3556 results about "Ball screw" patented technology

The invention discloses a Bayesian learning and piezoelectric ceramic driving numerical control machine tool thermal error compensation system and method. According to the system, a distributed temperature sensor array is arranged in heat sensitive areas such as a machine tool spindle, a ball screw, a guide rail and a bearing seat, whole-field temperature information is collected in combination with a thermal infrared imager, and multi-source thermal field sensing is achieved; meanwhile, a laser interferometer and a capacitive displacement sensor are used for constructing a dynamic pose monitoring network. The intelligent decision-making unit integrates a Bayesian online learning engine, fuses a physical model and a data driving model, dynamically predicts a thermal error and generates a compensation instruction. And the piezoelectric execution mechanism carries out nonlinear pre-compensation on a driving signal through a three-section Prantl-Ishlinskii hysteresis inverse model according to the instruction, so that high-precision pose adjustment is realized. The thermal error compensation precision is remarkably improved, the adaptability of the system to complex working conditions is enhanced, the service life of equipment is prolonged, and the method is suitable for various numerical control machine tools.

A jack assembly that has a base member having a handle assembly extending therefrom, a remote control positioned in the handle assembly, a handle base section of the handle assembly that comprises a battery coupler and a control unit, an electric motor coupled to the base member and providing a torque to a gear assembly, the gear assembly coupled to a ball screw, a carriage slidably coupled to the base member, the carriage having a lift nut coupled thereto, the ball screw threaded through the lift nut such that rotation of the ball screw moves the lift nut, and carriage, linearly along the base member, and a lifting arm pivotally coupled to the carriage on one end and pivotally coupled to a pivot arm at an intermediate location.

An electric powered steering assembly includes a housing with a cylindrical portion extending in an axial direction, an interior wall of the cylindrical portion defines a groove and extends in the axial direction, and the groove has at least two inwardly tapered walls. A ball screw is disposed in the housing and defines a hole extending in a radial direction. A ball nut disposed in the housing, surrounding the ball screw, is configured to rotate relative to the housing. An anti-rotational pin has a tapered end disposed in the hole, the tapered end having tapered surfaces corresponding to the at least two inwardly tapered walls. A spring is disposed in the hole and biases the anti-rotational pin in a radially outward direction towards the groove so that the tapered end of the anti-rotational pin engages the groove and thereby restricts rotation of the ball screw relative to the housing.

The invention relates to the technical field of automobile part manufacturing, discloses an adjustable multi-angle trimming and deburring device for automobile part machining, and provides a scheme that a trimming machine tool is matched with a multi-angle trimming mechanism to solve the problems that in the prior art, the clearing efficiency of flashes and burrs at a center hole and a heat dissipation groove of a brake disc is low, and positioning is not accurate. According to the device, a four-jaw chuck is driven by a driving motor to rotate a brake disc, a ball screw, a movable block, a connecting rod and other assemblies are utilized, four sets of trimming cutters synchronously trim a center hole, the inner side, the outer side and the bottom face corners of a heat dissipation groove correspondingly, a buffering inserting rod and a spring are combined to absorb impact, and precise operation of the cutters is guaranteed through the design of a deflection rotating shaft, a magnet and the like. According to the scheme, burrs at multiple positions are cleaned at a time, clamping errors are eliminated, energy consumption and cutter abrasion are reduced, the structure is compact, the device is suitable for automatic trimming of brake discs of different sizes, and the machining efficiency and precision are remarkably improved.

The invention discloses a magnetic lead screw motor linear speed control method based on an improved active-disturbance-rejection controller, and the method comprises the following steps: building a magnetic lead screw motor model, designing an active-disturbance-rejection control law according to the motor model, carrying out the higher-order operation of an extended state observer in a controller, and introducing an acceleration error at a reasonable position of a state equation, thereby achieving the linear speed control of a magnetic lead screw motor. And the improved active disturbance rejection controller is obtained. Compared with the prior art, the improved method provided by the invention has the advantages that the observation capability of the expansion state observer on the disturbance error is improved, so that the anti-interference performance of the control system is improved, and the method has certain universality. Simulation and experiment results show that high-quality operation of the linear driving system of the magnetic lead screw motor can be realized by adopting the improved active-disturbance-rejection control strategy.

The invention relates to the technical field of intelligent control of injection molding machines, in particular to an injection molding machine closed-loop mold adjustment control system and method based on multi-sensor fusion and a self-adaptive algorithm, and the system comprises a sensing layer which adopts a multi-sensor fusion closed-loop feedback architecture and comprises a pressure sensing array, a displacement sensing unit and a temperature sensing array. The data acquisition module is used for synchronously acquiring mold clamping force, position and temperature data of a mold, constructing a three-dimensional error compensation model and realizing dynamic correction of the parallelism of the mold through space force field analysis; the execution layer comprises a servo motor, a belt wheel and a ball screw and is used for adjusting the position of the template; a double-closed-loop control module is arranged in the control layer, the double-closed-loop control module comprises outer ring mold clamping force control and inner ring position control, mold clamping force deviation serves as input of an outer ring, position correction is generated through a self-adaptive PID algorithm, the inner ring converts the position correction into a servo motor rotation angle instruction, and therefore precise control over the mold clamping force is achieved.

The invention discloses a soil-rock mixed filler compaction transparency visual test system and method, and relates to the technical field of civil engineering test equipment. In order to solve the problem that the movement and deformation of soil particles in the soil-rock mixed filler cannot be observed and recorded in the compaction process, the following technical scheme is provided: the device comprises a reaction frame and a model groove formed in the inner side of the reaction frame, an actuator is arranged at the top of the reaction frame, a double-track ball screw transmission mechanism is arranged between the reaction frame and the actuator, and the double-track ball screw transmission mechanism is arranged in the model groove. A pressure sensor is arranged at the bottom of the actuator, and the bottom of the pressure sensor compacts the transparent soil in the model groove through a roller; a laser is arranged at the side end of the model groove and irradiates the transparent soil in the model groove to present a speckle field plane, and an industrial camera is fixed right behind the model groove and collects speckle field pictures generated in the compaction process. According to the invention, visual monitoring and analysis of the compaction process of the soil-rock mixed filler can be comprehensively and accurately realized.

The invention relates to the field of robot additional shafts, in particular to an additional shaft servo motor type selection method for a robot, which comprises the following specific steps of: S1, determining a transmission system structure at a load end of an additional shaft motor; s2, determining a mechanical structure and motion characteristic parameters of the transmission system; s3, importing into a motor library; s4, performing calculation; s5, judging and checking; s6, model selection is completed; for three mainstream transmission systems of a gear rack, a ball screw and a belt at a load end of a robot additional shaft motor, calculation and accurate model selection are performed on parameters of the motor, and the dynamic response characteristic of the motor and the system compatibility of the model selection method are improved; the model selection tool can support a user to import and modify a motor database by himself / herself, and quickly and conveniently recommend an accurate model selection result from the motor database according to the rotation speed, torque, power and load inertia ratio judgment and check conditions of the motor, thereby improving the model selection efficiency of the servo motor and improving the user experience. And resource redundancy and manufacturing cost caused by a traditional empirical selection method are reduced.

The invention discloses a piston assembly of a motor brake and an assembling process of the piston assembly, and relates to the technical field of motor brakes. Comprising a caliper shell, a caliper body assembly is installed on one side of the caliper shell, a power transmission unit assembly is detachably installed on the caliper body assembly, a positioning pin is arranged on the caliper body assembly, and a positioning hole matched with the positioning pin is formed in the power transmission unit assembly; the caliper body assembly of the caliper comprises a main support, a second support and a third support, wherein the main support is detachably installed on a caliper shell; the sleeve is detachably mounted on the inner side of the main bracket; the nut is connected into the sleeve in a sliding manner; and the ball screw assembly is connected into the nut through a thread. According to the invention, through arrangement of structures such as the caliper body assembly, torque transmission, clamping force transmission and stress support of parts are carried out in a highly integrated manner, installation and signal transmission of a force sensor in a very narrow space are realized, and the performance is reliable.

The invention discloses an adjustable flat plate type ozone generating device and an adjusting method thereof. The adjustable flat plate type ozone generating device comprises an ozone generating assembly, a radial magnetic field adjusting assembly and an axial magnetic field adjusting assembly, the radial magnetic field adjusting assembly comprises a radial rail base and a spiral line base disc, a plurality of radial rails are arranged on the surface of the radial rail base at equal intervals in the circumferential direction, and magnets are arranged in the radial rails in a sliding mode. The axial magnetic field adjusting assembly comprises a base and an axial track, the radial track base is installed on the base, and the base is driven by a ball screw mechanism to move on the axial track in a reciprocating mode. By arranging the radial and axial adjustable magnetic fields, the motion trail and energy distribution of high-energy electrons in the discharge channel are optimized, the activity of ozone generation reaction is effectively enhanced, and the device can maintain high ozone output efficiency for a long time in actual operation due to the establishment of a magnetoelectric cooperative discharge environment; meanwhile, through a mechanical adjustment structure of the electrode spacing and area, discharge parameters can be optimized in real time according to different working condition changes, the fluctuation of ozone yield is remarkably reduced, and the continuity and stability of system operation are ensured.

The invention relates to a recirculator (30) for a nut (12) of a ball screw mechanism (1), comprising an annular body (32) having a reference axis (300) intended to be aligned with a helical axis of the nut (12), the annular body (32) comprising a bearing surface (36), and a guide structure (34) arranged on the bearing surface (36), the bearing surface is configured to bear a nut (12) against the ball screw mechanism (1) in a bearing direction having an axial component parallel to the reference axis (300), the guide structure is configured to guide the balls in the circulation path opening at a first guide end (62) into a recirculation channel of the nut (12) and at a second guide end (72) onto a raceway (116) defined by a thread of the nut (12), characterized in that the bearing surface (36) lies at least partially in a cross-sectional plane (130) intersecting the recirculation path and perpendicular to the reference axis (300).

The present invention discloses a transverse thickness difference detection device for cold-rolled steel strip with a high-tension leveling device, which relates to the technical field of transverse thickness difference detection for cold-rolled steel strip. The device comprises: a bracket, which defines an inner slide rail and an outer slide rail along the length direction; a thickness measuring mechanism, which is slidably connected to the outer slide rail and capable of measuring the thickness of the steel strip; and a clamping mechanism, which comprises a fixed clamping mechanism and a movable clamping mechanism, wherein the fixed clamping mechanism is fixedly arranged on the inner side surface of the bracket and close to one end of the bracket, and the movable clamping mechanism is slidably connected to the inner slide rail and close to the other end of the bracket, and the fixed clamping mechanism and the movable clamping mechanism respectively clamp the two ends of the steel strip. The thickness measuring mechanism is slidably connected to the outer slide rail. Under the action of a ball screw and a drive motor, the thickness measuring mechanism can move along the outer slide rail to perform thickness detection at various positions along the width direction of the steel strip, with high detection efficiency. The measurement results of the thickness measuring mechanism are not affected by human factors, thereby improving the accuracy of the measurement results.

The invention relates to the technical field of reciprocation pump control, in particular to a closed-loop control motor-driven ball screw reciprocation pump and a control method, and the closed-loop control motor-driven ball screw reciprocation pump is mainly characterized in that an outlet of a fluid end module is connected with a pressure sensor; the pressure sensor, the motor controller, the rotary transformer and the position sensor are electrically connected with the central controller, the central controller is used for outputting a control signal enabling the driving motor to rotate to the motor controller, and the motor controller is used for controlling the driving motor to operate. According to the scheme, a brake is removed, the defects caused by the brake are avoided, in the prior art, no matter whether a brake pad is abraded or the inertia problem of the brake exists, a brake system cannot be achieved in the industry of the reciprocating pump at all, and in the reciprocating pump, the brake pad is not abraded. The speed, the position and the thrust of the reciprocating pump device are accurately controlled in a full-digital manner through the central controller, so that the ball screw reciprocating pump with the structure achieves the purpose of industrial use in the industry.

The utility model discloses a transmission structure of a gantry numerical control machining center, and relates to the technical field of numerical control machine tools, in particular to a fixed plate and a sliding seat, one side of the fixed plate is movably connected with a ball screw, and the outer ring of the ball screw is in threaded connection with a ball nut. The sliding seat comprises a driving part connected with the ball nut and a driven part movably connected with the fixing plate, the driving part is fixedly connected with the driven part, the outer rings of the two ends of the ball screw are wrapped with telescopic pipes, one end of each telescopic pipe is connected with the driving part, and the other end of each telescopic pipe is connected with the fixing plate. According to the transmission structure of the gantry numerical control machining center, through the arrangement of the first cooling structure, the second cooling structure and the oil pump, the first cooling structure and the second cooling structure can achieve the cooling and lubricating functions at the same time, and the friction force and friction heat between the ball nut and the ball screw are reduced; friction force and friction heat between the rollers and the fixing plate are reduced, and the service life of the transmission structure is prolonged.

The two-degree-of-freedom finger mechanism of the five-finger manipulator is suitable for five-finger manipulator equipment of a humanoid robot and serves as a ring finger and little finger module. The robot consists of two parts, namely a finger bending assembly and a finger swinging assembly. The finger bending assembly drives a ball screw nut pair through a driving motor to convert rotary motion into linear motion, and then a ball nut drives an elastic connecting rod and finger joints to achieve bending motion of fingers. The finger swinging assembly drives a bevel gear set through a driving motor, and after the direction of rotating motion is changed, a connecting rod and finger joints are driven through a universal joint to achieve the swinging action of fingers. According to the two-degree-of-freedom mechanical finger, the two assemblies are ingeniously combined to one finger, and the overall size of the mechanical finger is reduced while two-degree-of-freedom movement is achieved. And in combination with the use of the elastic connecting rod, the driving motor is protected, and the action area of the manipulator and the grabbed object is increased.

The invention discloses a PIN wire steel plate lifting mechanism and a control method, and relates to a PIN wire steel plate lifting mechanism which comprises a lifting module, a grabbing and sucking module and a fixing frame. The lifting module is in linkage with a lifting driving assembly through a ball screw, and high-precision lifting is achieved. The grabbing and sucking module comprises array type vacuum suction cups, a pressure regulating valve set and an air cylinder, the stability is enhanced through a cross-shaped transverse beam frame and a cross-shaped longitudinal beam frame, and 360-degree posture adjustment is achieved by carrying a hollow platform rotating assembly. The fixing frame is connected with the sliding base, so that the mechanism moves along the linear track, and the steel plates are conveyed. The control module integrates a visual system and a laser displacement sensor, positions the position of the steel plate and a hole site in real time, scans a three-dimensional contour, detects whether the steel plate deforms on line based on a hole site and aperture comparison method, automatically triggers a sorting alarm when a detection result exceeds a threshold value, and adopts a graded pressure relief technology in a release process to ensure soft landing of the steel plate. According to the scheme, the stability of the lifting process of the PIN wire steel plate is improved, the comprehensive efficiency of a full-process automatic production line is improved, and the reject ratio of products is reduced.

The invention relates to the field of ball screw nut pair transmission power and efficiency testing, in particular to a ball screw nut pair transmission power and efficiency testing device and method. The ball screw nut pair transmission power and efficiency testing device comprises a loading screw driving device, a load loading device, a load transmitting device, a to-be-tested nut clamping device, a to-be-tested screw driving device, a torque measuring and transmitting device and a displacement measuring device. The loading lead screw driving device is connected with the load loading device; the load loading device is connected with the load transmission device; the load transmission device comprises a first spherical hinge type floating joint, a second spherical hinge type floating joint, a floating joint connector, a floating joint connecting seat and a pressure sensor; the pressure sensor is connected with the to-be-tested nut clamping device; the to-be-measured lead screw driving device is connected with a to-be-measured lead screw through the torque measuring and transmitting device, and the to-be-measured lead screw is matched with a to-be-measured nut; and the displacement measuring device is used for measuring the displacement of the to-be-measured nut clamping device.

The invention relates to a highway roadbed high slope displacement monitoring system and method based on an unmanned aerial vehicle laser radar, the system comprises an unmanned aerial vehicle, a holder, a laser radar, a GPS, a buffer seat, a control assembly and a balancing weight, the buffer seat is connected between the unmanned aerial vehicle and the holder through an oil box, a sliding cavity, a piston rod and an oil liquid circulation structure, and is used for filtering flight vibration; the holder is of a double-rotating-frame structure, the laser radar is installed in the second rotating frame, the control assembly drives the second rotating frame to turn over through the ball screw and the electromagnet ring, protection and angle adjustment of the laser radar are achieved, and gear abrasion is avoided. The balancing weight is connected to the bottom of the second rotating frame through a clamping assembly and can be replaced according to the wind speed to maintain flight stability. The problem that vibration generated in the flight process of an existing unmanned aerial vehicle affects the measurement precision of a laser radar and affects the accuracy and reliability of monitoring data is solved.

The rubber stripping device comprises a horizontally-arranged machine base, a V-shaped block clamping assembly, a quick dismounting and mounting positioning cylinder assembly and a variable-diameter type centering column assembly are sequentially installed on the machine base, the V-shaped block clamping assembly is used for clamping and fixing the rubber pipe, and the V-shaped block clamping assembly is used for clamping and fixing the rubber pipe. The quick dismounting and mounting positioning cylinder assembly is used for carrying out primary diameter positioning on the rubber pipe, and the variable-diameter centering column assembly is used for carrying out inner diameter positioning on the rubber pipe; the automatic feeding device has the beneficial effects that the variable-diameter centering column assembly and the rapid dismounting and mounting positioning cylinder assembly are designed to conduct double step-by-step positioning on the rubber pipe, the positioning mode is more reasonable and efficient, the V-shaped block clamping assembly and the ball screw mechanism are designed to achieve automatic feeding of the rubber pipe, operation is more convenient and rapid, time and labor are saved, and the automation degree is higher; the variable-diameter centering column assembly can adapt to accurate positioning of rubber pipes of different models, equipment transformation is rapid and convenient, the rubber pipes of different models can be machined, and cost is saved.

The invention belongs to the technical field of welding equipment, and particularly relates to an intelligent high-speed laser welding device for a longitudinal welded pipe, which comprises a rack, a high-precision clamping mechanism, a multi-degree-of-freedom motion platform, a laser welding head and an intelligent control system. The clamping mechanism adopts hydraulic pressure to drive an arc-shaped clamping plate to realize self-adaptive centering and flexible clamping of the pipe fitting; an X-direction module of the motion platform adopts a servo motor to be matched with a synchronous belt (or a ball screw) for transmission, and a Y-direction module is driven by a hydraulic cylinder, so that precise track control of the laser welding head is jointly realized; the intelligent control system integrates visual tracking of welding seams, infrared monitoring of a molten pool and laser detection of deformation, and welding parameters and motion trails are dynamically adjusted by calculating a welding quality coefficient in real time and based on a threshold value and a residence criterion. According to the method, the problems of welding seam tracking lag, unstable molten pool state, thermal deformation compensation deficiency and the like in high-speed welding are solved, and self-adaptive optimization and full data tracing in the welding process are achieved.

The invention discloses a multi-degree-of-freedom lifting mechanism and a lifting frame for arthroscope perfusate. The invention relates to the technical field of medical instruments. The device is composed of a vehicle body, a lifting mechanism, a clamping assembly and a space angle adjusting mechanism. The trolley body is designed to be movable and can be conveniently and flexibly positioned in an operating room. The lifting mechanism is connected with the clamping and fixing assembly through a vertically-arranged ball screw assembly, and accurate lifting control over the clamping and fixing assembly is achieved. The clamping and fixing assembly is used for clamping and fixing the perfusate bag to ensure stable supply of perfusate in the operation process; according to the technology, free adjustment of pitching, yawing and rolling angles of the perfusion pipe in a three-dimensional space is achieved through the spherical gear mechanism, and the flexibility of the perfusion system is improved. A doctor can quickly and accurately adjust the angle of the infusion tube according to the specific anatomical structure of a surgical site, it is ensured that liquid can be accurately flushed, a blind area is effectively avoided, and the definition of the surgical field is improved.

The full-automatic feeding and discharging numerical control machine tool comprises a machine body, a machine tool body is arranged on the machine body, a tailstock and a main shaft are sequentially arranged on the machine tool body in the length direction, the tailstock and the main shaft are coaxially opposite, and a machine tool inner protective cover and a tool rest table used for installing a tool turret are arranged on the machine tool body. The tool rest table achieves Z-direction movement through a Z-axis linear guide rail, a Z-axis ball screw and a screw end bearing, is driven and controlled by a Z-axis servo driver, achieves X-direction movement through an X-axis linear guide rail, an X-axis ball screw and a screw end bearing, and is driven and controlled by an X-axis servo motor and an X-axis servo driver. The servo motor and the driver drive the tool rest table to move along the X-axis and the Z-axis, the tool turret automatically changes tools, and the main shaft rotates for machining. The tailstock and the main shaft are matched to automatically clamp a workpiece, the oil pressure station provides power, pipeline maintenance components are automatically lubricated, the chip removal mechanism cleans cuttings, full-process automatic machining is achieved, and efficiency and precision are improved.

A steering assembly includes a housing. An interior wall of a cylindrical portion of the housing defines a groove that extends in an axial direction and having inwardly tapered walls. A ball screw disposed in the housing defines a hole in a radial direction. An anti-rotational pin having a tapered end is disposed in the hole, the tapered end corresponding to the inwardly tapered walls. A spring disposed in the hole biases the anti-rotational pin so that the tapered end of the anti-rotational pin engages the groove and restricts rotation of the ball screw. A support bushing disposed between the ball screw and the housing is fixedly coupled to the ball screw and defines a through hole between the groove and the hole of the ball screw, the through hole receives the anti-rotational pin. The support bushing absorbs radial loads exerted on the ball screw and supports the anti-rotational pin.

An electric powered steering assembly for a commercial vehicle includes a housing. An interior wall of a cylindrical portion of the housing defines a groove that extends in an axial direction, the groove having inwardly tapered walls. A ball screw is disposed in the housing and defines a hole extending in a radial direction. A ball nut disposed in the housing, surrounding the ball screw, rotates relative to the housing. An anti-rotational pin having a tapered end is disposed in the hole, the tapered end having tapered surfaces corresponding to the inwardly tapered walls. A bearing material is disposed on tapered surfaces of the tapered end. A spring is disposed in the hole and biases the anti-rotational pin in a radially outward direction towards the groove so that the tapered end of the anti-rotational pin engages the groove and restricts rotation of the ball screw relative to the housing.

The invention relates to a vacuum wafer detection platform, and belongs to the technical field of semiconductor detection equipment. The invention provides a vacuum wafer detection platform, which mainly comprises a motion output module, a macro motion jacking module, a jacking assembly and a wafer platform, and is characterized in that a module capable of realizing up-down macro motion and a module for realizing wafer jacking are integrated on a ball screw; the macro moving block and the jacking block which comprise the wedge-shaped blocks in the opposite directions are installed on the ball screw to be matched with the jacking plate and the jacking assembly respectively, synchronous movement of the macro moving block and the jacking block can be driven at the same time only by using one motor as a driving source, and then two different actions of a macro moving detection platform or wafer jacking can be conducted. Not only are a lot of space and debugging time saved, but also the stability of movement can be ensured.

A grease filling method for a ball screw device includes the steps of covering an outer periphery of a screw shaft protruding from one end portion of a nut with a covering member, supplying grease to a portion between a nut inner peripheral surface on one end portion side of the nut and the screw shaft, inserting the protruding screw shaft into a nut inner side while being covered with the covering member, bringing a tip of the covering member in an insertion direction closer to an end portion of an infinite circulation path on the one end portion side of the nut, and sending the grease supplied to the nut inner side to a region of the infinite circulation path, pulling out the covering member together with the screw shaft from the one end portion of the nut, and taking out the covering member from the screw shaft.

The invention discloses a longitudinal tension test load device for a super-tonnage lifting hook and a test method.The longitudinal tension test load device comprises a foundation bearing platform, a load test cabin is arranged on the top face of the foundation bearing platform, and a plurality of lifting lugs used for lifting are fixedly installed on the top face of the load test cabin; a servo driving motor, a precise ball screw, a longitudinal sliding base, a main loading hydraulic cylinder, an adjustable supporting frame, a sliding type bearing frame, a main locking connecting rod, a connecting rod supporting frame, a gear transmission block, a fan-shaped meshing gear, a driven connecting rod mechanism, a self-adaptive clamping module, a lateral mounting flange and a self-locking limiting plate are matched with one another; the position of the adjustable supporting frame on the hook claw can be adjusted for multiple tests, the industrial endoscope can detect cracks on the surface of the hook in the test process, the laser displacement sensor can monitor deformation of the claw, a worker detects flaws of the hook through the ultrasonic flaw detector, and the test effect on the hook is achieved.

A linear actuator includes a housing; a motor module that includes a motor; and a drivetrain module coupled to the motor module. The drivetrain module includes a ball screw coupled to the motor, a ball nut coupled to and configured to linearly ride on the ball screw during rotation of the ball screw, a rod coupled to the ball nut and configured to extend or retract from the housing based on the ball nut linearly riding on the ball screw during rotation of the ball screw, and an anti-rotation bushing coupled to the rod and including at least one slot configured to engage with and linearly ride on a key coupled to an inner surface of the housing based on the ball nut linearly riding on the ball screw during rotation of the ball screw. The anti-rotation bushing is further configured to restrain the rod against rotation during extension and retraction.

The invention provides a linear actuator and a humanoid robot, and relates to the field of linear actuators. The linear actuator comprises a shell assembly, a driving piece, a torque transmission assembly, a ball screw assembly and an execution rod. The driving piece, the torque transmission assembly and the ball screw assembly are all installed in the shell assembly, and a driving shaft of the driving piece extends into the input end of the torque transmission assembly and is in static friction connection with the torque transmission assembly. The ball screw assembly comprises a screw shaft and a nut, and the output end of the torque transmission assembly is connected with the screw shaft; the nut is in threaded connection with the lead screw shaft and is in sliding fit with the shell assembly. One end of the execution rod extends into the shell assembly and is connected with the nut. According to the linear actuator provided by the invention, the technical problems of high system complexity and cost and low force control response speed caused by the fact that a linear actuator in the prior art cannot realize reverse driving and needs to be provided with a force sensor are solved.

The invention discloses a hyperbolic tangent and algebraic sine coupled nut-driven ball screw pair which comprises a ball screw and a ball nut, an inner hole of the ball nut is provided with an inner spiral raceway, the outer cylindrical surface of the ball screw is provided with an outer spiral raceway, and the inner spiral raceway and the outer spiral raceway are matched with each other to form a spiral raceway; the outer cylindrical surface of the ball screw is provided with a ball return channel which is sunken towards the center of the ball screw between two adjacent outer spiral raceways, the ball return channel and the outer spiral raceways of the ball screw are integrally designed, and the ball return channel and the outer spiral raceways form a circulating raceway; according to the internal circulation roller screw pair, the ball screw outer spiral raceway and the ball return channel are integrally designed, the ball screw pair is compact in structure and smooth in operation, the uniformity and consistency of the ball screw and the ball nut are better, meanwhile, the reliability and operation stability of the ball screw pair are improved, and the service life of the ball screw pair is prolonged. And the noise and vibration phenomena during high-speed operation of the ball screw pair are greatly reduced.