A robot linear joint module

Abstract

The utility model relates to a robot linear joint module, including an outer shell, a stator assembly, a reverse planetary roller screw mechanism and a control circuit board. The reverse planetary roller screw mechanism includes a screw, a nut tube, a planetary reduction assembly and a roller. The two ends of the nut tube are respectively provided with a circle of convex edges, and an annular groove is provided on the outer wall of the convex edge. A steel ring with an inner concave surface is embedded in the inner wall of the outer shell. A plurality of steel balls are provided between the annular groove and the steel ring, so that the nut tube is rotatably connected with the outer shell. The nut tube drives the screw to extend and retract through the planetary reduction assembly and the roller. The two ends of the outer shell are respectively fixed with end caps A and end caps B. The screw passes through the end cap B and is threadedly connected with the end cap B. The control circuit board is fixed between the nut tube and the end cap A. The utility model integrates the bearing inner ring and the nut tube to improve the assembly efficiency; at the same time, the outer diameter of the entire shell is reduced, and the installation space requirement is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent machinery, and more specifically, relates to a robot linear joint module. Background Art

[0002] The linear joint module can output high-thrust linear motion and is suitable for robots. As the power unit of the robot, the robot power joint is the core unit of the entire system. Humanoid robots simulate human movement patterns such as walking, running, and jumping, requiring the power joints to have instantaneous high explosive force and high torque density output. Power joints will inevitably generate huge heat when working at high load for a long time. If the heat cannot be dissipated in time, the joint power components will instantly heat up severely and easily fail.

[0003] The existing linear joint modules dissipate heat by natural cooling, and the heat dissipation efficiency is relatively low. In order to meet the heat dissipation requirements, the overall volume is large and the structure is complex, which cannot meet the requirements of miniaturization and lightweight. Utility Model Content

[0004] In order to solve the above technical problems, the purpose of the utility model is to provide a robot linear joint module, which has a smaller volume and is more convenient to assemble.

[0005] In order to achieve the above-mentioned utility model purpose, the utility model adopts the following technical solutions:

[0006] A robot linear joint module comprises an outer shell, a stator assembly, a reverse planetary roller screw mechanism and a control circuit board, wherein the stator assembly is fixed to the inner wall of the outer shell, and the reverse planetary roller screw mechanism comprises a screw, a nut tube, a planetary reduction assembly and a roller, a rotor core is fixed to the outer wall of the middle part of the nut tube, two ends of the nut tube are respectively provided with a circle of convex edges, and an annular groove is opened on the outer wall of the convex edge, a steel ring with an inner concave surface is embedded in the inner wall of the outer shell, and a plurality of steel balls are arranged between the annular groove and the steel ring, so that the nut tube is rotatably connected to the outer shell, the screw, the planetary reduction assembly and the roller are all arranged in the nut tube, and the nut tube drives the screw to extend and retract through the planetary reduction assembly and the roller, end covers A and end covers B are respectively fixed to the two ends of the outer shell, the screw passes through the end cover B and is threadedly connected to the end cover B, and the control circuit board is fixed between the nut tube and the end cover A.

[0007] As a preferred solution: the control circuit board is a double-layer circuit board, including a control board and a power board plugged into each other, and the power board is close to the end cover A.

[0008] As a preferred solution: the end cover A and the outer shell are separated by a cooling plate, the end cover A is hollow inside and filled with coolant, a coolant injection port is provided on the outer wall of the end cover A, and the circuit board is fitted and fixed on the cooling plate.

[0009] As a preferred solution: the middle portion of the cooling plate protrudes toward the side away from the outer shell to form a recess for accommodating electronic components on the circuit board.

[0010] As a preferred solution: the coolant injection port is arranged perpendicular to the cooling plate, and a plug is also provided on the coolant injection port.

[0011] As a preferred solution: the end cover A is in a truncated cone shape, and the inner wall of the end cover A is provided with a plurality of reinforcing ribs at intervals along the circumference.

[0012] As a preferred solution: the end surface of the end cover A connected to the outer shell is further provided with a circle of outer notch, the outer notch is clamped at the end of the outer shell, and the end cover A and the outer shell are fastened by bolts.

[0013] As a preferred solution: the end surface of the end cover A connected to the outer shell is further provided with an inner notch, the cooling plate is clamped on the inner notch, and the end cover A and the cooling plate are fixed by welding.

[0014] The linear joint module of the utility model integrates the bearing inner ring and the nut tube into an integrated design to improve assembly efficiency; at the same time, the outer diameter of the entire shell is reduced, and it can be installed in parallel in the robot exoskeleton structure, reducing the demand for installation space; and integrating the two together can avoid the use of a bearing pressure ring structure, fully utilize the nut length, and achieve better joint performance; in addition, since the locking nut is eliminated, the axial size of the entire linear joint module is also reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 and Figure 3 It is a schematic diagram of the partial disassembly structure of the utility model at two different angles;

[0018] Figure 4 It is a schematic diagram of the cross-sectional structure of the utility model.

[0019] Figure 5 It is a structural schematic diagram of the screw rod and the nut tube integrated bearing of the utility model;

[0020] Figure 6 It is a schematic cross-sectional structure diagram of the end cover A and the cooling plate of the utility model;

[0021] Figure 7 It is a structural schematic diagram of the end cover A, cooling plate and circuit board of the utility model. DETAILED DESCRIPTION

[0022] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0023] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0024] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0028] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0029] like Figures 1 to 7 A robot linear joint module shown in the figure includes an outer shell 1, a stator assembly 11, a reverse planetary roller screw mechanism and a control circuit board 7, wherein the stator assembly 11 is fixed to the inner wall of the outer shell 1, and the reverse planetary roller screw mechanism includes a screw 4, a nut tube 5, a planetary reduction assembly and a roller, a rotor core 51 is fixed on the outer wall of the middle part of the nut tube 5, and a circle of flanges 52 are respectively provided at both ends of the nut tube 5, and an annular groove 53 is opened on the outer wall of the flange, and the outer shell A steel ring with an inner concave surface is embedded in the inner wall of the outer shell 1, and a plurality of steel balls are arranged between the annular groove 53 and the steel ring, so that the nut tube 5 is rotatably connected with the outer shell 1. The screw rod 4, the planetary reduction assembly and the roller are all arranged in the nut tube 5, and the nut tube 5 drives the screw rod 4 to extend and retract through the planetary reduction assembly and the roller. The two ends of the outer shell 1 are respectively fixed with an end cover A2 and an end cover B3, the screw rod 4 passes through the end cover B3 and is threadedly connected with the end cover B3, and the control circuit board 7 is fixed between the nut tube 5 and the end cover A2.

[0030] The utility model can also arrange an internal magnetic ring in the outer shell, and the structure of the internal magnetic ring is used to detect the rotation angle and position of the rotor, and realize accurate control of the linear joint displacement through calculation.

[0031] The control circuit board 7 is a double-layer circuit board, including a control board and a power board that are plugged into each other, and the power board is close to the end cover A2. The end cover A2 and the outer shell 1 are separated by a cooling plate 6. The end cover A2 is hollow inside and filled with coolant. The outer wall of the end cover A2 is provided with a coolant injection port 21, and the circuit board 7 is fitted and fixed on the cooling plate 6. The middle part of the cooling plate 6 bulges toward the side away from the outer shell 1, forming a recess 22 for accommodating electronic components on the circuit board 7.

[0032] The utility model adopts the solution of control board + power board to improve the output power; the control board uses high-performance MCU and high-precision devices to meet the requirements of motor drive and external signal processing, and the power board uses high-current and low-internal resistance MOS to meet the power requirements while reducing the temperature rise of the device. In addition, according to the needs, it can also be designed into a structure with more circuit boards plugged into each other, which is easy to install and has better functional expansion; at the same time, the power board with high heat generation is arranged closer to the cooling plate 6, which can improve the heat dissipation efficiency.

[0033] The cooling plate 6 is connected to the end cover A2 by friction stir welding. The end cover A2 is truncated and the inner wall of the end cover A2 is provided with a plurality of reinforcing ribs 23 at intervals along the circumference. The overall structure is stronger and more durable. At the same time, the coolant is poured into the end cover A2 from the coolant injection port 21, so that the entire end cover A2 is filled with coolant, thereby providing a better cooling effect on the circuit board attached to the cooling plate and the electronic components extending into the recess.

[0034] The end cover A2 of the utility model has the ability to dissipate heat and withstand axial force, and can cool the area near the circuit board to achieve temperature balance of the entire part. The coolant injection port 21 is arranged vertically with the cooling plate 6, and a plug is also provided on the coolant injection port 21. The setting of the plug can facilitate the replacement of the coolant and prevent the leakage of the coolant during normal use.

[0035] The end surface of the end cover A2 connected to the outer shell 1 is also provided with an outer notch, the outer notch is clamped at the end of the outer shell 1, and the end cover A2 and the outer shell 1 are fastened by bolts. The end surface of the end cover A2 connected to the outer shell 1 is also provided with an inner notch, the cooling plate 6 is clamped on the inner notch, and the end cover A2 and the cooling plate 6 are fixed by welding. The above positioning structure enables the circuit board and the end cover, and the end cover and the outer shell to have a preliminary positioning when installing, and the installation is more convenient.

[0036] The utility model adopts an integrated solution of the nut tube and the bearing inner ring, integrating the bearing inner ring with the roller and the screw rod to achieve the optimal match between the motor length and the thread length; at the same time, the screw rod, the nut tube and the bearing inner ring are made of similar materials, and the nut tube thread and the raceway have similar operating conditions, so sharing is feasible; most importantly, the nut tube is integrated with the bearing inner ring, which greatly reduces the thickness of the bearing matching position.

[0037] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0038] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robot linear joint module, characterized in that: The invention comprises an outer shell (1), a stator assembly (11), a reverse planetary roller screw mechanism and a control circuit board (7), wherein the stator assembly (11) is fixed to the inner wall of the outer shell (1), the reverse planetary roller screw mechanism comprises a screw (4), a nut tube (5), a planetary reduction assembly and a roller, a rotor core (51) is fixed to the outer wall of the middle part of the nut tube (5), a convex edge (52) is provided at each end of the nut tube (5), and an annular groove (53) is provided on the outer wall of the convex edge, and a concave surface is embedded in the inner wall of the outer shell (1). A steel ring is provided between the ring groove (53) and the steel ring, and a plurality of steel balls are provided so that the nut tube (5) is rotatably connected to the outer shell (1). The screw rod (4), the planetary reduction assembly and the roller are all arranged in the nut tube (5), and the nut tube (5) drives the screw rod (4) to extend and retract through the planetary reduction assembly and the roller. An end cover A (2) and an end cover B (3) are respectively fixed at both ends of the outer shell (1). The screw rod (4) passes through the end cover B (3) and is threadedly connected to the end cover B (3). The control circuit board (7) is fixed between the nut tube (5) and the end cover A (2).

2. A robot linear joint module according to claim 1, characterized in that: The control circuit board (7) is a double-layer circuit board, comprising a control board and a power board which are plugged into each other, and the power board is close to the end cover A (2).

3. A robot linear joint module according to claim 1, characterized in that: The end cover A (2) and the outer shell (1) are separated by a cooling plate (6); the end cover A (2) is hollow inside and filled with coolant; a coolant injection port (21) is provided on the outer wall of the end cover A (2); and the circuit board (7) is fitted and fixed on the cooling plate (6).

4. A robot linear joint module according to claim 3, characterized in that: The middle portion of the cooling plate (6) protrudes towards a side away from the outer shell (1), forming a recess (22) for accommodating electronic components on the circuit board (7).

5. A robot linear joint module according to claim 3, characterized in that: The coolant injection port (21) is arranged perpendicularly to the cooling plate (6), and a plug is also provided on the coolant injection port (21).

6. A robot linear joint module according to claim 1, characterized in that: The end cover A (2) is in the shape of a truncated cone, and a plurality of reinforcing ribs (23) are arranged at intervals along the circumference of the inner wall of the end cover A (2).

7. The robot linear joint module according to claim 1, characterized in that: The end surface of the end cover A (2) connected to the outer shell (1) is also provided with an outer notch, and the outer notch is clamped at the end of the outer shell (1). The end cover A (2) and the outer shell (1) are fastened by bolts.

8. The robot linear joint module according to claim 3, characterized in that: The end surface of one end of the end cover A (2) connected to the outer shell (1) is also provided with an inner notch, and the cooling plate (6) is clamped on the inner notch. The end cover A (2) and the cooling plate (6) are fixed by welding.

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