts and the mounting notches are alternately arranged in the circumferential direction of the substrate.

9. The transmission screw according to claim 5, characterized in that: The base plate includes a third section and a fourth section arranged along the axial direction of the transmission screw, and the fourth section is located on the side of the third section away from the bearing mounting section; the projection area of ​​the fourth section on the axial direction of the transmission screw is larger than the projection area of ​​the third section on the axial direction of the transmission screw.

10. A joint actuator, characterized in that: It comprises a housing, a transmission member and a transmission screw as claimed in any one of claims 1 to 9; The transmission member is movably assembled to the housing along the axial direction of the transmission screw, and the transmission member includes a accommodating space provided with a threaded structure; the threaded structure is transmission-connected to the threaded section, and the screw body retracts or extends out of the accommodating space along with the threaded transmission.

11. The joint actuator according to claim 10, characterized in that: It also includes a primary planetary transmission gear train and a drive mechanism; The first-stage planetary transmission gear train includes a planet carrier, a planetary gear rotatably assembled on the planet carrier, and a sun gear drivingly matched with the planetary gear; the planet carrier is assembled on the lead screw body; the sun gear is assembled on the output end of the driving mechanism; An internal gear which cooperates with the planetary gear transmission is arranged in the housing.

12. The joint actuator according to claim 11, characterized in that: The driving mechanism includes a casing assembled with the shell and a motor installed in the casing.

13. The joint actuator according to claim 12, characterized in that: The output shaft of the motor extends out from the front of the casing, and a bearing seat and a rolling bearing are provided at the rear of the casing opposite to the front. The bearing seat is provided with a bearing hole and a shoulder located at one axial end of the bearing hole; the rolling bearing is assembled in the bearing hole and abuts against the shoulder to limit its position.

14. The joint actuator according to claim 12, characterized in that: The housing is provided with a first positioning structure and a second positioning structure, wherein the first positioning structure cooperates with the housing in a limiting manner, and the second positioning structure cooperates with the motor in a limiting manner, so that the output end of the motor is coaxial with the transmission screw.

15. The joint actuator according to claim 10, characterized in that: The housing is an integrated structure; A guide space, a bearing mounting hole and an internal gear are provided in the housing; the transmission member is movably assembled in the guide space along the axial direction of the transmission screw; and the outer ring of the bearing is fixedly assembled in the bearing mounting hole.

16. The joint actuator according to claim 15, characterized in that: A rib is provided at the first end of the bearing mounting hole, one end of the bearing outer ring abuts against the first end, and the other end of the bearing outer ring is fixedly connected to the second end of the bearing mounting hole.

17. The joint actuator according to claim 16, characterized in that: The outer ring of the bearing is connected to the edge of the hole of the bearing mounting hole by means of screws, and the head of the screw presses the outer ring of the bearing.

18. The joint actuator according to claim 12, characterized in that: The joint actuator includes a magnetic element; The tail shaft of the motor is provided with a first annular magnet, which is magnetized in its radial direction; and / or the transmission member is provided with a second magnet, the N pole and S pole of which are arranged in a direction parallel to the axial direction of the transmission screw.

19. A robot, characterized in that: include: The transmission screw according to any one of claims 1 to 9; Or, a joint actuator as described in any one of claims 10-18.

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