Joint driving device

Abstract

The embodiment of the utility model provides a joint driving device, and belongs to the technical field of joint driving. The transmission sleeve is installed on the driving body, the driving body drives the transmission sleeve to rotate so as to drive the planetary roller assembly to move in the axial direction of the transmission shaft along with the transmission shaft, the transmission sleeve is provided with internal threads, and the end, away from the limiting section, of the installation section extends out of the driving body. The planetary roller assembly is provided with transition threads meshed with the internal threads and the external threads and located on the side, away from the installation section, of the limiting section, the meshing section limits the planetary roller assembly to move relative to the meshing section in the axial direction of the installation section, and the limiting section at least partially protrudes out of the installation section in the radial direction of the installation section. The limiting part is located on the side, facing the mounting section, of the limiting section, and the limiting section can move to make contact with or be disengaged from the limiting part. According to the joint driving device, the possibility that the planetary roller lead screw is damaged can be reduced.

Description

Technical Field

[0001] The present application relates to the field of joint drive technology, and in particular to a joint drive device. Background Art

[0002] In the related art, the joints of a humanoid robot need to perform corresponding movements, and the joint movements of the humanoid robot can be driven by a joint driving device. During the operation of the joint driving device, the planetary roller screw of the joint driving device may be damaged. Utility Model Content

[0003] In view of this, an embodiment of the present application hopes to provide a joint drive device to reduce the possibility of damage to the planetary roller screw.

[0004] To achieve the above objectives, the present application provides a joint driving device according to a first aspect, comprising:

[0005] A driving body having a limiting portion;

[0006] The planetary roller screw comprises a transmission sleeve, a transmission shaft and a planetary roller assembly, wherein the transmission sleeve is mounted on the driving body, and the driving body drives the transmission sleeve to rotate to drive the planetary roller assembly to follow the transmission shaft and move axially along the transmission shaft, the transmission sleeve has an internal thread, and the transmission shaft includes an engaging section, a limiting section and a mounting section connected in sequence, and the mounting section extends to the outside of the driving body at one end away from the limiting section, the engaging section has an external thread, and the planetary roller assembly has a transition thread that engages with the internal thread and the external thread respectively, the planetary roller assembly is located on the side of the limiting section away from the mounting section, the engaging section limits the planetary roller assembly from moving relative to the engaging section along the axial direction of the mounting section, the limiting section protrudes at least partially from the mounting section in the radial direction of the mounting section, the limiting portion is located on the side of the limiting section facing the mounting section, and the limiting section can move to contact or disengage with the limiting portion.

[0007] In one embodiment, the limiting section has a limiting boss protruding from the mounting section in a radial direction of the mounting section, the limiting boss is annular in shape, and the limiting boss is in contact with or disengaged from the limiting portion.

[0008] In one embodiment, the limiting boss is in the shape of a circular ring, and the outer diameter of the limiting boss is larger than the diameter of the mounting section.

[0009] In one embodiment, the planetary roller screw further includes an end stop assembly located at one end of the meshing section away from the mounting section, the end stop assembly is connected to one end of the transmission sleeve, the end surface of the meshing section facing the end stop assembly is a limiting surface, the planetary roller assembly is located between the limiting surface and the limiting section, and the limiting surface can move to contact or disengage with the end stop assembly.

[0010] In one embodiment, the joint drive device further includes a first bearing, the transmission sleeve has a first shoulder, and the end stop assembly includes:

[0011] an end plate mounted on one end of the transmission sleeve, the planetary roller assembly being located between the end plate and the limiting section, and the limiting surface being movable to contact or disengage with the end plate;

[0012] The first limiting sleeve is threadedly connected to one end of the transmission sleeve toward the end plate. The end plate at least partially abuts against the first limiting sleeve and the transmission sleeve along the axial direction of the transmission sleeve. Both sides of the inner ring of the first bearing abut against the first limiting sleeve and the first shaft shoulder respectively.

[0013] In one embodiment, the joint driving device further includes a bearing seat detachably mounted on the driving body, the bearing seat surrounds the first bearing, and the outer ring of the first bearing is mounted on the bearing seat.

[0014] In one embodiment, the driving body includes:

[0015] a shell assembly, wherein the limiting portion is formed on the shell assembly, the outer surface of the shell assembly includes a heat dissipation surface with varying concave and convex shapes, the end of the mounting section facing away from the limiting section extends outside the shell assembly, and the transmission sleeve, the planetary roller assembly, the meshing section, and the limiting section are all located within the shell assembly;

[0016] a stator mounted inside the shell assembly, the stator being in contact with an inner surface corresponding to the heat dissipation surface of the shell assembly;

[0017] The rotor is mounted on the transmission sleeve. The rotor is located in the shell assembly. The stator is used to drive the rotor to rotate so as to drive the transmission sleeve to rotate.

[0018] In one embodiment, the joint driving device further includes a drive control board installed in the shell assembly, the drive control board is used to control the stator to drive the rotor to rotate, the drive control board includes a power device, and the power device is in contact with the inner surface of the shell assembly.

[0019] In one embodiment, an accommodating cavity is formed at one end of the shell assembly facing away from the mounting section, and the joint drive device further includes a mounting arm and a force sensor at least partially located in the accommodating cavity. The radial side wall of the accommodating cavity along the transmission sleeve and / or the cavity wall of the accommodating cavity facing away from the transmission sleeve restricts the force sensor from moving out of the accommodating cavity from the side of the accommodating cavity facing away from the transmission sleeve. The force sensor is sleeved on the mounting arm, and the mounting arm extends at least partially outside the accommodating cavity along the end of the force sensor facing away from the transmission sleeve.

[0020] In one embodiment, the shell assembly includes:

[0021] a housing, wherein the limiting portion and the heat dissipation surface are formed in the housing, an end of the mounting section facing away from the limiting section extends outside the housing, and the stator, the rotor, the transmission sleeve, the planetary roller assembly, the meshing section, and the limiting section are all located within the housing;

[0022] An end cover is connected to the end of the housing away from the transmission sleeve, and the end cover and the housing enclose the accommodating cavity. An inwardly protruding stop block is formed on the end of the end cover away from the housing to inhibit the force sensor from moving out of the accommodating cavity away from the transmission sleeve.

[0023] In the joint drive device of the embodiment of the present application, since the meshing section in the planetary roller screw restricts the planetary roller assembly from moving axially relative to the meshing section along the mounting section, the rotation of the transmission sleeve drives the planetary roller assembly and the transmission shaft to move axially along the transmission sleeve. When the planetary roller assembly drives the transmission shaft to continuously approach the limiting portion under the action of the transmission sleeve, the limiting section of the transmission shaft will abut against the driving body before the planetary roller assembly to alleviate the impact and collision between the planetary roller assembly and the driving body, thereby reducing the possibility of damage to the planetary roller assembly. The abutment and limiting of the limiting section of the transmission shaft and the limiting portion of the driving body can inhibit the transmission shaft and the planetary roller assembly from excessively moving toward the side of the driving body toward the limiting portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an axonometric view of the joint driving device according to an embodiment of the present application;

[0025] Figure 2 This is a schematic structural diagram of a joint driving device according to an embodiment of the present application, with the cross-section position shown;

[0026] Figure 3 for Figure 2 Cross-sectional view at position AA;

[0027] Figure 4 for Figure 3 Magnified view at position B in the middle;

[0028] Figure 5 for Figure 3 Magnified view at position C in the middle;

[0029] Figure 6 for Figure 3 Magnified view at position D;

[0030] Figure 7 for Figure 3 Magnified view at position E in the middle.

[0031] Explanation of reference numerals: 100, driving body; 101, limiting portion; 7, shell assembly; 71, heat dissipation surface; 711, concave annular surface; 712, convex annular surface; 72, accommodating cavity; 73, outer shell; 731, shell; 7311, first shell; 7312, second shell; 7313, third shell; 732, sliding bearing; 74, end cover; 741, stop block; 8, stator; 9, rotor; 200, planetary roller screw; 1, transmission sleeve; 11, first shaft Shoulder; 12, second shoulder; 2, transmission shaft; 21, meshing section; 211, limiting surface; 22, limiting section; 221, limiting boss; 23, mounting section; 3, planetary roller assembly; 4, end stop assembly; 41, end plate; 42, first limiting sleeve; 5, first bearing; 6, bearing seat; 901, drive control board; 902, mounting arm; 903, encoder; 904, second bearing; 905, second limiting sleeve; 906, seal; 907, force sensor. DETAILED DESCRIPTION

[0032] It should be noted that, unless there is a conflict, the embodiments and technical features in the embodiments of this application can be combined with each other, and the detailed description in the specific implementation method should be understood as an explanation of the purpose of this application and should not be regarded as an improper restriction on this application.

[0033] In the related art, planetary roller screws can withstand large loads and have high positioning accuracy. During the joint movement of a humanoid robot, the planetary roller screw is driven to rotate by a driving body, and the planetary roller screw converts the rotational motion into linear motion, thereby driving the joint movement of the humanoid robot, so that the joint of the humanoid robot can adapt to large loads and have high positioning accuracy. However, during the use of the joint drive device, the planetary roller screw may be damaged, causing the joint drive device to fail to work. Specifically, the planetary roller assembly is arranged on the drive shaft and follows the drive shaft along the axial movement of the drive shaft. The planetary roller assembly moves along the axial direction of the drive sleeve under the drive shaft. Since the movement of the drive shaft is not limited, when the drive shaft moves along the axial direction of the drive sleeve toward the end of the drive shaft extending out of the drive body, the part of the drive shaft inside the drive body gradually extends out of the drive body, and the planetary roller assembly on the drive shaft may collide with the drive body, causing the planetary roller assembly to be damaged.

[0034] Exemplarily, the planetary roller assembly includes a roller body and a retaining frame, the roller body is mounted on the retaining frame, and the roller body has a transition thread. When the planetary roller assembly collides with the driving body, the roller body and / or retaining frame may be damaged, wherein the retaining frame is a component that is more easily damaged.

[0035] In view of this, the present invention provides a joint driving device, please refer to Figures 1 to 7 The joint drive device includes a drive body 100 and a planetary roller screw 200. The drive body 100 has a limiting portion 101. The planetary roller screw 200 includes a transmission sleeve 1, a transmission shaft 2 and a planetary roller assembly 3. The transmission sleeve 1 is installed on the drive body 100. The drive body 100 drives the transmission sleeve 1 to rotate to drive the planetary roller assembly 3 to follow the transmission shaft 2 and move along the axial direction of the transmission shaft 2. The transmission sleeve 1 has an internal thread. The transmission shaft 2 includes an engaging section 21, a limiting section 22 and an installation section 23 connected in sequence. The installation section 23 extends from one end of the limiting section 22 to the outside of the drive body 100. The engaging section 21 has an external thread. The planetary roller assembly 3 has a transition thread that engages with the internal thread and the external thread respectively. The planetary roller assembly 3 is located on the side of the limiting section 22 away from the mounting section 23. The engaging section 21 limits the movement of the planetary roller assembly 3 relative to the engaging section 21 along the axial direction of the mounting section 23. The limiting section 22 protrudes at least partially from the mounting section 23 along the radial direction of the mounting section 23. The limiting portion 101 is located on the side of the limiting section 22 facing the mounting section 23. The limiting section 22 can move to contact or disengage with the limiting portion 101.

[0036] The drive body 100 is the power source. It drives the transmission sleeve 1 to rotate. Through the threaded transmission between the transmission sleeve 1, the planetary roller assembly 3, and the meshing section 21 of the transmission shaft 2, the rotational motion of the transmission sleeve 1 driven by the drive body 100 is converted into linear motion of the transmission shaft 2. The internal thread of the transmission sleeve 1 meshes with the transition thread of the planetary roller assembly 3 to achieve threaded transmission. The transition thread of the planetary roller assembly 3 meshes with the external thread of the meshing section 21 of the transmission shaft 2 to achieve threaded transmission. Through the threaded transmission of the internal thread, transition thread, and external thread, the rotational motion of the transmission sleeve 1 is converted into linear motion of the transmission shaft 2.

[0037] For example, see Figures 1 to 7 The transmission sleeve 1 and the planetary roller assembly 3 are both located in the driving body 100 .

[0038] For example, see Figures 1 to 7 The engaging section 21 and the limiting section 22 of the transmission shaft 2 are located in the transmission sleeve 1, the installation section 23 of the transmission shaft 2 is partially located in the transmission sleeve 1, the transmission shaft 2 partially extends out of the transmission sleeve 1, and the transmission shaft 2 partially extends out of the driving body 100.

[0039] Exemplarily, the driving body 100 restricts the mounting section 23 of the transmission shaft 2 from rotating.

[0040] Exemplarily, the outer surface of the mounting segment 23 includes a rotation-stopping surface, and the driving body 100 abuts against the rotation-stopping surface to limit the rotation of the mounting segment 23 .

[0041] Exemplarily, the anti-rotation surface is a plane.

[0042] Exemplarily, the driving body 100 may not restrict the rotation of the mounting section 23 of the transmission shaft 2 , and the mounting section 23 is connected to the joint of the humanoid robot, and the rotation of the mounting section 23 may be restricted by the joint of the humanoid robot to which the mounting section 23 is connected.

[0043] The engagement section 21 restricts the planetary roller assembly 3 from moving relative to the engagement section 21 along the axial direction of the mounting section 23. Due to the restrictive effect of the engagement section 21 on the planetary roller assembly 3, the planetary roller assembly 3 substantially does not move relative to the engagement section 21 along the axial direction of the mounting section 23, and the planetary roller assembly 3 moves following the engagement section 21.

[0044] The planetary roller assembly 3 is substantially in a planetary structure and can rotate around the meshing section 21 .

[0045] The transmission shaft 2 is the screw rod.

[0046] The planetary roller screw 200 is a reverse-type planetary roller screw 200 .

[0047] Exemplarily, the planetary roller structure includes a cage and a roller body mounted on the cage, with transition threads formed on the roller body. The cage is mounted on the meshing section 21 so that the cage moves axially with the meshing section 21 along the mounting section 23, and the cage and roller body can rotate relative to the meshing section 21.

[0048] Exemplarily, when the limiting section 22 of the transmission shaft 2 abuts against the limiting portion 101 of the driving body 100 , the planetary roller assembly 3 is located in the transmission sleeve 1 .

[0049] In the embodiment of the present application, because the engagement section 21 in the planetary roller screw 200 restricts the planetary roller assembly 3 from moving axially relative to the engagement section 21 along the mounting section 23, the transmission sleeve 1 rotates, driving the planetary roller assembly 3 and the transmission shaft 2 to move axially along the transmission sleeve 1. When the planetary roller assembly 3, under the action of the transmission sleeve 1, drives the transmission shaft 2 to continuously approach the limiting portion 101, the limiting section 22 of the transmission shaft 2 will abut against the driving body 100 before the planetary roller assembly 3 to alleviate the impact and collision between the planetary roller assembly 3 and the driving body 100, thereby reducing the possibility of damage to the planetary roller assembly 3. The abutment and limiting between the limiting section 22 of the transmission shaft 2 and the limiting portion 101 of the driving body 100 can prevent the transmission shaft 2 and the planetary roller assembly 3 from excessively moving toward the side of the driving body 100 toward the limiting portion 101.

[0050] In one embodiment, please refer to Figures 1 to 7 The limiting section 22 has a limiting boss 221 protruding from the mounting section 23 in the radial direction of the mounting section 23 . The limiting boss 221 is annular in shape and contacts or disengages from the limiting portion 101 .

[0051] For example, see Figures 1 to 7 , the limiting portion 101 is in a ring shape.

[0052] In the embodiment of the present application, the annular limiting boss 221 can better block the driving body 100 along the circumference of the mounting section 23, reducing the possibility of the driving body 100 passing over the limiting boss 221 and colliding with the planetary roller assembly 3.

[0053] It is understandable that the specific structure of the limiting boss 221 is not limited, and the shape of the limiting boss 221 is not necessarily annular. For example, the limiting boss 221 protrudes along one side of the radial direction of the limiting section 22.

[0054] In one embodiment, please refer to Figures 1 to 7 The limiting boss 221 is in the shape of a circular ring, and the outer diameter of the limiting boss 221 is larger than the diameter of the mounting section 23 .

[0055] See also Figures 1 to 7The outer diameter of the limiting boss 221 is the diameter of the outer surface of the limiting boss 221.

[0056] In the embodiment of the present application, since the end of the mounting section 23 facing away from the limiting section 22 extends to the outside of the driving body 100, the mounting section 23 needs to pass through the driving body 100. The limiting portion 101 of the driving body 100 is located outside the outer surface of the mounting section 23. The outer diameter of the annular limiting boss 221 is relatively large, so that the limiting boss 221 can better contact and limit the limiting portion 101 of the driving body 100. The shape of the limiting boss 221 is annular, which facilitates the processing of the limiting boss 221 on the limiting section 22.

[0057] It is understood that the shape of the limiting boss 221 is not limited to a circular ring. For example, the shape of the limiting boss 221 can be a square ring or other special-shaped ring.

[0058] In one embodiment, please refer to Figures 1 to 7 The planetary roller screw 200 also includes an end stop assembly 4 located at one end of the meshing section 21 away from the mounting section 23, the end stop assembly 4 is connected to one end of the transmission sleeve 1, and the end surface of the meshing section 21 facing the end stop assembly 4 is a limiting surface 211. The planetary roller assembly 3 is located between the limiting surface 211 and the limiting section 22, and the limiting surface 211 can move to contact or disengage with the end stop assembly 4.

[0059] Exemplarily, the limiting surface 211 may be a plane or a curve.

[0060] Exemplarily, the length of the meshing segment 21 along the axial direction of the meshing segment 21 is greater than the length of the planetary roller assembly 3 along the axial direction of the meshing segment 21 .

[0061] In the embodiment of the present application, the planetary roller assembly 3 is located between the limiting surface 211 and the limiting section 22, with the limiting surface 211 being closer to the end stop assembly 4 than the planetary roller assembly 3. When the transmission sleeve 1 rotates, driving the planetary roller assembly 3 and the rotating shaft continuously toward the end stop assembly 4, the limiting surface 211 of the meshing section 21 of the transmission shaft 2 contacts the end stop assembly 4 before the planetary roller assembly 3, thereby limiting the contact and alleviating the impact and collision between the planetary roller assembly 3 and the end stop assembly 4, thereby reducing the possibility of damage to the planetary roller screw 200. The abutting contact between the limiting surface 211 of the meshing section 21 of the transmission shaft 2 and the end stop assembly 4 can prevent the transmission shaft 2 and the planetary roller assembly 3 from excessively moving toward the side of the transmission sleeve 1 toward the end stop assembly 4.

[0062] It is understood that the embodiments of the present application are not limited to the abutment between the limiting surface 211 and the end stop assembly 4. For example, the planetary roller screw 200 may not be provided with the end stop assembly 4, and the transmission shaft 2 and the planetary roller assembly 3 may be moved into or out of the transmission sleeve 1 through the opening at the end of the transmission sleeve 1 where the end stop is removed.

[0063] In one embodiment, please refer to Figures 1 to 7 , the joint drive device also includes a first bearing 5, the transmission sleeve 1 has a first shoulder 11, and the end stop assembly 4 includes an end plate 41 and a first limiting sleeve 42. The end plate 41 is installed at one end of the transmission sleeve 1, and the planetary roller assembly 3 is located between the end plate 41 and the limiting section 22. The limiting surface 211 can move to contact or disengage with the end plate 41. The first limiting sleeve 42 is threadedly connected to one end of the transmission sleeve 1 facing the end plate 41, and the end plate 41 at least partially abuts against the first limiting sleeve 42 and the transmission sleeve 1 along the axial direction of the transmission sleeve 1. The two sides of the inner ring of the first bearing 5 respectively abut against the first limiting sleeve 42 and the first shoulder 11.

[0064] For example, see Figures 1 to 7 The joint driving device also includes an encoder 903, which is installed in the driving body 100.

[0065] For example, see Figures 1 to 7 The encoder 903 is at least partially mounted on a bracket, and the bracket is connected to a side of the end plate 41 facing away from the meshing section 21 of the transmission shaft 2 .

[0066] Exemplarily, the bracket is embedded in the end plate 41 .

[0067] Illustratively, the encoder 903 includes a magnet and a read head. The magnet is mounted on a bracket.

[0068] In the embodiment of the present application, the first limiting sleeve 42 is brought into contact with the end plate 41 to press the end plate 41 onto the transmission sleeve 1, so that the end plate 41 blocks the opening at one end of the transmission sleeve 1, thereby effectively limiting the engagement section 21 of the transmission shaft 2. The end plate 41 is limited and fixed by the first limiting sleeve 42. The end plate 41 and the first limiting sleeve 42 are independently manufactured, which can reduce the irregular shapes of parts and the processing difficulty of the end stop assembly 4, and facilitate the end plate 41 to be processed into the required shape according to actual needs. The two sides of the inner ring of the first bearing 5 are respectively brought into contact with the first limiting sleeve 42 and the first shoulder 11, so that the first bearing 5 is brought into contact between the first limiting sleeve 42 and the first shoulder 11, so as to effectively limit the axial position of the first bearing 5. The first limiting sleeve 42 can be used to fix the end plate 41 so that the end plate 41 limits the engagement section 21, and can also cooperate with the first shoulder 11 to limit the first bearing 5.

[0069] It is understood that the specific structure of the end stop assembly 4 is not limited. For example, the end stop assembly 4 may not be provided with the end plate 41, one end of the first limiting sleeve 42 is closed, and the limiting surface 211 contacts or disengages with the closed end of the first limiting sleeve 42, thereby limiting the engagement section 21.

[0070] In one embodiment, please refer to Figures 1 to 7 The joint driving device also includes a bearing seat 6 detachably mounted on the driving body 100 , the bearing seat 6 surrounds the first bearing 5 , and the outer ring of the first bearing 5 is mounted on the bearing seat 6 .

[0071] In the embodiment of the present application, by providing an additional bearing seat 6 mounted on the driving body 100, the first bearing 5 can be better adapted according to actual needs, which facilitates the selection of the first bearing 5 according to actual needs. The bearing seat 6 surrounds the first bearing 5, and the outer ring of the first bearing 5 is mounted on the bearing seat 6, so that the bearing seat 6 can better support the first bearing 5.

[0072] It is understandable that the joint driving device may not be provided with the bearing seat 6. For example, the outer ring of the first bearing 5 is mounted on the driving body 100.

[0073] In one embodiment, please refer to Figures 1 to 7 The driving body 100 includes a housing assembly 7, a stator 8, and a rotor 9. The limiting portion 101 is formed on the housing assembly 7. The end of the mounting section 23 facing away from the limiting section 22 extends outside the housing assembly 7. The transmission sleeve 1, the planetary roller assembly 3, the meshing section 21, and the limiting section 22 are all located within the housing assembly 7. The stator 8 is mounted inside the housing assembly 7. The rotor 9 is mounted on the transmission sleeve 1. The rotor 9 is located within the housing assembly 7. The stator 8 is used to drive the rotor 9 to rotate, thereby driving the transmission sleeve 1 to rotate.

[0074] For example, see Figures 1 to 7 , the bearing seat 6 is installed on the shell assembly 7.

[0075] For example, see Figures 1 to 7 The joint drive device further includes a second bearing 904 mounted on the transmission sleeve 1 , and the stator 8 is located between the first bearing 5 and the second bearing 904 along the axial direction of the transmission sleeve 1 .

[0076] In the embodiment of the present application, the transmission sleeve 1 is mounted on the rotor 9. The stator 8 drives the rotor 9 to rotate, thereby driving the transmission sleeve 1 to rotate, thereby moving the mounting section 23. By directly mounting the transmission sleeve 1 on the rotor 9 and integrating the transmission shaft 2 and other components within the housing assembly 7, the stator 8 and rotor 9 within the housing assembly 7 form a frameless motor. While the output power of the rotor 9 remains essentially unchanged, this helps reduce the size of the joint drive device and improves its power density.

[0077] In one embodiment, please refer to Figures 1 to 7 The outer surface of the shell assembly 7 includes a heat dissipation surface 71 with varying concave and convex shapes, and the stator 8 contacts the inner surface corresponding to the heat dissipation surface 71 of the shell assembly 7 .

[0078] For example, see Figures 1 to 7 The heat dissipation surface 71 includes a concave annular surface 711 and a convex annular surface 712 , and the concave annular surface 711 and the convex annular surface 712 are alternately arranged along the axial direction of the shell assembly 7 .

[0079] In the embodiment of the present application, the surface area of ​​the outer surface of the shell assembly 7 is increased by the concave and convex heat dissipation surface 71 on the outer surface of the shell assembly 7, and the stator 8 is in contact with the inner surface corresponding to the heat dissipation surface 71 of the shell assembly 7, which is beneficial to transferring the heat generated by the stator 8 and the rotor 9 to the shell assembly 7 and better dissipating the heat through the heat dissipation surface 71 with a larger surface area.

[0080] It is understood that the structure of the driving body 100 is not limited to the structure of a frameless motor in which the rotor 9 is directly mounted on the transmission sleeve 1. For example, the rotor 9 can be driven to rotate by the stator 8 of the motor, and the rotor 9 drives the output shaft of the motor to rotate, and the output shaft of the motor then drives the transmission sleeve 1 to rotate.

[0081] It is understandable that the embodiment of the present application is not limited to the outer surface of the shell component 7 being a concave-convex heat dissipation surface 71. For example, the outer surface of the shell component 7 at the position corresponding to the stator 8 can be a cylindrical surface.

[0082] In one embodiment, please refer to Figures 1 to 7 The joint driving device also includes a drive control board 901 installed in the shell assembly 7. The drive control board 901 is used to control the stator 8 to drive the rotor 9 to rotate. The drive control board 901 includes a power device, and the power device is in contact with the inner surface of the shell assembly 7.

[0083] For example, see Figures 1 to 7 The drive control board 901 is installed at one end of the bearing seat 6 away from the mounting section 23.

[0084] For example, the power device of the driving control board 901 may be a semiconductor power device such as a metal-oxide-semiconductor field-effect transistor (MOS).

[0085] In the embodiment of the present application, the power device is the main heat-generating device on the drive control board 901 . Contacting the power device with the inner surface of the shell assembly 7 is conducive to dissipating the heat released by the power device to the outside of the shell assembly 7 through the shell assembly 7 .

[0086] It is understandable that the arrangement of the drive control board 901 is not limited. For example, the drive control board 901 can be arranged spaced apart from the housing assembly 7, and the drive control board 901 can be cooled and dissipated by blowing air into the housing assembly 7.

[0087] In one embodiment, please refer to Figures 1 to 7 An accommodating cavity 72 is formed at one end of the shell assembly 7 facing away from the mounting section 23, and the joint drive device further includes a mounting arm 902 and a force sensor 907 at least partially located in the accommodating cavity 72. The radial side wall of the accommodating cavity 72 along the transmission sleeve 1 and / or the cavity wall of the accommodating cavity 72 facing away from the transmission sleeve 1 restricts the force sensor 907 from moving out of the accommodating cavity 72 from the side of the accommodating cavity 72 facing away from the transmission sleeve 1. The force sensor 907 is sleeved on the mounting arm 902, and the mounting arm 902 extends at least partially outside the accommodating cavity 72 along the end of the force sensor 907 facing away from the transmission sleeve 1.

[0088] For example, see Figures 1 to 7 The end of the accommodating cavity 72 facing the transmission sleeve 1 is a closed end.

[0089] For example, see Figures 1 to 7 The end of the accommodating cavity 72 facing the transmission sleeve 1 is a closed end, and the transmission sleeve 1 is outside the accommodating cavity 72 .

[0090] For example, see Figures 1 to 7 The end of the accommodating cavity 72 facing the transmission sleeve 1 is a closed end, and the bearing seat 6 is outside the accommodating cavity 72.

[0091] For example, see Figures 1 to 7 The end of the accommodating chamber 72 facing the transmission sleeve 1 is a closed end, and the drive control board 901 is outside the accommodating chamber 72 .

[0092] In an embodiment of the present application, the force sensor 907 is restricted from moving out of the accommodating cavity 72 from the side of the accommodating cavity 72 away from the transmission sleeve 1 by the radial side wall of the accommodating cavity 72 along the radial side wall of the transmission sleeve 1 and / or the cavity wall of the accommodating cavity 72 away from the transmission sleeve 1, so that the structure for restricting the force sensor 907 from moving out of the side of the accommodating cavity 72 away from the transmission sleeve 1 is mainly on the radial side of the force sensor 907 along the shell assembly 7 or the side of the accommodating cavity 72 away from the transmission sleeve 1, so that the structure for restricting the force sensor 907 from moving out of the side of the accommodating cavity 72 away from the transmission sleeve 1 can utilize part of the space of the mounting arm 902 in the axial direction of the transmission sleeve 1, thereby reducing space occupancy and improving space utilization.

[0093] It is understood that the structure for limiting the force sensor 907 from being removed from the accommodating cavity 72 is not limited. For example, the structure for limiting the force sensor 907 from being removed from the accommodating cavity 72 is aligned with the mounting arm 902 along the axial direction of the transmission sleeve 1 , and the structure for limiting the force sensor 907 from being removed from the accommodating cavity 72 is connected to the end of the force sensor 907 facing away from the mounting arm 902 .

[0094] In one embodiment, please refer to Figures 1 to 7 The housing assembly 7 includes a housing 73 and an end cover 74. The limiting portion 101 and the heat dissipation surface 71 are formed on the housing 73. The end of the mounting section 23 facing away from the limiting section 22 extends outside the housing 73. The stator 8, the rotor 9, the transmission sleeve 1, the planetary roller assembly 3, the engagement section 21, and the limiting section 22 are all located within the housing 73. The end cover 74 is connected to the end of the housing 73 facing away from the transmission sleeve 1. The end cover 74 and the housing 73 enclose the accommodating cavity 72. An inwardly protruding stopper 741 is formed on the end of the end cover 74 facing away from the housing 73 to prevent the force sensor 907 from moving out of the accommodating cavity 72 facing away from the transmission sleeve 1.

[0095] Exemplarily, the housing 73 is detachably connected to the end cover 74 .

[0096] In the embodiment of the present application, the end cover 74 is installed at the end of the housing 73 away from the transmission sleeve 1, and the stop block 741 of the end cover 74 blocks the opening of the accommodating chamber 72 away from the transmission sleeve 1, thereby preventing the force sensor 907 from moving out of the accommodating chamber 72 away from the transmission sleeve 1.

[0097] In one embodiment, please refer to Figures 1 to 7 The housing 73 includes a shell 731 and a sliding bearing 732 installed on the shell 731 , and the limiting portion 101 is formed on the sliding bearing 732 .

[0098] In one embodiment, please refer to Figures 1 to 7The joint drive device further includes a second limiting sleeve 905 and a second bearing 904 mounted on the transmission sleeve 1. The transmission sleeve 1 is formed with a second shaft shoulder 12. The inner ring of the second bearing 904 abuts between the second limiting sleeve 905 and the second shaft shoulder 12. The second limiting sleeve 905 is threadedly connected to the transmission sleeve 1.

[0099] In one embodiment, please refer to Figures 1 to 7 The joint driving device further includes a seal 906 sleeved on the sliding bearing 732 , and the second limiting sleeve 905 sleeved on the seal 906 , and the seal 906 is in sealing contact with the second limiting sleeve 905 and the sliding bearing 732 respectively.

[0100] In one embodiment, please refer to Figures 1 to 7 The housing 731 includes a first housing 7311731, a second housing 7312731, and a third housing 7313731. The heat dissipation surface 71 is formed on the first housing 7311731. The second housing 7312731 is connected to the end of the first housing 7311731 that faces the force sensor 907. The third housing 7313731 is connected to the end of the first housing 7311731 that faces the sliding bearing 732.

[0101] In one embodiment, please refer to Figures 1 to 7 , the bearing seat 6 is partially clamped between the first shell 7311731 and the second shell 7312731.

[0102] In one embodiment, please refer to Figures 1 to 7 , the stator 8 and the rotor 9 are located in the first housing 7311731.

[0103] In one embodiment, please refer to Figures 1 to 7 , the second bearing 904 is located in the first housing 7311731.

[0104] In one embodiment, the mounting arm 902 is a fisheye bearing.

[0105] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A joint driving device, characterized in that: include: A driving body having a limiting portion; The planetary roller screw comprises a transmission sleeve, a transmission shaft and a planetary roller assembly, wherein the transmission sleeve is mounted on the driving body, and the driving body drives the transmission sleeve to rotate to drive the planetary roller assembly to follow the transmission shaft and move axially along the transmission shaft, the transmission sleeve has an internal thread, and the transmission shaft includes an engaging section, a limiting section and a mounting section connected in sequence, and the mounting section extends to the outside of the driving body at one end away from the limiting section, the engaging section has an external thread, and the planetary roller assembly has a transition thread that engages with the internal thread and the external thread respectively, the planetary roller assembly is located on the side of the limiting section away from the mounting section, the engaging section limits the planetary roller assembly from moving relative to the engaging section along the axial direction of the mounting section, the limiting section protrudes at least partially from the mounting section in the radial direction of the mounting section, the limiting portion is located on the side of the limiting section facing the mounting section, and the limiting section can move to contact or disengage with the limiting portion.

2. The joint driving device according to claim 1, characterized in that: The limiting section has a limiting boss protruding from the mounting section in a radial direction of the mounting section. The limiting boss is annular in shape and contacts or disengages from the limiting portion.

3. The joint driving device according to claim 2, characterized in that: The limiting boss is in the shape of a circular ring, and the outer diameter of the limiting boss is larger than the diameter of the mounting section.

4. The joint driving device according to any one of claims 1 to 3, characterized in that: The planetary roller screw also includes an end stop assembly located at one end of the meshing section away from the mounting section, the end stop assembly is connected to one end of the transmission sleeve, the end surface of the meshing section facing the end stop assembly is a limiting surface, the planetary roller assembly is located between the limiting surface and the limiting section, and the limiting surface can move to contact or disengage with the end stop assembly.

5. The joint driving device according to claim 4, characterized in that: The joint drive device further includes a first bearing, the transmission sleeve has a first shaft shoulder, and the end stop assembly includes: an end plate mounted on one end of the transmission sleeve, the planetary roller assembly being located between the end plate and the limiting section, and the limiting surface being movable to contact or disengage with the end plate; The first limiting sleeve is threadedly connected to one end of the transmission sleeve toward the end plate. The end plate at least partially abuts against the first limiting sleeve and the transmission sleeve along the axial direction of the transmission sleeve. Both sides of the inner ring of the first bearing abut against the first limiting sleeve and the first shaft shoulder respectively.

6. The joint driving device according to claim 5, characterized in that: The joint driving device further includes a bearing seat detachably mounted on the driving body, wherein the bearing seat surrounds the first bearing, and the outer ring of the first bearing is mounted on the bearing seat.

7. The joint driving device according to any one of claims 1 to 3, characterized in that: The driving body includes: a shell assembly, wherein the limiting portion is formed on the shell assembly, the outer surface of the shell assembly includes a heat dissipation surface with varying concave and convex shapes, the end of the mounting section facing away from the limiting section extends outside the shell assembly, and the transmission sleeve, the planetary roller assembly, the meshing section, and the limiting section are all located within the shell assembly; a stator mounted inside the shell assembly, the stator being in contact with an inner surface corresponding to the heat dissipation surface of the shell assembly; The rotor is mounted on the transmission sleeve. The rotor is located in the shell assembly. The stator is used to drive the rotor to rotate so as to drive the transmission sleeve to rotate.

8. The joint driving device according to claim 7, characterized in that: The joint driving device further includes a driving control board installed in the shell assembly, the driving control board is used to control the stator to drive the rotor to rotate, the driving control board includes a power device, and the power device is in contact with the inner surface of the shell assembly.

9. The joint driving device according to claim 7, characterized in that: An accommodating cavity is formed at one end of the shell assembly facing away from the mounting section, and the joint drive device also includes a mounting arm and a force sensor at least partially located in the accommodating cavity. The radial side wall of the accommodating cavity along the transmission sleeve and / or the cavity wall of the accommodating cavity facing away from the transmission sleeve restricts the force sensor from moving out of the accommodating cavity from the side of the accommodating cavity facing away from the transmission sleeve. The force sensor is sleeved on the mounting arm, and the mounting arm extends at least partially outside the accommodating cavity along the end of the force sensor facing away from the transmission sleeve.

10. The joint driving device according to claim 9, characterized in that: The shell assembly comprises: a housing, wherein the limiting portion and the heat dissipation surface are formed in the housing, an end of the mounting section facing away from the limiting section extends outside the housing, and the stator, the rotor, the transmission sleeve, the planetary roller assembly, the meshing section, and the limiting section are all located within the housing; An end cover is connected to the end of the housing away from the transmission sleeve, and the end cover and the housing enclose the accommodating cavity. An inwardly protruding stop block is formed on the end of the end cover away from the housing to inhibit the force sensor from moving out of the accommodating cavity away from the transmission sleeve.

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