Dexterous hand with toothless slot linear module

Abstract

The utility model relates to the technical field of dexterous hand, concretely relates to tooth slotless linear module for dexterous hand, including drive control casing, the inside fixed mounting of drive control casing has bearing, the inside through -connection of bearing has ball screw, the outside axial distribution of ball screw has nut and magnet steel in proper order, and the nut and magnet steel are used to form motor rotor, and the side of motor stator of motor rotor is provided with the motor drive control board connected, and the top of linear coil is provided with control unit. Form motor rotor to ball screw on the nut, bearing assembly magnet steel, utilize the motor stator for forming with iron core, linear coil, and the ball screw rotates when the rotor rotates after electrification, utilize the linear transmission of ball screw outside, to realize the rotation of motor straight line transmission, and realize high accuracy position control through control unit simultaneously, the ball screw is combined with hollow cup motor, realizes linear transmission, can reduce the axial length of motor greatly, and realizes zero tooth slot, high positioning accuracy transmission.

Description

Technical Field

[0001] This utility model relates to the field of dexterity technology, and in particular to a toothless linear module for dexterity. Background Technology

[0002] The joint modules of a robot's dexterous hand generally require high control precision. These joint modules include linear modules, which are linear motion modules of bionic manipulators or robot end effectors used to achieve precise grasping, pushing, pulling, or positioning operations. In the prior art, patent CN120095877A discloses a joint module and a dexterous hand, including: a motor assembly, including a stator and a rotor, the rotor being fitted inside the stator and rotatable about a central axis relative to the stator; and an output assembly, including a rotating component and an actuating component, the rotating component being fitted inside the rotor and rotating with the rotor about the central axis relative to the stator; the actuating component being drively connected to the rotating component; and the actuating component moving along a first direction under the drive of the rotating component, the first direction being parallel to the central axis.

[0003] The above structure reduces the size of the joint module. However, most of the joint modules in the dexterous hand use a rotating structure with a motor and reducer available on the market. The axial length of the motor is relatively long, which cannot achieve zero cogging and high positioning accuracy transmission. Utility Model Content

[0004] In view of this, the purpose of this utility model is to propose a dexterous hand-operated coggingless linear module to solve the problem that most rotary structures using motors and reducers on the market have a long axial length of motors, which cannot achieve zero cogging and high positioning accuracy transmission.

[0005] To achieve the above objectives, this utility model provides a dexterous hand-operated cogwheel linear module, comprising a drive and control housing. A bearing is fixedly installed inside the drive and control housing, and a ball screw is connected through the bearing. Nuts and magnets are sequentially distributed axially on the outer side of the ball screw, forming a motor rotor. An iron core is provided outside the magnet, and a linear coil is connected to the outside of the iron core. The iron core and the linear coil form a motor stator. A motor drive and control board is connected to one side of the motor rotor and the motor stator. A control unit is provided on the top of the linear coil. The motor drive and control board is electrically connected to the control unit, which is used to achieve high-precision position control.

[0006] Preferably, the ball screw includes a screw nut and a screw rod, the screw nut being threadedly connected to the outside of the screw rod, and one end of the screw rod penetrating one side of the drive housing; the outside of the screw nut is threadedly connected to the inner wall of the nut, and a magnet is installed on one side of the nut.

[0007] Preferably, the control unit includes a linear position sensor and an encoder chip, with the linear position sensor connected to one side of the encoder chip, and the linear position sensor being parallel to the screw vertically.

[0008] Preferably, the linear coil has a hollow structure inside, and the inner diameter of the linear coil corresponds to the outer diameter of the magnet.

[0009] Preferably, the top of the control unit is fixedly equipped with a first side plate and a second side plate, and the first side plate and the second side plate are fixedly connected to the drive control housing with multiple sets of screws.

[0010] Preferably, side screws are installed on both sides of the drive housing.

[0011] The beneficial effects of this utility model are: The motor rotor is formed by assembling magnets, nuts, and bearings onto a ball screw. The motor stator is formed using an iron core and linear coils. When energized, the rotor rotates and the ball screw rotates, thus achieving linear transmission through the ball screw. This converts the motor's rotation into linear transmission. At the same time, high-precision position control is achieved through a control unit. By combining the ball screw with a coreless motor, linear transmission is realized. Unlike the rotary structure of motor reducers on the market, this design can significantly reduce the axial length of the motor and achieve high positioning accuracy transmission through a zero-cog design. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a three-dimensional structural diagram of the entire utility model; Figure 2 This is a schematic diagram of the overall semi-sectional structure of this utility model; Figure 3 This is a schematic diagram of the overall semi-sectional planar structure of this utility model; Figure 4 This is a schematic diagram of the connection structure between the ball screw and the nut of this utility model; Figure 5 This is a schematic diagram of the internal structure of the ball screw of this utility model.

[0014] The components in the diagram are labeled as follows: 1. Ball screw; 2. Magnet; 3. Nut; 4. Bearing; 5. Screw nut; 6. Screw; 7. Linear coil; 8. Iron core; 9. Control unit; 10. Linear position sensor; 11. Encoder chip; 12. Side plate one; 13. Side plate two; 14. Top screw; 15. Side screw; 16. Drive control housing. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments.

[0016] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the dexterous hand-operated cogwheel linear module includes a drive control housing 16. A bearing 4 is fixedly installed inside the drive control housing 16. A ball screw 1 is connected through the bearing 4. Nuts 3 and magnets 2 are sequentially distributed axially on the outside of the ball screw 1. Nuts 3 and magnets 2 are used to form the motor rotor. An iron core 8 is provided on the outside of the magnet 2. A linear coil 7 is connected to the outside of the iron core 8. The iron core 8 and the linear coil 7 are used to form the motor stator. A motor drive control board is provided on one side of the motor rotor and the motor stator. A control unit 9 is provided on the top of the linear coil 7. The motor drive control board and the control unit 9 are electrically connected. The control unit 9 is used to achieve high-precision position control.

[0017] In this embodiment, the magnet 2, nut 3, and bearing 4 are assembled onto the ball screw 1 to form the motor rotor. The iron core 8 and linear coil 7 are used to form the motor stator. When the rotor rotates after being energized, the ball screw 1 rotates, thereby achieving linear transmission through the ball screw 1, thus realizing the conversion of the motor's rotation into linear transmission. At the same time, high-precision position control is achieved through the control unit 9. By combining the ball screw 1 with the hollow cup motor, linear transmission is realized. Unlike the rotational structure of motor reducers on the market, this method can significantly reduce the axial length of the motor. The toothless design achieves high positioning accuracy transmission.

[0018] As one implementation method, such as Figure 4 and Figure 5 As shown, the ball screw 1 includes a screw nut 5 and a screw 6. The screw nut 5 is threaded to the outside of the screw 6, and one end of the screw 6 passes through one side of the drive housing 16. The outside of the screw nut 5 is threaded to the inner wall of the nut 3, and the magnet 2 is installed on one side of the nut 3.

[0019] In this embodiment, when the rotor rotates, the screw nut 5 of the ball screw 1 will rotate, thereby driving the linear transmission of the screw 6, thus realizing the conversion of the motor's rotational transmission into linear transmission.

[0020] As one implementation method, such as Figure 2 , Figure 3 and Figure 4 As shown, the control unit 9 includes a linear position sensor 10 and an encoder chip 11. The linear position sensor 10 is connected to one side of the encoder chip 11, and the linear position sensor 10 is vertically parallel to the screw 6.

[0021] In this embodiment, as disclosed in patent CN207082973U, a magnetic encoder, a motor, and a motor system are included, which involves integrating a linear position sensor 10 and an encoder chip 11 onto a drive control board. Those skilled in the art will not elaborate further on this here. The linear position sensor 10 and encoder chip 11 are integrated onto the drive control board to form the motor control unit 9. High-precision position control is achieved through dual position signal feedback. The drive control board, encoder chip 11 and motor body are integrated to form an integrated drive and control structure, realizing the miniaturization design of the hand, thereby making the dexterous hand truly dexterous and reducing the size of the dexterous hand.

[0022] As one implementation method, such as Figure 2 and Figure 3 As shown, the linear coil 7 has a hollow structure inside, and the inner diameter of the linear coil 7 is set to correspond to the outer diameter of the magnet 2.

[0023] In this embodiment, the inner diameter of the linear coil 7 corresponds to the outer diameter of the magnet 2. When the iron core 8 and the linear coil 7 are used to form the motor stator, the rotor rotates after being energized, and the screw nut 5 of the ball screw 1 will rotate, thereby driving the linear transmission of the screw 6.

[0024] As one implementation method, such as Figure 1 , Figure 2 and Figure 3 As shown, a side plate 12 and a side plate 2 13 are fixedly installed on the top of the control unit 9. Multiple sets of screws 14 are fixedly connected between the side plate 12, the side plate 2 13 and the drive housing 16.

[0025] Side screws 15 are installed on both sides of the drive housing 16.

[0026] In this embodiment, the control unit 9 is sealed in the motor by the upper screw 14, forming a backpack-like integration with the motor. Then, screws are used to assemble the various components of the motor into one piece. The whole adopts a square backpack structure scheme, using screw assembly to replace glue bonding or laser welding processes on the market, achieving high reliability and disassembly on a compact basis.

[0027] Working principle: When in use, the magnet 2, nut 3, and bearing 4 are assembled onto the ball screw 1 to form the motor rotor. The iron core 8 and linear coil 7 are used to form the motor stator. When the rotor rotates after being energized, the screw nut 5 of the ball screw 1 will rotate, thereby driving the linear transmission of the screw 6, thus realizing the conversion of the motor's rotation to linear transmission. Meanwhile, the linear position sensor 10 and encoder chip 11 are integrated into the drive control board to form the motor control unit 9. High-precision position control is achieved through dual position signal feedback. The drive control board, encoder chip 11 and motor body are integrated to form an integrated drive and control structure, realizing the miniaturization design of the hand, thereby making the dexterous hand truly dexterous and reducing the size of the dexterous hand.

[0028] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; within the framework of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in the details for the sake of brevity.

[0029] This utility model is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A dexterous hand-operated linear module without toothed grooves, comprising a drive housing (16), characterized in that, The drive control housing (16) is internally fixedly equipped with a bearing (4), and a ball screw (1) is connected through the bearing (4). Nuts (3) and magnets (2) are sequentially distributed on the outer axial direction of the ball screw (1). Nuts (3) and magnets (2) are used to form the motor rotor. An iron core (8) is provided on the outside of the magnet (2). A linear coil (7) is connected to the outside of the iron core (8). The iron core (8) and the linear coil (7) are used to form the motor stator. A motor drive control board is provided on one side of the motor rotor and the motor stator. A control unit (9) is provided on the top of the linear coil (7). The motor drive control board and the control unit (9) are electrically connected. The control unit (9) is used to realize high-precision position control.

2. The dexterous hand-type grooveless linear module according to claim 1, characterized in that, The ball screw (1) includes a screw nut (5) and a screw (6). The screw nut (5) is threaded to the outside of the screw (6), and one end of the screw (6) passes through one side of the drive housing (16). The screw nut (5) is threaded to the inner wall of the nut (3), and the magnet (2) is installed on one side of the nut (3).

3. The dexterous hand-type grooveless linear module according to claim 1, characterized in that, The control unit (9) includes a linear position sensor (10) and an encoder chip (11). The encoder chip (11) is connected to the linear position sensor (10) on one side, and the linear position sensor (10) is parallel to the screw (6) vertically.

4. The dexterous hand-type grooveless linear module according to claim 1, characterized in that, The linear coil (7) has a hollow structure inside, and the inner diameter of the linear coil (7) is set to correspond to the outer diameter of the magnet (2).

5. The dexterous hand-type cogwheel linear module according to claim 3, characterized in that, The top of the control unit (9) is fixedly installed with side plate one (12) and side plate two (13), and multiple sets of upper screws (14) are fixedly connected between side plate one (12), side plate two (13) and drive control housing (16).

6. The dexterous hand-type cogwheel linear module according to claim 5, characterized in that, Side screws (15) are installed on both sides of the drive housing (16).

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