Linear driving device, humanoid robot and working equipment

Abstract

The embodiment of the utility model provides a linear driving device, a humanoid robot and operation equipment. The linear driving device comprises a rack, a driving structure, a moving structure and a shielding structure. The rack is provided with a moving groove extending in the first direction, and the moving groove penetrates through the rack. The driving structure is arranged in the rack and comprises a driving piece moving in the first direction. The moving structure is movably connected outside the rack in the first direction, and the driving piece is connected to the moving structure. The shielding structure comprises a shielding piece and a guide assembly, and the shielding piece covers the moving groove in the first direction. A penetrating channel is formed in the moving structure, the penetrating channel is provided with two openings formed in a spaced mode, the connecting position of the driving part and the moving structure is located between the two openings, the shielding part penetrates through the penetrating channel through the two openings, the guiding assembly is connected to the penetrating channel, and the shielding part located in the penetrating channel is movably connected to the guiding assembly. The linear driving device is good in sealing performance, and foreign matter is not prone to entering the device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of linear driving, in particular to a linear driving device, a humanoid robot and a working equipment. BACKGROUND

[0002] Linear motion often exists in some mechanisms such as mechanical arms, and linear driving structure needs to be used for linear motion. Some linear driving structures on the market are usually realized by driving a moving part by a driving part. The driving part and the moving part are both arranged on a fixed part, and the moving part is movably connected to the fixed part, so as to drive the moving part to move along a certain straight line by the driving part.

[0003] In the related art, the driving part and the moving part are arranged on opposite sides of the fixed part. In order to smoothly connect the two, a connecting hole needs to be formed on the fixed part, and in order to ensure that the connecting position of the moving part and the driving part can move with the moving part, the connecting hole is arranged to be formed along the moving direction of the moving part.

[0004] In this way, the linear driving structure in the related art is easy to produce a hole with a certain length, and some dust, water and other foreign matters are easy to enter the inside of the device through the hole, thereby affecting the service life and working accuracy of the device. In addition, if the operator accidentally inserts his finger, a safety accident may be caused. CONTENT OF THE INVENTION

[0005] The linear driving device, the humanoid robot and the working equipment provided by the embodiments of the present application are used to increase the sealing performance of the driving device, so that dust and other foreign matters are not easy to enter the driving device, and the service life of the driving device is ensured.

[0006] In a first aspect, the embodiments of the present application provide a linear driving device, which comprises a rack, a driving structure, a moving structure and a shielding structure. The rack has a moving slot extending along a first direction, and the moving slot penetrates through the rack. The driving structure is arranged in the rack, and the driving structure comprises a driving part moving along the first direction, and the driving part penetrates through the moving slot. The moving structure is movably connected to the outside of the rack along the first direction, the driving part is connected to the moving structure, and the driving part is used to drive the moving structure to move. The shielding structure comprises a shielding part and a guide assembly, the shielding part covers the moving slot along the first direction, and both ends of the shielding part in the first direction are fixedly connected to the rack. The moving structure is provided with a penetrating channel, the penetrating channel has two spaced apart openings, the connecting position of the driving part and the moving structure is located between the two openings, the shielding part penetrates through the penetrating channel through the two openings, the guide assembly is connected to the penetrating channel, and the shielding part in the penetrating channel is movably connected to the guide assembly.

[0007] The linear driving device provided by the embodiment of the present application is provided with a shielding member, the shielding member covers the moving groove, and the shielding member is arranged in the moving structure; when the driving member drives the moving structure to move, part of the structure of the shielding member can shuttle in the passing channel, so that the shielding member does not interfere with the movement of the moving structure, and the structure of the shielding member outside the passing channel always covers the moving groove, effectively shielding the moving groove, avoiding the problem of reduction of equipment operation life and reduction of work precision caused by foreign matters such as dust and water entering the rack, and also avoiding the problem of safety accidents caused by the operator mistakenly putting his hand into the moving groove.

[0008] In a possible implementation, the guide assembly is a rolling structure, the rolling structure is rotationally connected to the moving structure, the shielding member is arranged on the surface of the rolling structure, and the rotation axis of the rolling structure is parallel to the second direction, and the second direction is perpendicular to the first direction.

[0009] In a possible implementation, the rolling structure comprises a rolling body and connecting shafts protruding from opposite ends of the rolling body, the moving structure is provided with a receiving groove, the receiving groove comprises a receiving portion and connecting portions arranged at opposite ends of the receiving portion, the rolling body of the rolling structure is movably arranged in the receiving portion, and the connecting shafts of the rolling structure are rotationally arranged in the connecting portions through bearings.

[0010] In a possible implementation, the moving structure is further provided with a first recess at the position of the connecting portion, the first recess is in communication with the connecting portion, and a first elastic member is arranged in the first recess, and the bearing abuts against the first elastic member.

[0011] In a possible implementation, the two ends of the rolling body are further provided with flanges, and the flanges are annularly arranged on the peripheral wall of the rolling body around the rotation axis of the rolling body.

[0012] In a possible implementation, the moving structure is provided with two receiving grooves arranged at intervals on the end face of the rack, the two receiving grooves are respectively in communication with two openings of the passing channel, the guide assembly comprises at least two first rolling members and at least one second rolling member, the two first rolling members are respectively rotationally arranged in the two receiving grooves, and the second rolling member is rotationally arranged in the passing channel.

[0013] In a possible implementation, the passing channel is provided with a support, the support comprises a fixed portion connected to the moving structure and accommodation portions arranged at opposite ends of the fixed portion, the accommodation portions are provided with accommodation grooves, the second rolling member is located between the two accommodation portions, and the two ends of the second rolling member are rotationally arranged in the accommodation grooves.

[0014] In a possible implementation, a second groove is further formed in the fixing part, and a second elastic member is arranged in the second groove, and an end of the second rolling member abuts against the second elastic member when the second rolling member is located in the receiving groove.

[0015] In a possible implementation, a sunk groove is further formed in the end face of the rack towards the moving structure along the first direction, the sunk groove is communicated with the moving groove, a projection of the sunk groove on the end face of the rack towards the moving structure completely covers the moving groove, and the shielding member is adapted to the sunk groove.

[0016] In a second aspect, the embodiments of the present application further provide a humanoid robot, comprising the linear driving device.

[0017] In a third aspect, the embodiments of the present application further provide a working device, comprising the linear driving device or the humanoid robot. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.

[0019] Figure 1 A first sectional view of the linear driving device provided by the present application;

[0020] Figure 2 An exploded view of the linear driving device provided by the present application;

[0021] Figure 3 A second sectional view of the linear driving device provided by the present application;

[0022] Figure 4 A partial structural schematic view of the linear driving device provided by the present application;

[0023] Figure 5 A third sectional view of the linear driving device provided by the present application;

[0024] Figure 6 A fourth sectional view of the linear driving device provided by the present application;

[0025] Figure 7 A structural schematic view of a moving body provided by the present application;

[0026] Figure 8 A structural schematic view of connection between the second rolling member and the bracket provided by the present application;

[0027] Figure 9 A sectional view of connection between the second rolling member and the bracket provided by the present application.

[0028] KEY

[0029] 10, rack; 11, frame; 111, accommodating cavity; 112, guide structure; 113, moving groove; 114, sink groove; 12, cover plate; 13, first fixing seat; 14, second fixing seat;

[0030] 20, driving structure; 21, motor; 22, screw rod; 23, driving piece;

[0031] 30, moving structure; 31, moving main body; 311, guide groove; 312, accommodating cavity; 313, through hole; 314, accommodating groove; 3141, accommodating part; 3142, connecting part; 315, first recess; 316, first elastic piece; 32, moving cover plate; 33, penetrating channel;

[0032] 40, shielding structure; 41, shielding piece; 42, guide assembly; 421, first rolling piece; 422, second rolling piece; 4230, rolling main body; 4231, connecting shaft; 4232, flange; 4233, bearing; 4234, shaft ring;

[0033] 50, support; 51, fixing part; 511, second recess; 512, second elastic piece; 52, accommodating part; 521, accommodating groove;

[0034] 60, wire.

[0035] The specific embodiments have been shown and described in the foregoing drawings part by part, and will be described in more detail hereinafter. These drawings and detailed descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0036] The exemplary embodiments will be described in detail herein below with reference to the drawings. In the following description, the same drawings reference numbers are used to denote like or similar elements unless otherwise denoted in the drawings. The embodiments described in the following exemplary embodiments are not representative of all embodiments consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0037] According to the background, the linear driving structure in the related art cannot solve the problem of poor sealing caused by the existence of the through hole. Based on this, the linear driving device provided by the present application can cover the exposed hole or groove in the linear driving device by setting the covering piece, and will not affect the normal movement of the moving piece. The covering piece can always block the exposed hole or groove when the moving piece moves normally, so as to increase the sealing performance.

[0038] In one aspect, the embodiments of the present application provide a linear driving device and a humanoid robot having the same, the linear driving device can provide a driving force in a linear direction to drive some parts of the humanoid robot to move linearly in a predetermined direction.

[0039] For the convenience of description, the X direction is used to represent the first direction, the Y direction is used to represent the second direction, and the Z direction is used to represent the third direction in Figure 1 and Figure 2 , Figure 1 and Figure 2 , where the first direction, the second direction and the third direction are perpendicular to each other.

[0040] The linear driving device in the present application can provide a driving force in the first direction to drive an object to move in the first direction. It can be understood that the linear motion provided by the linear driving device of the present application is a reciprocating motion, i.e., it can move back and forth in the first direction.

[0041] Referring to Figure 1 and Figure 2 , in some implementable ways, the linear driving device of the present application includes a rack 10, a driving structure 20, a moving structure 30 and a shielding structure 40. The rack 10 is the main body of the linear driving device, which is mainly used to mount the components of the driving device, such as the driving structure 20 and the moving structure 30, which can be connected to the rack 10. In addition, when the linear driving device of the present application is applied to a work equipment, the rack 10 is also used to mount and fix on the work equipment to provide driving function for the work equipment.

[0042] In the present application, the driving structure 20 is used to drive the moving structure 30 to move, and the driving structure 20 and the moving structure 30 are both arranged on the rack 10, but they are separated by a barrier, which can be a structure on the rack 10 for connecting the driving structure 20 and the moving structure 30, and the driving structure 20 and the moving structure 30 are located on opposite sides of the structure. In order to realize the smooth connection of the driving structure 20 and the moving structure 30, and in order to realize that the driving structure 20 can drive the moving structure 30 in the first direction, the rack 10 has a moving groove 113 extending in the first direction, the moving groove 113 penetrates the rack 10, and the moving groove 113 can be used as a connecting groove when the driving structure 20 and the moving structure 30 are connected, and also can be used as a gap groove when the structure connected by the driving structure 20 and the moving structure 30 moves with the moving structure 30.

[0043] In the embodiments of the present application, the rack 10 is a box structure, the driving structure 20 is arranged in the rack 10, and the driving structure 20 includes a driving member 23 moving in the first direction, the driving member 23 penetrates the moving groove 113, and the driving member 23 can move along the moving groove 113.

[0044] The mobile structure 30 of the present application is movably connected to the frame 10 in the first direction, and at least part of the mobile structure 30 can be arranged opposite the mobile slot 113. In this way, the driving member 23 passing through the mobile slot 113 can be connected to the mobile structure 30, and when the driving member 23 moves along the mobile slot 113, the mobile structure 30 can be driven.

[0045] The shielding structure 40 comprises a shielding member 41 and a guide assembly 42. The shielding member 41 covers the mobile slot 113 in the first direction to shield the mobile slot 113, and the two ends of the shielding member 41 are fixedly connected to the frame 10 in the first direction.

[0046] The mobile structure 30 is provided with a passing channel 33 having two spaced apart openings, and the connection position of the driving member 23 and the mobile structure 30 is located between the two openings. When the two ends of the shielding member 41 are fixedly connected to the frame 10, one end can be fixed to the frame 10 first, and the other end can extend in the first direction and enter the passing channel 33 from the opening of the passing channel 33 closer to the shielding member 41, and then exit from the other opening. After the shielding member 41 exits, it continues to extend in the first direction to the fixed position and is fixed to the frame 10. In this way, the structure of the shielding member 41 between the two fixed ends can pass through the passing channel 33 through the two openings.

[0047] It can be understood that since the connection position of the driving member 23 and the mobile structure 30 is located between the two openings of the passing channel 33, when the shielding member 41 passes through the passing channel 33, the structure of the shielding member 41 in the passing channel 33 avoids the connection position of the driving member 23 and the mobile structure 30. At this time, if the driving member 23 drives the mobile structure 30 to move, the connection position between the driving member 23 and the mobile structure 30 can still move along the mobile slot 113.

[0048] The guide assembly 42 is connected to the passing channel 33, and the shielding member 41 passing through the passing channel 33 is movably connected to the guide assembly 42, so that the shielding member 41 can move relative to the mobile structure 30.

[0049] The present application can shield the mobile slot 113 by arranging the shielding member 41. The shielding member 41 of the present application also passes through the mobile structure 30, and the shielding member 41 passing through the mobile structure 30 can be movably connected to the mobile structure 30. In this way, when the mobile structure 30 moves in the first direction, the shielding member 41 can shuttle in the passing channel 33 to avoid interfering with the movement of the mobile structure 30. In addition, the connection position of the driving member 23 and the mobile structure 30 is arranged in the middle of the position where the shielding member 41 passes into and out of the mobile structure 30, so that the driving member 23 can avoid the shielding member 41 and be smoothly connected to the mobile structure 30. In this way, the driving member 23 can smoothly drive the mobile structure 30.

[0050] Therefore, the present application sets the shielding piece 41, the shielding piece 41 covers the moving groove 113, and the shielding piece 41 is arranged in the moving structure 30. When the moving structure 30 is driven to move by the driving piece 23, part of the structure of the shielding piece 41 can shuttle in the passing channel 33, so as not to interfere with the movement of the moving structure 30, and the structure of the shielding piece 41 outside the passing channel 33 always covers the moving groove 113, effectively shielding the moving groove 113, avoiding the problem of reducing the service life and work precision of the equipment caused by the foreign matter such as dust and moisture entering the inside of the rack 10, and also avoiding the problem of safety accidents caused by the operator mistakenly putting his hand into the moving groove 113.

[0051] In combination Figure 3 And Figure 4 As shown in the figure, in some realizable ways, the guide assembly 42 can be a rolling structure, the rolling structure is rotationally connected to the moving structure 30, and the shielding piece 41 can be arranged around the surface of the rolling structure. The rotation axis of the rolling structure is parallel to the second direction, and the second direction is perpendicular to the first direction. During the movement of the moving structure 30, the shielding piece 41 can move relative to the moving structure 30 by rolling of the rolling structure. By setting the guide assembly 42 as a rolling structure, the shielding piece 41 can produce rolling friction when moving relative to the moving structure 30, which reduces the frictional resistance and reduces the resistance between the moving structure 30 and the shielding piece 41, which is beneficial to reduce the difficulty of relative movement between the moving structure 30 and the shielding piece 41.

[0052] It should be noted that the rolling structure can be provided with one or more, and at least one rolling structure is arranged in the passing channel 33, so that the shielding piece 41 passing through the passing channel 33 can be arranged around the surface of the rolling structure, which is beneficial to the movement of the shielding piece 41 passing through the passing channel 33.

[0053] It is worth mentioning that the guide assembly 42 can not only be set as a rolling structure, but also as a fixed structure, or a combination of a rolling structure and a fixed structure. For example, when the guide assembly 42 is a fixed structure, the guide assembly 42 can be an outward convex structure, and the surface of the outward convex structure is an arc surface. The surface of the shielding piece 41 can be fitted on the arc surface of the outward convex structure, so that the shielding piece 41 can move around the arc surface.

[0054] The specific structure of the guide assembly 42 is not limited, and the guide assembly 42 is taken as a rolling structure in the present application for illustration.

[0055] In some possible implementation manners, the rolling structure includes a rolling body 4230 and connecting shafts 4231 protruding from opposite ends of the rolling body 4230, and the rolling body 4230 is rotationally connected to the moving structure 30 through the connecting shafts 4231 at the two ends, and the shielding member 41 is arranged around the surface of the rolling body 4230.

[0056] It should be noted that the rolling body 4230 is in a cylindrical shape, to ensure the smoothness of the connection between the shielding member 41 and the rolling body 4230, and the rotation axis of the connecting shaft 4231 is coaxially arranged with the central axis of the rolling body 4230.

[0057] In addition, the connecting shaft 4231 is sleeved with a bearing 4233, and the end of the connecting shaft 4231 away from the rolling body 4230 can be provided with a ring groove, and the ring groove can be used to connect a ring 4234, when the bearing 4233 is sleeved on the connecting shaft 4231, the bearing 4233 is located between the rolling body 4230 and the ring groove, at this time, the ring 4234 can be connected in the ring groove, the ring 4234 and the rolling body 4230 sandwich the bearing 4233 on the connecting shaft 4231, to realize the connection between the bearing 4233 and the connecting shaft 4231. By arranging the bearing 4233 on the connecting shaft 4231, the outer ring of the bearing 4233 can be connected to the moving structure 30, so that the connecting shaft 4231 is rotationally connected to the moving structure 30.

[0058] Referring to FIGS. 14 and 15, Figure 1 , Figure 3 , Figure 5 , Figure 6 and Figure 7 In some possible implementation manners, in order to reduce the space occupied by the guide assembly 42 as much as possible, the moving structure 30 is provided with an accommodation groove 314 for accommodating the rolling structure, and the rolling structure can be accommodated in the accommodation groove 314. Specifically, the accommodation groove 314 includes an accommodation portion 3141 and connecting portions 3142 arranged at the two ends of the accommodation portion 3141, the connecting portions 3142 are communicated with the accommodation portion 3141, the extension direction of the accommodation groove 314 is parallel to the rotation axis of the rolling structure, and the connecting portions 3142 are located at the two ends of the extension direction of the accommodation groove 314. The rolling body 4230 of the rolling structure is movably arranged in the accommodation portion 3141, and the connecting shaft 4231 of the rolling structure is rotationally arranged in the connecting portion 3142 through the bearing 4233.

[0059] It can be understood that, in order to ensure that the shielding member 41 can be arranged around the rolling body 4230, the accommodation portion 3141 needs to be provided with an opening, and part of the structure of the rolling body 4230 can protrude out of the accommodation portion 3141 through the opening of the accommodation portion 3141, and the shielding member 41 can be arranged around the position of the rolling body 4230 protruding out of the accommodation portion 3141. In order to facilitate the placement of the bearing 4233 and the connecting shaft 4231 in the connecting portion 3142, the connecting portion 3142 is also provided with an opening.

[0060] It should be noted that the accommodating groove 314 can be arranged inside the penetrating passage 33, or can also be arranged outside the penetrating passage 33 of the moving structure 30. When the accommodating groove 314 is arranged outside the penetrating passage 33, the accommodating groove 314 is arranged close to the opening of the penetrating passage 33, and the accommodating portion 3141 of the accommodating groove 314 is communicated with the opening of the penetrating passage 33. In this way, the shielding piece 41 arranged around the rolling body 4230 can directly pass through the opening of the penetrating passage 33 into the penetrating passage 33 from the accommodating portion 3141.

[0061] It should be further noted that when the bearing 4233 of the rolling structure is arranged in the connecting portion 3142, the bearing 4233 can be fixedly connected to the moving structure 30 or can be directly placed in the connecting portion 3142. When the bearing 4233 is fixedly connected to the moving structure 30, the rolling body 4230 will not be deviated in position relative to the moving structure 30.

[0062] In the present application, when the bearing 4233 of the rolling structure is directly placed in the connecting portion 3142, because the shielding piece 41 needs to be arranged around the part of the rolling body 4230 protruding from the accommodating portion 3141, when the shielding piece 41 is arranged around the surface of the rolling body 4230, the rolling body 4230 is clamped between the shielding piece 41 and the moving structure 30. In the present application, the shielding piece 41 can be arranged as a flexible piece (for example, can be made of rubber material or nylon material, etc.), and when the two ends of the shielding piece 41 are fixed on the rack 10, the shielding piece 41 is in a tension state. In this way, the rolling body 4230 can be clamped in the accommodating groove 314 by the tension of the shielding piece 41. Even if the bearing 4233 of the rolling structure is not fixedly connected to the moving structure 30, the rolling structure can be prevented from being separated from the accommodating groove 314 by the shielding piece 41.

[0063] It should be noted here that because the bearing 4233 is directly placed in the connecting portion 3142, in order to avoid the position deviation of the bearing 4233 in the connecting portion 3142, the space of the connecting portion 3142 is arranged to be adapted to the outer dimension of the bearing 4233, so that the bearing 4233 can only move towards the opening of the connecting portion 3142.

[0064] In some possible implementation manners, when the rolling structure is directly placed in the accommodating groove 314, the moving structure 30 is further provided with a first recess 315 communicated with the connecting portion 3142 at the position of the connecting portion 3142, and the first recess 315 is formed from the bottom wall of the connecting portion 3142 and away from the opening direction of the connecting portion 3142. The first recess 315 is provided with a first elastic member 316, and the end of the first elastic member 316 protrudes out of the first recess 315 in a normal state. When the bearing 4233 is located in the connecting portion 3142, the bearing 4233 can abut against the first elastic member 316. When the shielding member 41 is arranged around the rolling body 4230, the shielding member 41 has a pressure applied on the rolling body 4230, and at this time, the bearing 4233 presses and compresses the first elastic member 316, and the first elastic member 316 generates an elastic force towards the bearing 4233, so that the position of the rolling structure in the accommodating groove 314 is more stable under the action of the extrusion force of the shielding member 41 and the elastic force of the first elastic member 316. In addition, by arranging the first elastic member 316, when the shielding member 41 is arranged around the rolling body 4230, the first elastic member 316 can provide an elastic force, which is beneficial to completely adhere the shielding member 41 to the surface of the rolling body 4230, so that the two sides of the shielding member 41 are not easy to be warped, the sealing performance is improved, and the first elastic member 316 can also compensate for the error generated during the structure processing or installation.

[0065] It can be understood that the first recess 315 can be arranged in the connecting portion 3142 at both ends of the accommodating portion 3141, and the first elastic member 316 is arranged in the first recess 315 at both ends, so that the bearings 4233 at both ends of the rolling structure can abut against the first elastic member 316.

[0066] For example, the first elastic member 316 can be a spring.

[0067] Of course, in some possible implementation manners, the rolling structure can also not be provided with the bearing 4233, but directly arranged in the connecting portion 3142 through the connecting shaft 4231, and at this time, the connecting shaft 4231 can be a cylindrical shaft, and a plating layer is coated on the outer surface of the connecting shaft 4231, the end surface of the rolling body 4230 used for connecting the connecting shaft 4231 and the inner wall of the connecting portion 3142, for example, a PTFE (Polytetrafluoroethylene) material, so that the friction between the contact surfaces can be reduced.

[0068] In some possible implementation manners, the shielding member 41 is arranged around the surface of the rolling body 4230, and when the moving structure 30 moves in the first direction, the rolling body 4230 rolls along the surface of the shielding member 41. When the rolling body 4230 rolls along the surface of the shielding member 41, the shielding member 41 is more likely to deviate from the surface of the rolling body 4230, for example, the shielding member 41 can deviate along the axis of the rolling body 4230, which causes the force applied by the shielding member 41 on the rolling body 4230 to be uneven, affects the smoothness of the rolling of the rolling body 4230, and also causes the shielding member 41 to deviate from the original position, so that the shielding member 41 is separated from the sealing position of the moving groove 113, and the sealing performance of the moving groove 113 is reduced.

[0069] Therefore, in the embodiment of the present application, the rolling body 4230 is further provided with flanges 4232 at both ends, the flanges 4232 are arranged around the rotating shaft of the rolling body 4230 and on the peripheral wall of the rolling body 4230, and the two flanges 4232 are arranged at intervals, and the interval between the two flanges 4232 is adapted to the size of the shielding member 41 in the axial direction of the rolling body 4230. In this way, the two flanges 4232 and the surface of the rolling body 4230 can form a limiting space therearound, and the shielding member 41 arranged around the surface of the rolling body 4230 can be limited in the limiting space, so as to prevent the shielding member 41 from deviating along the surface of the rolling body 4230.

[0070] Referring to FIGS. 13 and 14, Figure 1 and Figure 7 In some possible implementation manners, the moving structure 30 is provided with two accommodating grooves 314 arranged at intervals on the end face facing the rack 10, the two accommodating grooves 314 are respectively arranged close to and communicated with the two openings of the penetrating channel 33. The guide assembly 42 at least includes two first rolling members 421, the first rolling member 421 is the rolling structure described above, and the structure of the first rolling member 421 is consistent with the rolling structure described above, and the two first rolling members 421 are respectively rotationally arranged in the two accommodating grooves 314.

[0071] It should be noted that the two openings of the penetrating passage 33 are arranged along the first direction, and the two accommodating grooves 314 are also arranged along the first direction, and the connecting position of the driving member 23 and the moving structure 30 is located between the two accommodating grooves 314. In this way, when one end of the shielding member 41 is fixedly connected to the rack 10, the other end of the shielding member 41 can extend along the first direction, and the end of the shielding member 41 can first rotate around the rolling body 4230 arranged in the accommodating groove 314 close to the fixed end of the shielding member 41 during the extension process, at this time, the contact surface between the rolling body 4230 and the shielding member 41 is the end face of the two rolling bodies 4230 opposite to each other. After the shielding member 41 rotates around the rolling body 4230, it continues to extend towards the opening of the penetrating passage 33, extends into the penetrating passage 33 through the opening, and then the end of the shielding member 41 extends along the penetrating passage 33 to the other opening and extends out of the other opening. The shielding member 41 after extending out can rotate around the surface of the rolling body 4230 arranged in the other accommodating groove 314, and the end of the shielding member 41 after rotating around the rolling body 4230 continues to extend along the first direction to the fixed position on the rack 10.

[0072] Referring to Figure 2 , Figure 8 and Figure 9 , in some possible implementation manners, the guide assembly 42 can further include at least one second rolling member 422, and the structure of the second rolling member 422 is consistent with or substantially consistent with the structure of the first rolling member 421. It should be noted that substantially consistent means that the rolling body 4230 of the first rolling member 421 or the second rolling member 422 is provided with a flange 4232, and when the rolling body 4230 of the first rolling member 421 and the second rolling member 422 is provided with or not provided with the flange 4232, the structures of the first rolling member 421 and the second rolling member 422 are consistent. The second rolling member 422 is located in the penetrating passage 33, and when the shielding member 41 penetrates the penetrating passage 33, the shielding member 41 located in the penetrating passage 33 can rotate around the rolling body 4230 of the second rolling member 422. In this way, the relative movement between the shielding member 41 and the moving structure 30 can be realized by cooperation of the two first rolling members 421 and the second rolling member 422. Of course, in other possible implementation manners, the number of the second rolling members 422 is not limited, and one or more second rolling members 422 can be arranged, and the connecting position of the first rolling member 421 and the moving structure 30 can also be not limited, and can be arranged close to the opening of the penetrating passage 33 or arranged in the penetrating passage 33.

[0073] It should be noted that the channel wall of the channel 33 can be provided with a receiving groove 314 for rotationally connecting the second rolling member 422, or in the embodiment of the present application, a bracket 50 is provided in the channel 33, and the second rolling member 422 is rotationally connected to the bracket 50. It is worth mentioning that the second rolling member 422 is connected to one end of the bracket 50 away from the first rolling member 421, so as to increase the distance between the second rolling member 422 and the first rolling member 421 in the third direction, so as to facilitate the shielding member 41 to be close to the first rolling member 421 and the second rolling member 422.

[0074] For example, the bracket 50 at least includes a fixed part 51 connected to the moving structure 30 and a receiving part 52 provided at opposite ends of the fixed part 51. The receiving part 52 can be detachably connected to the fixed part 51 by screws or other structures, or the receiving part 52 can be integrally formed with the fixed part 51. The two receiving parts 52 are provided on the same side of the fixed part 51, the fixed part 51 extends along the second direction, and the two receiving parts 52 are arranged on the fixed part 51 along the second direction. The second rolling member 422 can be rotationally arranged between the two receiving parts 52.

[0075] Specifically, the receiving part 52 is provided with a receiving groove 521, and the receiving groove 521 is provided with an opening. The openings of the receiving grooves 521 on the two receiving parts 52 face each other in the second direction. The second rolling member 422 is located between the two receiving parts 52, and the shafts at both ends of the second rolling member 422 are rotationally connected to the receiving grooves 521.

[0076] It should be noted that the distance between the groove bottoms of the two receiving grooves 521 (the end faces of the receiving grooves 521 away from the openings) is consistent with the size between the opposite ends of the second rolling member 422 in the shaft direction of the second rolling member 422. When the second rolling member 422 is located between the two receiving parts 52, the end faces (the end faces away from the two connecting shafts 4231 or the end faces away from the two bearings 4233) of the second rolling member 422 in the shaft direction are fitted to the groove bottoms of the corresponding receiving grooves 521, so as to prevent the second rolling member 422 from moving along the shaft.

[0077] It should be noted that the bearings 4233 of the second rolling member 422 can be fixedly connected to the receiving part 52, or the bearings 4233 of the second rolling member 422 can be directly placed in the receiving groove 521. When the shielding member 41 is wound around the rolling body 4230 of the second rolling member 422, the tension of the shielding member 41 can press the second rolling member 422 between the two receiving parts 52, so that the second rolling member 422 is not easy to be separated from the space between the two receiving parts 52.

[0078] For example, when the bearing 4233 of the second rolling element 422 is directly placed in the accommodation groove 521, a second groove 511 is further formed on the fixed part 51, the second groove 511 is formed on the fixed part 51 at a position corresponding to the accommodation groove 521, the second groove 511 is in communication with the accommodation groove 521, and a second elastic element 512 is further arranged in the second groove 511. In a free state, one end of the second elastic element 512 extends out of the second groove 511 and is located in the accommodation groove 521, and when the bearing 4233 of the second rolling element 422 is located in the accommodation groove 521, the bearing 4233 can abut against the one end of the second elastic element 512 located in the accommodation groove 521. When the shielding element 41 is arranged around the second rolling element 422, the bearing 4233 of the second rolling element 422 is pressed against the second elastic element 512 under the tension of the shielding element 41, at this time, the second elastic element 512 is compressed and exerts an elastic force on the bearing 4233 of the second rolling element 422, and under the action of the tension of the shielding element 41 and the elastic force of the second elastic element 512, the bearing 4233 of the second rolling element 422 is clamped in the accommodation groove 521. Further, by arranging the second elastic element 512, the second rolling element 422 can also be provided with a buffering effect. In addition, by arranging the second elastic element 512, when the shielding element 41 is arranged around the rolling body 4230, the second elastic element 512 can provide an elastic force, which is beneficial to completely adhere the shielding element 41 to the surface of the rolling body 4230, so that the two sides of the shielding element 41 are not easy to be warped, the sealing performance is improved, and the second elastic element 512 can also compensate for errors generated during structure processing or installation.

[0079] For example, the second elastic element 512 is a spring.

[0080] Of course, in some possible implementation manners, the second rolling element 422 can also not be provided with the bearing 4233, and can be directly arranged in the accommodation groove 521 by rotating the connecting shaft 4231, at this time, the connecting shaft 4231 can be arranged as a cylindrical shaft, and a plating layer is coated on the outer surface of the connecting shaft 4231, the end surface of the rolling body 4230 for connecting with the connecting shaft 4231, and the inner wall of the accommodation groove 521, for example, a PTFE (Polytetrafluoroethylene) material is coated, so that the friction between the contact surfaces can be reduced.

[0081] Referring to Figures 1 to 3 In a possible implementation manner, the moving structure 30 includes a moving body 31 and a moving cover plate 32 connected together, the moving body 31 is provided with an open accommodation cavity 312, and the moving cover plate 32 is connected to one end of the moving body 31 at which the accommodation cavity 312 is open. The moving cover plate 32 can close the accommodation cavity 312, and the moving cover plate 32 can be detachably connected to the moving body 31 by clamping, buckling or screwing, so that the moving cover plate 32 and the moving body 31 can be assembled and disassembled, thereby facilitating opening or closing of the accommodation cavity 312.

[0082] The moving body 31 is penetrated by two spaced-apart through holes 313 at one end of the rack 10, the driving member 23 and the moving body 31 are connected together by screws or by a clamping structure or a buckling structure, and the connection position of the two is between the two through holes 313, both of which are communicated with the accommodating cavity 312 inside the moving body 31, and a through channel 33 is formed between the two through holes 313 and the accommodating cavity 312.

[0083] In some implementable manners, the accommodating groove 314 is opened at the end face of the moving body 31 away from the moving cover plate 32, the bracket 50 is arranged in the accommodating cavity 111 of the moving body 31, and the bracket 50 is fixedly connected to the moving body 31 by screws, and the bracket 50 is located between the two through holes 313.

[0084] It should be noted that the moving structure 30 and the rack 10 are also connected with the wire 60, which needs to be stretched out from the inside of the rack 10 and into the moving body 31. At this time, the wire 60 can be arranged close to the driving member 23, and the wire 60 is stretched out from the through hole 313 on the moving body 31 into the moving body 31 after the driving member 23 is stretched out from the moving groove 113 to the rack 10.

[0085] Or a through hole can also be opened on the driving member 23, and a through hole is also opened at the position of the moving body 31 corresponding to the connection of the driving member 23, and the two through holes are arranged opposite when the driving member 23 is connected to the moving body 31. The wire 60 can be directly stretched out from the through hole of the driving member to the rack 10 without passing through the moving groove 113, and the wire 60 passing through the driving member 23 can be directly stretched into the moving body 31 from the through hole on the moving body 31.

[0086] In some implementable manners, the rack 10 includes a frame body 11 and a cover plate 12, the frame body 11 is provided with an accommodating cavity 111 with an opening, the cover plate 12 is connected to the opening of the accommodating cavity 111 of the frame body 11, and the driving structure 20 is located in the accommodating cavity 111. The end face of the frame body 11 away from the cover plate 12 is provided with a guide structure 112 along the first direction, and the guide structure 112 is a guide rail. Two spaced-apart guide structures 112 are arranged on the end face of the frame body 11 away from the cover plate 12, and the moving groove 113 is located between the two spaced-apart guide structures 112. The moving body 31 is provided with a guide groove 311 at the position corresponding to the guide structure 112 of the end face of the frame body 11, and the guide groove 311 is opened along the first direction. The guide structure 112 can be adaptively inserted into the guide groove 311, and when the driving member 23 is fixedly connected to the moving body 31 and drives the moving body 31 to move, the cooperation of the guide structure 112 and the guide groove 311 can limit the movement path of the moving body 31, so that the movement is more stable.

[0087] In some possible implementation manners, the frame body 11 is further provided with a sink groove 114 on the end surface facing the moving structure 30 in the first direction, the sink groove 114 is communicated with the moving groove 113, the orthographic projection of the sink groove 114 on the end surface of the frame body 11 facing the moving structure 30 completely covers the moving groove 113, and the shielding piece 41 can be fitted into the sink groove 114. By arranging the sink groove 114, the shielding piece 41 can be accommodated in the sink groove 114. Since the shielding piece 41 has a certain thickness, the sink groove 114 can play a role of giving way, so as to reduce the size of the entire device in the third direction. In addition, the sink groove 114 can also limit the position of the shielding piece 41, so that the shielding piece 41 is not easy to move relative to the moving groove 113, so as to ensure that the shielding piece 41 always covers the moving groove 113.

[0088] In some possible implementation manners, the driving structure 20 includes a motor 21 and a lead screw 22, the lead screw 22 is coaxially connected to the output shaft of the motor 21, the lead screw 22 extends in the first direction, and the driving piece 23 is provided with a threaded hole away from the end connected with the moving body 31, the driving piece 23 is screwed to the lead screw 22 through the threaded hole, the groove width of the moving groove 113 is consistent with the size of the driving piece 23 in the groove width direction of the moving groove 113, so that the driving piece 23 passing through the moving groove 113 can be limited by the moving groove 113, and the rotation of the driving piece 23 is limited, when the motor 21 drives the lead screw 22 to rotate, the rotation of the lead screw 22 can only drive the driving piece 23 to move linearly along the moving groove 113.

[0089] The frame body 11 is further provided with a first fixing seat 13 and a second fixing seat 14, the first fixing seat 13 and the second fixing seat 14 are fixedly connected to the inner wall of the frame body 11 through screws, the motor 21 is fixedly connected to the first fixing seat 13, the end of the lead screw 22 away from the motor 21 is rotatably connected to the second fixing seat 14, and the driving piece 23 is screwed to the position of the lead screw 22 between the two fixing seats.

[0090] In a second aspect, the embodiments of the present application further provide a humanoid robot, which includes the linear driving device.

[0091] In a third aspect, the embodiments of the present application further provide a work equipment, which includes the linear driving device; or in some examples, the work equipment includes one of a humanoid robot, a wheeled robot and many other robot devices, or in other examples, the work equipment can also be a device composed of multiple types of the humanoid robot, the wheeled robot and many other robot devices.

[0092] It should be understood that many variations can be made in the embodiments described and shown which should be considered within the scope of the present application as defined by the appended claims.

Claims

1. A linear drive device, characterized in that, include: A frame having a movable slot extending along a first direction, the movable slot penetrating the frame; A drive structure is disposed within the frame, the drive structure including a drive member that moves along a first direction, the drive member passing through the moving slot; A movable structure is movably connected to the outside of the frame along the first direction, and a driving member is connected to the movable structure for driving the movable structure to move. as well as A shielding structure, the shielding structure including a shielding member and a guiding assembly, the shielding member covering the moving groove along a first direction, and the two ends of the shielding member in the first direction being fixedly connected to the frame; The movable structure is provided with a through-channel, which has two spaced-apart openings. The connection position between the driving member and the movable structure is located between the two openings. The blocking member passes through the through-channel through the two openings. The guiding component is connected to the through-channel, and the blocking member located in the through-channel is movably connected to the guiding component.

2. The linear drive device according to claim 1, characterized in that, The guiding component is a rolling structure, which is rotatably connected to the moving structure. The blocking member is arranged around the surface of the rolling structure. The axis of rotation of the rolling structure is parallel to a second direction, and the second direction is perpendicular to the first direction.

3. The linear drive device according to claim 2, characterized in that, The rolling structure includes a rolling body and connecting shafts protruding from opposite ends of the rolling body. The moving structure is provided with a receiving groove, which includes a receiving portion and connecting portions provided at both ends of the receiving portion. The rolling body of the rolling structure is movably disposed in the receiving portion, and the connecting shaft of the rolling structure is rotatably disposed in the connecting portion via bearings.

4. The linear drive device according to claim 3, characterized in that, The movable structure also has a first groove communicating with the connecting part at the connecting part, and a first elastic element is provided in the first groove, and the bearing abuts against the first elastic element.

5. The linear drive device according to claim 3, characterized in that, Both ends of the rolling body are also provided with flanges, which are arranged around the pivot of the rolling body on the peripheral wall of the rolling body.

6. The linear drive device according to claim 3, characterized in that, The movable structure has two spaced-apart receiving slots on its end face facing the frame. The two receiving slots are respectively connected to two openings of the through-channel. The guiding component includes at least two first rolling elements and at least one second rolling element. The two first rolling elements are rotatably disposed in the two receiving slots, and the second rolling element is rotatably disposed in the through-channel.

7. The linear drive device according to claim 6, characterized in that, A support is provided in the passageway. The support includes a fixed part connected to the movable structure and a receiving part provided at opposite ends of the fixed part. The receiving part is provided with a receiving groove. The second rolling member is located between the two receiving parts, and both ends of the second rolling member are rotatably disposed in the receiving groove.

8. The linear drive device according to claim 7, characterized in that, The fixing part is also provided with a second groove, and a second elastic member is provided in the second groove. When the end of the second rolling member is located in the receiving groove, it abuts against the second elastic member.

9. A humanoid robot, characterized in that, Includes the linear drive device as described in any one of claims 1-8.

10. A working device, characterized in that, Includes the linear drive device as described in any one of claims 1-8; or the humanoid robot as described in claim 9.

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