A trans ball screw linear joint module

Abstract

The utility model relates to a kind of reverse ball screw linear joint module, including shell, motor, reverse ball screw, reverse ball screw nut, rotation-stopping component and at least one group bearing;The shell is support, for fixing the motor, bearing and other accessories;The reverse ball screw nut is sleeved in the reverse ball screw outer and forms screw pair cooperation, the reverse ball screw nut is connected with the rotor of the motor, and rotatably supported in the shell by the bearing;The rotation-stopping component is cooperated with the reverse ball screw, for limiting the reverse ball screw rotation, so that the reverse ball screw can be linear motion along axial direction.The shortcomings of ball screw linear joint module are solved, and the length size is relatively large, and double-stroke space is needed;The cost of planetary roller screw linear joint module is extremely high.

Description

Technical Field

[0001] This utility model relates to the field of joint modules, and in particular to a reverse ball screw linear joint module. Background Technology

[0002] Existing linear joint modules are generally either ball screw linear modules or planetary roller screw linear joint modules. The disadvantages of ball screw linear joint modules are their large length, requiring twice the space for the stroke; planetary roller screw linear joint modules are extremely expensive. This solution uses a reverse ball screw, completely avoiding the disadvantages of both. Utility Model Content

[0003] This application provides a reverse ball screw linear joint module, which solves the problems of existing ball screw linear joint modules, such as large length dimensions requiring double the stroke space and extremely high cost.

[0004] The technical solutions adopted in the embodiments of this application are as follows.

[0005] A reverse ball screw linear joint module includes a housing, a motor, a reverse ball screw, a reverse ball screw nut, an anti-rotation component, and at least one set of bearings. The housing serves as a support for fixing the motor, bearings, and other components. The reverse ball screw nut is sleeved on the reverse ball screw, forming a screw-screw pair. The reverse ball screw nut is connected to the rotor of the motor and is rotatably supported by the bearings on the housing. The anti-rotation component cooperates with the reverse ball screw to restrict its rotation, allowing the reverse ball screw to move linearly along the axial direction.

[0006] As a further improvement to the above technical solution: The housing includes a main housing, a front cover, and a rear cover. The front cover and the rear cover are respectively connected to the two ends of the main housing, and the anti-rotation component is fixed to the front cover.

[0007] The bearing includes a double-row angular contact bearing and another bearing, which are spaced apart axially. The two ends of the inverted ball screw nut are supported on the housing by the double-row angular contact bearing and the other bearing, respectively, and the inverted ball screw nut is axially fixed.

[0008] The anti-rotation component is a anti-rotation copper sleeve, and the smooth part of the reverse ball screw is provided with a flat opening. The anti-rotation copper sleeve cooperates with the flat opening to restrict the rotation of the reverse ball screw.

[0009] The front end of the inverted ball screw is equipped with a rod end bearing.

[0010] A spherical bearing is installed on the rear end cover.

[0011] It also includes a magnet and a drive plate. The magnet is installed at the tail end of the inverted ball screw nut and rotates synchronously with it. The drive plate is fixed to the housing. The drive plate is provided with a magnetic sensor that cooperates with the magnet to detect the rotational speed and angle of the inverted ball screw nut.

[0012] The stator of the motor is fixed to the housing, and the rotor of the motor is connected to the outer cylindrical surface of the inverted ball screw nut. The motor is used to drive the inverted ball screw nut to rotate.

[0013] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. Utilizing a reverse ball screw design, the screw's axial linear motion is driven by the rotation of the nut, avoiding the problem of the screw extending synchronously with the stroke in traditional ball screw modules. The effective stroke of the screw depends only on its own length, eliminating the need for redundant space for double the stroke, significantly shortening the overall module length. This makes it particularly suitable for high-precision transmission scenarios in compact spaces (such as precision robotic arm joints and small automated equipment). It retains the mature transmission principle of ball screws, resulting in significantly lower manufacturing costs compared to planetary roller screw modules. Simultaneously, high positioning accuracy is achieved through the precise fit of the screw pair. Compared to traditional ball screws, the reverse structure reduces the difficulty and cost of machining long screws, and can replace expensive planetary roller solutions in small to medium load scenarios, reducing overall equipment investment. The combination of double-row angular contact bearings and axially spaced bearings provides strong radial support for the reverse ball screw nut, effectively suppressing radial runout during rotation. The anti-rotation component, through the rigid fit between the flat end and the anti-rotation copper sleeve, completely restricts the rotation of the lead screw, ensuring the stability of linear motion, reducing positioning errors caused by transmission backlash, and improving the reliability of the module under high-frequency start-stop conditions. The magnet, in conjunction with the magnetic sensor on the drive board, can monitor the nut's rotational speed and angle in real time, accurately obtaining the axial position of the lead screw through calculation. This closed-loop control mechanism dynamically compensates for transmission errors, significantly improving positioning accuracy compared to open-loop control, meeting high-precision requirements such as precision assembly and micro-displacement adjustment. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the inverse ball screw linear joint module in this utility model.

[0015] Figure 2 This is a cross-sectional view of the inverse ball screw linear joint module of this utility model.

[0016] In the diagram: 1. Housing; 10. Bearing; 11. Drive plate; 12. Spherical plain bearing; 13. Rear end cover; 2. Motor; 3. Front end cover; 4. Anti-rotation copper sleeve; 5. Rod end bearing; 6. Reverse ball screw; 7. Double row angular contact bearing; 8. Reverse ball screw nut; 9. Magnet. Detailed Implementation

[0017] This application provides a reverse ball screw linear joint module, which solves the problems of existing ball screw linear joint modules, such as large length dimensions requiring double the stroke space and extremely high cost.

[0018] The technical solution in this application embodiment is to solve the above problems, and the overall idea is as follows: To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0019] A reverse ball screw linear joint module includes a housing 1, a motor 2, a reverse ball screw 6, a reverse ball screw nut 8, an anti-rotation component, and at least one set of bearings 10. The housing 1 serves as a support for fixing the motor 2, bearings 10, and other accessories. The reverse ball screw nut 8 is sleeved on the reverse ball screw 6 to form a screw pair. The reverse ball screw nut 8 is connected to the rotor of the motor 2 and is rotatably supported on the housing 1 via the bearings 10. The anti-rotation component cooperates with the reverse ball screw 6 to limit the rotation of the reverse ball screw 6, allowing the reverse ball screw 6 to move linearly along the axial direction.

[0020] The housing 1 includes a main housing, a front cover 3 and a rear cover 13. The front cover 3 and the rear cover 13 are respectively connected to the two ends of the main housing, and the anti-rotation component is fixed to the front cover 3.

[0021] The bearing 10 includes a double-row angular contact bearing 7 and another bearing, which are spaced apart along the axial direction. The two ends of the reverse ball screw nut 8 are supported on the housing 1 by the double-row angular contact bearing 7 and the other bearing, respectively, and the reverse ball screw nut 8 is axially fixed.

[0022] The anti-rotation component is the anti-rotation copper sleeve 4. The smooth part of the reverse ball screw 6 is provided with a flat opening. The anti-rotation copper sleeve 4 cooperates with the flat opening to limit the rotation of the reverse ball screw 6.

[0023] The front end of the inverted ball screw 6 is equipped with a rod end bearing 5.

[0024] A spherical bearing 12 is installed on the rear cover 13.

[0025] It also includes a magnet 9 and a drive plate 11. The magnet 9 is installed at the tail end of the reverse ball screw nut 8 and rotates synchronously with it. The drive plate 11 is fixed to the housing 1. The drive plate 11 is equipped with a magnetic sensor that cooperates with the magnet 9 to detect the rotation speed and angle of the reverse ball screw nut 8.

[0026] The stator of motor 2 is fixed to housing 1, and the rotor of motor 2 is connected to the outer cylindrical surface of the reverse ball screw nut 8. Motor 2 is used to drive the reverse ball screw nut 8 to rotate.

[0027] Thanks to its inverted ball screw design, the screw's axial linear motion is driven by the rotation of the nut, avoiding the problem of the screw extending synchronously with the stroke in traditional ball screw modules. The effective stroke of the screw depends only on its own length, eliminating the need for redundant space for double the stroke, thus significantly shortening the overall module length. This makes it particularly suitable for high-precision transmission scenarios in compact spaces (such as precision robotic arm joints and small automated equipment). It retains the mature transmission principle of ball screws, resulting in significantly lower manufacturing costs than planetary roller screw modules, while achieving high positioning accuracy through the precise fit of the screw pair. Compared to traditional ball screws, the inverted structure reduces the difficulty and cost of machining long screws, and can replace expensive planetary roller solutions in small to medium load scenarios, reducing overall equipment investment. The combination of double-row angular contact bearings and axially spaced bearings provides strong radial support for the inverted ball screw nut, effectively suppressing radial runout during rotation. The anti-rotation component, through the rigid fit between the flat end and the anti-rotation copper sleeve, completely restricts the rotation of the lead screw, ensuring the stability of linear motion, reducing positioning errors caused by transmission backlash, and improving the reliability of the module under high-frequency start-stop conditions. The magnet, in conjunction with the magnetic sensor on the drive board, can monitor the nut's rotational speed and angle in real time, accurately obtaining the axial position of the lead screw through calculation. This closed-loop control mechanism dynamically compensates for transmission errors, significantly improving positioning accuracy compared to open-loop control, meeting high-precision requirements such as precision assembly and micro-displacement adjustment.

[0028] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0029] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A reverse ball screw linear joint module, characterized in that: The device includes a housing (1), a motor (2), a reverse ball screw (6), a reverse ball screw nut (8), an anti-rotation component, and at least one set of bearings (10). The housing (1) serves as a support for fixing the motor (2), bearings (10), and other accessories. The reverse ball screw nut (8) is fitted around the reverse ball screw (6) to form a screw pair. The reverse ball screw nut (8) is connected to the rotor of the motor (2) and is rotatably supported on the housing (1) via the bearings (10). The anti-rotation component cooperates with the reverse ball screw (6) to restrict the rotation of the reverse ball screw (6) so that the reverse ball screw (6) can move linearly along the axial direction.

2. The inverse ball screw linear joint module according to claim 1, characterized in that: The housing (1) includes a main housing, a front cover (3) and a rear cover (13). The front cover (3) and the rear cover (13) are respectively connected to the two ends of the main housing, and the anti-rotation component is fixed to the front cover (3).

3. The inverse ball screw linear joint module according to claim 1, characterized in that: The bearing (10) includes a double-row angular contact bearing (7) and another bearing, which are spaced apart axially. The two ends of the inverted ball screw nut (8) are supported on the housing (1) by the double-row angular contact bearing (7) and the other bearing, respectively, and the inverted ball screw nut (8) is axially fixed.

4. The inverse ball screw linear joint module according to claim 1, characterized in that: The anti-rotation component is the anti-rotation copper sleeve (4), and the smooth part of the reverse ball screw (6) is provided with a flat opening. The anti-rotation copper sleeve (4) cooperates with the flat opening to restrict the rotation of the reverse ball screw (6).

5. The inverse ball screw linear joint module according to claim 1, characterized in that: The front end of the inverted ball screw (6) is equipped with a rod end bearing (5).

6. The inverse ball screw linear joint module according to claim 2, characterized in that: A spherical bearing (12) is installed on the rear end cover (13).

7. The inverse ball screw linear joint module according to claim 1, characterized in that: It also includes a magnet (9) and a drive plate (11). The magnet (9) is installed at the tail end of the inverted ball screw nut (8) and rotates synchronously with it. The drive plate (11) is fixed to the housing (1). The drive plate (11) is provided with a magnetic sensor that cooperates with the magnet (9) to detect the rotation speed and angle of the inverted ball screw nut (8).

8. The inverse ball screw linear joint module according to claim 1, characterized in that: The stator of the motor (2) is fixed to the housing (1), and the rotor of the motor (2) is connected to the outer cylindrical surface of the inverted ball screw nut (8). The motor (2) is used to drive the inverted ball screw nut (8) to rotate.

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