Integrated linear joint

Abstract

The application provides a kind of integrated linear joint, including shell, one end in the shell is equipped with drive control mechanism, the other end in the shell is equipped with linear action module matched with drive control mechanism;Drive control mechanism includes double-layer distribution driver communication board and driver control board, encoder chip is integrated on driver control board;The end of linear action module is equipped with magnetic assembly for the position of encoder chip to identify, further including the heat dissipation mechanism in the shell, buffer mechanism is equipped between drive control mechanism and linear action module.The utility model discloses through highly integrated design, solve the existing linear joint external cable numerous, the problem of insufficient heat dissipation performance, lack effective buffer protection and force detection function, simultaneously realizes the unification of high load and high running stability.

Description

Technical Field

[0001] This utility model relates to the field of electric drive technology for robot joints, and more specifically, to an integrated linear joint. Background Technology

[0002] Robot joints are the core mechanical components of a robot, used to connect adjacent links and achieve controllable relative motion. They are crucial structures for completing complex tasks. Currently, rotary joints are widely used due to their fast response speed but relatively limited load capacity. Linear joints, as devices that convert rotational motion into precise linear motion, are widely used in automation equipment, robots, and CNC machine tools, offering advantages such as high load capacity and high positioning accuracy.

[0003] Existing linear joints typically achieve linear motion based on transmission methods such as ball screws, synchronous belts, or linear motors. However, these structures still have certain limitations in practical applications: First, linear joints with different transmission methods have different focuses in terms of speed, load, and accuracy, making it difficult to simultaneously achieve the performance requirements of high speed and high load. Secondly, the drive control mechanism is usually arranged separately from the actuator, resulting in low system integration, numerous external cables, and inconvenient installation and maintenance. Therefore, it is necessary to provide a highly integrated linear joint to overcome the above-mentioned defects of the prior art; therefore, an integrated linear joint is proposed. Utility Model Content

[0004] The purpose of this invention is to address the problems in current robot linear joint designs, such as numerous external cables, insufficient heat dissipation, lack of effective buffering protection, and lack of force detection functions.

[0005] To achieve the above-mentioned objectives, this utility model provides the following technical solution: An integrated linear joint is proposed to improve the above-mentioned problems.

[0006] The application is as follows: An integrated linear joint includes a housing, with a drive control mechanism at one end inside the housing and a linear motion module that cooperates with the drive control mechanism at the other end inside the housing. The drive control mechanism includes a driver communication board and a driver control board with two layers distributed on each side, and an encoder chip is integrated on the driver control board. The end of the linear motion module is provided with a magnetic component for the encoder chip to identify its position.

[0007] Preferably, it also includes a heat dissipation mechanism located inside the housing, which is used to dissipate heat from the drive control mechanism.

[0008] Preferably, the heat dissipation mechanism includes a heat sink located between the driver control board and the driver communication board, with a boss on the side of the heat sink near the driver control board, and a driver power chip integrated on the driver control board.

[0009] Preferably, a buffer mechanism is provided between the drive control mechanism and the linear motion module to limit the shortest safe extension distance of the linear motion module and reduce the impact on the magnetic components. The buffer mechanism includes a buffer pad wrapped around one end of the linear motion module.

[0010] Preferably, the magnetic component includes a magnet body and a magnet mounting component, wherein the magnet body is embedded in the magnet mounting component and a preset isolation space is left between it and the driver control board; the magnet mounting component is mounted on the end of the linear motion module.

[0011] Preferably, the housing includes a joint rear cover, a rear end housing, a motor housing, and a front end housing arranged sequentially along the same axis, with fisheye bearing assemblies connected to both ends of the housing respectively; a heat sink is connected between the joint rear cover and the rear end housing; a drive control mechanism is installed inside the joint rear cover and the rear end housing; a linear motion module is installed inside the motor housing and the front end housing; the fisheye bearing assembly includes a fisheye bearing A connected to the center of the joint rear cover and a fisheye bearing B connected to the center of the front end housing.

[0012] Preferably, the linear motion module includes a motor body, a ball screw nut, and a screw body. The control end of the ball screw nut is fitted with a deep groove ball bearing and a spacer, and a buffer pad 13 is wrapped between the deep groove ball bearing and the spacer. The running end of the ball screw nut is provided with a four-point contact ball bearing, a locking nut, and a sliding bushing, which are sequentially fitted onto the outer end of the screw. The sliding bushing is provided with a flat structure to prevent the screw from rotating. Motor rotor bushings are provided at both ends of the ball screw nut for positioning the motor body. A mounting hole passes through between the control end of the ball screw nut and the magnet mounting component.

[0013] Preferably, the joint rear cover is also provided with a light guide groove for observing the status of the driver indicator light, and a battery is provided inside the joint rear cover.

[0014] Preferably, a tension / compression sensor is also fixed to the rear end of the joint cover to detect the output tension / compression of the linear joint in real time.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: In the scheme of this application: 1. The linear motion module, lead screw, drive control mechanism and tension / compression sensor are integrated into one design, and the power cord and communication line are integrated into one harness, avoiding the need for external additional harnesses. 2. The heat sink is designed with protrusions, and the space between the protrusions and the driver power chip is filled with heat sinks such as thermal pads or thermal grease. The heat from the driver power chip is conducted to the linear joint housing through the heat sink, so that the linear joint has stable heat dissipation and sensitive control during operation. 3. A buffer pad is installed inside the ball screw nut. On the one hand, it serves as a limit to ensure the shortest safe extension and retraction distance of the screw. On the other hand, it reduces the impact of the screw on the circular magnet mounting part during extension and retraction, ensuring the connection strength of the circular magnet mounting part. Attached Figure Description

[0016] Figure 1 This application provides a schematic diagram of the overall structure of an integrated linear joint. Figure 2 An exploded view of an integrated linear joint provided in this application; Figure 3 This application provides a schematic diagram of the overall side profile of an integrated linear joint. Figure 4 An encoder chip and circular magnet body mounting diagram for an integrated linear joint provided in this application; Figure 5 A schematic diagram of the posterior cap structure of an integrated linear joint provided in this application; Figure 6 An enlarged schematic diagram of the sliding bushing structure of an integrated linear joint provided in this application; Figure 7 This application provides an overall structural schematic diagram of an integrated linear joint with a force sensor.

[0017] The image shows: 1. Fisheye Bearing A; 3. Joint Rear Cover; 4. Battery; 5. Driver Communication Board; 6. Driver Control Board; 7. Magnet Body; 8. Heat Sink; 9. Magnet Mounting Component; 10. Rear End Housing; 11. Deep Groove Ball Bearing; 12. Spacer; 13. Buffer Pad; 14. Motor Rotor Bushing; 15. Motor Body; 16. Ball Screw Nut; 17. Motor Housing; 18. Four-Point Contact Ball Bearing; 19. Screw Component; 20. Locking Nut; 21. Sliding Bushing; 22. Front End Housing; 24. Fisheye Bearing B; 25. Driver Power Chip; 26. Boss; 27. Encoder Chip; 28. Light Guide Groove; 29. ​​Mounting Component Fixing Hole; 30. Tension / Compression Sensor. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model.

[0019] Therefore, the following detailed description of the embodiments of this utility model is not intended to limit the scope of the claimed utility model, but merely illustrates some embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model. It should be noted that, unless otherwise specified, the embodiments, features, and technical solutions in the embodiments of this utility model can be combined with each other.

[0020] It should be noted that similar labels 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.

[0021] like Figures 1-7 As shown, this embodiment proposes an integrated linear joint, including a housing. The housing includes a joint rear cover 3, a rear end housing 10, a motor housing 17, and a front end housing 22 arranged sequentially along the same axis. Both ends of the housing are respectively connected to fisheye bearing assemblies, and the internal components are integrated with a drive control mechanism, a heat dissipation mechanism, a magnetic component, a buffer mechanism, and a linear motion module.

[0022] exist Figures 1-5 As shown in the preferred embodiment, based on the above method, the motor housing 17 and the front housing 22 further enclose the outer end of the linear motion module. The linear motion module cooperates with the drive control mechanism. The linear motion module includes a motor body 15, a ball screw nut 16, and a screw body. The motor body 15 includes a motor stator and a motor rotor that cooperate with each other. One end of the ball screw nut 16 is provided with a deep groove ball bearing 11 for integrated connection with the drive control mechanism. The deep groove ball bearing 11 is embedded in the inner side of the rear housing 10. An integrated spacer 12 is provided between the deep groove ball bearing 11 and the buffer pad 13. The other end of the ball screw nut 16 is provided with a four-point contact ball bearing 18, a locking nut 20 and a sliding bushing 21, which are sequentially sleeved on the outer end of the screw component 19. The four-point contact ball bearing 18 is enclosed in the motor housing 17, and the locking nut 20 and the sliding bushing 21 are enclosed in the front end housing 22. The sliding bushing 21 is provided with a flat structure to prevent the screw component 19 from rotating. The two ends of the ball screw nut 16 are respectively provided with motor rotor bushings 14 for positioning the motor rotor and the motor stator. The fisheye bearing assembly includes a fisheye bearing A1 connected to the center of the joint rear cover 3 and a fisheye bearing B24 connected to the center of the front end housing 22. Specific Implementation

[0023] When installing the motor stator, according to... Figure 3 As shown, the right end of the motor stator abuts against the convex surface on the right side of the motor housing 17 (the convex surface is integrally formed with the motor housing 17 body) as an axial limit during motor stator installation. In order to ensure that the motor stator and the inner side of the motor housing 17 are firmly fitted and to prevent the motor stator from axially moving or radially rotating, the motor housing 17 and the motor stator are fitted with an interference fit and a fixing adhesive is applied between them. The motor rotor of the motor body 15 and the ball screw nut 16 are also fixed by applying adhesive to prevent radial rotation. The axial positioning scheme of the motor stator is as follows: the motor rotor bushings are installed at both ends of the motor rotor. The motor rotor bushings abut against both sides of the motor stator in the motor body 15. The motor rotor bushings are designed with threaded holes. When installing the motor rotor bushings 14, the set screws are used to ensure that the motor rotor bushings and the ball screw nut 16 do not rotate or slide relative to each other. Deep groove ball bearings 11 are located at both ends of the ball screw nut 16 near the driver. The deep groove ball bearings 11 are mounted on the rear housing 10. The rear housing 10 is fixedly connected to the motor housing 17 by screws. The rear housing 10 and the motor housing 17 are assembled and connected to each other by screws and threaded holes arranged in a ring array. During installation, the screws and threaded holes arranged in a ring array cooperate with the inner side of the motor housing 17 to serve as radial positioning for both, ensuring the stability of the assembly and preventing movement. The other end of the ball screw nut 16 is equipped with a four-point contact ball bearing 18, which can withstand radial and axial loads simultaneously. To ensure that the four points of the four-point contact ball bearing 18 are in a compressed state, in Figure 3 In the middle, the inner ring of the four-point contact ball bearing 18 on one side abuts against the outer end of the ball screw nut 16, and the outer ring abuts against the convex surface of the motor housing 17. The inner ring on the other side is pressed by the locking nut 20, and the outer ring is pressed by the convex surface of the front housing 22. The front housing 22 and the motor housing 17 are also fixedly connected by screws. Since the motor rotor and the ball screw nut 16 in the motor body 15 are fixedly connected, the ball screw nut 16 rotates with the rotation of the motor rotor when the linear joint is running. In order to ensure that the screw part 19 can only slide when the ball screw nut 16 rotates. The aforementioned convex surfaces are integrally formed inside the housing in each of this application, and are structures used to limit and stably install other components. They are existing technologies. In actual use, technicians can add or remove convex surfaces to the housing as needed during the initial production stage. In addition, threaded holes are provided between the outer end of the lead screw and the fisheye bearing B24, and between the center of the joint back cover 3 and the fisheye bearing A1. The fisheye bearings B24 and A1 are respectively threadedly positioned between the lead screw and the joint back cover 3 through the threaded holes. Nuts B and A are used to lock the outer end of the lead screw and the fisheye bearing B24, and the center of the joint back cover 3 and the fisheye bearing A1, respectively. After the fisheye bearing assembly is installed, tighten the nuts to prevent the fisheye bearing assembly from loosening due to long-term use.

[0024] like Figure 1 , Figure 3 and Figure 4 As shown in the preferred embodiment, based on the above method, the joint rear cover 3 and the rear housing 10 are further wrapped around the outer end of the drive control mechanism. The drive control mechanism includes a double-layered driver communication board 5 and a driver control board 6. The driver control board 6 integrates an encoder chip 27 and a driver power chip 25. A heat dissipation mechanism is connected between the driver control board 6 and the driver communication board 5. The heat dissipation mechanism is used to dissipate heat from the drive control mechanism. The heat dissipation mechanism includes a heat dissipation plate 8 located between the driver control board 6 and the driver communication board 5. The two ends of the heat dissipation plate 8 are threadedly connected to the joint rear cover 3 and the rear housing 10, respectively. A boss 26 is provided on the side of the heat dissipation plate 8 near the driver control board 6. The boss 26 is located above the driver power chip 25 and has a certain gap. The heat dissipation plate 8 does not directly contact the drive control mechanism. The heat dissipation plate 8 and the heat dissipation component are both made of thermally conductive materials. The heat dissipation mechanism solves the problem that if the heat generated by existing linear joints cannot be dissipated in time during operation, it can easily cause the driver to overheat and even degrade in performance, affecting the stability and reliability of motion control. Specific Example 2: During operation, the encoder chip 27 is used to identify the rotational position of the motor body 15. The driver power chip 25 on the drive control mechanism generates a significant amount of heat. If the temperature becomes too high, the drive control mechanism will implement over-temperature protection. Therefore, the heat dissipation structure of the linear joint, such as... Figure 3 As shown, a heat sink 8 is designed between the joint rear cover 3 and the rear housing 10. The heat sink 8 is made of metal. The heat sink 8 is in contact with the joint rear cover 3 and the rear housing 10 and is fixedly connected by screws. The heat sink 8 has a protrusion 26 designed on it above the driver power chip 25, with a certain gap. The heat sink 8 is made of metal. The heat sink is not limited to heat sink stickers or thermal grease. When the heat sink 8 is installed, a gap will appear at the connection. The gap is filled by heat sink stickers or thermal grease. In this way, the heat generated during joint operation will be conducted to the heat sink 8, thereby generating heat dissipation. The driver power chip 25 and encoder chip 27 are corresponding chips in the existing technology. As long as the control of the linear joint and the storage and operation of the control code can be realized at the technical level, no further restrictions are imposed here.

[0025] Specific Example 3: The magnetic assembly includes a magnet body 7 and a magnet mounting component 9. The magnet body 7 is embedded in the magnet mounting component 9, and a preset isolation space is left between it and the driver control board 6. The magnet mounting component 9 is mounted on the end of the linear motion module. A mounting component fixing hole 29 passes through the control end of the ball screw nut 16 and the magnet mounting component 9. The circular magnet mounting component 9 and the ball screw nut 16 are connected by a... Figure 4 The mounting holes shown are used for fixed connection, and the rotation position of the motor body 15 is achieved by the circular magnet body 7 embedded in the circular magnet mounting part 9; As shown in Specific Embodiments 2 and Specific Embodiment 3, in practical applications, the distance between the circular magnet body 7 and the encoder chip 27 can be adjusted in the integrated linear joint according to actual needs. Specific Example 4: A buffer mechanism is provided between the drive control mechanism and the linear motion module to limit the minimum safe extension distance of the linear motion module and reduce the impact on the magnetic components. The buffer mechanism includes a buffer pad 13 wrapped around one end of the linear motion module, such as... Figure 6 As shown, the buffer pad 13 is made of flexible material. On the one hand, it serves as a limit to ensure the shortest safe extension distance of the lead screw 19. On the other hand, it reduces the impact of the lead screw 19 on the circular magnet mounting part 9 during extension and retraction, ensuring the connection strength of the circular magnet mounting part 9. The buffer pad 13 solves the problem that the lack of effective buffer protection during the extreme positions or high-speed reversals of linear joints can easily cause impacts on internal precision sensors (such as encoder magnet assemblies), affecting positioning accuracy and service life.

[0026] like Figure 2 As shown, in a preferred embodiment, based on the above method, a battery 4 for supplying power to the drive control mechanism is further installed inside the drive control mechanism. The battery 4 is attached to the joint rear cover 3, which can ensure the stable control of the drive control mechanism.

[0027] like Figure 5 As shown, in a preferred embodiment, based on the above method, the joint rear cover 3 is further provided with a light guide groove 28 for observing the status of the driver indicator light. The status of the driver indicator light can be viewed through the light guide groove 28, which makes it easier to understand whether the driver is working properly.

[0028] like Figure 7As shown, in a preferred embodiment, based on the above method, a tension and pressure sensor 30 for real-time detection of the output tension and pressure of the linear joint is further fixed at the rear end of the joint cover 3. This is a device that technicians may choose to install or not install according to actual needs. When the tension and pressure sensor 30 is installed, it is fixedly connected to the joint cover 3, so that the output tension and pressure of the linear joint can be detected in real time. Traditional linear joints typically lack force sensing capabilities, making it difficult to detect output force in real time, which limits their application in force-controlled interactive scenarios. Specifically, the tension / compression sensor 30 uses a high-precision small column tension / compression sensor of model EVT-20G. Its specific range is determined according to the needs, such as 5KG, 10KG, etc. The high-precision small column tension / compression sensor of model EVT-20G is fixedly installed on the outer end of the joint back cover 3, and is threaded to the outer end of the fisheye bearing A1 of the opposite end through nut A. Both the high-precision small column tension / compression sensor of model EVT-20G and the fisheye bearing A1 are limited.

[0029] The above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. Although the present utility model has been described in detail with reference to the above embodiments, the present utility model is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present utility model, and all technical solutions and improvements that do not depart from the spirit and scope of the utility model, are covered within the scope of the claims of the present utility model.

Claims

1. An integrated linear joint, characterized in that: The device includes a housing, one end of which is provided with a drive control mechanism, and the other end of which is provided with a linear motion module that cooperates with the drive control mechanism. The drive control mechanism includes a double-layered driver communication board (5) and a driver control board (6), and the driver control board (6) integrates an encoder chip (27). The end of the linear motion module is provided with a magnetic component for the encoder chip (27) to identify its position. The magnetic component includes a magnet body (7) and a magnet mounting component (9). The magnet body (7) is embedded in the magnet mounting component (9) and has a preset isolation space between it and the driver control board (6). The magnet mounting component (9) is installed at the end of the linear motion module.

2. The integrated linear joint according to claim 1, characterized in that: It also includes a heat dissipation mechanism located inside the housing, which is used to dissipate heat from the drive control mechanism.

3. The integrated linear joint according to claim 2, characterized in that: The heat dissipation mechanism includes a heat sink (8) located between the driver control board (6) and the driver communication board (5). The heat sink (8) has a boss (26) on the side near the driver control board (6). The driver control board (6) integrates a driver power chip (25).

4. The integrated linear joint according to claim 3, characterized in that: A buffer mechanism is provided between the drive control mechanism and the linear motion module to limit the shortest safe extension distance of the linear motion module and reduce the impact on the magnetic components. The buffer mechanism includes a buffer pad (13) wrapped around one end of the linear motion module.

5. The integrated linear joint according to claim 4, characterized in that: The housing includes a joint rear cover (3), a rear housing (10), a motor housing (17) and a front housing (22) arranged sequentially along the same axis, and fisheye bearing assemblies are respectively connected to both ends of the housing; The heat sink (8) is connected between the joint rear cover (3) and the rear housing (10); The drive control mechanism is installed inside the joint rear cover (3) and the rear housing (10); The linear motion module is installed inside the motor housing (17) and the front housing (22); The fisheye bearing assembly includes a fisheye bearing A (1) connected to the center of the joint rear cover (3) and a fisheye bearing B (24) connected to the center of the front end housing (22).

6. The integrated linear joint according to claim 5, characterized in that: The linear motion module includes a motor body (15), a ball screw nut (16) and a screw body. The control end of the ball screw nut (16) is fitted with a deep groove ball bearing (11) and a spacer (12). The buffer pad (13) is wrapped between the deep groove ball bearing (11) and the spacer (12). The running end of the ball screw nut (16) is provided with a four-point contact ball bearing (18), a locking nut (20) and a sliding bushing (21) sequentially sleeved on the outer end of the screw component (19). The sliding bushing (21) is provided with a flat structure to prevent the screw component (19) from rotating. The ball screw nut (16) has motor rotor bushings (14) at both ends for positioning the motor body (15); A mounting hole (29) is provided between the control end of the ball screw nut (16) and the magnet mounting part (9).

7. The integrated linear joint according to claim 6, characterized in that: The joint rear cover (3) is also provided with a light guide groove (28) for observing the status of the driver indicator light.

8. The integrated linear joint according to claim 7, characterized in that: The rear cover (3) of the joint is equipped with a battery (4).

9. The integrated linear joint according to claim 6, characterized in that: The rear end of the joint cover (3) is also fixed with a tension and compression sensor (30) for real-time detection of the output tension and compression of the linear joint.

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