Linear joint and mechanical device

Abstract

The utility model relates to the field of mechanical joint provides a linear joint and mechanical equipment. Linear joint includes motor rotor, and the inner wall surface of motor rotor is provided with the thread section, and the planet roller is meshed transmission with the thread section, and the planet screw is meshed transmission with the planet roller, and motor rotor is suitable for driving planet roller and planet screw relative to the axial direction action of motor rotor. This linear joint reduces the setting of independent screw nut component, thereby reduces the spare parts quantity, reduces the assembly complexity, simplifies the transmission link, promotes the transmission efficiency, improves the motion accuracy of linear joint, better adaptation to joint accuracy, compactness has the high requirement equipment application scene, still makes the planet roller not need to set into with motor rotor equal length's form, and then makes the planet roller can have relatively larger stroke in the inside of motor rotor, and the corresponding increase the stroke of planet screw.

Description

Technical Field

[0001] This utility model relates to the field of mechanical joints, and provides a linear joint and mechanical device. Background Technology

[0002] In current humanoid robot linear joint design, traditional designs face a series of challenges. Many linear drive mechanisms design the motor rotor and lead screw nut as independent components. This separate design facilitates individual component machining and replacement, but increases the number of parts, leading to complex assembly, a significant tendency for axial stacking, and reduced overall mechanism compactness. Furthermore, the fit tolerances and installation errors between components can adversely affect motion accuracy. These shortcomings of traditional designs limit the performance improvement of linear joints in terms of miniaturization, weight reduction, high stroke utilization, and high reliability. Utility Model Content

[0003] This utility model provides a linear joint to solve the defects of linear joints in related technologies, such as limited stroke and difficulty in miniaturization.

[0004] This utility model embodiment also provides a mechanical device.

[0005] Linear joints, including: The first aspect of this utility model provides a linear joint, comprising: The motor rotor has a threaded section on its inner wall surface; Planetary rollers engage with the threaded section for transmission; The planetary screw meshes with the planetary rollers for transmission, and the motor rotor is adapted to drive the planetary rollers and the planetary screw to move in the axial direction relative to the motor rotor.

[0006] According to one embodiment of the present invention, the first end of the planetary screw is located inside the motor rotor, the second end of the planetary screw is located outside the motor rotor, and the planetary rollers engage with the first end of the planetary screw.

[0007] According to one embodiment of the present invention, along the length direction of the planetary screw, a pair of cages are provided at the first end of the planetary screw, and the planetary rollers are disposed between the pair of cages.

[0008] According to one embodiment of the present invention, it further includes a motor driver and an encoder, the motor driver and the encoder being arranged radially on the outside of the motor rotor along the planetary screw.

[0009] According to one embodiment of the present invention, a first limiting structure is provided on the outer wall surface of the first end of the motor rotor, and the encoder is adapted to achieve positioning with the motor rotor through the first limiting structure.

[0010] According to one embodiment of the present invention, the first limiting structure includes a first protrusion, and the encoder rotor is adapted to be positioned with the motor rotor through the first protrusion.

[0011] According to one embodiment of the present invention, the linear joint further includes a housing and a flange connected to the housing, and the motor rotor, the motor driver and the encoder are located inside the housing; The motor driver and encoder stator are mounted on the flange, and a gap is formed between the motor driver and the encoder and the outer wall surface of the motor rotor along the radial direction of the planetary screw.

[0012] According to one embodiment of the present invention, the linear joint includes a bearing disposed at the second end of the motor rotor, and a second limiting structure is provided on the outer wall surface of the second end of the motor rotor. The bearing is adapted to be positioned with the motor rotor by means of the second limiting structure.

[0013] According to one embodiment of the present invention, the second limiting structure includes a second protrusion, and the side of the bearing facing the first end of the motor rotor abuts against the second protrusion.

[0014] A second aspect of this utility model provides a mechanical device, including the linear joint described above.

[0015] According to the linear joint provided in the first aspect of this utility model, by integrating the functions of the motor rotor and the lead screw nut, the inner wall surface of the motor rotor directly forms a threaded segment, reducing the need for independent lead screw nut components, thereby reducing the number of parts, lowering assembly complexity, and avoiding the problem of accumulated tolerances caused by the separate processing and assembly of multiple parts. Simultaneously, the integrated structure eliminates the connection link between the motor rotor and the independent lead screw nut, simplifying the transmission chain, reducing energy loss during transmission, and improving transmission efficiency. Furthermore, the dual meshing transmission of the planetary rollers, the threaded segment of the motor rotor, and the planetary lead screw can evenly distribute the load, reduce the stress intensity of individual meshing parts, and extend the service life of components; this meshing method also improves transmission stability, avoiding the jamming and offset problems that are prone to occur in single transmission structures, thereby improving the motion accuracy of the linear joint and better adapting to applications such as humanoid robots that have high requirements for joint accuracy and compactness. By having the motor rotor simultaneously drive the planetary rollers and the planetary lead screw to move axially relative to the motor rotor, the planetary rollers do not need to be set to the same length as the motor rotor, thus allowing the planetary rollers to have a relatively large stroke inside the motor rotor, correspondingly increasing the stroke of the planetary lead screw.

[0016] According to the second aspect of the present invention, the mechanical equipment, by integrating the aforementioned linear joints, reduces the number of independent parts, directly lowers the overall weight of the mechanical equipment, reduces the inertia of moving parts, and improves the dynamic response speed of the mechanical equipment, making it more flexible when starting, stopping, or adjusting movements. It also improves stroke utilization, allowing the mechanical equipment to achieve a longer linear motion stroke within a limited internal installation space, expanding the operating range. Furthermore, it reduces the assembly difficulty and subsequent maintenance costs of the mechanical equipment, while improving transmission efficiency, reducing energy consumption, and extending the operating time of the mechanical equipment, ensuring long-term stable operation in service, rehabilitation, or special operations scenarios. Attached Figure Description

[0017] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic perspective view of the linear joint provided by this utility model.

[0019] Figure 2 This is a schematic cross-sectional view of the linear joint provided by this utility model.

[0020] Figure 3This is a schematic perspective view of the motor rotor integrated encoder rotor, encoder stator, and motor driver provided by this utility model.

[0021] Figure 4 This is a schematic side view of the motor rotor provided by this utility model.

[0022] Figure label: 100. Motor rotor; 102. Planetary roller; 104. Planetary screw; 106. Cage; 108. Motor driver; 110. First limiting structure; 112. Encoder rotor; 114. Housing; 116. Flange; 118. Encoder stator; 120. Bearing; 122. Second limiting structure. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] like Figures 1 to 4 As shown, a first aspect of this utility model provides a linear joint, comprising: The motor rotor 100 has a threaded section on its inner wall surface; Planetary rollers 102 engage with the threaded section for transmission; The planetary screw 104 meshes with the planetary rollers 102 for transmission, and the motor rotor 100 is adapted to drive the planetary rollers 102 and the planetary screw 104 to move in the axial direction relative to the motor rotor 100.

[0025] According to the linear joint provided in the first aspect of this utility model, by integrating the motor rotor 100 and the lead screw nut, the inner wall surface of the motor rotor 100 directly forms a threaded segment, reducing the need for independent lead screw nut components, thereby reducing the number of parts, lowering assembly complexity, and avoiding the problem of accumulated tolerances caused by the separate processing and assembly of multiple parts. Simultaneously, the integrated structure eliminates the connection link between the motor rotor 100 and the independent lead screw nut, simplifying the transmission chain, reducing energy loss during transmission, and improving transmission efficiency. Furthermore, the dual meshing transmission of the planetary rollers 102 with the threaded segment of the motor rotor 100 and the planetary lead screw 104 can evenly distribute the load, reduce the stress intensity of individual meshing parts, and extend the service life of components; this meshing method can also improve transmission stability, avoiding the jamming and offset problems that are prone to occur in single transmission structures, thereby improving the motion accuracy of the linear joint and better adapting to application scenarios such as humanoid robots that have high requirements for joint accuracy and compactness. By simultaneously driving the planetary rollers 102 and the planetary screw 104 to move axially relative to the motor rotor 100, the planetary rollers 102 do not need to be set to be the same length as the motor rotor 100. This allows the planetary rollers 102 to have a relatively large stroke inside the motor rotor 100, which in turn increases the stroke of the planetary screw 104.

[0026] Please continue reading Figures 1 to 4 In the linear joint provided in the first aspect of this utility model, the motor rotor 100 not only serves as a rotating component of the motor, but also integrates the function of a roller screw nut. A threaded section is machined on its inner wall surface, and the tooth profile of the threaded section is adapted to the outer tooth profile of the planetary roller 102 to realize meshing transmission with the planetary roller 102.

[0027] The planetary roller 102 serves as an intermediate transmission component. Its outer surface engages with the threaded section of the inner wall of the motor rotor 100 and the external thread of the planetary screw 104. The planetary roller 102 can rotate around its own axis.

[0028] The planetary screw 104 is a linear motion output component. Its outer surface is machined with threads that are compatible with the planetary rollers 102. During transmission, the motor rotor 100 rotates around its own axis under the drive of the motor. The threaded section on the inner wall of the motor rotor 100 drives the planetary rollers 102 to rotate synchronously through meshing. The rotating planetary rollers 102 then mesh with the external threads of the planetary screw 104 to convert their rotational motion into linear motion of the planetary screw 104 along the axis of the motor rotor 100, thereby realizing the extension and retraction output of the linear joint.

[0029] It should be noted that in this embodiment of the present invention, when the motor rotor 100 rotates, it drives the planetary rollers 102 to rotate on their own axis. At the same time, the planetary rollers 102 revolve relative to the planetary screw 104. Meanwhile, the relative positions of the planetary rollers 102 and the planetary screw 104 are fixed. Therefore, when the motor rotor 100 rotates, it can simultaneously drive the planetary rollers 102 and the planetary screw 104 to move in the axial direction relative to the motor rotor 100. With this setting, the planetary rollers 102 do not need to be set to be the same length as the motor rotor 100. It only needs to achieve the purpose of transmitting the rotation of the motor rotor 100 to the planetary screw 104. Therefore, the planetary rollers 102 have a relatively large stroke inside the motor rotor 100, thereby ensuring that the planetary screw 104 has the same stroke, which can meet the requirements of large stroke use.

[0030] According to one embodiment of the present invention, the first end of the planetary screw 104 is located inside the motor rotor 100, the second end of the planetary screw 104 is located outside the motor rotor 100, and the planetary rollers 102 are engaged with the first end of the planetary screw 104.

[0031] See Figure 2 In one embodiment of the present invention, the two ends of the planetary screw 104 are located at different spatial positions. The first end of the planetary screw 104 extends into the internal region of the motor rotor 100, while the second end of the planetary screw 104 extends to the external region of the motor rotor 100. The planetary roller 102 and the first end of the planetary screw 104 form a meshing transmission relationship.

[0032] This arrangement allows the planetary rollers 102 to have the maximum stroke within the motor rotor 100. When the motor rotor 100 rotates, it drives the planetary rollers 102 to rotate on their own axis. At the same time, the planetary rollers 102 revolve around the planetary screw 104. Since the planetary rollers 102 and the planetary screw 104 move synchronously, when the planetary rollers 102 are engaged with the second end of the planetary screw 104, the rotation of the motor rotor 100 allows the motor rotor 100 to simultaneously drive the planetary rollers 102 and the planetary screw 104 to have the maximum extension and retraction stroke.

[0033] According to one embodiment of the present invention, along the length direction of the planetary screw 104, a pair of retainers 106 are provided at the first end of the planetary screw 104, and the planetary roller 102 is disposed between the pair of retainers 106.

[0034] See Figure 2In one embodiment of the present invention, a pair of retainers 106 are arranged at the first end of the planetary screw 104 along the length direction of the planetary screw 104. The retainers 106 are arranged opposite to each other along the axial direction of the planetary screw 104, forming a space between them to accommodate the planetary rollers 102. All planetary rollers 102 are confined between the pair of retainers 106. The retainers 106 can be installed on the planetary screw 104 by means of retaining rings.

[0035] The cage 106 is also provided with receiving holes matching the number of planetary rollers 102. Each planetary roller 102 is embedded in one receiving hole. The cage 106 restricts the circumferential and axial displacement of the planetary rollers 102 through the receiving holes, ensuring that the spacing between the planetary rollers 102 is uniform and that they always maintain precise engagement with the thread at the first end of the planetary screw 104 and the threaded section on the inner wall of the motor rotor 100, without misalignment or offset. At the same time, the cage 106 also ensures that there is no relative axial movement between the planetary rollers 102 and the planetary screw 104, so that the rotation of the motor rotor 100 can drive the planetary rollers 102 and the planetary screw 104 to move along the axial direction of the motor rotor 100.

[0036] The pair of cages 106 effectively prevents the planetary rollers 102 from shifting circumferentially or colliding with each other during transmission, ensuring the stability and accuracy of the planetary roller transmission. The uniform spacing reduces frictional loss between the planetary rollers 102, extending their service life, while ensuring that each planetary roller 102 can evenly bear the transmission load, avoiding component damage caused by excessive localized loads.

[0037] In addition, the retainer 106 limits the movement of the planetary rollers 102, which can prevent transmission jamming caused by misalignment of the planetary rollers 102, improve the transmission efficiency of the entire linear joint, and ensure smooth and stable linear movement of the planetary screw 104.

[0038] According to one embodiment of the present invention, it further includes a motor driver 108 and an encoder, which are arranged radially on the outside of the motor rotor 100 along the planetary screw 104.

[0039] See Figure 2 and Figure 3In one embodiment of this invention, the motor driver 108 and the encoder are both arranged radially along the outer region of the planetary screw 104, rather than stacked axially along the planetary screw 104. The motor driver 108 and the encoder are distributed around the circumference of the motor rotor 100, maintaining a certain distance from the outer wall of the motor rotor 100 to avoid interference with its rotational motion. The motor driver 108 is electrically connected to the motor via wiring, providing a drive signal, while the encoder is associated with the motor rotor 100 to collect its rotational parameters. This radial arrangement does not occupy the axial space of the planetary screw 104, ensuring that the effective stroke of the planetary screw 104 is unaffected by the motor driver 108 and the encoder.

[0040] The radial arrangement completely avoids the occupation of the effective stroke of the planetary screw 104 by the motor driver 108 and encoder in the traditional axial arrangement, greatly shortening the overall axial dimension of the linear joint and meeting the miniaturization requirements of mechanical equipment such as humanoid robots.

[0041] Meanwhile, the motor driver 108 and encoder are positioned outside the motor rotor 100 and close to the motor, which shortens the wiring length between them and the motor, reduces the number of external cables, lowers the risk of electromagnetic interference from cables, and improves the timeliness and accuracy of signal transmission. In addition, the external placement also facilitates the design of a separate heat dissipation structure for the motor driver 108, avoiding performance degradation due to poor heat dissipation and ensuring the operational stability of the motor driver 108 and encoder.

[0042] According to one embodiment of the present invention, a first limiting structure 110 is provided on the outer wall surface of the first end of the motor rotor 100, and the encoder is adapted to be positioned with the motor rotor 100 through the first limiting structure 110.

[0043] In one embodiment of this utility model, a first limiting structure 110 is formed on the outer wall surface of the first end of the motor rotor 100. The first limiting structure 110 is adapted to the encoder rotor 112. When the encoder is installed, the encoder rotor 112 and the first limiting structure 110 cooperate to achieve precise positioning of the encoder and the motor rotor 100 through this cooperation.

[0044] Specifically, the first limiting structure 110 ensures that the rotational axes of the encoder rotor 112 and the motor rotor 100 are completely aligned, and that the encoder rotor 112 rotates synchronously with the motor rotor 100 during its rotation, without relative slippage or offset. The encoder stator 118 is connected to the fixed component of the linear joint and does not rotate with the motor rotor 100, thus enabling the acquisition of rotational parameters through the relative movement of the stator and rotor.

[0045] The first limiting structure 110 ensures the positioning accuracy between the encoder and the motor rotor 100, enabling the encoder to accurately collect key parameters such as the rotation angle and speed of the motor rotor 100, providing accurate feedback data for the motion control of the linear joint, and avoiding inaccurate feedback signals due to positioning deviation, which in turn affects the motion accuracy of the linear joint.

[0046] Meanwhile, positioning is achieved through the first limiting structure 110, simplifying the assembly process between the encoder and the motor rotor 100, reducing adjustment steps during assembly, minimizing assembly errors, and improving assembly efficiency. Furthermore, the stable positioning relationship prevents wear caused by relative movement between the encoder rotor 112 and the motor rotor 100, extending the encoder's service life and ensuring the continuity and reliability of the feedback signal.

[0047] In this embodiment of the utility model, the first limiting structure 110 can be a variety of different structures such as a limiting protrusion, a limiting step, or a retaining ring.

[0048] According to one embodiment of the present invention, the first limiting structure 110 includes a first protrusion, and the encoder rotor 112 is adapted to be positioned with the motor rotor 100 through the first protrusion.

[0049] See Figures 2 to 4 In one embodiment of this utility model, the first limiting structure 110 is specifically a first protrusion. The first protrusion is formed along the circumferential direction of the outer wall of the first end of the motor rotor 100, and is a ring-shaped or uniformly distributed block structure. Its protrusion height and width are adapted to the corresponding mounting structure on the encoder rotor 112. Accordingly, a slot or groove matching the first protrusion can be machined on the encoder rotor 112. During the assembly process, the slot or groove of the encoder rotor 112 is aligned with the first protrusion on the motor rotor 100 and engaged, so that the encoder rotor 112 and the motor rotor 100 form a fixed connection, with no relative rotation space between them. When the motor rotor 100 rotates, the encoder rotor 112 rotates synchronously through the engagement relationship with the first protrusion, ensuring that the rotation state of the encoder rotor 112 and the motor rotor 100 is completely consistent.

[0050] The first protrusion is used as a limiting structure. Through the simple cooperation between the protrusion and the slot, the encoder rotor 112 and the motor rotor 100 can be quickly positioned and fixed. The structure is simple and reliable, and there is no need for complex positioning fixtures or connecting parts, which reduces the difficulty of processing and assembly and saves manufacturing costs.

[0051] Meanwhile, the engagement between the first protrusion and the slot provides sufficient connection strength, preventing separation or relative displacement between the encoder rotor 112 and the motor rotor 100 during high-speed rotation. This ensures the encoder can continuously and accurately acquire the rotational parameters of the motor rotor 100, reducing the risk of malfunctions due to loose connections. Furthermore, this structure facilitates encoder disassembly and maintenance. When the encoder requires repair, simply separating the protrusion from the slot allows for easy removal, enhancing maintenance convenience.

[0052] According to one embodiment of the present invention, the linear joint further includes a housing 114 and a flange 116 connected to the housing 114. The motor rotor 100, the motor driver 108 and the encoder are located inside the housing 114. The motor driver 108 and the encoder stator 118 are mounted on the flange 116. Along the radial direction of the planetary screw 104, a gap is formed between the motor driver 108 and the encoder and the outer wall surface of the motor rotor 100.

[0053] See Figure 2 In one embodiment of the present invention, the linear joint includes two components: a housing 114 and a flange 116. The flange 116 is fixedly connected to the housing 114, together forming a receiving space. The motor rotor 100, the motor driver 108, and the encoder are all placed inside the receiving space and are protected by the housing 114 and the flange 116.

[0054] Both the stator of the motor driver 108 and the encoder stator 118 are fixedly mounted to the flange 116, and their stator positions remain fixed and do not move with the rotation of the motor rotor 100. Along the radial direction of the planetary screw 104, a certain gap is reserved between the overall structure of the motor driver 108 and the encoder and the outer wall of the motor rotor 100. This gap ensures that during high-speed rotation, the outer wall of the motor rotor 100 will not contact or rub against the motor driver 108 or the encoder, while also not affecting the motor driver 108's driving of the motor or the encoder's acquisition of the motor rotor 100's rotational parameters.

[0055] The housing 114 effectively protects the internal motor rotor 100, motor driver 108, and encoder, preventing dust, impurities, and moisture from entering the internal components and avoiding performance degradation or malfunctions due to contamination. It also reduces the risk of damage from external impacts, providing a stable working environment for the internal components. The flange 116 provides reliable support for the motor driver 108 and encoder stator 118, ensuring the stator does not rotate with the motor rotor 100, guaranteeing stable output of the drive signal from the motor driver 108 and accurate parameter acquisition from the encoder. The reserved clearance completely avoids mechanical friction between the motor rotor 100 and the motor driver 108 and encoder during rotation, reducing component wear and heat generated by friction, extending component lifespan, and reducing operating noise. It also provides ample space for the rotation of the motor rotor 100, ensuring smooth rotation and improving the operational stability of the linear joint.

[0056] According to one embodiment of the present invention, the linear joint includes a bearing 120 disposed at the second end of the motor rotor 100, and a second limiting structure 122 is provided on the outer wall surface of the second end of the motor rotor 100. The bearing 120 is adapted to be positioned with the motor rotor 100 by means of the second limiting structure 122.

[0057] In one embodiment of this utility model, a bearing 120 is disposed at the second end of the linear joint of the motor rotor 100. The bearing 120 is sleeved on the outer wall surface of the second end of the motor rotor 100, providing radial support for the rotation of the motor rotor 100. A second limiting structure 122 is machined on the outer wall surface of the second end of the motor rotor 100. The second limiting structure 122 is adapted to the bearing 120. During installation, the bearing 120 achieves precise positioning with the motor rotor 100 through cooperation with the second limiting structure 122, ensuring that the inner ring of the bearing 120 is tightly fitted with the outer wall surface of the motor rotor 100, and that the axial position of the bearing 120 is limited by the second limiting structure 122, preventing axial movement. The outer ring of the bearing 120 is connected to the fixing component of the linear joint, allowing the motor rotor 100 to rotate flexibly relative to the fixing component through the bearing 120, reducing rotational resistance.

[0058] The bearing 120 effectively reduces the frictional resistance of the motor rotor 100 during rotation, converting sliding friction into rolling friction, improving the smoothness of the motor rotor 100's rotation, reducing energy loss due to friction, and lowering the motor's operating load. The second limiting structure 122 ensures the positioning accuracy between the bearing 120 and the motor rotor 100, preventing axial movement of the bearing 120 during the rotation of the motor rotor 100, ensuring the rotational axis of the motor rotor 100 remains stable without eccentric deviation, thereby improving the transmission accuracy of the entire linear joint and avoiding transmission errors caused by the eccentricity of the motor rotor 100. Furthermore, the stable positioning of the bearing 120 also reduces wear between the bearing 120 and the motor rotor 100, extending the service life of both and ensuring long-term stable operation of the linear joint.

[0059] In this embodiment of the utility model, the second limiting structure 122 can be a variety of different structures such as a limiting protrusion, a limiting step, or a retaining ring.

[0060] According to one embodiment of the present invention, the second limiting structure 122 includes a second protrusion, and the side of the bearing 120 facing the first end of the motor rotor 100 abuts against the second protrusion.

[0061] See Figures 2 to 4 In one embodiment of this utility model, the second limiting structure 122 is specifically a second protrusion. The second protrusion is machined into an annular structure along the circumferential direction of the outer wall surface of the second end of the motor rotor 100, and its radial dimension can be adapted to the width of the inner ring of the bearing 120. After the bearing 120 is sleeved on the outer wall surface of the second end of the motor rotor 100, the side of the bearing 120 facing the first end of the motor rotor 100 abuts tightly against the side surface of the second protrusion. This abutment relationship restricts the movement of the bearing 120 towards the first end of the motor rotor 100.

[0062] Meanwhile, the inner ring of the bearing 120 forms an interference fit or transition fit with the outer wall surface of the second end of the motor rotor 100, ensuring that there is no relative rotation between the bearing 120 and the motor rotor 100. When the motor rotor 100 rotates, it drives the inner ring of the bearing 120 to rotate synchronously, while the outer ring of the bearing 120 remains fixed, thereby achieving radial support and axial limitation for the motor rotor 100.

[0063] The annular second protrusion forms a complete circumferential contact with the bearing 120, providing uniform and reliable restriction on the axial displacement of the bearing 120. This prevents axial movement caused by uneven local stress during the rotation of the motor rotor 100, ensuring the rotational stability of the motor rotor 100. This contact fit structure is simple, easy to manufacture, and requires no additional limiting connectors, reducing manufacturing costs and assembly complexity. During assembly, simply fitting the bearing 120 onto the second end of the motor rotor 100 and abutting against the second protrusion completes the positioning, significantly improving assembly efficiency.

[0064] In addition, stable axial positioning ensures that bearing 120 is always in the optimal working position, avoiding radial support instability caused by bearing 120 displacement, thereby ensuring the rotational accuracy of motor rotor 100, improving the overall transmission performance of linear joint, and reducing the risk of failure caused by bearing 120 problems.

[0065] A second aspect of this utility model provides a mechanical device, including the linear joint described above.

[0066] According to the second aspect of the present invention, the mechanical equipment, by integrating the aforementioned linear joints, reduces the number of independent parts, directly lowers the overall weight of the mechanical equipment, reduces the inertia of moving parts, and improves the dynamic response speed of the mechanical equipment, making it more flexible when starting, stopping, or adjusting movements. It also improves stroke utilization, allowing the mechanical equipment to achieve a longer linear motion stroke within a limited internal installation space, expanding the operating range. Furthermore, it reduces the assembly difficulty and subsequent maintenance costs of the mechanical equipment, while improving transmission efficiency, reducing energy consumption, and extending the operating time of the mechanical equipment, ensuring long-term stable operation in service, rehabilitation, or special operations scenarios.

[0067] The mechanical device provided in the second aspect of this utility model aims to meet the linear motion or limb extension and posture adjustment needs of the device itself, and integrates the linear joint in the first aspect of the embodiment as the core motion execution component inside the device.

[0068] The overall structure of the linear joint includes a motor rotor 100, planetary rollers 102, planetary screws 104, and components such as a motor driver 108, encoder, housing 114, flange 116, and bearing 120 when adapted. All of these components are integrated into the corresponding motion module of the mechanical equipment during the integration process. The threaded section on the inner wall of the motor rotor 100 and the transmission system formed by the planetary rollers 102 and planetary screws 104 directly undertake the function of linear power output of the mechanical equipment.

[0069] When the motor rotor 100 is driven to rotate, it drives the planetary roller 102 to rotate through the inner wall thread section. The planetary roller 102 then converts the rotational motion into the linear motion of the planetary screw 104 along the axis of the motor rotor 100, thereby driving the corresponding components of the mechanical equipment (such as limb joints, telescopic arms, actuators, etc.) to complete the preset linear displacement or posture adjustment actions.

[0070] Meanwhile, the radial arrangement of the motor driver 108 and encoder in the linear joint, and the integrated function of the motor rotor 100 and the roller screw nut, are all structurally designed to be compatible with the internal spatial layout of the mechanical equipment, ensuring that the linear joint does not cause spatial interference within the equipment and can stably transmit power.

[0071] In this embodiment of the utility model, the mechanical device may be a humanoid robot, a robotic arm, an actuator, etc.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A linear joint, characterized in that, include: The motor rotor has a threaded section on its inner wall surface; Planetary rollers engage with the threaded section for transmission; The planetary screw meshes with the planetary rollers for transmission, and the motor rotor is adapted to drive the planetary rollers and the planetary screw to move in the axial direction relative to the motor rotor.

2. The linear joint according to claim 1, characterized in that, The first end of the planetary screw is located inside the motor rotor, and the second end of the planetary screw is located outside the motor rotor. The planetary rollers engage with the first end of the planetary screw.

3. The linear joint according to claim 2, characterized in that, Along the length of the planetary screw, a pair of cages are provided at the first end of the planetary screw, and the planetary rollers are disposed between the pair of cages.

4. The linear joint according to any one of claims 1 to 3, characterized in that, It also includes a motor driver and an encoder, which are arranged radially on the outside of the motor rotor along the planetary screw.

5. The linear joint according to claim 4, characterized in that, The outer wall surface of the first end of the motor rotor is provided with a first limiting structure, and the encoder is adapted to achieve positioning with the motor rotor through the first limiting structure.

6. The linear joint according to claim 5, characterized in that, The first limiting structure includes a first protrusion, and the encoder rotor is adapted to be positioned with the motor rotor through the first protrusion.

7. The linear joint according to claim 4, characterized in that, The linear joint also includes a housing and a flange connected to the housing, and the motor rotor, the motor driver and the encoder are located inside the housing; The motor driver and encoder stator are mounted on the flange, and a gap is formed between the motor driver and the encoder and the outer wall surface of the motor rotor along the radial direction of the planetary screw.

8. The linear joint according to any one of claims 1 to 3, characterized in that, The linear joint includes a bearing disposed at the second end of the motor rotor. The outer wall surface of the second end of the motor rotor is provided with a second limiting structure. The bearing is adapted to be positioned with the motor rotor by means of the second limiting structure.

9. The linear joint according to claim 8, characterized in that, The second limiting structure includes a second protrusion, and the side of the bearing facing the first end of the motor rotor abuts against the second protrusion.

10. A mechanical device, characterized in that, Includes a linear joint as described in any one of claims 1 to 9.

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