A built-in robot servo driver

Abstract

The application provides a built-in robot servo driver and belongs to the technical field of servo drivers. The built-in robot servo driver comprises a shell body, a planetary roller screw and a motor. An encoder cover is fixed to the outer end of a rear end cover. An accommodating cavity is arranged between the rear end cover and the encoder cover. A top rod is inserted into the inner wall of the encoder cover. An integrated hollow servo driver is arranged on the outer sleeve of the top rod. A code disc is coaxially fixed to the rotating end of the planetary roller screw. The code disc is arranged in the accommodating cavity. The code disc and the integrated hollow servo driver are coaxially arranged. The motor provides power for the rotating movement of the planetary roller screw. Since the driver is designed in a built-in mode, the internal part of the linear actuator does not need to be specially designed with a groove for wiring, so that the production efficiency is improved, the production difficulty and cost are reduced, and the integrated design of the encoder and the servo driver greatly reduces the volume of the product.

Description

Technical Field

[0001] This application relates to the field of servo drives, and more specifically, to a built-in robot servo drive. Background Technology

[0002] Currently, the demand for humanoid robots is increasing. In addition to rotary servo joint modules, linear motion servo joint modules are also needed. However, due to the complex structure of this product, manufacturers generally do not open source it, making it more complicated to use.

[0003] Because the existing drivers are external, the internal wiring channels of the linear actuator need to be specially designed, resulting in a large product size. Utility Model Content

[0004] To overcome the above shortcomings, this application provides a built-in robot servo driver, which aims to improve the problem of external drivers requiring specially designed wiring channels inside the linear actuator.

[0005] This application provides a built-in robot servo driver, including a housing, a planetary roller screw, and a motor; A front cover is installed at the front end of the outer casing, a rear cover is installed at the rear end of the outer casing, an encoder cover is fixed to the outer end of the rear cover, a receiving cavity is provided between the rear cover and the encoder cover, a push rod is inserted into the inner wall of the encoder cover, an integrated hollow servo driver is sleeved on the push rod, the integrated hollow servo driver is disposed in the receiving cavity, and a sensor for monitoring the push-pull force at the output end of the planetary roller screw is installed at the outer end of the encoder cover. The planetary roller screw is disposed within the housing and is used to convert rotational motion into axial linear motion. A code disk is coaxially fixed to the rotating end of the planetary roller screw. The code disk is disposed within the receiving cavity and is coaxially disposed with the integrated hollow servo driver. The motor provides power for the rotational motion of the planetary roller screw.

[0006] In a preferred embodiment of this utility model, the planetary roller screw includes a long nut, a screw shaft, and threaded rollers. The screw shaft rotatably passes through the interior of the long nut. The threaded rollers are disposed between the inner wall of the long nut and the outer wall of the screw shaft. The external thread of the threaded rollers is threadedly connected to the internal thread of the long nut, and the external thread of the threaded rollers is threadedly connected to the external thread of the screw shaft.

[0007] In a preferred embodiment of this utility model, retainers for limiting the position are respectively installed at both ends of the threaded roller, and the end of the threaded roller is rotatably connected to the retainer. Multiple threaded rollers are provided, and the multiple threaded rollers are distributed in a ring at equal angles around the outer surface of the lead screw shaft.

[0008] In a preferred embodiment of this utility model, the long nut is disposed inside the motor and is coaxially and fixedly connected to the rotor of the motor. The stator of the motor is sleeved outside the rotor. When the rotor is energized, it drives the long nut to rotate radially. One end of the long nut extends into the receiving cavity, and the code disk is fixedly connected to one end of the long nut.

[0009] In a preferred embodiment of this utility model, a front bearing is engaged with the inner wall of the front port of the outer casing, and a rear bearing is engaged with the inner wall of the rear port of the outer casing. The front end of the long nut rotates through the inner ring of the front bearing, and the rear end of the long nut rotates through the inner ring of the rear bearing.

[0010] In a preferred embodiment of this utility model, the front end cover has a built-in front end oil seal, the lead screw shaft includes a sliding column and an external threaded column, one end of the sliding column and one end of the external threaded column are coaxially fixed and integrally formed, and the sliding column passes through the front end oil seal.

[0011] In a preferred embodiment of this utility model, the front end cover is provided with an anti-rotation guide sleeve for limiting the radial rotation of the lead screw shaft. The anti-rotation guide sleeve is sleeved on the outer surface of the slide column, and both the inner side of the anti-rotation guide sleeve and the outer surface of the slide column are provided with matching smooth contact surfaces.

[0012] In a preferred embodiment of this utility model, the anti-rotation guide sleeve includes a front retaining ring and a bushing. The bushing is slidably sleeved on the smooth part of the front section of the lead screw shaft. The front retaining ring is snapped into the front end cover, and the inner ring of the front retaining ring is engaged with the outer wall of the bushing.

[0013] In a preferred embodiment of this utility model, the front end of the outer shell is threadedly connected to a front nut for limiting the long nut, and the rear end cover has a through hole, through which the connection between the motor and the integrated hollow servo driver passes.

[0014] Beneficial effects: This application provides a built-in robot servo driver. Since the driver adopts a built-in design, there is no need to design a special channel for wiring inside the linear actuator, which improves production efficiency, reduces production difficulty and cost. The encoder and servo driver adopt an integrated design, which greatly reduces the product size. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a three-dimensional structural diagram of the built-in robot servo driver provided in the embodiments of this application; Figure 2 A side-view sectional view of the structure provided for an embodiment of this application; Figure 3 An exploded perspective view of an embodiment of this application; Figure 4 A schematic diagram of a planetary roller screw structure provided for an embodiment of this application.

[0017] In the diagram: 100, outer casing; 101, front bearing; 103, rear bearing; 110, front end cover; 111, front oil seal; 120, rear end cover; 121, through hole; 130, encoder cover; 131, top rod; 140, sensor; 150, front nut; 160, code disk; 200, planetary roller screw; 210, long nut; 220, screw shaft; 230, threaded roller; 240, cage; 251, front retaining ring; 253, bushing; 300, motor; 500, integrated hollow servo driver. Detailed Implementation

[0018] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0019] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0020] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0021] Please see Figures 1-4 This utility model provides a built-in robot servo driver, including a housing 100, a planetary roller screw 200, and a motor 300; A front cover 110 is installed at the front end of the outer casing 100, and a rear cover 120 is installed at the rear end of the outer casing 100. An encoder cover 130 is fixed to the outer end of the rear cover 120. A receiving cavity is provided between the rear cover 120 and the encoder cover 130. A push rod 131 is inserted into the inner wall of the encoder cover 130. An integrated hollow servo driver 500 is sleeved on the push rod 131. The integrated hollow servo driver 500 is disposed in the receiving cavity. A sensor 140 for monitoring the push-pull force at the output end of the planetary roller screw 200 is installed at the outer end of the encoder cover 130. The planetary roller screw 200 is disposed within the housing 100 and is used to convert rotational motion into axial linear motion. A code disk 160 is coaxially fixed to the rotating end of the planetary roller screw 200. The code disk 160 is disposed within the receiving cavity and is coaxially disposed with the integrated hollow servo driver 500. The motor 300 provides power for the rotational motion of the planetary roller screw 200.

[0022] Please see Figure 4 In a specific embodiment of this utility model, the planetary roller screw 200 includes a long nut 210, a screw shaft 220, and a threaded roller 230. The screw shaft 220 rotatably passes through the interior of the long nut 210. The threaded roller 230 is disposed between the inner wall of the long nut 210 and the outer wall of the screw shaft 220. The external thread of the threaded roller 230 is threadedly connected to the internal thread of the long nut 210, and the external thread of the threaded roller 230 is threadedly connected to the external thread of the screw shaft 220.

[0023] In a specific embodiment of this utility model, a retainer 240 for limiting is respectively installed at both ends of the threaded roller 230, and the end of the threaded roller 230 is rotatably connected to the retainer 240. Multiple threaded rollers 230 are provided, and the multiple threaded rollers 230 are distributed in a ring at equal angles around the outer surface of the lead screw shaft 220.

[0024] In a specific embodiment of this utility model, the long nut 210 is disposed inside the motor 300, and the long nut 210 is coaxially and fixedly connected to the rotor of the motor 300. The stator of the motor 300 is sleeved outside the rotor. When the rotor is energized, it drives the long nut 210 to rotate radially. One end of the long nut 210 extends into the receiving cavity, and the code disk 160 is fixedly connected to one end of the long nut 210.

[0025] Please see Figures 2-3 In a specific embodiment of this utility model, a front bearing 101 is snapped into the inner wall of the front port of the outer shell 100, and a rear bearing 103 is snapped into the inner wall of the rear port of the outer shell 100. The front end of the long nut 210 rotates through the inner ring of the front bearing 101, and the rear end of the long nut 210 rotates through the inner ring of the rear bearing 103.

[0026] In a specific embodiment of this utility model, the front end cover 110 has a built-in front end oil seal 111, the lead screw shaft 220 includes a sliding column and an external threaded column, one end of the sliding column and one end of the external threaded column are coaxially fixed and integrally formed, and the sliding column passes through the front end oil seal 111.

[0027] In a specific embodiment of this utility model, the front end cover 110 is provided with an anti-rotation guide sleeve for limiting the radial rotation of the lead screw shaft 220. The anti-rotation guide sleeve is sleeved on the outer surface of the slide column, and both the inner side of the anti-rotation guide sleeve and the outer surface of the slide column are provided with matching smooth contact surfaces.

[0028] In a specific embodiment of this utility model, the anti-rotation guide sleeve includes a front retaining ring 251 and a bushing 253. The bushing 253 is slidably sleeved on the smooth part of the front section of the lead screw shaft 220. The front retaining ring 251 is snapped into the front end cover 110. The inner ring of the front retaining ring 251 is engaged with the outer wall of the bushing 253.

[0029] In a specific embodiment of this utility model, the front end of the outer shell 100 is threadedly connected to a front nut 150 for limiting the long nut 210, and the rear end cover 120 is provided with a through hole 121, through which the connection between the motor 300 and the integrated hollow servo driver 500 passes.

[0030] The working principle of this built-in robot servo drive is as follows: In order to make the joints of humanoid robots more diverse and output higher torque, an integrated linear servo actuator was developed. It has a built-in planetary roller screw, servo drive, single-channel multi-turn absolute encoder, heat sink, and sensor 140. Sensor 140 contains various sensors that can monitor key parameters of various parts of the equipment in real time. It can be used after simply connecting the power cord and communication line and configuring it. The outer casing 100 includes a metal heat sink, which conducts heat away from high-heat components in the servo drive, such as the main control chip (MCU), MOSFETs, servo control chip, bus communication chip, and gate driver, ensuring that these components operate at their rated temperatures even in high-temperature environments. This section incorporates multiple temperature sensors to monitor the real-time temperatures of heat-sensitive and heat-sensitive components such as the MCU and MOSFETs, as well as the motor 300, preventing these components from operating beyond their rated temperatures. If the device temperature reaches or exceeds the rated temperature, the main control chip will respond according to the programmed settings by activating alarms, low-power output, or stopping operation.

[0031] The built-in single-channel magnetic encoder read head is compatible with a single-channel magnetic code disk and supports multi-turn counting. A certain distance is maintained between the read head and heat-prone components to prevent data drift due to overheating, ensuring data acquisition accuracy and operational stability in high-temperature environments. Through hole 121 is located at the end of the product as a cable connection port for convenient cable connection. A matching magnetic code disk is selected based on the read head performance and installation location.

[0032] The output end of the motor 300 is adapted to the input end of the planetary roller screw 200. The planetary roller screw 200 efficiently converts the rotational motion of the motor 300 into linear motion through the dual mechanism of multi-point contact and helical meshing of the planetary gear system, and realizes the amplification and stable transmission of torque through lead design and material rigidity.

[0033] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

Claims

1. A built-in robot servo driver, characterized in that, include The outer casing (100) has a front cover (110) installed at its front end and a rear cover (120) installed at its rear end. An encoder cover (130) is fixed to the outer end of the rear cover (120). A receiving cavity is provided between the rear cover (120) and the encoder cover (130). A push rod (131) is inserted into the inner wall of the encoder cover (130). An integrated hollow servo driver (500) is sleeved on the push rod (131). The integrated hollow servo driver (500) is disposed in the receiving cavity. A sensor (140) for monitoring the push-pull force at the output end of the planetary roller screw (200) is installed at the outer end of the encoder cover (130). A planetary roller screw (200) is disposed inside the housing (100) and is used to convert rotational motion into axial linear motion. A code disk (160) is coaxially fixed to the rotating end of the planetary roller screw (200). The code disk (160) is disposed inside the receiving cavity and is coaxially disposed with the integrated hollow servo driver (500). The motor (300) provides power for the rotational motion of the planetary roller screw (200).

2. The built-in robot servo driver according to claim 1, characterized in that, The planetary roller screw (200) includes a long nut (210), a screw shaft (220), and threaded rollers (230). The screw shaft (220) rotates through the interior of the long nut (210). The threaded rollers (230) are disposed between the inner wall of the long nut (210) and the outer wall of the screw shaft (220). The external thread of the threaded rollers (230) is threadedly connected to the internal thread of the long nut (210), and the external thread of the threaded rollers (230) is threadedly connected to the external thread of the screw shaft (220).

3. The built-in robot servo driver according to claim 2, characterized in that, The threaded roller (230) is equipped with a retainer (240) for limiting the position at both ends. The end of the threaded roller (230) is rotatably connected to the retainer (240). Multiple threaded rollers (230) are provided, and the multiple threaded rollers (230) are distributed in a ring at equal angles around the outer surface of the lead screw shaft (220).

4. A built-in robot servo driver according to claim 2, characterized in that, The long nut (210) is disposed inside the motor (300). The long nut (210) is coaxially and fixedly connected to the rotor of the motor (300). The stator of the motor (300) is sleeved outside the rotor. When the rotor is energized, it drives the long nut (210) to rotate radially. One end of the long nut (210) extends into the receiving cavity. The code disk (160) is fixedly connected to one end of the long nut (210).

5. A built-in robot servo driver according to claim 2, characterized in that, A front bearing (101) is snapped into the inner wall of the front port of the outer casing (100), and a rear bearing (103) is snapped into the inner wall of the rear port of the outer casing (100). The front end of the long nut (210) rotates through the inner ring of the front bearing (101), and the rear end of the long nut (210) rotates through the inner ring of the rear bearing (103).

6. A built-in robot servo driver according to claim 2, characterized in that, The front end cover (110) has a built-in front end oil seal (111), and the lead screw shaft (220) includes a sliding column and an external thread column. One end of the sliding column and one end of the external thread column are coaxially fixed and integrally formed, and the sliding column passes through the front end oil seal (111).

7. A built-in robot servo driver according to claim 6, characterized in that, The front end cover (110) is provided with an anti-rotation guide sleeve for limiting the radial rotation of the lead screw shaft (220). The anti-rotation guide sleeve is sleeved on the outer surface of the slide column. The inner side of the anti-rotation guide sleeve and the outer surface of the slide column are provided with matching smooth contact surfaces.

8. A built-in robot servo driver according to claim 7, characterized in that, The anti-rotation guide sleeve includes a front retaining ring (251) and a bushing (253). The bushing (253) is slidably sleeved on the smooth part of the front section of the lead screw shaft (220). The front retaining ring (251) is snapped into the front end cover (110). The inner ring of the front retaining ring (251) is engaged with the outer wall of the bushing (253).

9. A built-in robot servo driver according to claim 2, characterized in that, The front end of the outer casing (100) is threaded with a front nut (150) for limiting the long nut (210), and the rear end cover (120) has a through hole (121). The connection between the motor (300) and the integrated hollow servo driver (500) passes through the through hole (121).

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