Linear joint module and robot

Abstract

The utility model discloses a linear joint module and robot relates to robot technical field, wherein the linear joint module includes casing, drive mechanism and detection mechanism, the casing has inner cavity and with the movable mouth of inner cavity intercommunication, inner cavity has first inner side wall, first inner side wall and the movable mouth set up oppositely, drive mechanism is provided in the inner cavity, and the detection mechanism is provided with the movable mouth set up oppositely to the first inner side wall. The driving mechanism comprises a rod piece and a driving assembly, the rod piece is movably arranged in the movable opening, the driving assembly is used for driving the rod piece to reciprocate in the axial direction of the machine shell, the rod piece is used for applying acting force to the first inner side wall through the driving assembly during movement, and the detection mechanism is arranged on the first inner side wall and comprises a strain gauge and a signal detection piece; the strain gauge is used for deforming when the first inner side wall is subjected to acting force, and the signal detection piece is used for detecting the push-pull force of the linear joint module through strain gauge deformation; the overall weight of the linear joint module can be reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a kind of linear joint module and robot. BACKGROUND

[0002] The linear joint module of the robot of prior art, by setting push-pull force sensor in module tail portion, to carry out push-pull force detection. Push-pull force sensor is set in module tail portion, and the required installation space is larger, and the weight is heavier, and the cost is higher. SUMMARY

[0003] The main purpose of the utility model is to propose a kind of linear joint module and robot, to reduce the requirement of push-pull force detection element in linear joint module to installation space, reduce the overall weight of linear joint module.

[0004] To achieve the above-mentioned purpose, the linear joint module provided by the utility model comprises:

[0005] The shell has an inner cavity and a movable port communicating with the inner cavity, and the inner cavity has a first inner side wall opposite to the movable port;

[0006] The driving mechanism is provided in the inner cavity, and the driving mechanism includes a rod and a driving assembly, the rod is movably arranged in the movable port, the driving assembly is used to drive the rod to reciprocate along the axial direction of the shell, and the rod is used to apply a force to the first inner side wall through the driving assembly during movement; and

[0007] The detection mechanism includes a strain gauge arranged on the first inner side wall and a signal detection element electrically connected to the strain gauge, the strain gauge is used to deform when the first inner side wall is subjected to a force, and the signal detection element is used to detect the push-pull force of the linear joint module through the deformation of the strain gauge.

[0008] In an embodiment, the signal detection element includes a circuit substrate and a signal processing circuit arranged on the circuit substrate, the signal processing circuit is electrically connected to the strain gauge and the driving assembly, the signal processing circuit is used to obtain a resistance value change signal when the strain gauge deforms, and is used to convert the resistance value change signal into a push-pull force signal to be transmitted to the driving assembly.

[0009] In an embodiment, the circuit substrate is arranged in the inner cavity and located on one side of the first inner side wall.

[0010] In an embodiment, the driving assembly comprises a rotating shaft and a nut, the rotating shaft extends axially along the shell, the nut is arranged at an end of the rotating shaft away from the first inner side wall, the rotating shaft is used to drive the nut to rotate, a threaded portion is arranged on a segment of the rod towards the driving assembly, the nut is threadedly connected with the threaded portion, and the rod is used to move linearly along the rotating shaft axially when the nut rotates.

[0011] In an embodiment, the driving assembly further comprises a bearing member mounted to the inner circumferential wall of the inner cavity, the rotating shaft is rotatably mounted to the bearing member, the rod is used to apply a force to the nut away from a side of the rod in a moving direction when the rod moves, and the nut is used to transmit the force to the first inner side wall through the rotating shaft, the bearing member and the inner circumferential wall of the shell.

[0012] In an embodiment, the strain gauge comprises a first strain unit and a second strain unit, and the first strain unit and the second strain unit are arranged in a wedge shape.

[0013] The signal detection member is used to detect a positive deformation change of the first inner side wall through the first strain unit and is used to detect a reverse deformation change of the first inner side wall through the second strain unit.

[0014] In an embodiment, the strain gauge is arranged at least one.

[0015] In an embodiment, the strain gauge is arranged at two, and the two strain gauges are arranged oppositely.

[0016] Alternatively, the strain gauge is arranged at four, the four strain gauges are arranged circumferentially and oppositely along the first inner side wall.

[0017] In an embodiment, the shell comprises a shell body and a shell cover, the shell body is provided with an opening, the movable port and the inner cavity communicating between the opening and the movable port, the shell cover is arranged at the opening, a side of the shell cover facing the opening forms the first inner side wall, and a first joint bearing is connected to a side of the shell cover away from the opening.

[0018] The utility model further provides a robot which comprises the linear joint module.

[0019] The technical scheme of the utility model discloses a detection mechanism including strain gauge and signal detection piece, sets up the detection mechanism in the first inner side wall of the inner chamber of the casing, sets up the drive assembly in the casing, and the drive rod piece does reciprocating motion along the casing axial direction, and when the rod piece does linear reciprocating motion, the first inner side wall can be subjected to the driving assembly to exert the force, and the strain gauge can be subjected to the corresponding deformation to obtain the strain gauge resistance value change signal, so that the driving assembly can be calculated to obtain the push-pull force exerted to the rod piece, so that the linear joint module push-pull force detection is realized, compared with the mode that the detection sensor is externally arranged on the casing, the installation space required by the detection mechanism is smaller, the overall structure is more compact, the weight is lighter, and the cost of the linear joint module is lower. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to the structure shown in the drawings without creative labor for those skilled in the art.

[0021] Figure 1 The structural schematic diagram of the linear joint module one embodiment provided by the utility model is shown in the figure.

[0022] Figure 2 The structural schematic diagram of the strain gauge assembly in the utility model is shown in the figure. Figure 1

[0023] Figure 3 The structural schematic diagram of the strain gauge assembly in the utility model is shown in the figure. Figure 1

[0024] Figure 4 The structural schematic diagram of the strain gauge assembly in the utility model is shown in the figure. Figure 1

[0025] BRIEF DESCRIPTION OF DRAWINGS

[0026] 100, linear joint module;10, casing;101, inner chamber;102, movable port;103, opening;104, first inner side wall;105, second inner side wall;11, shell;111, first shell;112, second shell;12, shell cover;20, driving mechanism;21, rod piece;22, drive assembly;221, rotating shaft;222, nut;223, stator;224, rotor;225, driver;226, encoder;227, bearing piece;30, detection mechanism;31, strain gauge;32, circuit substrate;40, guide part;41, guide groove;50, first joint bearing. ​​​

[0027] The purposes, functional features and advantages of the utility model will be further explained in combination with embodiments and with reference to the drawings. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the utility model will be clearly and completely described below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0029] It should be noted that if the embodiments of the utility model involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0030] In addition, if the embodiments of the utility model involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features with "first" and "second" can explicitly or implicitly include at least one of the features. In addition, "and / or" or "and / or" appearing throughout the text means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B simultaneously satisfy the scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skill in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the utility model.

[0031] The robot linear joint module of the prior art detects the push-pull force by arranging a push-pull force sensor at the tail of the module. The push-pull force sensor arranged at the tail of the module requires a large installation space, is heavy in weight, and is high in cost.

[0032] The utility model provides a kind of linear joint module. By arranging strain gauge and signal processing circuit for detecting stress on module tail cover, linear module push-pull force detection is carried out, with the advantages of small installation space, light weight and low cost.

[0033] Please refer to Figures 1 to 4In an embodiment of the utility model, the linear joint module 100 includes a shell 10, a driving mechanism 20 and a detection mechanism 30, the shell 10 has inner chamber 101 and with the inner chamber 101 communication movable mouth 102, the inner chamber 101 has first inner side wall 104, first inner side wall 104 with movable mouth 102 opposite setting, the driving mechanism 20 is located in inner chamber 101, the driving mechanism 20 includes bar 21 and drive assembly 22, bar 21 movably be located in movable mouth 102, drive assembly 22 is used to drive bar 21 along the axial reciprocating motion of shell 10, bar 21 is used to when moving through drive assembly 22 to first inner side wall 104 exert force, the detection mechanism 30 includes the strain gauge 31 of being located in first inner side wall 104 and with signal detection piece of strain gauge 31 electricity is connected, the strain gauge 31 is used to when first inner side wall 104 is subjected to force, deformation, signal detection piece is used to through the deformation detection of strain gauge 31 the push and pull of linear joint module.

[0034] The linear joint module can be applied to a humanoid robot, and in the humanoid robot, the linear joint module can be used to realize linear motion of an arm, a leg and other parts of the robot, provide more flexible and accurate motion ability for the robot, and make the robot more realistically simulate the motion performance of a human body.

[0035] In the utility model, the end of shell 10 away from bar 21 can be provided with first joint bearing 50, and the end of bar 21 extending out of movable mouth 102 can be provided with second joint bearing, when linear joint module 100 works, drive assembly 22 drives bar 21 to do linear reciprocating motion along the axial direction of shell 10, drives second joint bearing to do linear reciprocating motion relative to first joint bearing 50, when the linear joint module 100 is applied to a robot, the robot can realize linear servo motion through the linear tube and module.

[0036] The rod piece 21 can be provided with a threaded portion and a rod portion, the driving assembly 22 can be provided as a servo motor structure, a nut 222 is arranged on a transmission shaft of the servo motor structure, the threaded portion of the rod piece 21 is threadedly connected with the nut 222, the rod portion of the rod piece 21 is slidingly connected with the movable port, the nut 222 is driven to rotate by the motor structure, the threaded portion of the rod piece 21 is caused to perform extension and contraction relative to the nut 222, so that the rod portion of the rod piece 21 is caused to perform extension and contraction relative to the shell 10. When the nut 222 drives the rod piece 21 to perform extension and contraction, the nut 222 exerts an axial force on the rod piece 21 along the shell 10, and the rod piece 21 also exerts a counterforce on the nut 222, the counterforce exerted on the nut 222 is transmitted to the first inner side wall 104 of the shell 10 through the motor structure and the inner peripheral wall of the shell 10, and when the first inner side wall 104 is stressed and acts on the strain gauge 31, the strain gauge 31 is caused to deform correspondingly, and when the strain gauge 31 is caused to deform correspondingly, the deformation condition of the strain gauge 31 can be detected by the signal detection piece to obtain the stress condition of the first inner side wall 104, and the pushing and pulling force exerted by the driving assembly 22 on the rod piece 21 is calculated accordingly, so that the driving force of the driving assembly 22 on the rod piece can be adjusted according to the detected pushing and pulling force.

[0037] To prevent the rod piece 21 from rotating synchronously with the nut 222 and not performing extension and contraction, at least one limiting plane can be arranged on the rod portion of the rod piece 21, the limiting plane can be limited and matched with the port wall of the movable port to limit the rotation of the rod portion, so that when the nut 222 rotates, the rod piece 21 can be prevented from rotating synchronously with the nut 222, so that the rod piece 21 cannot perform extension and contraction.

[0038] The technical scheme of the utility model discloses a detection mechanism 30 comprising a strain gauge 31 and a signal detection piece, the detection mechanism 30 is arranged on the first inner side wall 104 of the inner cavity 101 of the shell 10, a driving assembly 22 is arranged in the shell 10, the rod piece 21 is caused to perform reciprocating motion along the axial direction of the shell 10, when the rod piece 21 performs linear reciprocating motion, the driving assembly 22 can exert a force on the first inner side wall 104, when the strain gauge 31 is stressed, the strain gauge 31 can deform correspondingly, so that the signal detection piece can calculate and obtain the pushing and pulling force exerted by the driving assembly 22 on the rod piece 21 through corresponding deformation, to realize the detection of the pushing and pulling force of the linear joint module 100, compared with the mode that the detection sensor is arranged outside the shell 10, the installation space required by the detection mechanism 30 is smaller, the overall structure is more compact, the weight is lighter, and the cost of the linear joint module 100 is lower.

[0039] Referring to Figure 1 , Figure 2As shown, in an embodiment, the signal detection member includes a circuit substrate and a signal processing circuit arranged on the circuit substrate, the signal processing circuit is electrically connected to the strain gauge 31 and the driving assembly 22, the signal processing circuit is used to obtain the resistance value change signal of the strain gauge 31 when the strain gauge 31 deforms, and is used to convert the resistance value change signal into a push-pull force signal to be transmitted to the driving assembly 22.

[0040] In the embodiment, the strain gauge is connected in series in the signal detection circuit. When the first inner side wall 104 deforms, the strain gauge is passively deformed mechanically, and the resistance value of the strain gauge changes accordingly. When the strain gauge is connected in series in the signal processing circuit, the signal processing circuit can obtain the signal of the resistance value change of the strain gauge. The signal processing circuit can convert the resistance value change signal of the strain gauge into a voltage signal through a corresponding bridge circuit. The push-pull force data is measured through the change of the voltage signal, and the push-pull force signal is transmitted to the driving assembly 22. The driving assembly 22 can accurately obtain the push-pull force applied to the rod 21, so that the driving assembly 22 can adjust the output driving force accordingly.

[0041] In the embodiment, the circuit substrate 32 can also be a flexible circuit board, so that the thickness of the circuit substrate 32 is further reduced, and the circuit substrate 32 can adapt to the size and shape of the remaining space in the inner cavity 101 of the casing 10, facilitating the assembly of the circuit substrate 32 in the inner cavity 101.

[0042] Continuing to refer to Figure 1 , Figure 2 Optionally, the circuit substrate is arranged in the inner cavity and located on one side of the first inner side wall 104.

[0043] In the embodiment, the circuit substrate 32 can be fixed to the first inner side wall 104 by adhesion. In this way, the distance between the circuit substrate 32 and the strain gauge 31 is closer, the circuit substrate 32 is convenient to connect with the strain gauge 31, and the detection mechanism 30 can be arranged more compactly in the inner cavity 101 of the casing 10, facilitating the installation of the detection mechanism 30 in the inner cavity 101 of the casing 10.

[0044] The structure of the driving assembly 22 will be introduced below. Referring to Figure 1 In the embodiment, the driving assembly 22 includes a rotating shaft 221 and a nut 222. The rotating shaft 221 extends axially along the casing 10. The nut 222 is arranged at one end of the rotating shaft 221 away from the first inner side wall 104. The rotating shaft 221 is used to drive the nut 222 to rotate. A threaded portion is arranged on a section of the rod 21 close to the driving assembly 22. The nut 222 is threadedly connected to the threaded portion. The rod 21 is used to move linearly along the rotating shaft 221 axially when the nut 222 rotates.

[0045] The end of the rotating shaft 221 towards the nut 222 is also provided with a containing groove for containing the threaded part of the rod 21. When the nut 222 rotates and drives the rod 21 to move linearly, the threaded part of the rod 21 can move in and out along the containing groove, so that the rod 21 will not interfere with the rotating shaft 221 when moving linearly.

[0046] Of course, in other embodiments, a connecting frame can also be arranged at the end of the rotating shaft 221 towards the nut 222, so that the rotating shaft 221 connects the nut 222 through the connecting frame, and the connecting frame between the nut 222 and the rotating shaft 221 has a space for the rod 21 to move in and out, so as to prevent the rod 21 from interfering with the rotating shaft 221 when moving. Here, no specific limitation is made.

[0047] In the above embodiments, when the nut 222 rotates and drives the rod 21 to move linearly, in order to prevent the rod 21 from rotating with the nut 222 and not moving in and out, the utility model also arranges a guide part 40 to limit the rotation of the non-threaded part of the rod 21. Optionally, the end of the shell 10 away from the first inner side wall 104 is provided with a guide part 40, the guide part 40 is provided with a guide groove 41, and the end of the guide groove 41 away from the opening 103 is provided with the movable opening 102. The rod 21 also includes a rod part, and the rod part is arranged at the side of the threaded part away from the nut 222. The rod part is slidably arranged in the guide groove 41.

[0048] The inner cavity 101 is also provided with a second inner side wall 105, and the second inner side wall 105 is arranged opposite to the first inner side wall 104, and the guide part 40 extends from the second inner side wall 105 to a position away from the first inner side wall 104. In this way, the inner peripheral wall of the guide groove 41 is used to slide with the rod part and limit the rotation of the rod 21, so as to prevent the threaded part of the rod 21 from rotating with the nut 222 and causing the rod 21 to rotate and not move in and out.

[0049] Continuing to refer to Figure 1 In an embodiment, the driving assembly 22 also includes a stator 223, a rotor 224 and a driver 225. The stator 223 is arranged on the inner peripheral wall of the inner cavity 101, the rotor 224 is arranged on the rotating shaft 221, and the driver 225 is used to adjust the power supply to the stator 223 to adjust the rotation of the rotating shaft 221.

[0050] The stator 223, the rotor 224 and the rotating shaft 221 can cooperate to form a motor structure, the stator 223 can generate a magnetic field interacting with the rotor 224 by being powered, the rotor 224 can rotate to drive the rotating shaft 221 to rotate, the rotation of the rotating shaft 221 can drive the nut 222 to rotate, and the power supply parameters of the stator 223, such as the power supply voltage and the power supply current, are adjusted by the driver 225, so that the magnetic force between the rotor 224 and the stator 223 and the magnetic field distribution are adjusted, and the rotating speed, the rotating direction and the start-stop state of the rotating shaft 221 are adjusted and controlled.

[0051] Optionally, the driver 225 is electrically connected with the circuit substrate 32, the driver 225 is used for receiving the push-pull force signal transmitted by the circuit substrate 32, and is used for adjusting the rotation of the rotating shaft 221 according to the push-pull force signal. In this way, the driver 225 can adjust the rotation speed of the rotating shaft 221 according to the push-pull force signal transmitted by the circuit substrate 32, so that the push-pull force output of the linear joint module 100 can be accurately controlled.

[0052] In addition, in the utility model, the driving assembly 22 further includes an encoder 226, the encoder 226 is arranged on the rotating shaft 221, the encoder 226 is electrically connected with the driver 225, the encoder 226 is used for obtaining the motion signal of the rotor 224 and is used for transmitting the motion signal of the rotor 224 to the driver 225. In this way, the motion position, the motion direction and the motion speed of the rotor 224 can be obtained by the encoder 226, so that the driver 225 can accurately control the rotation of the rotating shaft 221 according to the above information data of the rotor 224.

[0053] The following describes how the rod 21 exerts force on the first inner side wall 104, referring to Figure 1 In an embodiment, the driving assembly 22 further includes a bearing 227 mounted on the inner wall of the inner cavity 101, the rotating shaft 221 is rotatably mounted on the bearing 227, the rod 21 is used for exerting force on the nut 222 away from the side of the movement direction of the rod 21 when moving, and the nut 222 is used for transmitting the force to the first inner side wall 104 through the rotating shaft 221, the bearing 227 and the inner wall of the casing 10.

[0054] When the nut 222 applies an axial force to the rod 21 along the housing 10, the rod 21 applies a corresponding reaction force to the nut 222, which is transmitted to the rotating shaft 221 through the nut 222, and then to the bearing 227 through the rotating shaft 221. Since the bearing 227 is installed on the inner circumferential wall of the inner cavity 101, the bearing 227 can transmit the reaction force to the first inner side wall 104 through the inner circumferential wall, so that the first inner side wall 104 is deformed correspondingly, thereby generating a corresponding action on the strain gauge 31, and the detection mechanism 30 can detect the pushing and pulling force of the linear joint module 100.

[0055] Referring to Figure 2 、 Figure 3 In an embodiment, the strain gauge 31 includes a first strain unit 31a and a second strain unit 32a, and the first strain unit 31a and the second strain unit 32a are wedge-shaped.

[0056] The signal detection member is configured to detect the positive deformation change of the first inner side wall 104 through the first strain unit 31a, and to detect the reverse deformation change of the first inner side wall 104 through the second strain unit 32a.

[0057] The first strain unit 31a and the second strain unit 32a can be 90-degree wedge-shaped. In this way, the sensitivity and accuracy of the detection mechanism 30 to the deformation change of the first inner side wall can be improved. By arranging the first strain unit 31a and the second strain unit 32a in a wedge shape and making them sensitive to the deformation change of the first inner side wall 104 towards the movable port 102 and the deformation change of the first inner side wall 104 away from the movable port 102, respectively, the small differences in the deformation change of the first inner side wall 104 can be captured, and the monitoring of the bidirectional deformation change and the improvement of the feedback sensitivity can be effectively realized, thereby improving the sensitivity and detection accuracy of the system. In addition, the arrangement of the first strain unit 31a and the second strain unit 32a can accurately reflect the positive and reverse deformation changes of the first inner side wall 104, so that the changes in the pushing and pulling force values of the linear joint module can be measured respectively, and the system can make corresponding feedback and processing according to the actual situation during control and adjustment.

[0058] Referring to Figure 2 、 Figure 3As shown, optionally, the strain gauge 31 is provided with at least one. Among them, the strain gauge 31 can be provided with one, or a plurality of strain gauges 31 can be evenly distributed on the first inner side wall 104, and the plurality of strain gauges 31 can detect the deformation of the plurality of positions of the first inner side wall 104, so that the circuit board 32 can combine the deformation of the plurality of positions of the first inner side wall 104. Exemplarily, the strain gauge 31 is provided with two, four, etc.

[0059] Exemplarily, the strain gauge 31 is provided with two, and the two strain gauges 31 are oppositely spaced.

[0060] Alternatively, the strain gauge 31 is provided with four, and the four strain gauges are circumferentially spaced along the first inner side wall 104, and the two strain gauges are oppositely arranged.

[0061] In this way, in the case of providing a plurality of strain gauges 31, the plurality of strain gauges 31 can be evenly distributed on the circumference of the first inner side wall 104, and the strain condition of the first inner side wall 104 can be uniformly perceived and monitored, so that the stress condition of the first inner side wall 104 in different areas can be more comprehensively obtained, and the strain gauges in different positions can be mutually calibrated and verified, thereby reducing errors and ensuring the accuracy of the direct joint module push-pull force monitoring result.

[0062] In the utility model, in order to facilitate the installation of the detection mechanism 30 to the first inner side wall 104 of the inner cavity 101, optionally, the shell 10 includes a shell 11 and a shell cover 12, the shell 11 is provided with an opening 103 and the movable port 102, and the inner cavity 101 is communicated with the opening 103 and the movable port 102, the shell cover 12 is arranged at the opening 103, and the side of the shell cover 12 towards the opening 103 forms the first inner side wall 104, and the side of the shell cover 12 away from the opening 103 is connected with the first joint bearing 50. Among them, the shell cover 12 is detachably installed at the opening 103 of the shell 11, in this way, when the detection mechanism 30 is installed, the shell cover 12 can be removed from the movable port 102, the detection mechanism 30 is installed to the side of the shell cover 12 towards the opening 103, and then the shell cover 12 is installed to the opening 103, so that the installation of the detection mechanism 30 on the first inner side wall 104 is realized, to facilitate the assembly of the linear joint module 100.

[0063] In addition, the shell 11 can be provided as a first shell 111 and a second shell 112, the first shell 111 and the second shell 112 are assembled in a detachable connection manner, the movable opening 102 is arranged in the second shell 112, and the opening 103 is arranged in the first shell 111. In this way, the inner cavity 101 of the shell 10 can be opened, so that the parts of the driving assembly 22 and the rod 21 can be installed into the inner cavity 101, and the assembly of the linear joint module 100 is facilitated.

[0064] The utility model also proposes a kind of robot, the robot includes linear joint module 100, the specific structure of the linear joint module 100 refers to above-mentioned embodiment, since the present robot has adopted all technical solutions of above-mentioned all embodiments, at least have all beneficial effects brought by the technical scheme of above-mentioned embodiment, here no longer one by one elaboration.

[0065] The above-mentioned is only the exemplary embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structure transformation using the utility model specification and drawing contents, or direct / indirect application in other related technical fields is included in the patent protection range of the utility model.

Claims

1. A linear joint module, characterized in that, include: A housing having an inner cavity and a movable opening communicating with the inner cavity, the inner cavity having a first inner sidewall, the first inner sidewall being disposed opposite to the movable opening; A drive mechanism is provided in the inner cavity. The drive mechanism includes a rod and a drive assembly. The rod is movably provided in the movable opening. The drive assembly is used to drive the rod to reciprocate along the axial direction of the housing. The rod is used to apply a force to the first inner sidewall through the drive assembly during movement. as well as The detection mechanism includes a strain gauge disposed on the first inner sidewall and a signal detection device electrically connected to the strain gauge. The strain gauge is used to deform when the first inner sidewall is subjected to a force, and the signal detection device is used to detect the push-pull force of the linear joint module through the deformation of the strain gauge.

2. The linear joint module as described in claim 1, characterized in that, The signal detection device includes a circuit board and a signal processing circuit disposed on the circuit board. The signal processing circuit is electrically connected to the strain gauge and the driving component. The signal processing circuit is used to acquire the resistance value change signal when the strain gauge deforms, and to convert the resistance value change signal into a push-pull force signal to be transmitted to the driving component.

3. The linear joint module as described in claim 2, characterized in that, The circuit board is disposed in the inner cavity and located on one side of the first inner sidewall.

4. The linear joint module as described in claim 2, characterized in that, The drive assembly includes a rotating shaft and a nut. The rotating shaft extends axially along the housing. The nut is located at the end of the rotating shaft away from the first inner sidewall. The rotating shaft is used to drive the nut to rotate. A threaded portion is provided on the section of the rod facing the drive assembly. The nut is threadedly connected to the threaded portion. The rod is used to move linearly along the axial direction of the rotating shaft when the nut rotates.

5. The linear joint module as described in claim 4, characterized in that, The drive assembly further includes a bearing mounted on the inner peripheral wall of the inner cavity, the rotating shaft being rotatably mounted on the bearing, the rod being used to apply a force to the nut on a side opposite to the direction of movement of the rod during movement, and the nut being used to transmit the force to the first inner wall through the rotating shaft, the bearing and the inner peripheral wall of the housing.

6. The linear joint module as described in claim 1, characterized in that, The strain gauge includes a first strain unit and a second strain unit, which are arranged in a wedge shape. The signal detection device is used to detect the positive deformation change of the first inner sidewall through the first strain unit, and the signal detection device is used to detect the negative deformation change of the first inner sidewall through the second strain unit.

7. The linear joint module as described in claim 6, characterized in that, At least one strain gauge is provided.

8. The linear joint module as described in claim 7, characterized in that, Two strain gauges are provided, and the two strain gauges are arranged at a relative interval; Alternatively, four strain gauges may be provided, which are spaced apart circumferentially along the first inner sidewall and arranged opposite each other in pairs.

9. The linear joint module as described in any one of claims 1 to 8, characterized in that, The housing includes a shell and a cover. The shell has an opening and a movable port, and an inner cavity communicating with the opening and the movable port. The cover is disposed at the opening. The side of the cover facing the opening forms the first inner sidewall. The side of the cover away from the opening is connected to a first joint bearing.

10. A robot, characterized in that, Includes the linear joint module as described in any one of claims 1 to 9.

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