A linear joint, a linear joint system, and a humanoid robot

Abstract

The application relates to the technical field of mechanical equipment, and particularly provides a linear joint, a linear joint system and a humanoid robot. The linear joint comprises a movable piece, a first screw rod having an end part for connecting a fixed base, the movable piece and the first screw rod being connected, the movable piece being capable of moving along the axial direction of the first screw rod, and a second screw rod, the second screw rod and the movable piece being connected, the movable piece being capable of driving the second screw rod to move synchronously, the second screw rod also being capable of moving along the axial direction of the first screw rod relative to the movable piece, and the moving direction of the second screw rod relative to the movable piece being consistent with the moving direction of the movable piece. During work, the first screw rod is fixed, the second screw rod is connected to a target piece, and the end displacement of the second screw rod is composed of two parts: one part is the axial displacement of the second screw rod generated by the movable piece, and the other part is the axial displacement of the second screw rod generated relative to the movable piece, the end displacement of the second screw rod is increased, and the execution efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of mechanical equipment technology, specifically to a linear joint, a linear joint system, and a humanoid robot. Background Technology

[0002] Related linear joints include a motor, a lead screw assembly, and a push rod. The motor includes a shaft for outputting power. The lead screw assembly includes a threaded lead screw and a nut, with the nut connected to the shaft for synchronous rotation. The lead screw is connected to the push rod, which is connected to the target component. When the shaft drives the nut to rotate, the lead screw drives the push rod to move linearly along the axis of the shaft, thereby moving the target component. However, these linear joints suffer from low efficiency and high noise. Therefore, providing a linear joint with high efficiency and low noise has become a pressing technical problem for those skilled in the art. Utility Model Content

[0003] The purpose of this application is to provide a linear joint, a linear joint system, and a humanoid robot that have high execution efficiency and low noise.

[0004] To solve the above-mentioned technical problems, this application provides a linear joint, comprising:

[0005] Movable parts;

[0006] A first lead screw, the first lead screw having an end for connecting to a fixed base, the movable member being connected to the first lead screw, the movable member being capable of moving along the axial direction of the first lead screw;

[0007] The second lead screw is connected to the movable member. The movable member can drive the second lead screw to move synchronously. The second lead screw can also move relative to the movable member along the axial direction of the first lead screw, and the direction of movement of the second lead screw relative to the movable member is the same as the direction of movement of the movable member.

[0008] This application provides a linear joint in which, during operation, a first lead screw is connected to a stationary fixed base, and a second lead screw is connected to a target component. The end displacement of the second lead screw consists of two parts: one part is the displacement synchronously generated along the axial direction of the first lead screw by the movable component, and the other part is the displacement of the second lead screw relative to the movable component along the axial direction of the first lead screw. The superposition of these two displacements greatly increases the displacement at the end of the second lead screw, thereby improving the execution efficiency of the linear joint.

[0009] Optionally, the movable member has a first internal thread and a second internal thread distributed along the axial direction, the first internal thread and the second internal thread having opposite directions of rotation;

[0010] The external threads of the first lead screw and the second lead screw have opposite directions of rotation. The first lead screw is threadedly engaged with the first internal thread, and the second lead screw is threadedly engaged with the second internal thread.

[0011] Optionally, the end of the second lead screw away from the first lead screw is provided with one of a mating interface and a mating shaft for connecting to the target component.

[0012] Optionally, the linear joint further includes:

[0013] A drive assembly, comprising a rotor, which is fitted around the periphery of the movable member to drive the movable member to rotate synchronously.

[0014] Optionally, the outer peripheral wall of the movable member has a first stepped portion facing the small-diameter end of the movable member, and the first stepped portion abuts against the opposite end of the rotor.

[0015] Optionally, the drive assembly further includes a housing, with at least a portion of the movable member and the rotor rotatably disposed within the housing, and the linear joint further includes:

[0016] A bearing is mounted between the outer peripheral wall of the movable member and the inner peripheral wall of the housing.

[0017] Optionally, the linear joint further includes:

[0018] Two retaining rings are installed between the outer peripheral wall of the movable member and the inner peripheral wall of the housing, and the bearing is axially positioned between the two retaining rings.

[0019] Optionally, the outer peripheral wall of the movable member has a second stepped portion, the second stepped portion facing the small-diameter end of the movable member, and the end of the bearing near the inside of the housing abuts against the second stepped portion;

[0020] The linear joint also includes a retaining spring, which is installed between the outer peripheral wall of the movable member and the inner peripheral wall of the housing, and the end of the bearing away from the interior of the housing abuts against the retaining spring.

[0021] Optionally, the driving component further includes:

[0022] shell;

[0023] An encoder comprising a fixed component and a rotating component, the fixed component being fixedly connected to the housing, and at least one of the rotor and the movable component being connected to the rotating component.

[0024] Optionally, the driving component further includes:

[0025] The motor controller is electrically connected to the rotor and the encoder.

[0026] Optionally, a plurality of planetary rollers are threadedly connected between the first lead screw and the movable member, and a plurality of planetary rollers are threadedly connected between the second lead screw and the movable member.

[0027] This application also provides a linear joint system, including:

[0028] The aforementioned linear joint;

[0029] A fixed base is connected to the first lead screw of the linear joint;

[0030] A moving mechanism having a moving seat that is movable along the axial direction of the first lead screw, the moving seat being connected to the drive assembly of the linear joint.

[0031] The linear joint system of this application includes the aforementioned linear joint, and therefore has the same technical effects as the aforementioned linear joint, which will not be repeated here.

[0032] This application also provides a humanoid robot, including the aforementioned linear joint system.

[0033] The humanoid robot proposed in this application includes the aforementioned linear joint system, and therefore has the same technical effects as the aforementioned linear joint system, which will not be repeated here. Attached Figure Description

[0034] Figure 1 This is an axial sectional view of a specific embodiment of the linear joint provided in this application;

[0035] Figure 2 for Figure 1 A schematic diagram of the fixing seat in a linear joint;

[0036] Figure 3 for Figure 1 A schematic diagram of the structure of a linear joint at the second angle;

[0037] Figure 4 for Figure 1 A schematic diagram of the structure of the movable part and the second lead screw in a linear joint;

[0038] in, Figures 1-4 The accompanying figure labels are as follows:

[0039] 1-Drive assembly; 11-Rotor; 12-Housing; 121-Mounting part; 122-Wire harness outlet; 13-Encoder; 131-Fixed assembly; 132-Rotating assembly; 14-Motor controller; 15-Stator;

[0040] 2-Modible part; 21-First mating section; 22-First step section; 23-Second mating section; 24-Second step section;

[0041] 3-First lead screw; 31-Fixed seat;

[0042] 4-Second leadscrew; 4a-Matching interface;

[0043] 5-Bearings;

[0044] 6-Snap ring;

[0045] 7-Planetary rollers. Detailed Implementation

[0046] To enable those skilled in the art to better understand the technical solutions of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] The related linear joint technology includes a motor, a lead screw pair, and a push rod. The motor includes a shaft for outputting power. The lead screw pair includes a threaded lead screw and a nut, with the nut and shaft connected for synchronous rotation. The lead screw and push rod are connected, and the push rod is connected to the target component. When the shaft drives the nut to rotate, the lead screw drives the push rod to move linearly along the axis of the shaft, thereby moving the target component. However, the related linear joint technology has low execution efficiency and high noise.

[0048] To solve the above-mentioned technical problems, this application provides a linear joint, comprising: a movable member; a first lead screw having an end for connecting to a fixed base, the movable member being connected to the first lead screw and capable of moving axially along the first lead screw; and a second lead screw being connected to the movable member, the movable member being capable of driving the second lead screw to move synchronously, and the second lead screw also being capable of moving relative to the movable member along the axial direction of the first lead screw, with the direction of movement of the second lead screw relative to the movable member being consistent with the direction of movement of the movable member. Thus, during operation, the first lead screw is connected to the stationary fixed base, the drive assembly is connected to the movable member, enabling the movable member to move axially along the first lead screw, and the second lead screw is connected to the target member, enabling the second lead screw to move synchronously with the movable member and also capable of moving relative to the movable member along the axial direction of the first lead screw, with the direction of movement of the second lead screw relative to the movable member being consistent with the direction of movement of the movable member. That is, the end displacement of the second lead screw consists of two parts: one part is the axial displacement generated by the movable member driving the second lead screw, and the other part is the axial displacement generated by the second lead screw relative to the movable member. The superposition of these two displacements significantly increases the displacement at the end of the second leadscrew, thereby improving the execution efficiency of the linear joint. With the same end displacement and speed, the power of the drive components can be reduced, thus lowering the noise of the linear joint and improving its NVH performance.

[0049] To facilitate understanding of the electrolytic cell provided in the embodiments of this application, the following is combined with... Figure 1 Please refer to the following explanation. Figure 1 , Figure 1 This is an axial sectional view of a specific embodiment of the linear joint provided in this application.

[0050] This application provides a linear joint, including:

[0051] 2 movable parts;

[0052] The first lead screw 3 has an end for connecting to the fixed base, and the movable member 2 is connected to the first lead screw 3. The movable member 2 is capable of moving along the axial direction of the first lead screw 3.

[0053] The second lead screw 4 is connected to the movable member 2. The movable member 2 can drive the second lead screw 4 to move synchronously. The second lead screw 4 can also move relative to the movable member 2 along the axial direction of the first lead screw 3, and the direction of movement of the second lead screw 4 relative to the movable member 2 is the same as the direction of movement of the movable member 2.

[0054] In this embodiment of the linear joint, during operation, the first lead screw 3 is connected to the fixed base and is in a stationary state. The drive assembly is connected to the movable member 2, enabling the movable member 2 to move axially along the first lead screw 3. The second lead screw 4 is connected to the target member and can move synchronously with the movable member 2. It can also move axially relative to the movable member 2 along the first lead screw 3, and the direction of movement of the second lead screw 4 relative to the movable member 2 is the same as the direction of movement of the movable member 2. That is, the end displacement of the second lead screw 4 consists of two parts: one part is the axial displacement generated by the movable member 2 driving the second lead screw 4, and the other part is the axial displacement generated by the second lead screw 4 relative to the movable member 2. The superposition of these two displacements greatly increases the end displacement of the second lead screw 4, thereby improving the execution efficiency of the linear joint. With the same end displacement and speed, the power of the drive assembly can be reduced, thereby reducing the noise of the linear joint and improving its NVH performance.

[0055] In some embodiments of this application, the movable member 2 has a first internal thread and a second internal thread distributed along the axial direction, the first internal thread and the second internal thread having opposite directions of rotation;

[0056] The external threads of the first lead screw 3 and the second lead screw 4 have opposite directions of rotation. The first lead screw 3 is threaded with the first internal thread, and the second lead screw 4 is threaded with the second internal thread.

[0057] As configured above, during operation, the drive assembly rotates the movable part 2. Under the threaded engagement of the first lead screw 3 and the movable part 2, the movable part 2 drives the second lead screw 4 to move axially along the first lead screw 3. Simultaneously, the target part acts as a circumferential limiter for the second lead screw 4. Under the threaded engagement of the second lead screw 4 and the movable part 2, the second lead screw 4 can move axially relative to the movable part 2. Since the external threads of the first lead screw 3 and the second lead screw 4 have opposite directions of rotation, the direction of movement of the second lead screw 4 relative to the movable part 2 is opposite to the direction of movement of the first lead screw 3 relative to the movable part 2. In other words, the direction of movement of the second lead screw 4 relative to the movable part 2 is the same as the direction of movement of the movable part 2. Thus, the end displacement of the second lead screw 4 consists of two parts: one part is the axial displacement generated by the rotation of the movable part 2 driving the second lead screw 4, and the other part is the axial displacement jointly generated by the movable part 2 and the first lead screw 3 under the threaded engagement of the movable part 2 and the first lead screw 3. The superposition of these two displacements greatly increases the displacement at the end of the second lead screw 4, thereby improving the execution efficiency of the linear joint. In addition, with the same end displacement and speed, the rotational speed of the drive assembly 1 can also be reduced, thereby reducing the noise of the linear joint and improving its NVH performance. Furthermore, reducing the rotational speed of the drive assembly 1 also helps to increase the output torque of the drive assembly 1, thereby obtaining a greater end thrust.

[0058] Among them, the movable part 2 can be in the form of a nut.

[0059] Please refer to Figure 1 and Figure 2 , Figure 2 for Figure 1 A schematic diagram of the fixing seat in a linear joint.

[0060] In this embodiment of the application, the end of the first lead screw 3 away from the second lead screw 4 has a fixed seat 31.

[0061] Thus, the first lead screw 3 can be fixed by connecting the fixed seat 31 and the fixed base. The fixed seat 31 can increase the connection area between the first lead screw 3 and the fixed base, thereby increasing the reliability of the connection between the first lead screw 3 and the fixed base. Furthermore, the fixed seat 31 has a larger cross-sectional area, which makes it easier to set up the connection structure.

[0062] like Figure 2 As shown in the embodiment of this application, the fixing base 31 is provided with a connecting hole, and the connecting parts such as bolts can pass through the corresponding connecting hole and connect with the fixing base to realize the fixing of the fixing base 31 and the fixing base.

[0063] In this embodiment, the fixing base 31 is provided with four connecting holes, and the fixing base 31 and the fixing base are fixed by four connectors to ensure a reliable connection between the fixing base 31 and the fixing base. Of course, there is no limitation on the number of connecting holes provided in the fixing base 31, such as the fixing base 31 may have at least one connecting hole.

[0064] Furthermore, the connection method between the fixing seat 31 and the fixing base is not limited to the above-described implementation. In other embodiments of this application, the fixing seat 31 and the fixing base can be fixed by welding.

[0065] Please continue to refer to this. Figure 1 In this embodiment of the application, the end of the second lead screw 4 away from the first lead screw 3 is provided with a matching interface 4a for connecting the target component.

[0066] As shown above, the interface 4a is used to connect the target component. For example, in some embodiments, the target component has a mating shaft, which is partially inserted into the interface 4a. The mating shaft and the interface 4a are interference-fitted to achieve a fixed connection between the second lead screw 4 and the target component, ensuring a reliable connection between the second lead screw 4 and the target component.

[0067] The mating interface 4a can be a square hole, and the mating shaft can be a square columnar structure. The mating shaft is inserted into the mating interface 4a and provides circumferential limiting for the second lead screw 4, ensuring that the second lead screw 4 can only move axially under the action of the movable part 2. In this way, there is no need to set up a separate anti-rotation mechanism, simplifying the structure of the linear joint and reducing structural costs.

[0068] In some other embodiments of this application, it is also feasible for the second lead screw 4 to have a mating shaft at the end away from the first lead screw 3, and for the target part to have a matching mating interface, so as to achieve a fixed connection between the second lead screw 4 and the target part.

[0069] Please continue to refer to this. Figure 1 In this embodiment of the application, the linear joint further includes:

[0070] Drive assembly 1 includes rotor 11, which is mounted on the outer periphery of movable member 2 to drive movable member 2 to rotate synchronously.

[0071] As set up above, the drive assembly 1 is used to provide initial power, the rotor 11 transmits kinetic energy to the movable part 2, ensuring that the movable part 2 can rotate synchronously with the rotor 11 under the action of the rotor 11, and the rotor 11 can move synchronously with the movable part 2 along the axial direction of the first lead screw 3.

[0072] like Figure 1As shown, the outer peripheral wall of the movable part 2 has a first mating section 21, and the rotor 11 is fitted onto the outer periphery of the first mating section 21. Specifically, the rotor 11 and the first mating section 21 can be fixed by an interference fit, which facilitates the assembly of the movable part 2 and the drive assembly 1.

[0073] like Figure 1 As shown, the drive assembly 1 also includes a stator 15, which is located on the outer periphery of the rotor 11 and has a gap with the rotor 11. The drive assembly 1 can be a drive motor.

[0074] Please continue to refer to this. Figure 1 In this embodiment of the application, the movable member 2 has a large diameter end and a small diameter end. The outer diameter of the movable member 2 gradually decreases from the small diameter end to the large diameter end. During the assembly process, the movable member 2 passes through the interior of the rotor 11 from the small diameter end.

[0075] like Figure 1 As shown, the outer peripheral wall of the movable member 2 has a first step portion 22, which faces the small diameter end of the movable member 2 and abuts against the opposite end of the rotor 11.

[0076] As set above, the first step 22 can play a positioning role. During the assembly process, when the opposite end of the rotor 11 abuts against the first step 22, it indicates that the movable part 2 is in the preset installation position. During operation, when the drive assembly 1 drives the movable part 2 to rotate, under the threaded engagement between the movable part 2 and the first lead screw 3, the movable part 2 will move along the axial direction of the first lead screw 3. Under the abutting action of the first step 22 and the rotor 11, the drive assembly 1 will move synchronously with the movable part 2, avoiding axial movement between the rotor 11 and the movable part 2, and improving the relative position accuracy between the two.

[0077] Please continue to refer to this. Figure 1 In this embodiment, the drive assembly 1 further includes a housing 12, with at least a portion of the movable member 2 and the rotor 11 rotatably disposed inside the housing 12. The linear joint further includes:

[0078] Bearing 5 is installed between the outer peripheral wall of the movable part 2 and the inner peripheral wall of the outer casing 12.

[0079] As configured above, firstly, the bearing 5 supports the movable part 2, ensuring that the movable part 2 can always rotate around its axis, thus improving the rotational accuracy of the movable part 2. Secondly, the bearing 5 prevents the outer peripheral wall of the movable part 2 from directly contacting the inner peripheral wall of the outer shell 12, thereby transforming the sliding friction between the outer peripheral wall of the movable part 2 and the inner peripheral wall of the outer shell 12 into rolling friction. On the one hand, this significantly reduces the frictional force between the movable part 2 and the outer shell 12, making the rotation of the movable part 2 smoother. On the other hand, it minimizes abnormal wear of the movable part 2 caused by friction or external forces, ensuring that the movable part 2 always remains in the preset installation position, thus improving the rotational accuracy of the movable part 2.

[0080] Depend on Figure 1 It can be seen that the outer peripheral wall of the movable part 2 has a second mating section 23, and the bearing 5 is installed between the outer peripheral wall of the second mating section 23 and the inner peripheral wall of the outer shell 12.

[0081] Depend on Figure 1 It can also be seen that in this embodiment, there are two bearings 5. The working load is shared by the two bearings 5, which can reduce the burden on each bearing 5 and thus extend the service life of the bearing 5.

[0082] Of course, there is no limitation on the number of bearings 5 ​​provided between the movable part 2 and the housing 12. In some other embodiments of this application, the number of bearings 5 ​​can be at least one.

[0083] Please continue to refer to this. Figure 1 In this embodiment of the application, the outer peripheral wall of the movable member 2 has a second step portion 24, the second step portion 24 faces the small diameter end of the movable member 2, and the end of the bearing 5 near the inside of the outer shell 12 abuts against the second step portion 24;

[0084] The linear joint also includes a retaining ring 6, which is installed between the outer peripheral wall of the movable part 2 and the inner peripheral wall of the housing 12. The end of the bearing 5 away from the inside of the housing 12 abuts against the retaining ring 6.

[0085] As set up above, during the assembly of bearing 5, bearing 5 can be fitted from the small-diameter end of movable part 2 between the outer peripheral wall of movable part 2 and the inner peripheral wall of housing 12. When the end of bearing 5 near the inside of housing 12 abuts against the second step 24, it indicates that bearing 5 has been installed in place. Then, snap ring 6 is installed. When the end of bearing 5 away from the inside of housing 12 abuts against snap ring 6, bearing 5 is axially limited and installed between the second step 24 and snap ring 6, ensuring that bearing 5 is always in the preset installation position and stably plays the role of support and load bearing.

[0086] In other embodiments of this application, the linear joint further includes:

[0087] Two retaining rings 6 are installed between the outer peripheral wall of the movable part 2 and the inner peripheral wall of the outer shell 12, and the bearing 5 is axially limited and installed between the two retaining rings 6.

[0088] As set up above, the two retaining rings 6 can axially limit the bearing 5, ensuring that the bearing 5 is always in the preset installation position and stably performs its supporting and load-bearing functions. At the same time, by using the retaining rings 6 to axially limit the bearing 5, the retaining rings 6 can be quickly installed or removed, making them easy to replace. During processing, it is only necessary to machine corresponding limiting grooves on the outer peripheral wall of the movable part 2 and the inner peripheral wall of the outer shell 12, and then install the retaining rings 6 in the corresponding limiting grooves of the movable part 2 and the outer shell 12 to complete the installation. It can be seen that using the retaining rings 6 to axially limit the bearing 5 can also simplify the processing technology and improve processing efficiency.

[0089] Please continue to refer to this. Figure 1 In this embodiment of the application, the driving component 1 further includes:

[0090] 12mm outer casing;

[0091] The encoder 13 includes a fixed component 131 and a rotating component 132. The fixed component 131 is fixedly connected to at least one of the housing 12, the rotor 11 and the movable component 2, and is connected to the rotating component 132.

[0092] The encoder 13 is a sensor used to measure rotation angle or linear displacement. Its main function is to convert mechanical motion into electrical or digital signals to feed back position, speed or angle information to the control system. In this embodiment, the drive assembly 1 is equipped with the encoder 13. The fixed assembly 131 of the encoder 13 is fixedly connected to the housing 12. At least one of the rotor 11 and the movable part 2 is connected to the rotating assembly 132 of the encoder 13. The encoder 13 can accurately measure the rotation angle of the rotor 11 and the movable part 2, thereby obtaining the accurate position signal of the second lead screw 4, that is, the target part. Based on the position signal provided by the encoder 13, the motion trajectory, speed and acceleration / deceleration of the target part can be precisely controlled to achieve precise motion control.

[0093] Depending on the detection principle, encoder 13 can be a magnetic encoder, optical encoder, etc.

[0094] Please continue to refer to this. Figure 1 In this embodiment of the application, the driving component 1 further includes:

[0095] The motor controller 14 is electrically connected to the rotor 11 and the encoder 13.

[0096] In this embodiment, the motor controller 14, rotor 11, and encoder 13 are all electrically connected. The motor controller 14 can control the rotational speed of rotor 11 according to the detection signal of encoder 13, thereby achieving precise control of the target component and improving the positional accuracy of the target component.

[0097] Please refer to Figure 3 , Figure 3 for Figure 1 A schematic diagram of the structure of a linear joint at the second angle.

[0098] In this embodiment, the surface of the housing 12 has a mounting portion 121 for connecting to the movable seat of the moving mechanism. The surface of the housing 12 also has a wire harness outlet 122, which serves to avoid the wire harness of the drive assembly 1.

[0099] The mounting part 121 and the moving seat of the moving mechanism can be fixedly connected by connectors such as bolts, which ensures reliable connection and facilitates disassembly and assembly; they can also be fixed by welding, which improves the connection strength between the mounting part 121 and the moving seat of the moving mechanism and ensures the reliability of the connection between the mounting part 121 and the moving seat of the moving mechanism.

[0100] Further, please refer to Figure 1 and Figure 4 , Figure 4 for Figure 1 A schematic diagram of the structure of the movable part and the second lead screw in a linear joint.

[0101] In this embodiment, a plurality of planetary rollers 7 are threadedly connected between the first lead screw 3 and the movable part 2, and a plurality of planetary rollers 7 are threadedly connected between the second lead screw 4 and the movable part 2.

[0102] As configured above, motion and power are transmitted between the first lead screw 3 and the movable member 2 via several planetary rollers 7, and motion and power are also transmitted between the second lead screw 4 and the movable member 2 via several planetary rollers 7. The first lead screw 3, the planetary rollers 7, and the movable member 2 form a planetary roller screw, and the second lead screw 4, the planetary rollers 7, and the movable member 2 also form a planetary roller screw. Compared with the widely used sliding lead screw pairs and ball screw pairs, using planetary roller screws for transmission has the following advantages:

[0103] First, the planetary roller screw has line contact, and the increased contact surface greatly improves the load-bearing capacity and rigidity. Each helix of each planetary roller 7 is simultaneously in contact with the mating parts and bears the load at the same time. This design ensures that the load is distributed on more contact points, reduces the maximum pressure on each contact point, has a strong ability to withstand impact loads, and is reliable in operation.

[0104] Secondly, since the friction between the planetary rollers 7 and the lead screw, and between the planetary rollers 7 and the movable part 2 is rolling friction, the transmission efficiency of the linear joint is greatly improved.

[0105] This application also provides a linear joint system, including:

[0106] The aforementioned linear joint;

[0107] A fixed base is connected to the first lead screw 3 of the linear joint;

[0108] The moving mechanism has a moving seat that can move axially along the first lead screw 3, and the moving seat is connected to the drive assembly 1 of the linear joint.

[0109] The linear joint system of this embodiment includes the aforementioned linear joint, and therefore has the same technical effects as the aforementioned linear joint, which will not be repeated here.

[0110] The fixed base is connected to the first lead screw 3, which fixes the first lead screw 3 and ensures that the first lead screw 3 is always stationary. The moving seat of the moving mechanism is connected to the drive assembly 1, which limits the circumferential movement of the drive assembly 1, so that the drive assembly 1 can only move along the axial direction of the first lead screw 3, ensuring that the linear joint functions normally.

[0111] This application also provides a humanoid robot, including the aforementioned linear joint system.

[0112] The humanoid robot proposed in this application includes the aforementioned linear joint system, and therefore has the same technical effects as the aforementioned linear joint system, which will not be repeated here.

[0113] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A linear joint, characterized in that, include: Movable part (2); The first lead screw (3) has an end for connecting to a fixed base, and the movable member (2) is connected to the first lead screw (3). The movable member (2) is capable of moving along the axial direction of the first lead screw (3). The second lead screw (4) is connected to the movable member (2). The movable member (2) can drive the second lead screw (4) to move synchronously. The second lead screw (4) can also move relative to the movable member (2) along the axial direction of the first lead screw (3). The direction of movement of the second lead screw (4) relative to the movable member (2) is consistent with the direction of movement of the movable member (2).

2. The linear joint according to claim 1, characterized in that, The movable part (2) has a first internal thread and a second internal thread distributed along the axial direction, the first internal thread and the second internal thread having opposite directions of rotation; The external threads of the first lead screw (3) and the second lead screw (4) are in opposite directions. The first lead screw (3) is threaded with the first internal thread, and the second lead screw (4) is threaded with the second internal thread.

3. The linear joint according to claim 1, characterized in that, The second lead screw (4) has a mating interface (4a) for connecting the target part and a mating shaft at one end away from the first lead screw (3).

4. The linear joint according to any one of claims 1-3, characterized in that, The linear joint also includes: The drive assembly (1) includes a rotor (11) which is fitted around the outer periphery of the movable member (2) to drive the movable member (2) to rotate synchronously.

5. The linear joint according to claim 4, characterized in that, The outer peripheral wall of the movable member (2) has a first step (22), the first step (22) faces the small diameter end of the movable member (2), and the first step (22) abuts against the opposite end of the rotor (11).

6. The linear joint according to claim 4, characterized in that, The drive assembly (1) further includes a housing (12), with at least a portion of the movable member (2) and the rotor (11) rotatably disposed inside the housing (12), and the linear joint further includes: The bearing (5) is installed between the outer peripheral wall of the movable part (2) and the inner peripheral wall of the outer shell (12).

7. The linear joint according to claim 6, characterized in that, The linear joint also includes: Two retaining rings (6) are installed between the outer peripheral wall of the movable member (2) and the inner peripheral wall of the outer shell (12), and the bearing (5) is axially positioned between the two retaining rings (6).

8. The linear joint according to claim 6, characterized in that, The outer peripheral wall of the movable part (2) has a second step (24), the second step (24) faces the small diameter end of the movable part (2), and the end of the bearing (5) near the inside of the housing (12) abuts against the second step (24); The linear joint also includes a retaining ring (6), which is installed between the outer peripheral wall of the movable member (2) and the inner peripheral wall of the outer shell (12), and the end of the bearing (5) away from the interior of the outer shell (12) abuts against the retaining ring (6).

9. The linear joint according to any one of claims 1-3, characterized in that, The driving component (1) further includes: Outer shell (12); The encoder (13) includes a fixed component (131) and a rotating component (132), the fixed component (131) being fixedly connected to the housing (12), and at least one of the rotor (11) and the movable component (2) being connected to the rotating component (132).

10. The linear joint according to claim 9, characterized in that, The driving component (1) further includes: The motor controller (14) is electrically connected to the rotor (11) and the encoder (13).

11. The linear joint according to any one of claims 1-3, characterized in that, A plurality of planetary rollers (7) are threadedly connected between the first lead screw (3) and the movable part (2), and a plurality of planetary rollers (7) are threadedly connected between the second lead screw (4) and the movable part (2).

12. A linear joint system, characterized in that, include: The linear joint according to any one of claims 1-11; A fixed base is connected to the first lead screw (3) of the linear joint; The moving mechanism has a moving seat that is axially movable along the first lead screw (3) and is connected to the drive assembly (1) of the linear joint.

13. A humanoid robot, characterized in that, Includes the linear joint system as described in claim 12.

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