Linear joint module and robot

Abstract

The utility model provides a kind of linear joint module and robot, linear joint module includes joint shell, motor, positive planetary ball screw assembly and guide shaft sleeve, motor and positive planetary ball screw assembly are all arranged in the inside of joint shell, positive planetary ball screw assembly at least includes screw rod body and nut body, screw rod body is driven by the motor, guide shaft sleeve is located the outer periphery of nut body and is fixedly connected with nut body, the end of screw rod body away from nut body is supported in joint shell by rolling bearing, one end of guide shaft sleeve extends into the inside of joint shell, and the outer peripheral wall of guide shaft sleeve and the inner peripheral wall of joint shell are provided with sliding bearing between. The weight of positive planetary ball screw assembly and sliding bearing is lighter, by setting positive planetary ball screw assembly and sliding bearing, the weight of linear joint module can be reduced, so the rotational inertia of linear joint module can be reduced, and its acceleration and deceleration performance is improved.

Description

Technical Field

[0001] This utility model belongs to the field of intelligent equipment technology, and more specifically, it relates to a linear joint module and a robot. Background Technology

[0002] Linear joint modules can output linear motion and are widely used in various robots. When linear joint modules are used in humanoid robots, they need to meet high dynamic requirements such as rapid acceleration and deceleration, which places high demands on the rotational inertia of the linear joint modules. The smaller the rotational inertia of the linear joint module, the better the acceleration and deceleration performance of the actuator at the same power. However, the rotational inertia of current linear joint modules is relatively large, making it difficult to achieve very high acceleration and deceleration performance and to meet the high dynamic requirements of reinforcement learning. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a linear joint module and robot to solve the technical problem of large rotational inertia of the linear joint module in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a linear joint module is provided, including a joint housing, a motor, a forward planetary ball screw assembly, and a guide bushing. The motor and the forward planetary ball screw assembly are both disposed inside the joint housing. The forward planetary ball screw assembly includes at least a screw body and a nut body. The screw body is driven by the motor. The guide bushing is located on the outer periphery of the nut body and is fixedly connected to the nut body. The end of the screw body away from the nut body is supported on the joint housing by a rolling bearing. One end of the guide bushing extends into the interior of the joint housing, and a sliding bearing is provided between the outer peripheral wall of the guide bushing and the inner peripheral wall of the joint housing.

[0005] Optionally, the joint housing includes a first housing segment, a second housing segment, and a transition segment, the first housing segment and the second housing segment are connected by the transition segment, the outer diameter of the first housing segment is larger than the outer diameter of the second housing segment; the motor and the rolling bearing are both disposed in the first housing segment, and the sliding bearing and the nut body are disposed in the second housing segment.

[0006] Optionally, in the axial direction of the lead screw body, the motor is disposed between the rolling bearing and the sliding bearing.

[0007] Optionally, one end of the guide bushing that extends into the joint housing extends radially outward to form a skirt stop structure.

[0008] Optionally, the linear joint module further includes a locking nut for fixing the guide bushing and the nut body. The guide bushing is hollow and has a first stop step on its inner peripheral wall. The nut body is disposed inside the guide bushing, and the locking nut is threaded to the inner peripheral wall of the guide bushing, pressing the nut body against the first stop step.

[0009] Optionally, the linear joint module further includes a bearing bracket and a circuit board assembly. The bearing bracket is fixed inside the joint housing, and the rolling bearing is disposed between the inner peripheral wall of the bearing bracket and the outer peripheral wall of the lead screw body. One axial end of the bearing bracket faces the motor, and the axial end of the bearing bracket is fixedly connected to the circuit board assembly.

[0010] Optionally, the linear joint module further includes a sensor bracket, a force sensor, and an axial stop structure. The axial stop structure is fixed to the inner wall of the joint housing and is used to axially limit the force sensor. The force sensor is fixed to one axial end of the sensor bracket, and the other axial end of the sensor bracket abuts against the bearing bracket. The interior of the joint housing has a second stop step, and the end of the bearing bracket away from the sensor bracket abuts against the second stop step.

[0011] Optionally, the bearing bracket includes a first bracket segment and a second bracket segment connected to each other. The second bracket segment is tightly fixed to the inner peripheral wall of the joint housing. The first bracket segment and the inner peripheral wall of the joint housing form an installation gap. The other axial end of the sensor bracket extends into the installation gap and abuts against the second bracket segment.

[0012] Optionally, the force sensor is connected to a first universal joint assembly, and the guide sleeve is connected to a second universal joint assembly.

[0013] This utility model also provides a robot, including the above-mentioned linear joint module.

[0014] The beneficial effects of the linear joint module and robot provided by this utility model are as follows: Compared with the prior art, the linear joint module of this utility model includes a joint shell, a motor, a forward planetary ball screw assembly, and a guide bushing. The motor drives the forward planetary ball screw assembly to move, and the nut body of the forward planetary ball screw assembly and the guide bushing move synchronously in a linear fashion. The guide bushing and the joint shell are supported by a sliding bearing. The forward planetary ball screw assembly and the sliding bearing are lightweight. By setting the forward planetary ball screw assembly and the sliding bearing, the weight of the linear joint module can be reduced, thus reducing the rotational inertia of the linear joint module and improving its acceleration and deceleration performance. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A cross-sectional view of a linear joint module provided in an embodiment of this utility model;

[0017] Figure 2 for Figure 1 A magnified view of the middle left side;

[0018] Figure 3 for Figure 2 Enlarged view of the middle left section;

[0019] Figure 4 An enlarged structural view of the linear joint module at the nut body provided in this embodiment of the utility model;

[0020] Figure 5 for Figure 4 Enlarged structural diagram at point A in the middle.

[0021] The following are the labeling elements in the figure:

[0022] 10-Joint housing; 11-First housing section; 111-Second stop step; 12-Second housing section; 121-First stop step; 13-Transition section; 20-Motor; 30-Forward planetary ball screw assembly; 31-Screw body; 32-Nut body; 40-Guide bushing; 41-Skirted stop structure; 42-Locking nut; 51-Rolling bearing; 52-Sliding bearing; 53-Bearing bracket; 530-Mounting clearance; 531-First bracket section; 532-Second bracket section; 54-Circuit board assembly; 541-Encoder assembly; 55-Sensor bracket; 551-Bracket cylinder; 552-Mounting wall; 56-Force sensor; 57-Axial stop structure; 61-First universal joint assembly; 62-Second universal joint assembly. Detailed Implementation

[0023] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0024] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0025] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] Linear joint modules can output linear motion and are widely used in various robots. When linear joint modules are used in humanoid robots, they need to meet high dynamic requirements such as rapid acceleration and deceleration, which places high demands on the rotational inertia of the linear joint modules. The smaller the rotational inertia of the linear joint module, the better the acceleration and deceleration performance of the actuator at the same power. However, the rotational inertia of current linear joint modules is relatively large, making it difficult to achieve very high acceleration and deceleration performance and to meet the high dynamic requirements of reinforcement learning.

[0028] To alleviate or solve the above technical problems, this utility model proposes a linear joint module and robot. The linear joint module includes a joint housing 10, a motor 20, a forward planetary ball screw assembly 30, and a guide bushing 40. By setting the forward planetary ball screw assembly 30, linear motion can be output from the nut body 32. One end of the forward planetary ball screw assembly 30 is supported by a rolling bearing 51, and the other end is supported by a sliding bearing 52. The forward planetary ball screw assembly 30 and the sliding bearing 52 are lightweight, which can reduce the rotational inertia of the linear joint module and improve the acceleration and deceleration performance of the actuator.

[0029] The linear joint module provided in the embodiments of this utility model will now be described.

[0030] Please see Figure 1The linear joint module includes a joint housing 10, a motor 20, a forward planetary ball screw assembly 30, and a guide bushing 40. The motor 20 and the forward planetary ball screw assembly 30 are both located inside the joint housing 10. The forward planetary ball screw assembly 30 includes at least a screw body 31 and a nut body 32. The screw body 31 is driven by the motor 20. The guide bushing 40 is located on the outer periphery of the nut body 32 and is fixedly connected to the nut body 32. One end of the screw body 31 away from the nut body 32 is supported on the joint housing 10 by a rolling bearing 51. One end of the guide bushing 40 extends into the interior of the joint housing 10, and a sliding bearing 52 is provided between the outer peripheral wall of the guide bushing 40 and the inner peripheral wall of the joint housing 10.

[0031] The joint housing 10 is the outer shell structure of the linear joint module, providing mounting positions for the motor 20, the forward planetary ball screw assembly 30, and the guide bushing 40, and protecting these components. In the linear joint module, the joint housing 10 is generally a cylindrical structure, matching the shape of the motor 20 and other structures.

[0032] The motor 20 is an electrically driven component capable of outputting rotational motion, and it is located inside the joint housing 10. Generally, the motor 20 is fixed to the inner peripheral wall of the joint housing 10. The motor 20 includes a stator and a rotor; the stator is fixed to the joint housing 10, and the rotor outputs rotational motion.

[0033] The forward planetary ball screw assembly 30 is a component structure that converts rotational motion into linear motion. The forward planetary ball screw assembly 30 includes at least a screw body 31 and a nut body 32, and also includes a planetary roller assembly. The screw body 31 converts the screw's motion into the linear motion of the nut body 32 through the planetary roller assembly. Specifically, the forward planetary ball screw assembly 30 means that when the screw rotates, the nut body 32 outputs linear motion; the reverse planetary ball screw assembly means that when the nut rotates, the screw outputs linear motion. The forward planetary ball screw assembly 30 is lighter and has a smaller moment of inertia. The moment of inertia of the rotor assembly formed in this embodiment is more than 8 times smaller than that of the rotor assembly formed using the reverse planetary ball screw assembly.

[0034] In the forward planetary ball screw assembly 30, the screw body 31 is connected to the rotor of the motor 20, so that the motor 20 drives the screw body 31 to rotate. Generally, the screw body 31 is arranged to pass through the motor 20 along the axial direction of the motor 20, which can make the overall size of the linear joint module smaller and the structure more compact.

[0035] The guide sleeve 40 is fixedly connected to the nut body 32, and the guide sleeve 40 is sleeved on the outer periphery of the nut body 32. When the nut body 32 moves linearly, the guide sleeve 40 moves linearly synchronously with the nut body 32. One end of the guide sleeve 40 is located inside the joint housing 10, and the other end is located outside the joint housing 10, for connecting with actuators and other components.

[0036] The end of the lead screw body 31 furthest from the nut body 32 is supported on the joint housing 10 by a rolling bearing 51. A support bearing is provided at the end of the lead screw body 31 where the nut body 32 is located to support the nut body 32. Thus, the rolling bearing 51 and the sliding bearing 52 support the two ends of the positive planetary ball screw assembly 30 respectively, thereby enabling the lead screw body 31 to rotate stably and the nut body 32 to move smoothly. In this embodiment, the nut body 32 outputs linear motion; therefore, a sliding bearing 52 can be used to support the nut body 32. Compared to the scheme of supporting it with rolling bearings 51 on both sides, the sliding bearing 52 is lighter and has a simpler structure, which can further reduce the rotational inertia of the linear joint module.

[0037] It should be noted that the "axial direction" in this utility model refers to the axial direction of the lead screw, and the axial direction of the lead screw, the axial direction of the motor 20, and the axial direction of the guide sleeve 40 are all the same.

[0038] The linear joint module in the above embodiment includes a joint housing 10, a motor 20, a forward planetary ball screw assembly 30, and a guide bushing 40. The motor 20 drives the forward planetary ball screw assembly 30 to move. The nut body 32 of the forward planetary ball screw assembly 30 and the guide bushing 40 move synchronously in a linear fashion. The guide bushing 40 and the joint housing 10 are supported by a sliding bearing 52. The forward planetary ball screw assembly 30 and the sliding bearing 52 are relatively lightweight. By setting the forward planetary ball screw assembly 30 and the sliding bearing 52, the weight of the linear joint module can be reduced, thus reducing the rotational inertia of the linear joint module and improving its acceleration and deceleration performance.

[0039] Please refer to some embodiments of this utility model. Figure 1 and Figure 2The joint housing 10 includes a first housing segment 11, a second housing segment 12, and a transition segment 13. The first housing segment 11 and the second housing segment 12 are connected by the transition segment 13. The outer diameter of the first housing segment 11 is larger than the outer diameter of the second housing segment 12. The motor 20 and the rolling bearing 51 are both disposed within the first housing segment 11, while the sliding bearing 52 and the nut body 32 are disposed within the second housing segment 12. The first housing segment 11, the transition segment 13, and the second housing segment 12 are connected sequentially along the axial direction. All three housing segments are thin-walled shell structures. The motor 20 and the rolling bearing 51 are disposed within the first housing segment 11, which has a larger diameter. Because the rolling bearing 51 contains rolling elements, its radial dimension is relatively large, and the outer diameter of the motor 20 is also relatively large. Correspondingly, the outer diameter of the first housing segment 11 is also relatively large to accommodate the motor 20 and the rolling bearing 51. The sliding bearing 52 and the nut body 32 are disposed in the second housing section 12 with a smaller outer diameter. The radial dimension of the nut body 32 is small, and correspondingly, the radial dimension of the sliding bearing 52 is also small. Therefore, the diameter of the second housing section 12 can also be designed to be small.

[0040] The joint housing 10 includes a first housing segment 11, a transition segment 13, and a second housing segment 12 connected in sequence. Since the nut body 32 is supported by the sliding bearing 52, the radial dimension here is small, and the outer diameter of the second housing segment 12 is also relatively small. This allows the mass of the rotating parts in the linear joint module to be further concentrated at the position of its central axis, resulting in a smaller moment of inertia.

[0041] In some embodiments, the first housing segment 11 and the second housing segment 12 are both structures with equal outer diameters, and their outer diameters remain unchanged. The transition segment 13 is a structure with a gradually changing outer diameter, with one end of the transition segment 13 having a large outer diameter and the other end having a small outer diameter, thereby making the outer diameters of the first housing segment 11 and the second housing segment 12 different.

[0042] Optionally, the first housing segment 11 and the transition segment 13 are smoothly connected, and the transition segment 13 and the second housing segment 12 are smoothly connected.

[0043] In some embodiments, the first housing segment 11 and the second housing segment 12 have the same wall thickness, and correspondingly, the inner diameter of the first housing segment 11 is also larger than the inner diameter of the second housing segment 12. Generally speaking, since both the first housing segment 11 and the second housing segment 12 are thin-walled structures, even if the wall thicknesses of the first housing segment 11 and the second housing segment 12 are different, the inner diameter of the first housing segment 11 is still larger than the inner diameter of the second housing segment 12.

[0044] Please refer to some embodiments of this utility model. Figure 1In the axial direction of the lead screw body 31, the motor 20 is disposed between the rolling bearing 51 and the sliding bearing 52. The motor 20 is disposed in the middle of the lead screw body 31 in the axial direction, so that the mass distribution of the linear joint module can be more uniform. The rolling bearing 51 and the sliding bearing 52 are respectively close to the two ends of the lead screw, providing better support for the lead screw body 31.

[0045] Please refer to some embodiments of this utility model. Figure 4 and Figure 5 The guide sleeve 40 extends radially outward at one end inside the joint housing 10, forming a skirt stop structure 41. The skirt stop structure 41 is located at the end of the guide sleeve 40 inside the joint housing 10. The radial outward extension of the guide sleeve 40 means that the outer periphery of that end extends away from the center. The skirt stop structure 41 is used to stop the sliding bearing 52, limiting its axial position. Specifically, the sliding bearing 52 includes a bearing housing and a bearing bush disposed within the bearing housing. The bearing housing and the bearing bush are capable of linear motion relative to each other, and lubricating oil is present between them. The bearing housing is fixed to the inner peripheral wall of the joint housing 10, and the bearing bush is fixed to the outer peripheral wall of the guide sleeve 40. When the guide sleeve 40 moves linearly, the bearing bush also moves linearly. When the guide sleeve 40 moves to the rightmost end, the skirt stop structure 41 and the bearing seat of the sliding bearing 52 abut against each other, preventing the guide sleeve 40 from moving to the right. Therefore, through the cooperation of the skirt stop structure 41 and the sliding bearing 52, the guide sleeve 40 can be axially limited to prevent it from coming out of the joint housing 10.

[0046] By providing a skirt stop structure 41 at one end of the guide sleeve 40 located on the inner wall of the joint housing 10, it can cooperate with the sliding bearing 52 to axially limit the guide sleeve 40 and prevent the guide sleeve 40 from falling out of the joint housing 10.

[0047] In some embodiments, there are multiple sliding bearings 52, which are arranged sequentially at intervals along the axial direction of the joint housing 10. Multiple sliding bearings 52 can collectively support the sliding of the guide sleeve 40, thereby making the sliding of the guide sleeve 40 smoother. For example, the number of sliding bearings 52 may be two, three, etc.

[0048] In some embodiments, please refer to Figure 1 and Figure 4 The sliding bearing 52 near the skirt stop structure 41 is a stop sliding bearing 52. The stop sliding bearing 52 cooperates with the skirt stop structure 41 to limit the extreme position of the guide sleeve 40.

[0049] Please refer to some embodiments of this utility model. Figure 1 , Figure 4and Figure 5 The linear joint module also includes a locking nut 42 for fixing the guide sleeve 40 and the nut body 32. The guide sleeve 40 is hollow, and its inner peripheral wall is provided with a first stop step 121. The nut body 32 is disposed inside the guide sleeve 40. The locking nut 42 is threaded to the inner peripheral wall of the guide sleeve 40 and presses the nut body 32 against the first stop step 121. The guide sleeve 40 and the nut body 32 are fixedly connected to each other by the locking nut 42. Specifically, the lead screw body 31 passes through the locking nut 42 and the nut body 32. The nut body 32 is threadedly connected to the lead screw body 31, and the locking nut 42 is threadedly connected to the guide bushing 40. The nut body 32 is located between the locking nut 42 and the first stop step 121. Therefore, when the locking nut 42 is locked and fixed inside the guide bushing 40, the nut body 32 is compressed, and the nut body 32, the locking nut 42 and the guide bushing 40 become a whole. When the lead screw body 31 rotates, the nut body 32, the locking nut 42 and the guide bushing 40 move together.

[0050] By locking the nut 42 and threading it with the guide sleeve 40, the guide sleeve 40 and the nut body 32 are fixedly connected, which allows the guide sleeve 40 and the nut body 32 to move axially synchronously. The guide sleeve 40 can be connected to an actuator to perform a predetermined operation.

[0051] In some embodiments, there is a safety gap between the locking nut 42 and the lead screw body 31 to prevent the locking nut 42 and the lead screw body 31 from colliding with each other, thereby preventing the locking nut 42 from interfering with the rotation of the lead screw body 31.

[0052] Please refer to some embodiments of this utility model. Figures 1 to 3 The linear joint module also includes a bearing bracket 53 and a circuit board assembly 54. The bearing bracket 53 is fixed inside the joint housing 10. The rolling bearing 51 is disposed between the inner peripheral wall of the bearing bracket 53 and the outer peripheral wall of the lead screw body 31. One axial end of the bearing bracket 53 faces the motor 20, and the axial end of the bearing bracket 53 is fixedly connected to the circuit board assembly 54. The bearing bracket 53 is used to support the rolling bearing 51 and can also be used to fix the circuit board assembly 54. The circuit board assembly 54 is used to control the speed, start and stop of the motor 20. The bearing bracket 53 is fixed inside the joint housing 10, and the rolling bearing 51 is fixed inside the bearing bracket 53. The rolling bearing 51 is disposed between the inner peripheral wall of the bearing bracket 53 and the outer peripheral wall of the lead screw body 31. Specifically, the outer ring of the rolling bearing 51 is fixed to the inner peripheral wall of the bearing bracket 53, and the inner ring of the rolling bearing 51 is fixed to the outer peripheral wall of the lead screw body 31.

[0053] The circuit board assembly 54 allows for control of the motor 20's operating speed and start / stop. The bearing bracket 53 serves two purposes: it allows for the mounting of the rolling bearing 51 and the circuit board assembly 54.

[0054] In some embodiments, please refer to Figures 1 to 3 An encoder assembly 541 is provided at one end of the lead screw body 31 near the circuit board assembly 54. A corresponding read head is provided on the circuit board assembly 54. The read head can convert the detected signal into an electrical signal and transmit it to the circuit board assembly 54, thereby obtaining the angular position of the motor 20 and determining the position of the guide sleeve 40.

[0055] Please refer to some embodiments of this utility model. Figures 1 to 3 The linear joint module also includes a sensor bracket 55, a force sensor 56, and an axial stop structure 57. The axial stop structure 57 is fixed to the inner wall of the joint housing 10 and is used to axially limit the force sensor 56. The force sensor 56 is fixed to one axial end of the sensor bracket 55, and the other axial end of the sensor bracket 55 abuts against the bearing bracket 53. The interior of the joint housing 10 has a second stop step 111, and the end of the bearing bracket 53 away from the sensor bracket 55 abuts against the second stop step 111. The force sensor 56 is used to detect the external force on the linear joint module, and the sensor bracket 55 is used to mount and fix the force sensor 56. At the same time, the sensor bracket 55 is fixed inside the joint housing 10. In the axial direction, the axial stop structure 57, the sensor bracket 55, the bearing bracket 53, and the second stop step 111 are arranged sequentially. Therefore, the sensor bracket 55 and the bearing bracket 53 can be fixed in the axial direction, thereby axially fixing the force sensor 56 and the rolling bearing 51.

[0056] By setting force sensor 56, the external force on the linear joint module can be detected. Through the cooperation of axial stop structure 57 and second stop step 111, the sensor bracket 55 and bearing bracket 53 can be axially fixed to prevent axial movement of sensor bracket 55 and bearing bracket 53.

[0057] In some embodiments, the force sensor 56 is a tension / compression sensor 56 or a torque sensor.

[0058] In some embodiments, the end face of the force sensor 56 is closer to the axial stop structure 57 in the axial direction than the end face of the sensor bracket 55, and the axial stop structure 57 abuts against the end face of the force sensor 56.

[0059] In some embodiments, the end face of the sensor bracket 55 is closer to the axial stop structure 57 in the axial direction than the end face of the force sensor 56, and the axial stop structure 57 abuts against the end face of the sensor bracket 55.

[0060] In some embodiments, the axial stop structure 57 is a nut, threadedly connected to the inner peripheral wall of the joint housing 10. In other embodiments, the axial stop structure 57 may also be interference-fitted to the inner peripheral wall of the joint housing 10.

[0061] Please refer to some embodiments of this utility model. Figures 1 to 3 The bearing bracket 53 includes a first bracket segment 531 and a second bracket segment 532 connected to each other. The second bracket segment 532 is tightly fixed to the inner peripheral wall of the joint housing 10. A mounting gap 530 is formed between the first bracket segment 531 and the inner peripheral wall of the joint housing 10. The other axial end of the sensor bracket 55 extends into the mounting gap 530 and abuts against the second bracket segment 532. Because a mounting gap 530 is formed between the first bracket segment 531 and the inner peripheral wall of the joint housing 10, the outer diameter of the first bracket segment 531 is smaller than the inner diameter of the joint housing 10 at this location. The second bracket segment 532 is tightly fixed to the inner peripheral wall of the joint housing 10, and its outer diameter matches the inner diameter of the joint housing 10 at this location.

[0062] By forming an installation gap 530 between the first bracket section 531 and the joint housing 10, the sensor bracket 55 can abut against the second bracket section 532 of the bearing bracket 53, which can effectively support the rolling bearing 51 and shorten the axial space occupied by the sensor bracket 55 and the bearing bracket 53, making the structure more compact.

[0063] In some embodiments, please refer to Figures 1 to 3 The sensor bracket 55 includes a bracket cylinder 551 and a mounting wall 552. The mounting wall 552 is disposed inside the bracket cylinder 551 and is connected to the inner wall of the bracket cylinder 551. The bracket cylinder 551 is fixed inside the joint housing 10, and the force sensor 56 is fixed on the mounting wall 552. One axial end of the bracket cylinder 551 extends into the aforementioned mounting gap 530.

[0064] Please refer to some embodiments of this utility model. Figure 1 Force sensor 56 is connected to a first universal joint assembly 61, and a second universal joint assembly 62 is connected to the guide sleeve 40. A universal joint assembly is a mechanical component that transmits power and torque, used to connect linear joint modules and other components, and capable of generating relative rotation in a predetermined direction. Because the second universal joint assembly 62 connects the guide sleeve 40 and the external component, the external component is fixed in the circumferential direction of the lead screw body 31. Therefore, under the constraint of the external component, the nut body 32 maintains linear motion.

[0065] This utility model also provides a robot, which includes the linear joint module in any of the above embodiments. The robot can be a humanoid robot, a service robot, an industrial robot, etc. The robot may also include actuators and other components, which are connected to the motion output end of the linear joint module.

[0066] The robot provided by this utility model adopts the above-mentioned linear joint module. The linear joint module includes a joint housing 10, a motor 20, a forward planetary ball screw assembly 30, and a guide bushing 40. The motor 20 drives the forward planetary ball screw assembly 30 to move. The nut body 32 of the forward planetary ball screw assembly 30 and the guide bushing 40 move synchronously in a linear manner. The guide bushing 40 and the joint housing 10 are supported by a sliding bearing 52. The forward planetary ball screw assembly 30 and the sliding bearing 52 are lightweight. By setting the forward planetary ball screw assembly 30 and the sliding bearing 52, the weight of the linear joint module can be reduced, thus reducing the rotational inertia of the linear joint module and improving its acceleration and deceleration performance.

[0067] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A linear joint module, characterized in that: The device includes a joint housing, a motor, a forward planetary ball screw assembly, and a guide bushing. The motor and the forward planetary ball screw assembly are both disposed inside the joint housing. The forward planetary ball screw assembly includes at least a screw body and a nut body. The screw body is driven by the motor. The guide bushing is located on the outer periphery of the nut body and is fixedly connected to the nut body. The end of the screw body away from the nut body is supported on the joint housing by a rolling bearing. One end of the guide bushing extends into the interior of the joint housing, and a sliding bearing is provided between the outer peripheral wall of the guide bushing and the inner peripheral wall of the joint housing.

2. The linear joint module as described in claim 1, characterized in that: The joint housing includes a first housing segment, a second housing segment, and a transition segment. The first housing segment and the second housing segment are connected by the transition segment. The outer diameter of the first housing segment is larger than the outer diameter of the second housing segment. The motor and the rolling bearing are both disposed in the first housing segment, and the sliding bearing and the nut body are disposed in the second housing segment.

3. The linear joint module as described in claim 2, characterized in that: In the axial direction of the lead screw body, the motor is disposed between the rolling bearing and the sliding bearing.

4. The linear joint module as described in claim 1, characterized in that: The guide bushing extends radially outward from one end inside the joint housing to form a skirt-like stop structure.

5. The linear joint module as described in claim 1, characterized in that: The linear joint module further includes a locking nut for fixing the guide bushing and the nut body. The guide bushing is hollow and has a first stop step on its inner peripheral wall. The nut body is disposed inside the guide bushing. The locking nut is threaded to the inner peripheral wall of the guide bushing and presses the nut body against the first stop step.

6. The linear joint module as described in claim 1, characterized in that: The linear joint module also includes a bearing bracket and a circuit board assembly. The bearing bracket is fixed inside the joint housing. The rolling bearing is disposed between the inner peripheral wall of the bearing bracket and the outer peripheral wall of the lead screw body. One axial end of the bearing bracket faces the motor, and the axial end of the bearing bracket is fixedly connected to the circuit board assembly.

7. The linear joint module as described in claim 6, characterized in that: The linear joint module also includes a sensor bracket, a force sensor, and an axial stop structure. The axial stop structure is fixed to the inner wall of the joint housing and is used to axially limit the force sensor. The force sensor is fixed to one axial end of the sensor bracket, and the other axial end of the sensor bracket abuts against the bearing bracket. The interior of the joint housing has a second stop step, and the end of the bearing bracket away from the sensor bracket abuts against the second stop step.

8. The linear joint module as described in claim 7, characterized in that: The bearing bracket includes a first bracket section and a second bracket section connected to each other. The second bracket section is tightly fixed to the inner peripheral wall of the joint housing. The first bracket section and the inner peripheral wall of the joint housing form an installation gap. The other axial end of the sensor bracket extends into the installation gap and abuts against the second bracket section.

9. The linear joint module as described in claim 7, characterized in that: The force sensor is connected to a first universal joint assembly, and the guide sleeve is connected to a second universal joint assembly.

10. A robot, characterized in that: Includes the linear joint module as described in any one of claims 1-9.

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