Integrated roller lead screw integrated module

Abstract

The utility model provides an integrated roller screw integrated module, which relates to the technical field of roller screws and comprises a motor stator, a motor rotor, a motor output flange, a fixed flange, a nut, a screw, a first inner gear ring, a second inner gear ring, a connecting flange and the like. One end of the motor output flange is located in the motor rotor, and the other end of the motor output flange extends out of the motor rotor and is close to the fixed flange; a first retainer and a second retainer are installed at the two ends of the nut, a plurality of pin rollers arranged in a circumferential array mode are arranged between the periphery of the lead screw and the inner ring of the nut, and the two ends of each pin roller are installed on the first retainer and the second retainer and meshed with the first inner gear ring and the second inner gear ring through gears. The roller is in threaded connection with the inner wall of the nut and the outer wall of the lead screw, the outer wall of the lead screw is full threads, and the lead screw slides in a limited mode in the length direction. The utility model has the characteristics of high load, smaller driving torque, smaller volume, high precision and the like, and the processing cost and the processing difficulty are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of roller screws, in particular to an integrated module of an integrated roller screw. Background Technique

[0002] Different from ball screws that use balls to transmit load, planetary screws transmit load through threaded rollers. More contact points and thread angle designs make the load of planetary screws equivalent to that of larger-diameter ball screws. At the same time, planetary screws can provide higher rotational speeds and greater linear speeds, and have stronger stiffness and impact resistance.

[0003] Roller screws generally include two types: RV planetary roller screws and RV I reverse planetary roller screws. Among them, the RV planetary roller screw drives the screw to rotate, and the nut performs linear motion through roller transmission. Its stroke is determined by the thread length of the screw, and the rollers remain relatively stationary with the nut performing linear motion. The RV I reverse planetary roller screw drives the nut to rotate, and the screw performs linear motion through roller transmission. Its stroke is determined by the internal thread length of the nut, and the rollers remain relatively stationary with the screw performing linear motion.

[0004] In the connection of the body limbs of humanoid robots, an RV I reverse planetary roller screw structure is usually required. However, in actual use, its stroke is limited by the internal thread length of the nut, and it is extremely difficult to machine the internal thread when the nut is long. In addition, when the RV I reverse planetary roller screw works, the motor is wrapped outside the nut to drive the nut to rotate, and the length of the motor is also relatively long, resulting in high processing costs. Moreover, the inner hole of the motor needs to install the nut, rollers, and screw, resulting in a large inner diameter and thin wall thickness of the motor, which limits the power and torque capabilities of the motor, and the diameter of the screw is also limited, affecting the load capacity of the screw. Content of the Utility Model

[0005] The purpose of the utility model is to provide an integrated module of an integrated roller screw, which has the characteristics of high load, small lead, small driving torque, smaller volume, high precision, impact resistance, high stiffness, etc., and reduces processing costs and processing difficulties.

[0006] The above technical purpose of the utility model is achieved through the following technical solutions:

[0007] An integrated module of an integrated roller screw includes a motor stator, a motor rotor, a motor output flange, a fixed flange, a nut, a screw, an internal gear ring I, an internal gear ring II, and an end cover flange coaxially arranged, and also includes a fixed fish-eye rod end, a connection flange, a driving plate, a housing I, a housing II, and an output fish-eye rod end;

[0008] The fixed fish-eye rod end is connected to the connecting flange. The first housing is arranged at one end of the connecting flange away from the fixed fish-eye rod end, and the driving plate is arranged inside the first housing and is connected to the motor stator in a controlled manner. The second housing is arranged at one end of the first housing away from the connecting flange. The motor stator, motor rotor, motor output flange, fixed flange, nut, lead screw, first internal gear ring, second internal gear ring, and end cover flange are all arranged inside the second housing, and the end cover flange is arranged at one end of the second housing away from the first housing.

[0009] The motor stator is close to the first housing. The motor rotor is located inside the inner circle of the motor stator. One end of the motor output flange is located inside the inner circle of the motor rotor, and the other end extends out of the motor stator and is close to the fixed flange.

[0010] The nut is away from the first housing and is connected to the motor output flange and the fixed flange, and is installed inside the inner circles of the motor output flange and the fixed flange. The first internal gear ring and the second internal gear ring are respectively installed at both ends of the inner circle of the nut.

[0011] A first cage and a second cage are respectively installed at both ends of the nut. A number of rollers are arranged in a circumferential array around the lead screw between the outer circumference of the lead screw and the inner circle of the nut. Both ends of each of the rollers are installed on the first cage and the second cage, and both ends of each roller are meshed with the first internal gear ring and the second internal gear ring through gears. A number of the rollers are threadedly connected to both the inner wall of the nut and the outer wall of the lead screw, and the thread on the outer wall of the lead screw is a full thread that is as long as the lead screw.

[0012] The lead screw is installed on the end cover flange in a limited sliding manner along its length direction. One end of it is located inside the inner holes of the motor output flange and the nut, and the other end extends out of the end cover flange and is connected to the output fish-eye rod end.

[0013] A deep groove ball bearing is provided between one end of the motor output flange close to the first housing and the first housing. A first support bearing is provided between the motor output flange and the second housing and is located between the motor stator and the nut. A second support bearing is provided between one end of the fixed flange close to the end cover flange and the end cover flange.

[0014] By adopting the above technical solution, the fixed fish-eye rod end serves as the fixed side, and the output fish-eye rod end serves as the output side, and the two fix the entire module. During operation, controlled by the driving plate, current passes through the driving plate to the motor stator to generate a rotational torque. The motor rotor bears the rotational torque and integrally outputs the torque through the motor output flange, thereby driving the nut to perform a rotational movement. Under the action of the first cage and the second cage, a number of rollers are driven to rotate synchronously. While the rollers remain relatively stationary with respect to the nut, the rollers rotate under the meshing of the gears at both ends with the first internal gear ring and the second internal gear ring, and are threadedly connected to the nut and the lead screw, realizing driving the lead screw to slide horizontally along its length direction, driving the output fish-eye rod end to move synchronously, and realizing the output of thrust or pulling force.

[0015] In the present utility model, compared with the traditional RVI reverse planetary roller screw, the screw adopts a full-thread structure, and the roller and the nut remain relatively stationary. Its stroke is determined by the length of the screw, and the length of the nut does not need to be long. Therefore, there is no need to machine a long internal thread of the nut, reducing the machining difficulty and cost. At the same time, the motor composed of the motor stator and the motor rotor forms a series structure with the nut, rather than being wrapped outside the nut. The motor can choose a conventional structure that is not slender, reducing the machining difficulty and cost of the motor. Moreover, the wall thickness of the motor stator can be increased, which can greatly improve the power and torque capacity of the motor. At the same time, the outer diameter of the screw can be increased correspondingly to improve the load capacity of the screw, so that a high axial load force can be output on the output side. The entire module is integrally designed, having a smaller volume, better shock resistance and higher stiffness. In addition, in the present utility model, the nut is close to the output fish-eye rod end. If the output fish-eye rod end is pried, the position of the nut is the fulcrum position. In most cases, the moment arm is short, and the influence on the radial clearance between the screw, the roller and the nut is small. Only when one end of the screw far from the output fish-eye rod end slides to the position of the nut will the influence on the radial clearance be relatively large.

[0016] Further, at least two flat positions are arranged in a circumferential array on the outer wall of the screw along its length direction. The flat positions are equal in length to the screw or are located at one end of the screw close to the output fish-eye rod end. A flat position hole matching the screw is provided on the end cover flange. The thread on the outer wall of the screw covers the flat positions and the thread height at the flat positions is halved.

[0017] By adopting the above technical solution, under the combined action of the flat positions and the flat position holes, the limit installation of the screw is realized, avoiding the rotation of the screw driven by the rotation of the output fish-eye rod end, which affects the transmission accuracy of the screw and the roller. Among them, in the RV planetary roller screw, since the screw is not a full-thread structure, flat positions can be randomly set at the non-thread positions of the screw for limiting. However, it is generally impossible to machine flat positions on the outer wall of the full-thread screw. Therefore, in the present utility model, it is specifically set that the thread on the outer wall of the screw covers the flat positions and the thread height at the flat positions is halved to ensure that while realizing the setting of flat positions for limiting, the overall rigidity and the smoothness of thread engagement are ensured, and the thread engagement is prevented from getting stuck.

[0018] Further, it further includes a torque sensor, an encoder and a mounting flange. The torque sensor is integrally arranged on the fixed fish-eye rod end and the connecting flange. The encoder is installed on one end of the motor output flange close to the housing one through the mounting flange. The encoder is located inside the housing one and on the side of the driving plate close to the housing two. The encoder is communicatively feedback-connected to the driving plate.

[0019] By adopting the above technical solution, the torque sensor is set to monitor the torque of the module to ensure the control accuracy. The encoder is set to cooperate with the driving plate to control the rotation of the motor stator, improving the operation accuracy of the module and the integration degree of the module.

[0020] Furthermore, a first radiator is provided outside the first housing, and a second radiator is provided outside the second housing.

[0021] By adopting the above technical solution, the first radiator and the second radiator are used to dissipate heat from the first housing and the second housing respectively, ensuring that the heat inside the module can be discharged in time, avoiding failures of the module due to high temperature, and ensuring the working life of the module.

[0022] Furthermore, the first housing is connected with a ventilation component. The ventilation component includes a ventilation hole provided on one side wall of the housing and passing through the first radiator. The ventilation hole is communicated with the inside of the first housing, and a one-way valve is provided in the ventilation hole.

[0023] By adopting the above technical solution, the drive board is arranged inside the first housing. During operation, it generates a high amount of heat and directly affects the normal operation of the entire module. Therefore, by providing a ventilation component including a ventilation hole and a one-way valve, it assists the first radiator in dissipating heat from the first housing, ensuring that the heat generated inside the first housing during operation can be discharged in time, and ensuring that foreign matters such as external water vapor and dust do not enter the first housing under the action of the one-way valve.

[0024] Furthermore, a heat insulation ring is provided between the first housing and the second housing, and the heat insulation ring is located outside the outer ring of the deep groove ball bearing.

[0025] By adopting the above technical solution, setting the heat insulation ring reduces the heat generated by the operation of the motor from entering the first housing, ensuring a good operating environment for the drive board.

[0026] Furthermore, an oil scraping ring is provided between one end of the lead screw close to the output fish-eye rod end and the fixed flange, and the oil scraping ring is located between the nut and the end cover flange.

[0027] By adopting the above technical solution, an oil scraping ring is provided to protect the lead screw and prevent foreign matters from entering the first housing and affecting the normal operation of the lead screw.

[0028] Furthermore, a weight reduction hole coaxial with the lead screw is provided at one end of the lead screw far from the output fish-eye rod end.

[0029] By adopting the above technical solution, on the premise of ensuring the strength and rigidity of the lead screw, a weight reduction hole is provided inside the lead screw to achieve weight reduction and reduce the driving load of the nut and the roller.

[0030] Furthermore, the first internal gear ring, the nut, and the second internal gear ring are of a split structure or an integral structure.

[0031] By adopting the above technical solution, the split structure of the first internal gear ring, the nut, and the second internal gear ring is convenient for processing, and the integral structure is convenient for installation, and can be flexibly selected according to actual production requirements.

[0032] Further, the first support bearing and the second support bearing are one of angular contact ball bearings, tapered roller bearings, and cross bearings.

[0033] By adopting the above technical solution, the first support bearing and the second support bearing are used to respectively fix and limit the motor output flange and the fixed flange that perform rotational motion, and offset the generated axial force. One of the angular contact ball bearings, tapered roller bearings, and cross bearings can be selected according to actual usage requirements. At the same time, the end cover flange applies a pre-tightening force to the first support bearing and the second support bearing to eliminate the axial clearance and effectively improve the accuracy.

[0034] In summary, the utility model has the following beneficial effects:

[0035] 1. In the utility model, the rollers are installed on the nut through the first cage and the second cage. The lead screw adopts a full-thread structure. During operation, the motor drives the nut to rotate. The rollers remain relatively stationary with respect to the nut, and the rollers drive the lead screw to perform linear motion. Compared with the traditional RVI reverse planetary roller lead screw, the movement stroke of the lead screw is determined by the length of the lead screw, and the length of the nut does not need to be long. Therefore, it is not necessary to machine a long internal thread of the nut, reducing the machining difficulty and cost.

[0036] 2. In the utility model, the motor composed of the motor stator and the motor rotor forms a series structure with the nut, rather than being wrapped outside the nut. The motor can select a non-slender conventional structure, reducing the machining difficulty and cost of the motor. Moreover, the wall thickness of the motor stator can be increased, which can greatly improve the power and torque capacity of the motor. At the same time, the outer diameter of the lead screw can be increased accordingly to improve the load capacity of the lead screw, enabling the output side to output a high axial load force.

[0037] 3. In the utility model, the nut is close to the output fish-eye rod end. If the output fish-eye rod end is pried, the nut position is the fulcrum position. In most cases, the moment arm is short, which has little impact on the radial clearance between the lead screw, the rollers, and the nut.

[0038] 4. In the utility model, a flat position is provided on the outer wall of the lead screw. The thread on the outer wall of the lead screw covers the flat position and the thread height at the flat position is halved. The end cover flange is provided with a flat position hole that matches the flat position to realize the limit installation of the lead screw, preventing the lead screw from rotating when the output fish-eye rod end rotates, affecting the transmission accuracy of the lead screw and the rollers, and at the same time ensuring the overall rigidity and smoothness of the thread engagement, avoiding jamming of the thread engagement.

[0039] 5. The output side of the integrated module of the utility model can output a high axial load force. The integrated structure is smaller in volume. The high-precision roller lead screw combination is more impact-resistant, has higher rigidity. The application of the encoder and the torque sensor further improves the accuracy, and the lead screw is provided with weight-reducing holes to reduce the driving load. Description of the Drawings

[0040] Figure 1 It is a schematic diagram of the overall structure of an integrated roller screw module in one piece;

[0041] Figure 2 It is a schematic diagram of the working state of an integrated roller screw module in one piece;

[0042] Figure 3 It is a schematic diagram of the structure of an integrated roller screw module in one piece, in which the outer wall of the screw rod is provided with a through-long flat position;

[0043] Figure 4 It is a schematic diagram of the structure of an integrated roller screw module in one piece, in which the end of the screw rod is provided with a flat position;

[0044] Figure 5 is Figure 1 an enlarged view of part A in

[0045] In the figure, 1. Fixed fish-eye rod end; 2. Torque sensor; 3. Connecting flange; 4. Driving plate; 5. Housing one; 6. Radiator one; 7. Deep groove ball bearing; 8. Housing two; 9. Support bearing one; 10. Internal gear ring one; 11. Motor output flange; 12. Fixed flange; 13. Radiator two; 14. Support bearing two; 15. Output fish-eye rod end; 16. Encoder; 17. Mounting flange; 18. Heat insulation ring; 19. Motor stator; 20. Motor rotor; 21. Screw rod; 211. Flat position; 212. Weight reduction hole; 22. Cage one; 23. Roller; 24. Nut; 25. Internal gear ring two; 26. Cage two; 27. Oil scraping ring; 28. End cover flange; 281. Flat position hole; 29. Ventilation component; 291. Ventilation hole; 292. Check valve. Specific embodiments

[0046] The following further describes the present invention in detail with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0047] An integrated roller screw module in one piece, as Figure 1 shown, includes a coaxially arranged motor stator 19, motor rotor 20, motor output flange 11, fixed flange 12, nut 24, screw rod 21, internal gear ring one 10, internal gear ring two 25, end cover flange 28, connecting flange 3, driving plate 4, housing one 5, housing two 8, etc., and also includes a fixed fish-eye rod end 1 as the fixed side and an output fish-eye rod end 15 as the output side, and the fixed fish-eye rod end 1 and the output fish-eye rod end 15 fix the entire module. Among them, the fixed fish-eye rod end 1 and the output fish-eye rod end 15 can also be designed as other forms of connecting rods according to the use requirements.

[0048] As Figure 1As shown, the fixed fish-eye rod end 1 is connected to the connecting flange 3. The first housing 5 is arranged at one end of the connecting flange 3 away from the fixed fish-eye rod end 1. The driving plate 4 is arranged inside the first housing 5 and is controlledly connected to the motor stator 19. The second housing 8 is arranged at one end of the first housing 5 away from the connecting flange 3. The motor stator 19, the motor rotor 20, the motor output flange 11, the fixed flange 12, the nut 24, the lead screw 21, the first internal gear ring 10, the second internal gear ring 25 and the end cover flange 28 are all arranged inside the second housing 8, and the end cover flange 28 is arranged at one end of the second housing 8 away from the first housing 5.

[0049] As Figure 1 shown, the motor stator 19 is close to the first housing 5. The motor rotor 20 is located inside the inner circle of the motor stator 19. One end of the motor output flange 11 is located inside the inner circle of the motor rotor 20, and the other end extends out of the motor stator 19 and is close to the fixed flange 12. A deep groove ball bearing 7 is provided between one end of the motor output flange 11 close to the first housing 5 and the first housing 5. The deep groove ball bearing 7 bears the radial force and supports the motor output flange 11 to make a rotational movement. The nut 24 is away from the first housing 5 and is connected to the motor output flange 11 and the fixed flange 12, and is installed inside the inner circles of the motor output flange 11 and the fixed flange 12. In this way, the motor composed of the nut 24, the motor stator 19 and the motor rotor 20 forms a series connection.

[0050] As Figure 1 shown, a first support bearing 9 located between the motor stator 19 and the nut 24 is provided between the motor output flange 11 and the second housing 8. A second support bearing 14 is provided between one end of the fixed flange 12 close to the end cover flange 28 and the end cover flange 28. The first support bearing 9 and the second support bearing 14 are used to fix and limit the rotational movement of the motor output flange 11 and the fixed flange 12 respectively, and offset the generated axial force. At the same time, the end cover flange 28 applies a pre-tightening force to the first support bearing 9 and the second support bearing 14 to eliminate the axial clearance and effectively improve the accuracy. Among them, the first support bearing 9 and the second support bearing 14 can be selected from an angular contact ball bearing, a tapered roller bearing, and a cross roller bearing according to actual use requirements. In this embodiment, an angular contact ball bearing is selected.

[0051] As Figure 1As shown in the figure, the first internal gear ring 10 and the second internal gear ring 25 are respectively installed at both ends of the inner ring of the nut 24. The first cage 22 and the second cage 26 are also respectively installed at both ends of the nut 24. A number of rollers 23 arranged in a circumferential array around the lead screw 21 are provided between the outer circumference of the lead screw 21 and the inner ring of the nut 24. Both ends of the number of rollers 23 are installed on the first cage 22 and the second cage 26, and both ends of each roller 23 are meshed with the first internal gear ring 10 and the second internal gear ring 25 through gears. The number of rollers 23 is threadedly connected to the inner wall of the nut 24 and the outer wall of the lead screw 21, and the thread on the outer wall of the lead screw 21 is a full thread equal in length to the lead screw 21. The lead screw 21 is installed on the end cover flange 28 in a limited sliding manner along its length direction. One end of it is located inside the inner holes of the motor output flange 11 and the nut 24, and the other end extends out of the end cover flange 28 and is connected to the output ball eye rod end 15.

[0052] As Figure 1 and Figure 2 shown in the figure, during operation, controlled by the driving plate 4, current passes through the driving plate 4 to the motor stator 19 to generate a rotational torque. The motor rotor 20 bears this rotational torque and outputs the torque integrally through the motor output flange 11, thereby driving the nut 24 to perform a rotational motion. Under the action of the first cage 22 and the second cage 26, a number of rollers 23 are driven to rotate synchronously. While the rollers 23 remain relatively stationary with respect to the nut 24, the rollers 23 rotate under the meshing of the gears at both ends with the first internal gear ring 10 and the second internal gear ring 25, and are threadedly connected to the nut 24 and the lead screw 21, realizing driving the lead screw 21 to slide horizontally along its length direction, driving the output ball eye rod end 15 to move synchronously, and realizing the output of thrust or pull force.

[0053] As Figure 1 shown in the figure, compared with the traditional RVI reverse planetary roller screw, the lead screw 21 adopts a full-thread structure, and the rollers 23 remain relatively stationary with respect to the nut 24. Its stroke is determined by the length of the lead screw 21, and the length of the nut 24 does not need to be long. Therefore, it is not necessary to machine a long internal thread of the nut 24, reducing the machining difficulty and cost. At the same time, the motor composed of the motor stator 19 and the motor rotor 20 forms a series structure with the nut 24, rather than being wrapped outside the nut 24. The motor can choose a non-slender conventional structure, reducing the machining difficulty and cost of the motor. Moreover, the wall thickness of the motor stator 19 can be increased, which can greatly improve the power and torque capacity of the motor. At the same time, the outer diameter of the lead screw 21 can be increased correspondingly to improve the load capacity of the lead screw 21, enabling the output side to output a high axial load force.

[0054] As Figure 1As shown, the entire module is integrally designed, having a smaller volume, better shock resistance, and higher stiffness. Additionally, in the present utility model, the nut 24 is close to the output ball eye rod end 15. If the output ball eye rod end 15 is pried, the position of the nut 24 is the fulcrum position. In most cases, the moment arm is short, resulting in little impact on the radial clearance between the lead screw 21, the roller 23, and the nut 24. Only when the end of the lead screw 21 far from the output ball eye rod end 15 slides to the position of the nut 24 will there be a greater impact on the radial clearance.

[0055] As Figure 3 and Figure 4 shown, in this embodiment, at least two flat positions 211 are arranged in a circumferential array on the outer wall of the lead screw 21 along its length direction. The flat positions 211 are as long as the lead screw 21 or are located at one end of the lead screw 21 close to the output ball eye rod end 15. The end cover flange 28 is provided with a flat position hole 281 (marked in Figure 1 and Figure 2 ) that cooperates with the lead screw 21. Through the cooperation of the flat position 211 and the flat position hole 281, the limiting installation of the lead screw 21 is achieved, preventing the rotation of the lead screw 21 when the output ball eye rod end 15 rotates and affecting the transmission accuracy between the lead screw 21 and the roller 23. Among them, the thread on the outer wall of the lead screw 21 covers the flat position 211 and the thread height at the flat position 211 is halved to ensure the overall rigidity and smoothness of the thread engagement while achieving the limitation by setting the flat position 211 and avoiding jamming of the thread engagement.

[0056] As Figure 1 shown, in this embodiment, a weight reduction hole 212 coaxial with the lead screw 21 is provided at one end of the lead screw 21 far from the output ball eye rod end 15. On the premise of ensuring the strength and rigidity of the lead screw 21, the weight reduction hole 212 is set to achieve weight reduction and reduce the driving load of the nut 24 and the roller 23. Additionally, an oil scraping ring 27 is provided between one end of the lead screw 21 close to the output ball eye rod end 15 and the fixed flange 12, and the oil scraping ring 27 is located between the nut 24 and the end cover flange 28. The oil scraping ring 27 is used to protect the lead screw 21 and prevent foreign objects from entering the housing one 5 and affecting the normal operation of the lead screw 21.

[0057] As Figure 1 shown, in this embodiment, the motor output flange 11, the fixed flange 12, and the nut 24 can be of a split type and are fixedly connected by means of keys, end or side screws, glue, interference fit, etc. The inner gear ring one 10, the nut 24, and the inner gear ring two 25 can be assembled in a split structure or an integral structure. In the case of an integral structure, the inner teeth are processed by means of gear shaping, gear hobbing, gear grinding, wire cutting, etc. The cage one 22 and the cage two 26 can be processed using metal materials or high-quality special engineering plastics such as PEEK.

[0058] As Figure 1As shown in the figure, in this embodiment, the module further includes a torque sensor 2 integrally provided on the fixed fish-eye rod end 1 and the connecting flange 3. The torque of the module is monitored through the torque sensor 2 to ensure the control accuracy. The torque sensor 2 can be selected in different forms and types according to the usage requirements, and it can also be selected not to be used in other embodiments.

[0059] In addition, as Figure 1 shown, one end of the motor output flange 11 close to the housing 1 extends the motor rotor 20 into the housing 1, and an encoder 16 communicatively connected to the drive plate 4 is installed through the mounting flange 17. The encoder 16 is located inside the housing 1 and on the side of the drive plate 4 close to the housing 2 8. Through the cooperation of the encoder 16 and the drive plate 4, the rotation of the motor stator 19 is controlled. Cooperating with the torque sensor 2, the operation accuracy of the module is improved, and the integration degree of the module is improved. Among them, the mounting flange 17 can be made of high-quality materials with a thermal conductivity of less than 1 W / (m·K) to reduce the heat generated by the motor operation from entering the housing 1.

[0060] As Figure 1 shown, to achieve heat dissipation, a radiator 1 6 is provided outside the housing 1, and a radiator 2 13 is provided outside the housing 2 8. The radiator can be selected in different types and shapes according to the actual usage situation as long as the heat dissipation effect is ensured. In addition, as Figure 1 and Figure 5 shown, the housing 1 is also connected with a ventilation component 29. The ventilation component 29 includes a ventilation hole 291 provided on the side wall of the housing 1 and passing through the radiator 1 6. The ventilation hole 291 is communicated with the inside of the housing 1, and a one-way valve 292 is provided in the ventilation hole 291. The ventilation hole 291 assists the radiator 1 6 to dissipate heat from the housing 1, ensuring that the heat generated inside the housing 1 during operation can be discharged in time, and under the action of the one-way valve 292, ensuring that foreign matters such as external water vapor and dust will not enter the housing 1. Of course, if the working environment permits, the one-way valve 292 can also be omitted to reduce costs.

[0061] In addition to this, as Figure 1 shown, a heat insulation ring 18 is also provided between the housing 1 and the housing 2 8 outside the outer ring of the deep groove ball bearing 7. Through the heat insulation ring 18, the heat generated by the motor operation is reduced from entering the housing 1, ensuring a good operating environment for the drive plate 4. The heat insulation ring 18 can be made of high-quality materials with a thermal conductivity of less than 1 W / (m·K).

[0062] The foregoing description illustrates and describes preferred embodiments of the present utility model. As previously mentioned, it should be understood that the present utility model is not limited to the forms disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be changed within the scope of the inventive concept described herein through the above teachings or the techniques or knowledge in related fields. Any changes and modifications made by those skilled in the art without departing from the spirit and scope of the present utility model shall fall within the protection scope of the appended claims of the present utility model.

Claims

1. An integrated roller screw integrated module, characterized in that: The invention comprises a coaxially arranged motor stator (19), a motor rotor (20), a motor output flange (11), a fixing flange (12), a nut (24), a lead screw (21), an inner gear ring 1 (10), an inner gear ring 2 (25) and an end cover flange (28), and also comprises a fixing fisheye rod end (1), a connecting flange (3), a driving plate (4), a housing 1 (5), a housing 2 (8) and an output fisheye rod end (15); The fixed fisheye rod end (1) is connected to the connecting flange (3); the housing 1 (5) is arranged at an end of the connecting flange (3) away from the fixed fisheye rod end (1); the drive plate (4) is arranged in the housing 1 (5) and is control-connected to the motor stator (19); the housing 2 (8) is arranged at an end of the housing 1 (5) away from the connecting flange (3); the motor stator (19), the motor rotor (20), the motor output flange (11), the fixing flange (12), the nut (24), the lead screw (21), the inner gear ring 1 (10), the inner gear ring 2 (25) and the end cover flange (28) are all arranged in the housing 2 (8); and the end cover flange (28) is arranged at an end of the housing 2 (8) away from the housing 1 (5); The motor stator (19) is close to the housing (5), the motor rotor (20) is located in the inner ring of the motor stator (19), one end of the motor output flange (11) is located in the inner ring of the motor rotor (20), and the other end extends out of the motor stator (19) close to the fixed flange (12); The nut (24) is connected to the motor output flange (11) and the fixed flange (12) away from the housing 1 (5), and is installed in the inner rings of the motor output flange (11) and the fixed flange (12), and the inner gear ring 1 (10) and the inner gear ring 2 (25) are respectively installed at two ends of the inner ring of the nut (24); The two ends of the nut (24) are respectively mounted with a retainer 1 (22) and a retainer 2 (26); a plurality of rollers (23) are arranged in an array around the circumference of the screw (21) between the outer periphery of the screw (21) and the inner ring of the nut (24); both ends of the plurality of rollers (23) are mounted on retainer 1 (22) and retainer 2 (26), and both ends of each roller (23) are meshed with inner gear ring 1 (10) and inner gear ring 2 (25) through gears; the plurality of rollers (23) are threadedly connected with the inner wall of the nut (24) and the outer wall of the screw (21), and the thread of the outer wall of the screw (21) is a full thread of the same length as the screw (21); The lead screw (21) is slidably mounted on the end cover flange (28) along its length direction, one end of which is located in the inner holes of the motor output flange (11) and the nut (24), and the other end extends out of the end cover flange (28) and is connected to the output fisheye rod end (15); A deep groove ball bearing (7) is provided between the end of the motor output flange (11) close to the housing one (5) and the housing one (5); a support bearing one (9) located between the motor stator (19) and the nut (24) is provided between the motor output flange (11) and the housing two (8); and a support bearing two (14) is provided between the end of the fixing flange (12) close to the end cover flange (28) and the end cover flange (28).

2. The one-piece roller screw integrated module according to claim 1, characterized in that: The outer wall of the lead screw (21) is provided with at least two flattened positions (211) arranged along its length direction in a circumferential array, the flattened position (211) is equal in length to the lead screw (21) or is located at one end of the lead screw (21) close to the output fisheye rod end (15), the end cover flange (28) is provided with a flattened position hole (281) matching with the lead screw (21), the thread of the outer wall of the lead screw (21) covers the flattened position (211) and the thread height at the flattened position (211) is halved.

3. The one-piece roller screw integrated module according to claim 1, characterized in that: The invention also comprises a torque sensor (2), an encoder (16) and a mounting flange (17); the torque sensor (2) is integrated on the fixed fisheye rod end (1) and the connecting flange (3); the encoder (16) is mounted on an end of the motor output flange (11) close to the housing one (5) through the mounting flange (17); the encoder (16) is located inside the housing one (5) and on a side of the drive plate (4) close to the housing two (8); the encoder (16) is connected to the drive plate (4) for communication feedback.

4. The one-piece roller screw integrated module according to claim 1, characterized in that: A radiator 1 (6) is disposed outside the first shell (5), and a radiator 2 (13) is disposed outside the second shell (8).

5. The one-piece roller screw integrated module according to claim 4, characterized in that: The housing 1 (5) is connected to a ventilation assembly (29), and the ventilation assembly (29) comprises a ventilation hole (291) arranged on the side wall of the housing 1 (5) and penetrating the radiator 1 (6), the ventilation hole (291) is connected to the interior of the housing 1 (5), and a one-way valve (292) is arranged in the ventilation hole (291).

6. The one-piece roller screw integrated module according to claim 1, characterized in that: A heat insulating ring (18) is provided between the first shell (5) and the second shell (8), and the heat insulating ring (18) is located outside the outer ring of the deep groove ball bearing (7).

7. The integrated roller screw integrated module according to claim 1, characterized in that: An oil scraper ring (27) is provided between one end of the lead screw (21) close to the output fisheye rod end (15) and the fixed flange (12), and the oil scraper ring (27) is located between the nut (24) and the end cover flange (28).

8. The one-piece roller screw integrated module according to claim 1, characterized in that: An end of the lead screw (21) away from the output fisheye rod end (15) is provided with a weight-reducing hole (212) coaxial with the lead screw (21).

9. The one-piece roller screw integrated module according to claim 1, characterized in that: The inner gear ring 1 (10), the nut (24) and the inner gear ring 2 (25) are of split structure or integrated structure.

10. The integrated roller screw integrated module according to claim 1, characterized in that: The support bearing 1 (9) and the support bearing 2 (14) are one of angular contact ball bearings, tapered roller bearings, and cross bearings.

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