Linear rotating module

Abstract

The utility model relates to the technical field of electromechanical equipment, in particular to a linear rotating module, in the linear rotating module, a rotating mechanism is provided with a rotating piece and a rotating driving assembly, the rotating driving assembly is movably restrained in a shell in the first direction, and the rotating piece can rotate relative to the rotating driving assembly with the axis of the rotating piece as the axis; the output end of the linear driver is in driving connection with the rotary driving assembly; the lead screw is in transmission connection with the output end of the first driving part, the axis of the lead screw extends in the first direction, the transmission part is in threaded fit with the lead screw and can be movably restrained to the shell, the transmission part is provided with a pressure applying part, and the pressed part of the rotary driving assembly is located on the moving path of the pressure applying part. Under the action of self movement, the pressure applying part of the transmission piece can abut against the pressed part and enable the rotating mechanism to move relative to the shell, so that the pressure applying range of the linear rotating module is expanded, and the pressure control precision of the tail end of the linear rotating module is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of electromechanical equipment, in particular to a linear rotation module. Background Art

[0002] As the application scenarios of linear rotation modules in the semiconductor and 3C industries are increasing, the demand for linear rotation modules is also increasing. There are application scenarios that require both high pressure and low pressure. Currently, for high-pressure scenarios, a screw rod and a servo motor are usually adopted, but this solution cannot take into account low-pressure occasions; for low-pressure scenarios, a linear motor drive solution is mostly used. However, if the linear motor drive solution wants to achieve high-pressure output, the linear motor needs to be large in size, resulting in a large size of the linear rotation module, which is not conducive to the miniaturization design of the linear rotation module.

[0003] Therefore, it is urgent to research a linear rotation module to solve the above problems. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a linear rotation module. By adding a linear drive component with a screw-nut mechanism on the basis of a linear motor to provide high pressure, the linear motor can maintain a small size, which is conducive to the miniaturization design of the linear rotation module.

[0005] To achieve the above object, the utility model adopts the following technical solutions:

[0006] A housing;

[0007] A rotation mechanism, having a rotating member and a rotation drive component. The rotation drive component is movably constrained in the housing along a first direction, and the rotating member can rotate relative to the rotation drive component about its own axis.

[0008] It further includes:

[0009] A linear driver, and its output end is drivingly connected to the rotation drive component;

[0010] A linear drive component, having a first driving member, a screw rod whose axis extends along the first direction and is drivingly connected to the output end of the first driving member, and a transmission member that is threadedly engaged with the screw rod and is movably constrained in the housing. The transmission member has a pressing portion, and the pressed portion of the rotation drive component is located on the moving path of the pressing portion. Under its own movement, the pressing portion of the transmission member can push against the pressed portion and make the rotation mechanism move relative to the housing.

[0011] As an alternative technical solution of a linear rotation module, a part of the side wall of the transmission member protrudes outward in a second direction forming an angle with the first direction to form a pressing block, and the pressing portion is formed on the end surface of the pressing block along the first direction and facing the pressed portion.

[0012] As an alternative technical solution of a linear rotation module, the rotation driving assembly includes a moving member and a second driving member. The rotating member is rotatably constrained to the moving member about its own axis and is in transmission connection with the output end of the second driving member. A part of the side wall of the moving member protrudes in the direction of the rotation axis of the lead screw to form a pressed block, and the pressed portion is formed on the end surface of the pressed block along the first direction and facing the pressing portion.

[0013] As an alternative technical solution of a linear rotation module, in a second direction forming an angle with the first direction, the linear driver and the linear driving assembly are arranged on both sides of the moving member. A part of the side wall of the moving member protrudes in the direction away from the axis of the rotating member to form a connecting block, and the connecting block is provided with a connecting hole. The linear driver includes a linear motor, and the motor mover of the linear motor has a mounting hole, and a fastener passes through the mounting hole and through the connecting hole.

[0014] As an alternative technical solution of a linear rotation module, in a second direction forming an angle with the first direction, the linear driver and the linear driving assembly are arranged on the same side of the rotation driving assembly. The output end of the linear driver and the pressing portion of the transmission member are arranged at intervals along the first direction.

[0015] As an alternative technical solution of a linear rotation module, the linear driver is located in a U-shaped space surrounded by three adjacent boundaries of the rotation driving assembly, the transmission member, and the first driving member.

[0016] As an alternative technical solution of a linear rotation module, the linear rotation module further includes a pressure sensor. One end of the pressure sensor is fixed on the pressed portion of the rotation driving assembly, and the other end of the pressure sensor faces the pressing portion. The pressing portion can press the pressure sensor to push the rotation driving assembly and make it move relative to the housing. The pressure sensor and the first driving member are respectively in communication connection with a controller. The pressure sensor is configured to detect the pressure value applied by the pressing portion, and the controller is configured to receive the pressure value and control the first driving member based on the pressure value.

[0017] As an alternative technical solution of a linear rotation module, the linear driver is a linear motor, the motor mover of the linear motor is in driving connection with the rotation driving assembly, and the moving stroke of the transmission member is greater than or equal to the moving stroke of the motor mover.

[0018] As an alternative technical solution of the linear rotary module, the linear rotary module further includes a slide rail assembly. The slide rail assembly has a sliding guide rail provided on the housing and a sliding block slidably engaged with the sliding guide rail. The fixed portion of the transmission member is connected to the sliding block, and the fixed portion and the pressing portion are provided on both sides of the lead screw.

[0019] As an alternative technical solution of the linear rotary module, the linear rotary module further includes a crossed roller guide. One of the V-shaped slide rail and the M-shaped slide rail in the crossed roller guide is connected to the rotary drive assembly, and the other is fixed to the housing.

[0020] The beneficial effects of the present utility model are as follows:

[0021] The present utility model provides a linear rotary module, which includes a rotary mechanism, a linear driver, and a linear drive assembly. Among them, the linear driver and the linear drive assembly are two independent drive structures, which can respectively drive the rotary mechanism to move in the first direction, expanding the pressing range of the linear rotary module and improving the pressure control accuracy at the end of the linear rotary module.

[0022] The linear drive assembly is connected to the rotary mechanism through a pressure sensor, and accurately feeds back the pressure value at the end of the rotary mechanism through the pressure sensor, and controls the linear drive assembly in real time according to the pressure value, thereby realizing the force closed-loop of the linear rotary module. Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of a linear rotary module from the first perspective in an embodiment of the present utility model;

[0024] Figure 2 is a schematic structural diagram of a linear rotary module from the second perspective in an embodiment of the present utility model;

[0025] Figure 3 is Figure 2 a cross-sectional view taken along the A-A direction in

[0026] Figure 4 is a schematic structural diagram of two linear rotary modules in an embodiment of the present utility model.

[0027] In the figure:

[0028] Z, the first direction; X, the second direction; Y, the third direction;

[0029] 100, housing; 110, first bracket; 120, second bracket;

[0030] 200. Rotating mechanism; 210. Moving part; 211. Compression block; 2111. Compression part; 212. Connecting block; 220. Rotating part; 230. Second driving part; 240. First coupling;

[0031] 300. Linear driver; 310. Motor stator; 320. Motor rotor; 321. Mounting hole;

[0032] 400. Linear drive assembly; 410. First driving part; 420. Lead screw; 430. Transmission part; 431. Pressing block; 4311. Pressing part; 432. Fixed part; 440. Driving nut; 450. Second coupling;

[0033] 510. Slide rail assembly; 511. Sliding guide rail; 512. Sliding block;

[0034] 520. Pressure sensor; 530. PCB;

[0035] 540. Crossed roller guide; 541. V-shaped slide rail; 542. M-shaped slide rail. Detailed implementation mode

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0037] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions. Moreover, the first feature being "above", "above" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "below", "below" and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0038] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" 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 an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0039] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation to the present utility model.

[0040] As Figures 1 to 4 shown, this embodiment provides a linear rotation module. Through a linear driver 300 and a linear drive assembly 400 having a lead screw nut mechanism, the rotation mechanism 200 is driven in stages. While being able to provide a large pressure to the rotation mechanism 200, the linear driver 300 can also maintain a small volume, which is beneficial to the miniaturized design of the linear rotation module. At the same time, the pressure application range of the linear rotation module is expanded, and the pressure control accuracy at the end of the linear rotation module is improved. The linear rotation module includes a housing 100, a rotation mechanism 200, a linear driver 300, and a linear drive assembly 400. Among them, the rotation mechanism 200 has a rotating member 220 and a rotation drive assembly. The rotation drive assembly is movably constrained in the housing 100 along the first direction Z. The rotating member 220 can rotate relative to the rotation drive assembly with its own axis as the axis and is connected to the output end of the rotation drive assembly; the output end of the linear driver 300 is drivingly connected to the rotation drive assembly; the linear drive assembly 400 has a first driving member 410, a lead screw 420 whose output end is in transmission connection with the first driving member 410 and whose own axis extends along the first direction Z, and a transmission member 430 that is in threaded cooperation with the lead screw 420 and is movably constrained in the housing 100 along the first direction Z. The transmission member 430 has a pressure application portion 4311, and the pressure receiving portion 2111 of the rotation drive assembly is located on the movement path of the pressure application portion 4311. Under its own movement action, the pressure application portion 4311 of the transmission member 430 can push against the pressure receiving portion 2111 and make the rotation mechanism 200 move relative to the housing 100.

[0041] Through the cooperation of the lead screw 420 and the transmission member 430, it is beneficial to apply a relatively large pressure to the rotary drive assembly, and its own volume is small. When a relatively large pressure needs to be applied to the rotary drive assembly, it can be achieved by the pressing portion 4311 of the linear drive assembly 400 pushing against the pressed portion 2111 of the rotary drive assembly, without the need for the linear drive 300 to apply a large force, so that the volume of the linear drive 300 can be kept within a relatively small range, which is beneficial to the miniaturized design of the linear rotary module.

[0042] Specifically, during use, if a relatively small pressure needs to be applied to the rotary mechanism 200, only the linear drive 300 needs to act. When a relatively large pressure needs to be applied to the rotary mechanism 200, the rotary mechanism 200 can be first moved to the position where the rotating member 220 abuts against the workpiece by the linear drive 300, and then the transmission member 430 moves. After the pressing portion 4311 presses against the pressed portion 2111, the pressure is gradually increased to the preset pressure. Among them, the workpiece can be a chip, and different pressures need to be applied when pressing the chip onto other mating parts. Of course, the workpiece can also be other products that require pressure application.

[0043] It is worth noting that the relatively small pressure range can be set between 0.02 N and 0.5 N, and the relatively large pressure range can be set between 50 N and 500 N. Of course, the relatively small pressure range can be set between 0.02 N and 50 N.

[0044] Combined Figure 2 As shown, the housing 100 is provided with a first bracket 110 and a second bracket 120 at intervals along the first direction Z. One end of the lead screw 420 is rotatably fitted with the first bracket 110, and after passing through the first bracket 110, it is connected to the output end of the first driving member 410 through a second coupling 450. The other end is rotatably fitted with the second bracket 120 to ensure the stability of the rotation of the lead screw 420. The transmission member 430 is located between the first bracket 110 and the second bracket 120 to ensure the stability of the lead screw 420 during the transmission process. The first driving member 410 can be a servo motor.

[0045] The drive nut 440 is in threaded engagement with the lead screw 420 and is fixedly connected to the transmission member 430. The rotation of the lead screw 420 drives the drive nut 440 to reciprocate along the first direction Z, thereby driving the transmission member 430 to move synchronously.

[0046] For the convenience of processing, a part of the side wall of the transmission member 430 protrudes outward in the second direction X forming an angle with the first direction Z to form a pressing block 431. The end face of the pressing block 431 along the first direction Z and facing the pressed part 2111 forms a pressing portion 4311. This setting enables the pressing block 431 and the transmission member 430 to be an integrally formed structure, improving processing efficiency and contributing to enhancing the connection strength between the two, so as to provide a greater pressure for the rotary drive assembly; meanwhile, the pressing block 431 is small in volume and simple in structure, which is beneficial to saving materials.

[0047] The rotary drive assembly includes a moving member 210 and a second drive member 230. The rotary member 220 is rotatably constrained to the moving member 210 with its own axis as the axis and is in transmission connection with the output end of the second drive member 230 through a first coupling 240; a part of the side wall of the moving member 210 protrudes in the direction of the axis of rotation of the lead screw 420 to form a pressed block 211, and the end face of the pressed block 211 along the first direction Z and facing the pressing portion 4311 forms a pressed portion 2111. This setting enables the pressed block 211 and the moving member 210 to be an integrally formed structure, improving processing efficiency and contributing to enhancing the connection strength between the two, so as to withstand a greater pressure; meanwhile, the pressed block 211 is small in volume and simple in structure, which is beneficial to saving materials. The second drive member 230 can be a servo motor.

[0048] In other embodiments, a groove with an opening facing the pressing block 431 can be provided on the side wall of the moving member 210. Among them, the groove wall at one end along the first direction Z forms a pressed portion 2111, and at least a part of the pressing block 431 is inserted into the groove. The above structural setting enables the moving member 210 and the transmission member 430 to overlap partially in the second direction X, which helps to reduce the overall size of the linear rotary module in the second direction X.

[0049] To reduce the size of the linear rotary module in the third direction Y, on the second direction X forming an angle with the first direction Z, the linear drive 300 and the linear drive assembly 400 are arranged on both sides of the moving member 210; a part of the side wall of the moving member 210 protrudes in the direction away from the axis of the rotary member 220 to form a connecting block 212. The connecting block 212 is provided with a connecting hole. The linear drive 300 includes a linear motor. The motor mover 320 of the linear motor has a mounting hole 321, and a fastener passes through the mounting hole 321 and through the connecting hole. This setting enables the connecting block 212 and the moving member 210 to be an integrally formed structure, improving processing efficiency and contributing to enhancing the connection strength between the two, so as to withstand a greater pressure; meanwhile, the connecting block 212 is arranged on one side of the moving member 210 in the second direction X, which helps to reduce the size of the linear rotary module in the third direction Y and in the first direction Z, making the entire linear rotary module generally in the shape of a flat cuboid structure. Among them, the third direction Y is perpendicular to the first direction Z and perpendicular to the second direction X.

[0050] Combined Figure 4 As shown, in the second direction X that forms an angle with the first direction Z, the linear driver 300 and the linear drive assembly 400 are arranged on the same side of the rotary drive assembly; the output end of the linear driver 300 and the pressing portion 4311 of the transmission member 430 are spaced apart along the first direction Z. Similarly, this setting also helps to reduce the size of the linear rotary module in the third direction Y and in the first direction Z, making the entire linear rotary module generally in the shape of a flat cuboid structure.

[0051] To further rationally utilize the space between the mechanisms and improve the structural compactness of the linear rotary module, the linear driver 300 is located in the U-shaped space surrounded by three adjacent boundaries of the rotary drive assembly, the transmission member 430, and the first driving member 410.

[0052] Combined Figure 2 and Figure 4 As shown, when the transmission member 430 of the linear drive assembly 400 applies pressure to the moving member 210, the magnitude of the force can be calculated according to the number of rotation turns of the lead screw 420. However, when the workpiece materials are different and the workpiece undergoes different degrees of deformation when pressed, resulting in difficult pressure control, or when the magnitude of the pressure applied by the transmission member 430 needs to be more precisely controlled, the moving displacement of the transmission member 430 can also be precisely controlled by means of closed-loop control. Exemplarily, the linear rotary module further includes a pressure sensor 520. One end of the pressure sensor 520 is fixed on the pressed portion 2111 of the moving member 210, and the other end of the pressure sensor 520 faces the pressing portion 4311. The pressing portion 4311 can press against the pressure sensor 520 to push against the moving member 210 and cause it to move relative to the housing 100; the pressure sensor 520 and the first driving member 410 are respectively communicatively connected to the controller. The pressure sensor 520 is configured to detect the pressure value applied by the pressing portion 4311, and the controller is configured to receive the pressure value and control the first driving member 410 based on the pressure value. The above-mentioned closed-loop control method enables the controller to always control the number of rotation turns of the lead screw 420 according to the pressure value measured by the pressure sensor 520, so as to accurately control the pressure value at the end of the rotating member 220. Among them, the PCB 530 is disposed on the linear driver 300, and the controller is disposed on the PCB 530.

[0053] In this embodiment, the pressure sensor 520 is located between the output end (pressing portion 4311) of the linear drive assembly 400 and the moving member 210 that has no transmission gap with the rotating member 220 in the first direction Z, so that the pressure value applied by the linear drive assembly 400 to the rotating member 220 can be accurately detected, and the pressure sensor 520 is disposed inside the housing 100, effectively reducing the influence of other external factors on the pressure value.

[0054] Due to the frictional force between the lead screw 420 and the drive nut 440 and other transmission parts, even in closed-loop control, when a relatively small pressure can be provided for the rotating mechanism 200, precise control of the pressure cannot be achieved. In this application, the linear actuator 300 can solve this problem, so that relatively precise control can be achieved in application scenarios with both large and small pressures.

[0055] The linear actuator 300 is a linear motor, which includes a motor stator 310 and a motor mover 320 that can reciprocate along the first direction Z relative to the motor stator 310. The motor mover 320 is drivingly connected to the moving part 210 or the second driving part 230 of the rotation driving assembly, and the moving stroke of the transmission part 430 is greater than or equal to the moving stroke of the motor mover 320.

[0056] In an embodiment where the moving stroke of the transmission part 430 is equal to the moving stroke of the motor mover 320, in use, when a relatively small pressure needs to be applied to the rotation driving assembly, the linear motor can act alone. During this process, the distance between the transmission part 430 and the moving part 210 gradually increases; when a relatively large force needs to be applied to the rotation driving assembly, the linear motor can act first, so that after the rotating part 220 abuts against the workpiece, the transmission part 430 acts again. During this process, the distance between the transmission part 430 and the moving part 210 first increases and then decreases, and finally contacts.

[0057] In an embodiment where the moving stroke of the transmission part 430 is greater than the moving stroke of the motor mover 320, in use, when a relatively small pressure needs to be applied to the rotation driving assembly, the linear motor can act alone. During this process, the distance between the transmission part 430 and the moving part 210 gradually increases; when a relatively large force needs to be applied to the rotation driving assembly, the linear motor can act first, so that after the rotating part 220 abuts against the workpiece, the transmission part 430 acts again. During this process, the distance between the transmission part 430 and the moving part 210 first increases and then decreases, and finally contacts; the moving part 210 can also start to act while the linear motor is acting. During this process, the distance between the transmission part 430 and the moving part 210 remains unchanged or gradually decreases. When the rotating part 220 abuts against the workpiece, the moving part 210 can abut against the moving part 210 simultaneously or later.

[0058] It should be noted that the linear actuator 300 has high precision, can accurately abut the rotating part 220 against the workpiece, and can apply precise pressure to the workpiece. After the position of the workpiece is relatively stable, a greater pressure is applied through the linear drive assembly 400, which is beneficial to ensuring the position accuracy of the workpiece.

[0059] To ensure the stability of the movement of the transmission member 430 relative to the housing 100, the linear rotation module further includes a slide rail assembly 510. The slide rail assembly 510 has a sliding guide rail 511 provided on the housing 100 and a sliding block 512 that slidably cooperates with the sliding guide rail 511. The fixing portion 432 of the transmission member 430 is connected to the sliding block 512, and the fixing portion 432 and the pressing portion 4311 are disposed on both sides of the lead screw 420. The fixing portion 432 and the pressing portion 4311 are disposed on both sides of the lead screw 420 along the second direction X, which helps to reduce the size of the linear rotation module in the third direction Y. Further, the sliding guide rail 511 and the sliding block 512 are arranged adjacent to each other along the second direction X, further reducing the size of the linear rotation module in the third direction Y. Furthermore, along the second direction X, the transmission member 430 is located on the side of the sliding block 512 away from the sliding guide rail 511, further reducing the size of the linear rotation module in the third direction Y.

[0060] Combined with Figure 3 As shown, to ensure the stability of the movement of the moving member 210 relative to the housing 100, the linear rotation module further includes a crossed roller guide 540. One of the V-shaped slide rail 541 and the M-shaped slide rail 542 in the crossed roller guide 540 is connected to the moving member 210, and the other is fixed to the housing 100. Among them, under the action of the crossed roller guide 540, when the pressed portion 2111 on one side of the moving member 210 is stressed, the moving member 210 is prevented from tilting, ensuring the smoothness of the movement; further, it can also ensure that the axis of the pressure sensor 520 does not tilt, so that it is beneficial for the position of the pressure sensor 520 to receive the force to always face the pressing portion 4311 directly, avoiding damage caused by being pressed and tilted.

[0061] Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the embodiments here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. Linear rotary module, including: Housing (100); A rotating mechanism (200) comprising a rotating member (220) and a rotating drive assembly, wherein the rotating drive assembly is movably constrained in the housing (100) along a first direction (Z), and the rotating member (220) is capable of rotating relative to the rotating drive assembly about its own axis; It is characterized by further comprising: A linear drive (300), wherein the output end of the linear drive is drivingly connected to the rotary drive assembly; A linear drive assembly (400) comprises a first drive member (410), a screw rod (420) which is transmission-connected to the output end of the first drive member (410) and whose axis extends along the first direction (Z), and a transmission member (430) which is threadedly matched with the screw rod (420) and movably constrained to the housing (100), wherein the transmission member (430) has a pressure-applying portion (4311), and the pressure-receiving portion (2111) of the rotary drive assembly is located on the moving path of the pressure-applying portion (4311). Under the action of its own movement, the pressure-applying portion (4311) of the transmission member (430) can push against the pressure-receiving portion (2111) and cause the rotary mechanism (200) to move relative to the housing (100).

2. The linear rotary module according to claim 1, characterized in that: Part of the side wall of the transmission member (430) protrudes outward along a second direction (X) that is at an angle to the first direction (Z) to form a pressure block (431), and the pressure block (431) forms the pressure portion (4311) along the first direction (Z) and toward the end surface of the pressure-receiving portion (2111).

3. The linear rotary module according to claim 1, characterized in that: The rotary drive assembly comprises a moving member (210) and a second driving member (230); the rotating member (220) is rotatably constrained to the moving member (210) with its own axis as the axis, and is transmission-connected to the output end of the second driving member (230); a portion of the side wall of the moving member (210) protrudes in the direction of the rotation axis of the screw rod (420) and forms a pressure block (211); the pressure block (211) forms the pressure portion (2111) along the first direction (Z) and on the end face of the pressure-applying portion (4311).

4. The linear rotary module according to claim 3, characterized in that: In a second direction (X) that is at an angle to the first direction (Z), the linear drive (300) and the linear drive assembly (400) are arranged on both sides of the moving member (210); part of the side wall of the moving member (210) protrudes in a direction away from the axis of the rotating member (220) to form a connecting block (212), and the connecting block (212) is provided with a connecting hole; the linear drive (300) comprises a linear motor, and the motor mover (320) of the linear motor has a mounting hole (321), and a fastener is passed through the mounting hole (321) and passed through the connecting hole.

5. The linear rotary module according to claim 1, characterized in that: In a second direction (X) that is at an angle to the first direction (Z), the linear drive (300) and the linear drive assembly (400) are arranged on the same side of the rotary drive assembly; the output end of the linear drive (300) and the pressure-applying portion (4311) of the transmission member (430) are arranged at intervals along the first direction (Z).

6. The linear rotary module according to claim 1, characterized in that: The linear drive (300) is located in a U-shaped space surrounded by three adjacent boundaries of the rotary drive component, the transmission member (430) and the first drive member (410).

7. The linear rotary module according to any one of claims 1 to 6, characterized in that: The linear rotary module also includes a pressure sensor (520), one end of which is fixed on the pressure-bearing portion (2111) of the rotary drive assembly, and the other end of which is directly opposite to the pressure-applying portion (4311), and the pressure-applying portion (4311) can press the pressure sensor (520) to push the rotary drive assembly and move it relative to the housing (100); the pressure sensor (520) and the first drive member (410) are respectively connected to the controller for communication, the pressure sensor (520) is configured to detect the pressure value applied by the pressure-applying portion (4311), and the controller is configured to receive the pressure value and control the first drive member (410) based on the pressure value.

8. The linear rotary module according to claim 7, characterized in that: The linear drive (300) is a linear motor, the motor mover (320) of the linear motor is drivingly connected to the rotary drive assembly, and the moving stroke of the transmission member (430) is greater than or equal to the moving stroke of the motor mover (320).

9. The linear rotary module according to any one of claims 1 to 6, characterized in that: The linear rotation module also includes a slide rail assembly (510), the slide rail assembly (510) having a sliding guide rail (511) arranged on the housing (100) and a sliding block (512) slidably matched with the sliding guide rail (511), the fixed portion (432) of the transmission member (430) is connected to the sliding block (512), and the fixed portion (432) and the pressure portion (4311) are respectively arranged on both sides of the screw rod (420).

10. The linear rotary module according to any one of claims 1 to 6, characterized in that: The linear rotation module also includes a cross-needle roller guide rail (540), one of the V-shaped slide rail (541) and the M-shaped slide rail (542) in the cross-needle roller guide rail (540) is connected to the rotation drive assembly, and the other is fixed to the housing (100).

Images