High-load linear electrically driven joint

Abstract

The utility model discloses a kind of high bearing linear electric drive joints, it is related to mechanical joint technical field, including outer shell, frameless torque motor, outer extension component, drive detection component and output component;Outer shell includes outer cylinder, first side cover plate, second side cover plate and mounting plate, first side cover plate and second side cover plate are respectively installed at outer cylinder both ends, mounting plate is installed at the side of second side cover plate away from outer cylinder;The side of first side cover plate away from outer cylinder is equipped with sliding sleeve.The high bearing linear electric drive joint can realize accurate regulation and control to joint system operation and the monitoring of operating state by drive detection component, to facilitate user to master the operating condition and health state of joint system structure inside shell in the case where the reliable linear motion adjustment of joint system is maintained, to facilitate to predict the service life of structure in joint system, carry out early warning before its damage time, carry out predictive maintenance, avoid joint system sudden failure to affect normal use.

Description

Technical Field

[0001] This utility model relates to the field of mechanical joint technology, and more specifically, to a high-load-bearing linear electrically driven joint. Background Technology

[0002] A linear electric drive joint is a drive device that directly or indirectly converts the rotational motion of a motor into linear reciprocating motion. It is a core component in robots and automated equipment that realizes linear movements such as "extension", "push and pull", and "lifting". Currently, conventional miniature linear electric drive joints usually use ball screws or sliding screws. However, in miniature linear electric drive joints using ball screws, planetary roller screws with reverse settings can significantly shorten the axial dimension and improve the power-to-weight ratio, effectively and significantly improving the load-bearing capacity and extending the service life of the entire actuator.

[0003] In a reverse planetary roller screw, the nut assembly is the part with the greatest power loss and the most concentrated heat generation in the entire system. The existing technology lacks a structure to monitor the rotational motion of the nut assembly. Long-term use of the nut assembly can easily cause problems such as changes in warning force, decreased lubrication performance, decreased accuracy, vibration, and reduced service life, thereby affecting the use of linear electric drive joints. In view of this, this application proposes a high-load linear electric drive joint with predictive maintenance function. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a high load-bearing linear electric drive joint, which maintains the linear displacement accuracy of the joint by monitoring the rotational motion state of the threaded sleeve, maintains the output force control accuracy by monitoring the output force magnitude, enhances the practicality and effectiveness of the device, and realizes the monitoring of the operating status of the joint system, thereby facilitating users to grasp the operating status of the joint system, perform predictive maintenance, and further enhance practicality.

[0005] To achieve the above objectives, this utility model provides a high-load-bearing linear electrically driven joint, comprising: The outer shell includes an outer cylinder, a first side cover plate and a second side cover plate respectively installed at both ends of the outer cylinder, and a mounting plate installed on the side of the second side cover plate away from the outer cylinder. A fixing component is installed on the side of the mounting plate away from the second side cover plate, and a sliding sleeve is installed on the side of the first side cover plate away from the outer cylinder, and the sliding sleeve penetrates the first side cover plate. A frameless torque motor is fixedly installed inside the outer cylinder. Several heat dissipation fins corresponding to the positions of the frameless torque motor are provided on the outer side of the outer cylinder. A threaded sleeve that passes through the second side cover plate and is connected to the inner wall of the frameless torque motor is rotatably installed inside the outer cylinder. A drive detection component is installed on the side of the second side cover plate near the mounting plate, and a part of the drive detection component is electrically connected to the frameless torque motor to realize the operation control of the frameless torque motor. The other part of the drive detection component is adapted to realize the rotation detection of the threaded sleeve. The extended component includes a slide rod located inside the threaded sleeve and sliding through the slide sleeve, and a planetary roller screw structure installed on the slide rod near the second side cover plate, the planetary roller screw structure being adapted to the internal thread groove on the threaded sleeve; The output component includes a plug rod installed at the end of the slide rod away from the planetary roller screw structure, a second connector slidably installed on the side of the plug rod away from the slide rod, a thrust detection unit installed between the plug rod and the second connector for detecting the external thrust of the slide rod, and a fastener installed on the plug rod for keeping the slide rod and the plug rod firmly connected.

[0006] Furthermore, the planetary roller screw structure includes a helical screw, a first gear, a second gear, a first rotating plate, a second rotating plate, and helical rollers; The screw is fixedly installed on the side of the slide bar near the second side cover plate. The first rotating plate and the second rotating plate are both rotatably installed on the screw, and the first rotating plate and the second rotating plate are respectively rotatably arranged on both sides of the outer periphery of the screw. A plurality of helical rollers are evenly distributed on the outer side of the screw, and the two ends of the helical rollers are respectively inserted into the first rotating plate and the second rotating plate.

[0007] Furthermore, the spiral screw is provided with a spiral raceway, the first gear is mounted on the spiral screw, and the two first gears are respectively located on both sides of the spiral raceway on the spiral screw; the spiral roller is provided with a spiral blade adapted to the spiral raceway thread, the spiral blade is adapted to the internal thread groove thread on the threaded sleeve, and the second gear is fixedly mounted on the spiral roller, and the second gear meshes with the first gear.

[0008] Furthermore, the outer circumferential dimension of the screw is smaller than that of the slide rod, the inner diameter of the first rotating plate and the second rotating plate are slidably adapted to the outer diameter of the screw, and one side of the first rotating plate is attached to the slide rod. A retaining ring is installed on the side of the screw near the second side cover plate, and the retaining ring is adapted to restrict the second rotating plate from disengaging from the screw.

[0009] Furthermore, the outer wall of the slide rod includes two arc surfaces and two planes. The two arc surfaces are coaxially arranged, and the two planes are parallel to each other. The arc surfaces and the planes are alternately connected. The through holes on the sliding sleeve are slidably adapted to the outer wall of the slide rod.

[0010] Furthermore, a protrusion is installed on the side of the insertion rod near the second connector, and a groove is provided on the side of the second connector near the insertion rod to slide and adapt to the protrusion; The thrust detection unit includes a pressure sensor fixedly connected to the protrusion on one side and several limiting blocks disposed on the inner wall of the groove and slidably connected to the protrusion. A limiting groove is provided on the outer side of the protrusion to slide and adapt to the limiting block. The side of the limiting block away from the insertion rod is in contact with the inner wall of the limiting groove near the second connector to restrict the insertion rod and the second connector from separating.

[0011] Furthermore, the frameless torque motor includes a stator fixedly installed inside the outer cylinder and a rotor magnetically coupled to the inner side of the stator, with the outer wall of the threaded sleeve fixedly connected to the inner wall of the rotor.

[0012] Furthermore, a protruding ring is provided on the side of the second side cover plate away from the outer cylinder; The drive detection component includes a mounting plate fixedly installed on the other side of the convex ring, a mounting ring fixedly installed on the outside of the threaded sleeve, a monitoring element fixedly installed on the outside of the mounting ring and located on the side of the mounting plate near the second side cover plate, and a protective element rotatably installed on the outside of the threaded sleeve and located between the convex ring and the monitoring element. The protective element is cup-shaped, and the inner side of the convex ring is provided with a stop groove for cooperating with the mounting plate to restrict the movement of the outer edge of the protective element. The monitoring element is at least one or a combination of several of the following: angular displacement sensor, angular velocity sensor, vibration sensor, and torque sensor.

[0013] Furthermore, a driver and an encoder are fixedly mounted on the side of the mounting plate away from the second side cover, and wires electrically connected to the driver and the encoder are provided on the stator.

[0014] Furthermore, the fixing component includes a first connector threadedly mounted on the side of the mounting plate away from the second side cover plate, and a first fastening nut threadedly connected to the first connector and one side of the mounting plate is attached to the mounting plate. The threads on the first connector that connect to the mounting plate are reversed compared to the threads that connect to the first fastening nut.

[0015] Compared with the prior art, this utility model has the following advantages and effects: 1. The high-load-bearing linear electric drive joint of this utility model achieves precise control of the joint system's operation and monitoring of its operating status through a drive detection component. The driver and encoder mounted on the mounting plate in the drive detection component can realize the operation control of the joint system, while the monitoring component mounted on the mounting ring in the drive detection component is suitable for monitoring the rotation state of the threaded sleeve. This allows the user to easily grasp the operation and health status of the joint system structure inside the housing while maintaining reliable linear motion adjustment of the joint system. This facilitates the prediction of the service life of the structure in the joint system, provides early warning before its failure, and enables predictive maintenance, avoiding sudden failures of the joint system from affecting normal use, thereby effectively enhancing the practicality and effectiveness of the device. In addition, the output component of this application is equipped with a thrust detection unit, which can identify the force exerted by the joint structure on the outside, so as to flexibly adjust the external thrust as needed, further enhancing the practicality of the device.

[0016] 2. The high-load-bearing linear electric drive joint in this utility model drives the planetary roller screw structure to move through the rotation of the threaded sleeve. Combined with the improvement of the stability of the threaded sleeve by multiple bearings, it helps to avoid the slenderness ratio problem, reduces the bending and vibration of the output component during movement, and maintains smooth movement. At the same time, it can also significantly improve the linear adjustment speed and load-bearing capacity of the joint system by using the rotation of the threaded sleeve to drive the helical roller to move the helical screw, effectively enhancing the performance of the device. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the high-load-bearing linear electrically driven joint in an embodiment of this utility model; Figure 2 This is a cross-sectional structural diagram of the high-load-bearing linear electrically driven joint in an embodiment of this utility model; Figure 3 This is a three-dimensional structural diagram of the extension component of the high-load linear electrically driven joint in an embodiment of this utility model; Figure 4 This is a three-dimensional structural diagram of the slide bar and the first side cover plate of the high load-bearing linear electric drive joint in an embodiment of this utility model. Figure 5 This is a schematic diagram of the frameless torque motor for a high-load linear electric drive joint in this embodiment of the present invention; Figure 6 for Figure 2 Schematic diagram of the structure at point A; Figure 7 This is a three-dimensional structural diagram of the threaded sleeve and drive detection component of the high-load linear electric drive joint in this embodiment of the present invention. Figure 8 for Figure 2A schematic diagram of the output component.

[0018] Explanation of reference numerals in the attached figures: 1. Outer shell; 11. Outer cylinder; 111. First bearing; 112. Second bearing; 113. Third bearing; 12. First side cover plate; 13. Second side cover plate; 14. Mounting plate; 2. Fixing component; 21. First connecting component; 22. First fastening nut; 3. Frameless torque motor; 31. Stator; 311. Wire; 32. Rotor; 4. Threaded sleeve; 41. Limit nut; 42. End cap; 5. Extended component; 51. Slide rod; 52. Planetary roller screw structure; 521. Helical screw; 5211. Retaining ring; 522. First gear; 523. First rotating plate; 524. Second rotating plate; 525. Helical roller; 526. Second gear; 6. Output component; 61. Second connector; 62. Insert rod; 621. First external thread; 622. Second external thread; 63. Fastener; 631. Second fastening nut; 632. Washer plate; 64. Thrust detection unit; 641. Pressure sensor; 642. Limit block; 7. Sliding sleeve; 8. Drive detection component; 81. Mounting ring; 811. Threaded hole; 82. Mounting plate; 821. Positioning hole; 822. Driver; 823. Encoder; 83. Protective component; 84. Monitoring component. Detailed Implementation

[0019] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. 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.

[0020] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0021] Please see Figure 1-8As shown, this utility model embodiment provides a high load-bearing linear electric drive joint, including a housing 1, a frameless torque motor 3, an extension component 5, a drive detection component 8, and an output component 6.

[0022] The outer casing 1 includes an outer cylinder 11, a first side cover plate 12, a second side cover plate 13, and a mounting plate 14. The first side cover plate 12 and the second side cover plate 13 are respectively installed at both ends of the outer cylinder 11. The mounting plate 14 is installed on the side of the second side cover plate 13 away from the outer cylinder 11. A sliding sleeve 7 is installed on the side of the first side cover plate 12 away from the outer cylinder 11, and the sliding sleeve 7 passes through the first side cover plate 12. A fixing component 2 is installed on the side of the mounting plate 14 away from the second side cover plate 13. The fixing component 2 is used to facilitate the installation and fixing of one end of the linear servo actuator.

[0023] The frameless torque motor 3 is fixedly installed inside the outer cylinder 11. The outer cylinder 11 is provided with several heat sinks corresponding to the positions of the frameless torque motor 3, which are suitable for improving the heat dissipation effect when the frameless torque motor 3 is running. A threaded sleeve 4 that passes through the second side cover plate 13 and is connected to the inner wall of the rotor 32 is rotatably installed inside the outer cylinder 11. The drive detection component 8 is installed on the side of the second side cover plate 13 near the mounting plate 14. A part of the drive detection component 8 is electrically connected to the frameless torque motor 3 to realize the operation control of the frameless torque motor. The other part of the drive detection component 8 is adapted to realize the rotation detection of the threaded sleeve 4 so as to obtain the rotation parameters of the threaded sleeve 4. The rotation parameters help the user to grasp the rotational movement and rotational state of the threaded sleeve 4.

[0024] The extended component 5 includes a slide rod 51 and a planetary roller screw structure 52. The slide rod 51 is located inside the threaded sleeve 4 and slides through the slide sleeve 7. The planetary roller screw structure 52 is installed on the side of the slide rod 51 near the second side cover plate 13. The planetary roller screw structure 52 is threadedly adapted to the internal thread groove on the threaded sleeve 4. The sliding adaptation between the slide sleeve 7 and the slide rod 51 can limit the rotation of the slide rod 51, so that when the threaded sleeve 4 rotates with the operation of the frameless torque motor 3, the planetary roller screw structure 52 can drive the slide rod 51 to move inside the threaded sleeve 4 by utilizing the threaded connection effect between the planetary roller screw structure 52 and the threaded sleeve 4.

[0025] The output component 6 includes a plug rod 62, a second connector 61, a thrust detection unit 64, and a fastener 63. The plug rod 62 is installed on the end of the slide rod 51 away from the planetary roller screw structure 52. The second connector 61 is slidably installed on the side of the plug rod 62 away from the slide rod 51. The thrust detection unit 64 is installed between the plug rod 62 and the second connector 61 to detect the external thrust of the slide rod 51. The fastener 63 is installed on the plug rod 62 to keep the connection between the slide rod 51 and the plug rod 62 stable.

[0026] As a preferred embodiment of the above scheme, a first bearing 111, a second bearing 112, and a third bearing 113 are provided between the outer cylinder 11 and the threaded sleeve 4. A limiting stop structure is installed on the outer cylinder 11 between the second side cover plate 13 and the frameless torque motor 3. The limiting stop structure fits the outer wall and one side wall of the first bearing 111, and the other side wall of the first bearing 111 fits the second side cover plate 13. A stop recess is provided at one end of the threaded sleeve 4 near the second side cover plate 13 to restrict the movement of the first bearing 111 toward the frameless torque motor 3. The threaded sleeve 4 is provided with a fixing ring on the side of the frameless torque motor 3 away from the second side cover plate 13, and one side of the rotor 32 is attached to the fixing ring. The second bearing 112 and the third bearing 113 are located on the side of the fixing ring away from the frameless torque motor 3, and one side of the second bearing 112 is attached to the fixing ring, while the other side of the second bearing 112 is attached to the third bearing 113. A limiting nut 41 that is attached to the third bearing 113 is threadedly installed on the side of the threaded sleeve 4 near the first side cover plate 12; so as to maintain the rotational stability of the threaded sleeve 4 by using the first bearing 111, the second bearing 112 and the third bearing 113.

[0027] As a further preferred embodiment of the above scheme, the outer cylinder 11 is provided with a first inner stop suitable for fitting the outer wall of the second bearing 112 and the third bearing 113 at one end near the first side cover plate 12, and the first inner stop is suitable for restricting the movement of the outer ring of the second bearing 112 toward the frameless torque motor 3. The outer wall of the first side cover plate 12 is provided with a first outer stop that matches the first inner stop at one end near the outer cylinder 11. This application is suitable for connecting and fixing the outer cylinder 11 and the first side cover plate 12 by a first long bolt that passes through the first side cover plate 12 and is threadedly connected to the outer cylinder 11. The outer cylinder 11 is provided with a second inner stop at one end near the second side cover plate 13. The second side cover plate 13 is provided with a second outer stop that matches the second inner stop on the side near the outer cylinder 11. The second side cover plate 13 is provided with a third inner stop on the side away from the outer cylinder 11. The mounting plate 14 is provided with a third outer stop that matches the third inner stop on the side near the second side cover plate 13. This application is suitable for fixing the second side cover plate 13 and the mounting plate 14 to the outer cylinder 11 by a second long bolt that passes through the mounting plate 14 and the second side cover plate 13 and is threaded to the outer cylinder 11.

[0028] Please see Figure 2-4 As shown, the planetary roller screw structure 52 includes a helical screw 521, a first gear 522, a second gear 526, a first rotating plate 523, a second rotating plate 524, and a helical roller 525; The screw 521 is fixedly installed on the side of the slide bar 51 near the second side cover plate 13. The first rotating plate 523 and the second rotating plate 524 are both rotatably installed on the screw 521. The first rotating plate 523 and the second rotating plate 524 are respectively rotatably arranged on both sides of the outer periphery of the screw 521. A number of spiral rollers 525 are evenly distributed on the outer side of the screw 521, and the two ends of the spiral rollers 525 are respectively inserted into the first rotating plate 523 and the second rotating plate 524.

[0029] As a further description of the above scheme, the first rotating plate 523 and the second rotating plate 524 are provided with a plurality of through holes that are adapted to the dimensions of both ends of the spiral roller 525. The spiral roller 525 is inserted into the first rotating plate 523 and the second rotating plate 524 through the through holes so that after the first rotating plate 523 and the second rotating plate 524 are fixed, the spiral roller 525 on the first rotating plate 523 and the second rotating plate 524 is parallel to the spiral screw 521, and the spiral roller 525 can rotate around the spiral screw 521 with the first rotating plate 523 and the second rotating plate 524.

[0030] Please see Figure 3-4 As shown, a spiral raceway is provided on the spiral screw 521, and a first gear 522 is installed on the spiral screw 521, with the two first gears 522 located on both sides of the spiral raceway on the spiral screw 521 respectively; a spiral blade adapted to the spiral raceway thread is provided on the spiral roller 525, and the spiral blade is adapted to the internal thread groove thread on the threaded sleeve 4; a second gear 526 is fixedly installed on the spiral roller 525, and the second gear 526 meshes with the first gear 522.

[0031] As a further description of the above scheme, when the threaded sleeve 4 rotates, the helical blade can drive the helical roller 525 to rotate, so that under the transmission action of the first gear 522 and the second gear 526, the helical roller 525 can drive the first rotating plate 523 and the second rotating plate 524 to rotate around the helical screw 521 during its own rotation. Combined with the threaded connection effect between the helical blade and the helical raceway on the helical screw 521, the helical roller 525 can move inside the threaded sleeve 4, thereby achieving the effect of driving the slide bar 51 to move with the planetary roller screw structure 52.

[0032] Please see Figure 2-3 As shown, the outer circumferential dimension of the screw 521 is smaller than that of the slide rod 51. The inner diameter of the first rotating plate 523 and the second rotating plate 524 are slidably adapted to the outer diameter of the screw 521. One side of the first rotating plate 523 is attached to the slide rod 51. A retaining ring 5211 is installed on the side of the screw 521 near the second side cover plate 13. The retaining ring 5211 is suitable for restricting the second rotating plate 524 from disengaging from the screw 521.

[0033] The difference in outer diameter between the slide rod 51 and the screw 521 is used to restrict the sliding of the first rotating plate 523 toward the slide rod 51. The retaining ring 5211 is designed to restrict the sliding of the second rotating plate 524 away from the first rotating plate 523. This allows the screw roller 525 to act as a mechanical support after installation, restricting the relative movement of the first rotating plate 523 and the second rotating plate 524 and maintaining the stability of the first rotating plate 523, the second rotating plate 524, and the screw roller 525 on the screw 521.

[0034] Please see Figure 3-4 As shown, the outer wall of the slide rod 51 includes two arc surfaces and two planes. The two arc surfaces are coaxially arranged, and the two planes are parallel. The arc surfaces and planes are alternately connected. The through hole on the slide sleeve 7 is slidably adapted to the outer wall of the slide rod 51. The matching arrangement of the shape of the outer wall of the slide rod 51 and the shape of the through hole of the slide sleeve 7 can effectively limit the rotation of the slide rod 51, so that the slide rod 51 can move smoothly under the pushing drive of the planetary roller screw structure 52. The side of the slide sleeve 7 away from the planetary roller screw structure 52 is provided with a mounting screw that is threadedly connected to the first side cover plate 12.

[0035] As a preferred embodiment of the above solution, the matching arrangement of the outer wall shape of the slide rod 51 and the through-hole shape of the slide sleeve 7 in this application is only one example. The outer wall shape of the slide rod 51 and the through-hole shape of the slide sleeve 7 can also be other non-circular shapes.

[0036] Please see Figure 2 and Figure 8 As shown, a protrusion is installed on the side of the insertion rod 62 near the second connector 61, and a groove is provided on the side of the second connector 61 near the insertion rod 62 to slide and adapt to the protrusion. The thrust detection unit 64 includes a pressure sensor 641 and a limiting block 642. One side of the pressure sensor 641 is fixedly connected to the protrusion, and the other side of the pressure sensor 641 is attached to the second connector 61. Several limiting blocks 642 are disposed on the inner wall of the groove and are slidably connected to the protrusion. A limiting groove is provided on the outer side of the protrusion to slide and adapt to the limiting block 642. The side of the limiting block 642 away from the insertion rod 62 is attached to the inner wall of the limiting groove near the second connector 61 to limit the separation of the insertion rod 62 and the relative rotation of the second connector 61.

[0037] As a further description of the above solution, when the second connector 61 is subjected to an external force to press the insertion rod 62, the pressure sensor 641 can detect the pressure, so that when the second connector 61 is connected to the external structure, the pressure sensor 641 can detect the thrust of the linear servo actuator. In addition, when the second connector 61 is subjected to an external force to move away from the insertion rod 62, the limiting block 642 can fit tightly against the inner wall of the limiting groove near the second connector 61, limiting the insertion rod 62 and the second connector 61 from separating; thereby achieving the detection of thrust without changing the length of the output component 6.

[0038] Please see Figure 2 and Figure 5 As shown, the frameless torque motor 3 includes a stator 31 and a rotor 32. The stator 31 is fixedly installed inside the outer cylinder 11, and the rotor 32 is magnetically coupled to the inner side of the stator 31. The outer wall of the threaded sleeve 4 is fixedly connected to the inner wall of the rotor 32 so that the threaded sleeve 4 is adapted to rotate with the operation of the frameless torque motor 3.

[0039] Please see Figure 2 and Figure 6-7 As shown, a protruding ring is provided on the side of the second side cover plate 13 away from the outer cylinder 11; The drive detection component 8 includes a mounting plate 82 fixedly mounted on the other side of the convex ring, a mounting ring 81 fixedly mounted on the outside of the threaded sleeve 4, a monitoring element 84 fixedly mounted on the outside of the mounting ring 81 and located on the side of the mounting plate 82 near the second side cover plate 13, and a protective element 83 fitted on the outside of the threaded sleeve 4 and located between the convex ring and the monitoring element 84; the protective element 83 is cup-shaped, and the inner side of the convex ring is provided with a stop groove for cooperating with the mounting plate 82 to restrict the movement of the outer edge of the protective element 83; the monitoring element 84 provided in this application is at least one or a combination of several of the following: angular displacement sensor, angular velocity sensor, vibration sensor and torque sensor; so as to realize the rotation monitoring of the threaded sleeve 4.

[0040] As a further description of the above scheme, the outer circumference of the mounting ring 81 is threaded with several evenly distributed first fastening bolts. The outer circumference of the mounting ring 81 is provided with several threaded holes 811 that are adapted to the threads of the first fastening bolts. By rotating the first fastening bolts, the first fastening bolts can be moved within the threaded holes 811, so that the first fastening bolts can be squeezed by rotating the first fastening bolts, and the pressing effect of the first fastening bolts can be used to maintain the installation stability of the mounting ring 81. The side of the mounting plate 82 near the mounting plate 14 is provided with several second fastening bolts that are threaded to the second side cover plate 13. The mounting plate 82 is provided with several positioning holes 821 that are adapted to the size of the second side cover plate 13, so that the second fastening bolts can pass through the mounting plate 82 and be threaded to the second side cover plate 13 through the positioning holes 821, thereby fixing the mounting plate 82 to the second side cover plate 13.

[0041] As a preferred embodiment of the above solution, an end cap 42 is fitted onto one end of the threaded sleeve 4 near the mounting plate 14. The end cap 42 is fitted onto the threaded sleeve 4 through a stop structure provided on the threaded sleeve 4, and the side of the end cap 42 away from the threaded sleeve 4 is attached to the mounting plate 14, so that the mounting plate 14 can be used to prevent the end cap 42 from detaching from the threaded sleeve 4, so that the end cap 42 is stably supported on the inner wall of the threaded sleeve 4, and the threaded sleeve 4 is prevented from deforming under the compressive stress of the first fastening bolt.

[0042] Please see Figure 2 , Figure 5 and Figure 7 As shown, a driver 822 and an encoder 823 are fixedly installed on the side of the mounting plate 82 away from the second side cover plate 13. A wire 311 electrically connected to the driver 822 and the encoder 823 is provided on the stator 31; this facilitates the control of the operation of the frameless torque motor 3 by using the driver 822 and the encoder 823.

[0043] Please see Figure 1-2 As shown, the fixing component 2 includes a first connector 21 and a first fastening nut 22. The first connector 21 is threadedly installed on the side of the mounting plate 14 away from the second side cover plate 13. The first fastening nut 22 is threadedly connected to the first connector 21, and one side of the first fastening nut 22 is in contact with the mounting plate 14. The threads on the first connector 21 that connect to the mounting plate 14 are reversed from the threads that connect to the first fastening nut 22. When the first fastening nut 22 is tightly in contact with the mounting plate 14, the reversed threads can prevent the first connector 21 from being detached from the mounting plate 14 due to a single torsional force, which helps to improve the tightness and stability of the connection between the first connector 21 and the mounting plate 14.

[0044] As a preferred embodiment of the above solution, this application is suitable for providing a structure such as a washer between the first fastening nut 22 and the mounting plate 14 to further improve the connection stability.

[0045] Please see Figure 2 and Figure 8 As shown, the fastener 63 includes a second fastening nut 631 and a washer 632. The second fastening nut 631 is threaded onto the insert rod 62. The insert rod 62 is provided with a first external thread 621 suitable for threaded connection with the second fastening nut 631. The washer 632 is sleeved on the insert rod 62 and is located between the second fastening nut 631 and the slide rod 51. The insert rod 62 is also provided with a second external thread 622 suitable for threaded connection with the slide rod 51. The first external thread 621 and the second external thread 622 are arranged in opposite directions, so that the thread on the insert rod 62 that is threaded to the second fastening nut 631 is arranged in opposite directions to the thread on the insert rod 62 that is threaded to the slide rod 51. This makes it easier to tighten the second fastening nut 631 so that the washer 632 fits against the slide rod 51. The reversed threads prevent the insert rod 62 from being dislodged from the slide rod 51 by a single torsional force, effectively improving the installation stability of the insert rod 62 on the slide rod 51.

[0046] It should be noted that the planetary roller screw structure 52 in this application adopts a drive nut mode, which drives the extended part 5 to make linear motion through the rotation of the threaded sleeve 4. Since the screw 521 itself does not rotate, this drive mode not only eliminates the critical speed problem, but also only has the inertia of linear motion during movement. Therefore, it can achieve very high linear motion speed in long-stroke and high-speed applications. Moreover, due to the small inertia of the moving part, it can also obtain faster acceleration and deceleration capabilities, resulting in better dynamic response. In addition, this design provides better support for the screw, which helps to reduce vibration and maintain smooth movement.

[0047] The working process of the above-mentioned high-load linear electric drive joint is as follows: When assembling this high-load linear electric drive joint, the planetary roller screw structure 52 on the extended part 5 must first be assembled. The extended part 5 is then threaded into the threaded sleeve 4 using the planetary roller screw structure 52. The threaded sleeve 4 is then installed inside the rotor 32 of the frameless torque motor 3, and the frameless torque motor 3 is installed inside the outer cylinder 11. After that, the first bearing 111, the second bearing 112, and the third bearing 113 need to be installed in the appropriate positions. After the second bearing 112 and the third bearing 113 are installed, the installation stability of these two bearings can be maintained by installing the limit nut 41. After the first bearing 111 is installed, the movement of the first bearing 111 can be restricted by fitting the second side cover plate 13 on the threaded sleeve 4. Next, the protective component 83, the mounting ring 81 with the monitoring component 84, and the mounting plate 82 with the driver 822 and the encoder 823 need to be installed in the preset positions to realize the installation and fixation of the drive detection component 8. After the mounting plate 14 is installed, the mounting plate 14 and the second side cover plate 13 can be kept stable by inserting the second long bolts threaded to the outer cylinder 11 through the mounting plate 14 and the second side cover plate 13. The mounting plate 14 can also realize the connection between the fixed component 2 and the actuator. Next, the sliding sleeve 7 needs to be fixedly installed on the first side cover plate 12, and the first side cover plate 12 is fixed to the outer cylinder 11 by the first long bolt passing through the first side cover plate 12, thereby achieving the closure of the outer cylinder 11, and the slide rod 51 that slides through the sliding sleeve 7 on the first side cover plate 12 is suitable for connecting the output component 6.

[0048] When in use, the frameless torque motor 3 can be operated by adjusting the driver 822 and encoder 823 in the drive detection component 8, so that the rotor 32 on the frameless torque motor 3 drives the threaded sleeve 4 to rotate. The rotating threaded sleeve 4 can cooperate with the planetary roller screw structure 52 to drive the slide bar 51 to move, thereby realizing the extension and retraction adjustment of the output component 6 and ensuring the adjustment accuracy and stability.

[0049] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A high-load-bearing linear electrically driven joint, characterized in that, include: The outer shell (1) includes an outer cylinder (11), a first side cover plate (12) and a second side cover plate (13) respectively installed at both ends of the outer cylinder (11), and a mounting plate (14) installed on the side of the second side cover plate (13) away from the outer cylinder (11). A fixing component (2) is installed on the side of the mounting plate (14) away from the second side cover plate (13). A sliding sleeve (7) is installed on the side of the first side cover plate (12) away from the outer cylinder (11), and the sliding sleeve (7) passes through the first side cover plate (12). A frameless torque motor (3) is fixedly installed inside the outer cylinder (11). The outer cylinder (11) has several heat sinks on its outer side that correspond to the position of the frameless torque motor (3). A threaded sleeve (4) is rotatably installed inside the outer cylinder (11) that passes through the second side cover plate (13) and is connected to the inner wall of the frameless torque motor (3). A drive detection component (8) is installed on the side of the second side cover plate (13) near the mounting plate (14), and a part of the drive detection component (8) is electrically connected to the frameless torque motor (3) to realize the operation control of the frameless torque motor (3), and another part of the drive detection component (8) is adapted to realize the rotation detection of the threaded sleeve (4). The extended component (5) includes a slide rod (51) located inside the threaded sleeve (4) and sliding through the slide sleeve (7) and a planetary roller screw structure (52) installed on the side of the slide rod (51) near the second side cover plate (13), the planetary roller screw structure (52) being adapted to the internal thread groove on the threaded sleeve (4). The output component (6) includes a plug rod (62) installed at one end of the slide rod (51) away from the planetary roller screw structure (52), a second connector (61) slidably installed on the side of the plug rod (62) away from the slide rod (51), a thrust detection unit (64) installed between the plug rod (62) and the second connector (61) for detecting the external thrust of the slide rod (51), and a fastener (63) installed on the plug rod (62) for keeping the slide rod (51) and the plug rod (62) firmly connected.

2. The high-load-bearing linear electrically driven joint according to claim 1, characterized in that, The planetary roller screw structure (52) includes a helical screw (521), a first gear (522), a second gear (526), ​​a first rotating plate (523), a second rotating plate (524), and a helical roller (525). The screw (521) is fixedly installed on the side of the slide (51) near the second side cover plate (13). The first rotating plate (523) and the second rotating plate (524) are rotatably installed on the screw (521). The first rotating plate (523) and the second rotating plate (524) are respectively rotatably arranged on both sides of the outer periphery of the screw (521). A plurality of helical rollers (525) are evenly distributed on the outer side of the screw (521), and the two ends of the helical rollers (525) are respectively inserted into the first rotating plate (523) and the second rotating plate (524).

3. The high-load-bearing linear electrically driven joint according to claim 2, characterized in that, The spiral screw (521) is provided with a spiral raceway, the first gear (522) is mounted on the spiral screw (521), and the two first gears (522) are respectively located on both sides of the spiral raceway on the spiral screw (521); the spiral roller (525) is provided with a spiral blade that is adapted to the spiral raceway thread, the spiral blade is adapted to the internal thread groove thread on the threaded sleeve (4), the second gear (526) is fixedly mounted on the spiral roller (525), and the second gear (526) meshes with the first gear (522).

4. The high-load-bearing linear electrically driven joint according to claim 3, characterized in that, The outer circumferential dimension of the screw (521) is smaller than that of the slide rod (51). The inner diameter of the first rotating plate (523) and the second rotating plate (524) are slidably adapted to the outer diameter of the screw (521). One side of the first rotating plate (523) is attached to the slide rod (51). A retaining ring (5211) is installed on the side of the screw (521) near the second side cover plate (13). The retaining ring (5211) is adapted to restrict the second rotating plate (524) from disengaging from the screw (521).

5. The high-load-bearing linear electrically driven joint according to claim 1, characterized in that, The outer wall of the slide rod (51) includes two arc surfaces and two planes. The two arc surfaces are coaxially arranged, and the two planes are parallel. The arc surfaces and the planes are alternately connected. The perforation on the sliding sleeve (7) is slidably adapted to the outer wall of the slide rod (51).

6. The high-load-bearing linear electrically driven joint according to claim 1, characterized in that, The insertion rod (62) has a protrusion installed on the side near the second connector (61), and the second connector (61) has a groove on the side near the insertion rod (62) that is slidably adapted to the protrusion. The thrust detection unit (64) includes a pressure sensor (641) fixedly connected to the protrusion on one side and a plurality of limiting blocks (642) disposed on the inner wall of the groove and slidably connected to the protrusion. The outer side of the protrusion is provided with a limiting groove that is slidably adapted to the limiting block (642), and the side of the limiting block (642) away from the insert rod (62) is in contact with the inner wall of the limiting groove near the second connector (61) to restrict the insert rod (62) and the second connector (61) from separating.

7. The high-load-bearing linear electrically driven joint according to claim 1, characterized in that, The frameless torque motor (3) includes a stator (31) fixedly installed inside the outer cylinder (11) and a rotor (32) magnetically coupled to the inside of the stator (31). The outer wall of the threaded sleeve (4) is fixedly connected to the inner wall of the rotor (32).

8. The high-load-bearing linear electrically driven joint according to claim 7, characterized in that, The second side cover plate (13) has a protruding ring on the side away from the outer cylinder (11); The drive detection component (8) includes a mounting plate (82) fixedly mounted on the other side of the convex ring, a mounting ring (81) fixedly mounted on the outside of the threaded sleeve (4), a monitoring element (84) fixedly mounted on the outside of the mounting ring (81) and located on the side of the mounting plate (82) near the second side cover plate (13), and a protective element (83) rotatably mounted on the outside of the threaded sleeve (4) and located between the convex ring and the monitoring element (84). The protective element (83) is cup-shaped, and the inner side of the convex ring is provided with a stop groove for cooperating with the mounting plate (82) to restrict the movement of the outer edge of the protective element (83). The monitoring element (84) is at least one or a combination of several of the following: angular displacement sensor, angular velocity sensor, vibration sensor and torque sensor.

9. The high-load-bearing linear electrically driven joint according to claim 8, characterized in that, The driver (822) and encoder (823) are fixedly installed on the side of the mounting plate (82) away from the second side cover plate (13), and the stator (31) is provided with wires (311) that are electrically connected to the driver (822) and the encoder (823).

10. The high-load-bearing linear electrically driven joint according to claim 1, characterized in that, The fixing component (2) includes a first connector (21) threaded on the side of the mounting plate (14) away from the second side cover plate (13) and a first fastening nut (22) threaded on the first connector (21) and attached to the mounting plate (14) on one side. The threads on the first connector (21) that connect to the mounting plate (14) are reversed with the threads that connect to the first fastening nut (22).

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