Linear joint module and robot

Abstract

A linear joint module, comprising a housing (10), a drive mechanism (20) and a detection mechanism (30), wherein the housing has an inner cavity (101) and a movement opening (102) in communication with the inner cavity, and the inner cavity has a first inner side wall (104), which is arranged opposite the movement opening; the drive mechanism is arranged in the inner cavity and comprises a rod member (21) and a drive component (22), and the rod member is movably arranged in the movement opening; and the detection mechanism is arranged on the first inner side wall and comprises a strain gauge (31) and a signal detection member. Compared with the mode of arranging a detection sensonsor outside the housing, arranging the detection mechanism on the first inner side wall of the inner cavity of the housing enables a smaller installation space for the detection mechanism, a more compact overall structure, a lighter weight, and lower costs. Further provided is a robot comprising the linear joint module.

Description

Linear joint modules and robots

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202423225688.1, filed on December 25, 2024, the entire contents of which are incorporated herein by reference.

[0003] Technical Field

[0004] This application relates to the field of robotics, and in particular to a linear joint module and robot. Background Technology

[0005] Existing solutions for robot linear joint modules detect push-pull forces by placing a push-pull force sensor at the rear of the module. However, placing this sensor at the rear requires significant installation space, results in heavy weight, and is also costly. Summary of the Invention

[0006] The main purpose of this application is to propose a linear joint module and robot, which aims to reduce the installation space requirements of the push-pull force detection element in the linear joint module and reduce the overall weight of the linear joint module.

[0007] To achieve the above objectives, the linear joint module proposed in this application includes:

[0008] A housing having an inner cavity and a movable opening communicating with the inner cavity, the inner cavity having a first inner sidewall, the first inner sidewall being disposed opposite to the movable opening;

[0009] A driving mechanism, disposed within the inner cavity, includes a rod and a driving assembly. The rod is movably disposed at the movable opening. The driving assembly drives the rod to reciprocate along the axial direction of the housing. During movement, the rod applies a force to the first inner sidewall via the driving assembly.

[0010] The detection mechanism includes a strain gauge disposed on the first inner sidewall and a signal detection device electrically connected to the strain gauge. The strain gauge is used to deform when the first inner sidewall is subjected to a force, and the signal detection device is used to detect the push-pull force of the linear joint module through the deformation of the strain gauge.

[0011] In one embodiment, the signal detection device includes a circuit board and a signal processing circuit disposed on the circuit board. The signal processing circuit is electrically connected to the strain gauge and the driving component. The signal processing circuit is used to acquire the resistance value change signal when the strain gauge deforms, and to convert the resistance value change signal into a push-pull force signal to be transmitted to the driving component.

[0012] In one embodiment, the circuit board is disposed in the inner cavity and located on one side of the first inner sidewall.

[0013] In one embodiment, the drive assembly includes a rotating shaft and a nut. The rotating shaft extends axially along the housing, and the nut is located at the end of the rotating shaft away from the first inner sidewall. The rotating shaft is used to drive the nut to rotate. A threaded portion is provided on a section of the rod facing the drive assembly, and the nut is threadedly connected to the threaded portion. The rod is used to move linearly along the axial direction of the rotating shaft when the nut rotates.

[0014] In one embodiment, the drive assembly further includes a bearing mounted on the inner peripheral wall of the cavity, the rotating shaft being rotatably mounted on the bearing, the rod being used to apply a force to the nut on a side opposite to the direction of movement of the rod during movement, and the nut being used to transmit the force to the first inner wall through the rotating shaft, the bearing and the inner peripheral wall of the housing.

[0015] In one embodiment, the strain gauge includes a first strain unit and a second strain unit, wherein the first strain unit and the second strain unit are arranged in a wedge shape;

[0016] The signal detection device is used to detect the positive deformation change of the first inner sidewall through the first strain unit, and the signal detection device is used to detect the negative deformation change of the first inner sidewall through the second strain unit.

[0017] In one embodiment, at least one strain gauge is provided.

[0018] In one embodiment, two strain gauges are provided, and the two strain gauges are arranged at a distance from each other.

[0019] Alternatively, four strain gauges may be provided, which are spaced apart circumferentially along the first inner sidewall and arranged opposite each other in pairs.

[0020] In one embodiment, the housing includes a housing and a cover. The housing has an opening and a movable port, and an inner cavity communicating with the opening and the movable port. The cover is disposed at the opening, and the side of the cover facing the opening forms a first inner sidewall. The side of the cover away from the opening is connected to a first joint bearing.

[0021] This application also proposes a robot including the linear joint module described above.

[0022] The technical solution of this application sets up a detection mechanism including strain gauges and signal detection components. The detection mechanism is set on the first inner sidewall of the housing cavity. A drive assembly is set inside the housing, and the drive rod moves reciprocally along the housing axis. When the rod moves linearly, it can apply a force to the first inner sidewall through the drive assembly. When the strain gauge is subjected to the force, it can deform accordingly. The signal detection component can obtain the resistance value change signal of the strain gauge through the corresponding deformation, so as to calculate the push-pull force applied by the drive assembly to the rod, thereby realizing the detection of the push-pull force of the linear joint module. Compared with the method of placing the detection sensor outside the housing, the detection mechanism requires less installation space, the overall structure is more compact, and the weight is lighter, resulting in a lower cost for the linear joint module. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 is a structural schematic diagram of an embodiment of the linear joint module provided in this application;

[0025] Figure 2 is a structural schematic diagram of an embodiment of the strain gauge assembly in Figure 1;

[0026] Figure 3 is a structural schematic diagram of another embodiment of the strain gauge assembly in Figure 1;

[0027] Figure 4 is a structural schematic diagram of another embodiment of the strain gauge assembly in Figure 1.

[0028] Explanation of icon numbers:

[0029] 100. Linear joint module; 10. Housing; 101. Inner cavity; 102. Movable opening; 103. Opening; 104. First inner sidewall; 105. Second inner sidewall; 11. Housing; 111. First housing; 112. Second housing; 12. Housing cover; 20. Drive mechanism; 21. Rod; 22. Drive assembly; 221. Rotating shaft; 222. Nut; 223. Stator; 224. Rotor; 225. Driver; 226. Encoder; 227. Bearing component; 30. Detection mechanism; 31. Strain gauge; 32. Circuit board; 40. Guide part; 41. Guide groove; 50. First joint bearing.

[0030] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Embodiments of the present invention

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0032] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0033] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0034] Existing solutions for robot linear joint modules detect push-pull forces by placing a push-pull force sensor at the rear of the module. However, placing this sensor at the rear requires significant installation space, results in heavy weight, and is also costly.

[0035] This application proposes a linear joint module. By setting strain gauges and signal processing circuits on the module's tail cover to detect the push-pull force of the linear module, it has the advantages of small installation space, light weight, and low cost.

[0036] Referring to Figures 1 to 4, in one embodiment of this application, the linear joint module 100 includes a housing 10, a drive mechanism 20, and a detection mechanism 30. The housing 10 has an inner cavity 101 and a movable opening 102 communicating with the inner cavity 101. The inner cavity 101 has a first inner sidewall 104, which is disposed opposite to the movable opening 102. The drive mechanism 20 is disposed in the inner cavity 101 and includes a rod 21 and a drive assembly 22. The rod 21 is movably disposed in the movable opening 102. 02, the driving assembly 22 is used to drive the rod 21 to reciprocate along the axial direction of the housing 10. The rod 21 is used to apply a force to the first inner wall 104 through the driving assembly 22 during movement. The detection mechanism 30 includes a strain gauge 31 disposed on the first inner wall 104 and a signal detection element electrically connected to the strain gauge 31. The strain gauge 31 is used to deform when the first inner wall 104 is subjected to a force. The signal detection element is used to detect the push-pull force of the linear joint module through the deformation of the strain gauge 31.

[0037] The linear joint module proposed in this application can be applied to humanoid robots. In humanoid robots, the linear joint module can be used to realize the linear movement of the robot's arms, legs and other parts, providing the robot with more flexible and precise movement capabilities, and allowing the robot to more realistically simulate the movement performance of the human body.

[0038] In this application, a first joint bearing 50 may be provided at the end of the housing 10 away from the rod 21, and a second joint bearing may be provided at the end of the rod 21 extending from the movable port 102. When the linear joint module 100 is working, the drive assembly 22 drives the rod 21 to perform linear reciprocating motion along the axial direction of the housing 10, thereby causing the second joint bearing to perform linear reciprocating motion relative to the first joint bearing 50. When the linear joint module 100 is applied to a robot, the robot can achieve linear servo motion through the linear tube and the module.

[0039] The rod 21 can be configured with a threaded part and a rod part. The drive assembly 22 can be configured as a servo motor structure. A nut 222 is set on the drive shaft of the servo motor structure. The threaded part of the rod 21 is threadedly connected to the nut 222. The rod part of the rod 21 is slidably connected to the movable port. The nut 222 is driven to rotate by the motor structure, so that the threaded part of the rod 21 moves in extension and retraction relative to the nut 222, thereby driving the rod part of the rod 21 to move in extension and retraction relative to the housing 10. When the nut 222 rotates and drives the rod 21 to extend or retract, the nut 222 applies a force along the axial direction of the housing 10 to the rod 21. At the same time, the rod 21 also applies a reaction force to the nut 222. The reaction force applied to the nut 222 is transmitted to the first inner wall 104 of the housing 10 through the motor structure and the inner peripheral wall of the housing 10. When the first inner wall 104 is subjected to force and acts on the strain gauge 31, the strain gauge 31 can undergo corresponding deformation. When the strain gauge 31 undergoes corresponding deformation, the deformation of the strain gauge 31 can be detected by the signal detection device to obtain the force on the first inner wall 104. Based on this, the magnitude of the push-pull force applied by the drive assembly 22 to the rod 21 can be calculated. Thus, the driving force of the drive assembly 22 on the rod can be adjusted according to the detected push-pull force.

[0040] To prevent the rod 21 from rotating synchronously with the nut 222 and thus not performing telescopic movement, at least one limiting plane can be provided on the rod of the rod 21. The limiting plane can cooperate with the wall of the movable opening to limit the rotation of the rod. In this way, when the nut 222 rotates, the rod 21 can be prevented from rotating synchronously with the nut 222, thus preventing the rod 21 from performing telescopic movement.

[0041] The technical solution of this application sets up a detection mechanism 30 including a strain gauge 31 and a signal detection element. The detection mechanism 30 is set on the first inner sidewall 104 of the inner cavity 101 of the housing 10. A drive assembly 22 is set inside the housing 10. The drive rod 21 reciprocates along the axial direction of the housing 10. When the rod 21 performs linear reciprocating motion, it can apply a force to the first inner sidewall 104 through the drive assembly 22. When the strain gauge 31 is subjected to the force, it can deform accordingly. The signal detection element can obtain the push-pull force applied by the drive assembly 22 to the rod 21 through the corresponding deformation calculation, so as to realize the detection of the push-pull force of the linear joint module 100. Compared with the method of placing the detection sensor outside the housing 10, the detection mechanism 30 requires less installation space, the overall structure is more compact, and the weight is lighter, which makes the cost of the linear joint module 100 lower.

[0042] Referring to Figures 1 and 2, in one embodiment, the signal detection device includes a circuit board and a signal processing circuit disposed on the circuit board. The signal processing circuit is electrically connected to the strain gauge 31 and the driving component 22. The signal processing circuit is used to acquire the resistance value change signal when the strain gauge 31 deforms, and to convert the resistance value change signal into a push-pull force signal to be transmitted to the driving component 22.

[0043] In this circuit, a strain gauge is connected in series in the signal detection circuit. When the first inner wall 104 deforms, causing the strain gauge to undergo passive mechanical deformation, the resistance value of the strain gauge will change accordingly. When the strain gauge is connected in series in the signal processing circuit, the signal processing circuit can acquire the signal of the change in the resistance value of the strain gauge. The signal processing circuit can convert the signal of the change in the resistance value of the strain gauge into a voltage signal through a corresponding bridge circuit. The push-pull force data is measured by the change in the voltage signal, and the push-pull force signal is transmitted to the drive assembly 22, so that the drive assembly 22 can accurately acquire the magnitude of the push-pull force applied to the rod 21, thereby enabling the drive assembly 22 to adjust the magnitude of the output drive force accordingly.

[0044] The circuit board 32 can also be configured as a flexible circuit board, which further reduces the thickness of the circuit board 32 and allows the circuit board 32 to adapt to the size and shape of the remaining space in the cavity 101 of the housing 10, making it easier for the circuit board 32 to be assembled in the cavity 101.

[0045] Referring again to Figures 1 and 2, in one embodiment, the circuit board is disposed in the inner cavity and located on one side of the first inner sidewall 104.

[0046] The circuit board 32 can be fixed to the first inner sidewall 104 by adhesive bonding. This arrangement makes the distance between the circuit board 32 and the strain gauge 31 closer, which facilitates the connection between the circuit board 32 and the strain gauge 31. It also makes the arrangement of the detection mechanism 30 in the inner cavity 101 of the housing 10 more compact and facilitates the installation of the detection mechanism 30 in the inner cavity 101 of the housing 10.

[0047] The structure of the drive assembly 22 is described below. Referring to Figure 1, in one embodiment, the drive assembly 22 includes a rotating shaft 221 and a nut 222. The rotating shaft 221 extends axially along the housing 10. The nut 222 is located at the end of the rotating shaft 221 away from the first inner sidewall 104. The rotating shaft 221 is used to drive the nut 222 to rotate. The section of the rod 21 facing the drive assembly 22 is provided with a threaded portion. The nut 222 is threadedly connected to the threaded portion. The rod 21 is used to move linearly along the axial direction of the rotating shaft 221 when the nut 222 rotates.

[0048] The rotating shaft 221 is provided with a receiving groove at the end facing the nut 222. The receiving groove can be used to receive the threaded part of the rod 21. When the nut 222 rotates and drives the rod 21 to move linearly, the threaded part of the rod 21 can move along the receiving groove to extend and retract, so that the rod 21 will not interfere with the rotating shaft 221 when it is making linear reciprocating motion.

[0049] Of course, in other embodiments, a connecting frame can be provided at the end of the rotating shaft 221 facing the nut 222, so that the rotating shaft 221 is connected to the nut 222 through the connecting frame, so that the connecting frame between the nut 222 and the rotating shaft 221 has a clearance position for the extension and retraction of the rod 21, thereby preventing the rod 21 from interfering with the rotating shaft 221 when it moves. No specific limitation is made here.

[0050] In the above embodiments, when the nut 222 rotates and drives the rod 21 to make linear movements, in order to prevent the rod 21 from rotating synchronously with the nut 222 without making telescopic movements, this application also provides a guide portion 40 to limit the rotation of the non-threaded section of the rod 21. In one embodiment, the end of the housing 10 away from the first inner sidewall 104 is provided with a guide portion 40, the guide portion 40 is provided with a guide groove 41, the end of the guide groove 41 away from the opening 103 is provided with the movable opening 102, the rod 21 also includes a rod portion, the rod portion is provided on the side of the threaded portion away from the nut 222, and the rod portion is slidably provided in the guide groove 41.

[0051] The inner cavity 101 is further provided with a second inner sidewall 105, which is disposed opposite to the first inner sidewall 104. The guide portion 40 extends from the second inner sidewall 105 toward a position away from the first inner sidewall 104. With this arrangement, the rod portion is slidably engaged with the inner peripheral wall of the guide groove 41, thereby limiting the rotation of the rod 21 and preventing the threaded portion of the rod 21 from rotating with the nut 222, which would cause the rod 21 to rotate and be unable to perform telescopic movement.

[0052] Referring again to Figure 1, in one embodiment, the drive assembly 22 further includes a stator 223, a rotor 224, and a driver 225. The stator 223 is disposed on the inner peripheral wall of the inner cavity 101, the rotor 224 is disposed on the rotating shaft 221, and the driver 225 is used to adjust the power supply to the stator 223 to adjust the rotation of the rotating shaft 221.

[0053] The stator 223, rotor 224, and shaft 221 can be combined to form a motor structure. By supplying power to the stator 223, the stator 223 can generate a magnetic field that interacts with the rotor 224, enabling the rotor 224 to rotate and thus drive the shaft 221 to rotate. The rotation of the shaft 221 drives the rotation of the nut 222. Furthermore, the driver 225 can be used to adjust the power supply parameters to the stator 223, such as adjusting the power supply voltage and current, to adjust the magnetic force and magnetic field distribution between the rotor 224 and the stator 223, thereby adjusting the rotation speed and direction of the shaft 221 and controlling the start and stop status of the shaft 221.

[0054] In one embodiment, the driver 225 is electrically connected to the circuit board 32. The driver 225 is used to receive push-pull force signals transmitted by the circuit board 32 and to adjust the rotation of the rotating shaft 221 according to the push-pull force signals. In this way, the driver 225 can adjust the rotation speed of the rotating shaft 221 according to the push-pull force signals transmitted by the circuit board 32, thereby enabling precise control of the push-pull force output of the linear joint module 100.

[0055] In addition, in this application, the drive assembly 22 further includes an encoder 226, which is disposed on the rotating shaft 221 and electrically connected to the driver 225. The encoder 226 is used to acquire the motion signal of the rotor 224 and to transmit the motion signal of the rotor 224 to the driver 225. This configuration also allows the encoder 226 to acquire information such as the position, direction, and speed of the rotor 224, enabling the driver 225 to precisely control the rotation of the rotating shaft 221 based on the aforementioned information data of the rotor 224.

[0056] The following describes how the rod 21 applies force to the first inner wall 104. Referring to Figure 1, in one embodiment, the drive assembly 22 further includes a bearing 227 mounted on the inner peripheral wall of the inner cavity 101. The rotating shaft 221 is rotatably mounted on the bearing 227. The rod 21 is used to apply a force to the nut 222 on a side opposite to the direction of movement of the rod 21 during movement. The nut 222 is used to transmit the force to the first inner wall 104 through the rotating shaft 221, the bearing 227, and the inner peripheral wall of the housing 10.

[0057] With this configuration, when the nut 222 applies a force to the rod 21 to move axially along the housing 10, the rod 21 applies a corresponding reaction force to the nut 222. The reaction force is transmitted to the rotating shaft 221 through the nut 222, and then to the bearing 227 through the rotating shaft 221. Since the bearing 227 is installed on the inner peripheral wall of the inner cavity 101, the bearing 227 can transmit the reaction force to the first inner side wall 104 through the inner peripheral wall, causing the first inner side wall 104 to undergo corresponding stress deformation, thereby producing a corresponding effect on the strain gauge 31, enabling the detection mechanism 30 to detect the magnitude of the push-pull force of the linear joint module 100.

[0058] Referring to Figures 2 and 3, in one embodiment, the strain gauge 31 includes a first strain unit 31a and a second strain unit 32a, wherein the first strain unit 31a and the second strain unit 32a are arranged in a wedge shape.

[0059] The signal detection device is used to detect the positive deformation change of the first inner wall 104 through the first strain unit 31a, and the signal detection device is used to detect the negative deformation change of the first inner wall 104 through the second strain unit 32a.

[0060] The first strain unit 31a and the second strain unit 32a can be arranged in a 90-degree wedge shape. This arrangement improves the sensitivity and accuracy of the detection mechanism 30 to the deformation changes of the first inner wall. By making the first strain unit 31a and the second strain unit 32a wedge-shaped and respectively sensitive to the deformation changes of the first inner wall 104 towards the movable opening 102 and the deformation changes of the first inner wall 104 away from the movable opening 102, minute differences in the deformation changes of the first inner wall 104 can be captured. This effectively enables the monitoring of bidirectional deformation changes and improves feedback sensitivity, thereby improving the sensitivity and detection accuracy of the system. In addition, the arrangement of the first strain unit 31a and the second strain unit 32a can accurately reflect the forward and reverse deformation changes of the first inner wall 104, thereby allowing the changes in the thrust and tension values ​​of the linear joint module to be measured separately. This enables the system to make corresponding feedback and processing according to the actual situation during control and adjustment.

[0061] Referring to Figures 2 and 3, in one embodiment, at least one strain gauge 31 is provided. The strain gauge 31 can be a single gauge, positioned at the center of the first inner wall 104. Alternatively, to improve the accuracy of the detection mechanism 30 in detecting the push-pull force of the linear joint module 100, multiple strain gauges 31 can be provided. These multiple strain gauges 31 can be evenly distributed on the first inner wall 104, allowing deformation detection at multiple locations on the first inner wall 104, enabling the circuit board 32 to adapt to the deformation at these multiple locations. Exemplarily, two, four, or other strain gauges 31 may be provided.

[0062] For example, two strain gauges 31 are provided, and the two strain gauges 31 are arranged at a distance from each other;

[0063] Alternatively, four strain gauges 31 may be provided, with the four strain gauges arranged circumferentially along the first inner sidewall 104 and arranged opposite each other in pairs.

[0064] With this configuration, when multiple strain gauges 31 are set, they can be evenly distributed around the periphery of the first inner wall 104, enabling uniform sensing and monitoring of the strain of the first inner wall 104. This allows for a more comprehensive acquisition of the stress conditions of the first inner wall 104 in different areas, and allows strain gauges at different locations to be mutually calibrated and verified, thereby reducing errors and ensuring the accuracy of the push-pull force monitoring results of the direct joint module.

[0065] In this application, to facilitate the installation of the detection mechanism 30 onto the first inner wall 104 of the inner cavity 101, in one embodiment, the housing 10 includes a housing 11 and a cover 12. The housing 11 has an opening 103 and a movable port 102, and the inner cavity 101 communicating with the opening 103 and the movable port 102. The cover 12 is disposed at the opening 103, and the side of the cover 12 facing the opening 103 forms the first inner wall 104. The side of the cover 12 away from the opening 103 is connected to a first joint bearing 50. The cover 12 is detachably installed at the opening 103 of the housing 11. This arrangement allows the detection mechanism 30 to be installed on the first inner wall 104 by removing the cover 12 from the movable opening 102, installing the detection mechanism 30 on the side of the cover 12 facing the opening 103, and then installing the cover 12 back onto the opening 103, so as to facilitate the assembly of the linear joint module 100.

[0066] Alternatively, the housing 11 can be configured as a first housing 111 and a second housing 112, with the first housing 111 and the second housing 112 assembled in a detachable connection manner. The movable port 102 is located in the second housing 112, and the opening 103 is located in the first housing 111. This configuration facilitates opening the inner cavity 101 of the housing 10, thereby facilitating the installation of the various structural components of the drive assembly 22 and the rods 21 into the inner cavity 101, further facilitating the assembly of the linear joint module 100.

[0067] This application also proposes a robot, which includes a linear joint module 100. The specific structure of the linear joint module 100 is as described in the above embodiments. Since this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0068] The above description is merely an exemplary embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the technical concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A linear joint module, wherein, The linear joint module includes: A housing having an inner cavity and a movable opening communicating with the inner cavity, the inner cavity having a first inner sidewall, the first inner sidewall being disposed opposite to the movable opening; A driving mechanism, disposed within the inner cavity, includes a rod and a driving assembly. The rod is movably disposed at the movable opening. The driving assembly drives the rod to reciprocate along the axial direction of the housing. During movement, the rod applies a force to the first inner sidewall via the driving assembly. The detection mechanism includes a strain gauge disposed on the first inner sidewall and a signal detection device electrically connected to the strain gauge. The strain gauge is used to deform when the first inner sidewall is subjected to a force, and the signal detection device is used to detect the push-pull force of the linear joint module through the deformation of the strain gauge.

2. The linear joint module as described in claim 1, wherein, The signal detection device includes a circuit board and a signal processing circuit disposed on the circuit board. The signal processing circuit is electrically connected to the strain gauge and the driving component. The signal processing circuit is used to acquire the resistance value change signal when the strain gauge deforms, and to convert the resistance value change signal into a push-pull force signal to be transmitted to the driving component.

3. The linear joint module as described in claim 2, wherein, The circuit board is disposed in the inner cavity and located on one side of the first inner sidewall.

4. The linear joint module as described in claim 2, wherein, The drive assembly includes a rotating shaft and a nut. The rotating shaft extends axially along the housing. The nut is located at the end of the rotating shaft away from the first inner sidewall. The rotating shaft is used to drive the nut to rotate. A threaded portion is provided on the section of the rod facing the drive assembly. The nut is threadedly connected to the threaded portion. The rod is used to move linearly along the axial direction of the rotating shaft when the nut rotates.

5. The linear joint module as described in claim 4, wherein, The drive assembly further includes a bearing mounted on the inner peripheral wall of the inner cavity, the rotating shaft being rotatably mounted on the bearing, the rod being used to apply a force to the nut on a side opposite to the direction of movement of the rod during movement, and the nut being used to transmit the force to the first inner wall through the rotating shaft, the bearing and the inner peripheral wall of the housing.

6. The linear joint module as described in claim 1, wherein, The strain gauge includes a first strain unit and a second strain unit, which are arranged in a wedge shape. The signal detection device is used to detect the positive deformation change of the first inner sidewall through the first strain unit, and the signal detection device is used to detect the negative deformation change of the first inner sidewall through the second strain unit.

7. The linear joint module as described in claim 6, wherein, At least one strain gauge is provided.

8. The linear joint module as described in claim 7, wherein, Two strain gauges are provided, and the two strain gauges are arranged at a relative interval; Alternatively, four strain gauges may be provided, which are spaced apart circumferentially along the first inner sidewall and arranged opposite each other in pairs.

9. The linear joint module as described in any one of claims 1 to 8, wherein, The housing includes a shell and a cover. The shell has an opening and a movable port, and an inner cavity communicating with the opening and the movable port. The cover is disposed at the opening. The side of the cover facing the opening forms the first inner sidewall. The side of the cover away from the opening is connected to a first joint bearing.

10. A robot, wherein, The robot includes a linear joint module as described in any one of claims 1 to 9.

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