CN219006064U - Screw assembly and robot - Google Patents

Abstract

The utility model provides a screw rod assembly and a robot, wherein the screw rod assembly comprises a screw rod shaft, a first driving part, a second driving part and an electromagnetic buffer device, and the first driving part and the second driving part are sleeved on the outer peripheral side of the screw rod shaft and are in driving connection with the screw rod shaft; the electromagnetic buffer device is sleeved on the outer peripheral side of the screw rod shaft and is positioned between the first driving part and the second driving part; the electromagnetic buffer device is provided with a first magnetic attraction part, a second magnetic attraction part and a third magnetic attraction part, at least one part of the first magnetic attraction part is connected with the first driving part, at least one part of the second magnetic attraction part is connected with the second driving part, the third magnetic attraction part is positioned between the first magnetic attraction part and the second magnetic attraction part, and the third magnetic attraction part is used for providing upward acting force for the first magnetic attraction part or the second magnetic attraction part. The utility model solves the problem of poor motion precision of the screw rod shaft of the screw rod assembly in the prior art.

Description

Screw assembly and robot

Technical Field

The utility model relates to the technical field of intelligent control, in particular to a screw rod assembly and a robot.

Background

The screw rod shaft in the screw rod assembly of the SCARA (Selective Compliance Assembly Robot Arm) robot can perform lifting movement and rotating movement, wherein the screw rod nut assembly is responsible for controlling the lifting movement of the screw rod shaft, the spline nut assembly is responsible for controlling the rotating movement of the screw rod shaft, and the ball bearing force between the inner ring and the outer ring of the screw rod nut is relatively large in the lifting movement process and the movement stopping process of the screw rod shaft, and the running time is relatively long, so that the screw rod nut assembly is seriously heated; in addition, as the spline female component does not participate in the lifting movement of the screw rod shaft, namely, in the process of the lifting movement of the screw rod shaft, the spline female component is not acted by axial force, so that the play between the spline female inner ring and the spline female outer ring is increased, and the movement precision of the screw rod shaft is seriously influenced.

Disclosure of Invention

The utility model mainly aims to provide a screw rod assembly and a robot, which are used for solving the problem of poor movement precision of a screw rod shaft of the screw rod assembly in the prior art.

In order to achieve the above object, according to one aspect of the present utility model, there is provided a screw assembly including a screw shaft, a first driving part, a second driving part, and an electromagnetic buffer device, wherein the first driving part and the second driving part are both sleeved on an outer circumferential side of the screw shaft and are both in driving connection with the screw shaft, the first driving part is used for driving the screw shaft to perform lifting movement, and the second driving part is used for driving the screw shaft to perform rotation movement; the electromagnetic buffer device is sleeved on the outer peripheral side of the screw rod shaft and is positioned between the first driving part and the second driving part; the electromagnetic buffer device is provided with a first magnetic attraction part, a second magnetic attraction part and a third magnetic attraction part, at least one part of the first magnetic attraction part is connected with the first driving part, at least one part of the second magnetic attraction part is connected with the second driving part, the third magnetic attraction part is positioned between the first magnetic attraction part and the second magnetic attraction part, and the third magnetic attraction part is used for providing upward acting force for the first magnetic attraction part or the second magnetic attraction part.

Further, the first driving part is positioned above the second driving part, one part of the third magnetic attraction part is used for generating a magnetic field with the same polarity as the first magnetic attraction part, and the other part of the third magnetic attraction part is used for generating a magnetic field with the opposite polarity to the second magnetic attraction part; or, the first driving part is located below the second driving part, one part of the third magnetic attraction part is used for generating a magnetic field with the polarity opposite to that of the first magnetic attraction part, and the other part of the third magnetic attraction part is used for generating a magnetic field with the same magnetism as that of the second magnetic attraction part.

Further, a coil is wound around the outer peripheral side of at least one of the first, second, and third magnetic attraction portions, and the magnetic pole is changed by changing the current direction in the coil.

Further, the first magnetic attraction part and the second magnetic attraction part comprise split electromagnets, and the third magnetic attraction part comprises at least two integrated electromagnets.

Further, the first magnetic attraction part comprises a first inner ring magnet, a first outer ring magnet and a first ball, wherein the first inner ring magnet is connected with the first driving part; the first outer ring magnet is sleeved on the outer periphery side of the first inner ring magnet, a coil is wound on the outer periphery side of the first outer ring magnet, and the first inner ring magnet is rotatably arranged relative to the first outer ring magnet; the first ball is located between the first inner ring magnet and the first outer ring magnet.

Further, the screw rod assembly further comprises a first mounting plate, the first mounting plate is sleeved on the outer peripheral side of the screw rod shaft, and the first mounting plate is used for being connected with the tail end of the robot; the first driving part comprises a first rotating structure and a first fixing structure, wherein the first rotating structure is sleeved on the outer peripheral side of the screw rod shaft, a first accommodating groove is formed in one side, facing the second driving part, of the first rotating structure, the first magnetic attraction part is positioned in the first accommodating groove, and at least one part of the first magnetic attraction part is connected with the first rotating structure; the first fixed structure is sleeved on the outer peripheral side of the first rotating structure, and the first fixed structure is connected with the first mounting plate.

Further, the first rotating structure comprises a screw nut belt wheel and a screw nut inner ring, and a first accommodating groove is formed in one side of the screw nut belt wheel, facing the second driving part; the screw nut inner ring is positioned at one side of the screw nut belt wheel far away from the first accommodating groove, and is connected with the screw nut belt wheel; the first fixed knot constructs for the female outer lane of lead screw, and the female outer lane cover of lead screw is established in the female outer periphery side of inner circle of lead screw, and has the third ball between female outer lane of lead screw and the female inner circle of lead screw.

Further, the screw rod assembly further comprises a first mounting plate, the first mounting plate is sleeved on the outer peripheral side of the screw rod shaft, and the first mounting plate is used for being connected with the tail end of the robot; the third magnetic attraction part comprises a mounting structure, a first magnet structure and a second magnet structure, wherein the mounting structure is connected with the first mounting plate; the first magnet structure is arranged on the surface of the mounting structure facing one side of the first magnetic attraction part; the second magnet structure is arranged on the surface of the mounting structure facing the side of the second magnetic attraction part.

Further, the mounting structure is movably connected with the first mounting plate.

Further, the mounting structure comprises a second mounting plate and a plurality of mounting posts, wherein the first magnet structure and the second magnet structure are respectively mounted on two side surfaces of the second mounting plate; the first end of each mounting column is connected with the first mounting plate, the second end of each mounting column is connected with the second mounting plate, and the length of each mounting column is adjustably set up to adjust the distance between first mounting plate and the second mounting plate through the mounting column.

Further, the second magnetic attraction part comprises a second inner ring magnet, a second outer ring magnet and a second ball, wherein the second inner ring magnet is connected with the second driving part; the second outer ring magnet is sleeved on the outer peripheral side of the second inner ring magnet, a coil is wound on the outer peripheral side of the second outer ring magnet, and the second inner ring magnet is rotatably arranged relative to the second outer ring magnet; the second ball is located between the second inner ring magnet and the second outer ring magnet.

Further, the second driving part comprises a second rotating structure and a second fixing structure, wherein the second rotating structure is sleeved on the outer peripheral side of the screw rod shaft, a second accommodating groove is formed in one side, facing the first driving part, of the second rotating structure, the second magnetic attraction part is positioned in the second accommodating groove, and at least one part of the second magnetic attraction part is connected with the second rotating structure; the second fixed knot constructs the cover and establishes in second rotating structure's periphery side, and second fixed knot constructs and is used for being connected with the end of robot.

Further, the second rotating structure comprises a spline female pulley and a spline female inner ring, wherein one side of the spline female pulley, facing the first driving part, is provided with a second accommodating groove; the spline female inner ring is positioned at one side of the spline female belt wheel, which is far away from the second accommodating groove, and is connected with the spline female belt wheel; the second fixed knot constructs for the female outer lane of spline, and the female outer lane cover of spline is established in the female outer lane of periphery side of inner lane of spline, and has the fourth ball between female outer lane of spline and the female inner lane of spline.

Further, the screw assembly further comprises a protective shell, and the protective shell is covered on the outer periphery side of the second driving part exposed outside.

According to another aspect of the present utility model, there is provided a robot including a robot body and a screw assembly for being mounted to a distal end of the robot body to drive the distal end of the robot body to perform a lifting motion and a rotating motion, the screw assembly being the screw assembly described above.

Further, the robot body comprises a base, a second joint arm and a protective outer cover, wherein the first joint arm is connected with the base at a first end; the first end of the second joint arm is connected with the second end of the first joint arm; the screw rod assembly is connected with the second end of the second joint arm; the protective outer cover is arranged on the second joint arm and part of the screw rod assembly.

According to the technical scheme, the electromagnetic buffer device is sleeved on the outer periphery side of the screw rod shaft and is positioned between the first driving part and the second driving part, and meanwhile, the electromagnetic buffer device is arranged to comprise a first magnetic attraction part, a second magnetic attraction part and a third magnetic attraction part, so that at least one part of the first magnetic attraction part is connected with the first driving part, at least one part of the second magnetic attraction part is connected with the second driving part, the third magnetic attraction part is positioned between the first magnetic attraction part and the second magnetic attraction part, the third magnetic attraction part is used for providing upward acting force for the first magnetic attraction part or the second magnetic attraction part, the third magnetic attraction part is used for providing upward acting force for the first driving part through the first magnetic attraction part, the third magnetic attraction part is used for providing upward acting force for the second driving part through the second magnetic attraction part, the internal clearance of the first driving part is prevented from being increased, the internal clearance of the second driving part is prevented from being increased, and the movement precision of the screw rod shaft is ensured.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:

fig. 1 shows a schematic structural view of a robot according to an alternative embodiment of the present utility model;

FIG. 2 shows a schematic view of the robot of FIG. 1 in partial cross-section;

FIG. 3 shows a partial schematic view of the lead screw assembly of FIG. 2;

FIG. 4 is a schematic structural view showing a third magnetic attraction portion of the electromagnetic buffering device in FIG. 3;

FIG. 5 is a schematic view showing the structure of a first magnetic attraction part of the electromagnetic buffering device in FIG. 3;

fig. 6 is a schematic structural view showing a second magnetic attraction portion of the electromagnetic buffer device in fig. 3.

Wherein the above figures include the following reference numerals:

1. a base; 2. a first articulated arm; 3. a second articulated arm; 4. a screw assembly; 5. a protective outer cover; 6. a bellows;

10. a screw shaft;

20. a first driving section; 21. a first rotating structure; 211. a lead screw female belt wheel; 2111. a first accommodation groove; 212. an inner ring of the screw nut; 22. a first fixed structure;

30. a second driving section; 31. a second rotating structure; 311. a spline female pulley; 3111. a second accommodation groove; 312. a spline female inner ring; 32. a second fixing structure;

40. an electromagnetic buffer device; 41. a first magnetic attraction part; 411. a first inner ring magnet; 412. a first outer ring magnet; 413. a first ball; 42. a second magnetic attraction part; 421. a second inner ring magnet; 422. a second outer ring magnet; 423. a second ball; 43. a third magnetic attraction part; 431. a mounting structure; 4311. a second mounting plate; 4312. a mounting column; 432. a first magnet structure; 433. a second magnet structure;

50. a first mounting plate;

60. a protective housing.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the utility model, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The utility model provides a screw rod assembly and a robot, which aim to solve the problem of poor movement precision of a screw rod shaft of the screw rod assembly in the prior art.

As shown in fig. 1 and 2, the robot includes a robot body and a screw assembly 4, the screw assembly 4 is configured to be mounted to a distal end of the robot body to drive the distal end of the robot body to perform a lifting motion and a rotating motion, and the screw assembly 4 is the screw assembly 4 described above and below.

As shown in fig. 1 and 2, the robot body includes a base 1, a second joint arm 3, and a protective cover 5, wherein the first joint arm 2, a first end of the first joint arm 2 is connected with the base 1; the first end of the second joint arm 3 is connected with the second end of the first joint arm 2; the screw rod assembly 4 is connected with the second end of the second joint arm 3; a protective housing 5 is provided over the second articulated arm 3 and part of the screw assembly 4.

As shown in fig. 2 and 3, the screw assembly includes a screw shaft 10, a first driving part 20, a second driving part 30, and an electromagnetic buffer device 40, wherein the first driving part 20 and the second driving part 30 are both sleeved on the outer circumference side of the screw shaft 10 and are both in driving connection with the screw shaft 10, the first driving part 20 is used for driving the screw shaft 10 to perform lifting movement, and the second driving part 30 is used for driving the screw shaft 10 to perform rotating movement; the electromagnetic buffer device 40 is sleeved on the outer peripheral side of the screw shaft 10 and is positioned between the first driving part 20 and the second driving part 30; the electromagnetic buffer device 40 has a first magnetic attraction portion 41, a second magnetic attraction portion 42, and a third magnetic attraction portion 43, at least a portion of the first magnetic attraction portion 41 is connected to the first driving portion 20, at least a portion of the second magnetic attraction portion 42 is connected to the second driving portion 30, the third magnetic attraction portion 43 is located between the first magnetic attraction portion 41 and the second magnetic attraction portion 42, and the third magnetic attraction portion 43 is configured to provide an upward force to the first magnetic attraction portion 41 or the second magnetic attraction portion 42.

By providing the electromagnetic buffer device 40 to the outer circumferential side of the screw shaft 10 and between the first driving part 20 and the second driving part 30, and simultaneously providing the electromagnetic buffer device 40 in a structure form including the first magnetic attraction part 41, the second magnetic attraction part 42, and the third magnetic attraction part 43, at least a portion of the first magnetic attraction part 41 is connected to the first driving part 20, at least a portion of the second magnetic attraction part 42 is connected to the second driving part 30, the third magnetic attraction part 43 is located between the first magnetic attraction part 41 and the second magnetic attraction part 42, and the third magnetic attraction part 43 is used for providing an upward force to the first magnetic attraction part 41 or the second magnetic attraction part 42, ensuring that the third magnetic attraction part 43 provides an upward force to the first driving part 20 through the first magnetic attraction part 41, and ensuring that the third magnetic attraction part 43 provides an upward force to the second driving part 30 through the second magnetic attraction part 42, preventing the internal play of the first driving part 20 from becoming larger, and preventing the internal play of the second driving part 30 from becoming larger, thereby ensuring the movement precision of the wire 10.

As shown in fig. 2 and 3, the first driving part 20 is located above the second driving part 30, and a part of the third magnetic attraction part 43 is used to generate a magnetic field of the same polarity as the first magnetic attraction part 41, and another part of the third magnetic attraction part 43 is used to generate a magnetic field of the opposite polarity to the second magnetic attraction part 42.

In an embodiment of the present application, which is not shown, the first driving unit 20 is located below the second driving unit 30, and a part of the third magnetic attraction unit 43 is used to generate a magnetic field having the opposite polarity to the first magnetic attraction unit 41, and another part of the third magnetic attraction unit 43 is used to generate a magnetic field having the same magnetism as the second magnetic attraction unit 42.

Alternatively, a coil is wound around the outer peripheral side of at least one of the first, second, and third magnetic attraction portions 41, 42, and 43, and the magnetic pole is changed by changing the current direction in the coil.

In this application, the first magnetic attraction portion 41 and the second magnetic attraction portion 42 each include a split electromagnet, and the third magnetic attraction portion 43 includes at least two integrated electromagnets.

As shown in fig. 3 and 5, the first magnet portion 41 includes a first inner ring magnet 411, a first outer ring magnet 412, and a first ball 413, wherein the first inner ring magnet 411 is connected to the first driving portion 20; the first outer ring magnet 412 is sleeved on the outer periphery side of the first inner ring magnet 411, a coil is wound on the outer periphery side of the first outer ring magnet 412, and the first inner ring magnet 411 is rotatably arranged relative to the first outer ring magnet 412; the first balls 413 are located between the first inner ring magnet 411 and the first outer ring magnet 412. In this way, by providing the first magnet attraction portion 41 in a split form including the first inner ring magnet 411, the first outer ring magnet 412, and the first balls 413, the first inner ring magnet 411 can rotate with the first driving portion 20, while the first outer ring magnet 412 can also generate a corresponding magnetic field through the coil wound around the outer peripheral side thereof, and furthermore, the first balls 413 between the first inner ring magnet 411 and the first outer ring magnet 412 ensure the rotational reliability of the first inner ring magnet 411.

As shown in fig. 3, the screw assembly 4 further includes a first mounting plate 50, the first mounting plate 50 is sleeved on the outer peripheral side of the screw shaft 10, and the first mounting plate 50 is used for being connected with the tail end of the robot; the first driving part 20 comprises a first rotating structure 21 and a first fixing structure 22, the first rotating structure 21 is sleeved on the outer periphery side of the screw shaft 10, a first accommodating groove 2111 is formed in one side of the first rotating structure 21 facing the second driving part 30, the first magnetic attraction part 41 is positioned in the first accommodating groove 2111, and at least one part of the first magnetic attraction part 41 is connected with the first rotating structure 21; the first fixing structure 22 is sleeved on the outer peripheral side of the first rotating structure 21, and the first fixing structure 22 is connected with the first mounting plate 50. In this way, the arrangement of the first mounting plate 50 ensures the connection reliability of the screw assembly 4 and the second joint arm 3, and in addition, by arranging the first driving portion 20 in a structure form including the first rotating structure 21 and the first fixing structure 22, the mounting stability of the first driving portion 20 is ensured, and at the same time, the driving reliability of the first rotating structure 21 to the screw shaft 10 can be ensured.

As shown in fig. 3, the first rotating structure 21 includes a lead screw female pulley 211 and a lead screw female ring 212, wherein a side of the lead screw female pulley 211 facing the second driving part 30 has a first accommodation groove 2111; the lead screw female ring 212 is positioned on one side of the lead screw female pulley 211 away from the first accommodating groove 2111, and the lead screw female ring 212 is connected with the lead screw female pulley 211; the first fixing structure 22 is a female outer ring of the screw, the female outer ring of the screw is sleeved on the outer peripheral side of the female inner ring of the screw 212, and a third ball is arranged between the female outer ring of the screw and the female inner ring of the screw 212.

As shown in fig. 3 and 4, the screw assembly 4 further includes a first mounting plate 50, the first mounting plate 50 is sleeved on the outer circumferential side of the screw shaft 10, and the first mounting plate 50 is used for connecting with the end of the robot; the third magnetic attraction portion 43 includes a mounting structure 431, a first magnet structure 432, and a second magnet structure 433, wherein the mounting structure 431 is connected to the first mounting plate 50; the first magnet structure 432 is provided on a surface of the mounting structure 431 on a side facing the first magnetic attraction portion 41; the second magnet structure 433 is provided on a surface of the mounting structure 431 on a side facing the second magnetic attraction portion 42. In this way, by providing the third magnetic attraction portion 43 in a structural form including the mounting structure 431, the first magnet structure 432, and the second magnet structure 433, the mounting stability of the third magnetic attraction portion 43 is ensured, and the third magnetic attraction portion 43 is ensured to be able to provide a reliable upward force to the first magnetic attraction portion 41 and the second magnetic attraction portion 42, respectively.

In this application, the mounting structure 431 is movably connected to the first mounting plate 50.

As shown in fig. 3 and 4, the mounting structure 431 includes a second mounting plate 4311 and a plurality of mounting posts 4312, wherein a first magnet structure 432 and a second magnet structure 433 are mounted on both side surfaces of the second mounting plate 4311, respectively; the first end of each mounting post 4312 is connected to the first mounting plate 50, the second end of each mounting post 4312 is connected to the second mounting plate 4311, and the length of each mounting post 4312 is adjustable to adjust the distance between the first mounting plate 50 and the second mounting plate 4311 via the mounting post 4312. In this way, by providing the mounting structure 431 in a structural form including the second mounting plate 4311 and the plurality of mounting posts 4312, the mounting stability of the mounting structure 431 is ensured while ensuring the movement reliability of the second mounting plate 4311 with respect to the first mounting plate 50.

Alternatively, a first end of the mounting post 4312 is threadably coupled to the first mounting plate 50 and a second end of the mounting post 4312 is bolted to the second mounting plate 4311.

Preferably, the second mounting plate 4311 is an aluminum plate, which is a non-magnetically permeable material, facilitating the mounting of the first and second magnet structures 432 and 433,

as shown in fig. 3 and 6, the second magnet portion 42 includes a second inner ring magnet 421, a second outer ring magnet 422, and a second ball 423, wherein the second inner ring magnet 421 is connected to the second driving portion 30; the second outer ring magnet 422 is sleeved on the outer peripheral side of the second inner ring magnet 421, and a coil is wound on the outer peripheral side of the second outer ring magnet 422, and the second inner ring magnet 421 is rotatably arranged relative to the second outer ring magnet 422; the second ball 423 is located between the second inner ring magnet 421 and the second outer ring magnet 422. In this way, by providing the second magnetic attraction portion 42 in a structure including the second inner ring magnet 421, the second outer ring magnet 422, and the second balls 423, the mounting stability of the second magnetic attraction portion 42 is ensured while ensuring that the second inner ring magnet 421 rotates with the second driving portion 30, and that a corresponding magnetic field can be generated after the energization of the coil on the outer peripheral side of the second outer ring magnet 422.

As shown in fig. 3, the second driving part 30 includes a second rotating structure 31 and a second fixing structure 32, wherein the second rotating structure 31 is sleeved on the outer circumference side of the screw shaft 10, a side of the second rotating structure 31 facing the first driving part 20 is provided with a second accommodating groove 3111, the second magnetic attraction part 42 is positioned in the second accommodating groove 3111, and at least a part of the second magnetic attraction part 42 is connected with the second rotating structure 31; the second fixing structure 32 is sleeved on the outer peripheral side of the second rotating structure 31, and the second fixing structure 32 is used for being connected with the tail end of the robot. In this way, by providing the second driving portion 30 in a structural form including the second rotating structure 31 and the second fixing structure 32, the mounting stability of the second driving portion 30 is ensured, and the driving reliability of the screw shaft 10 by the second driving portion 30 is ensured.

As shown in fig. 3, the second rotating structure 31 includes a spline female pulley 311 and a spline female ring 312, wherein a side of the spline female pulley 311 facing the first driving portion 20 has a second accommodating groove 3111; the spline female race 312 is located at a side of the spline female pulley 311 away from the second accommodating groove 3111, and the spline female race 312 is connected with the spline female pulley 311; the second fixing structure 32 is a spline female outer ring, the spline female outer ring is sleeved on the outer peripheral side of the spline female inner ring 312, and a fourth ball is arranged between the spline female outer ring and the spline female inner ring 312.

As shown in fig. 2 and 3, the screw assembly 4 further includes a protective housing 60, and the protective housing 60 is covered on the outer peripheral side of the second driving portion 30 exposed to the outside. In this way, the protective case 60 plays a role of shielding the exposed second driving portion 30, thereby ensuring that the second driving portion 30 can operate normally.

It should be noted that in the present application, the electromagnetic buffer device 40 mainly uses the principle of "homopolar repulsing and heteropolar repulsing" between the first magnetic attraction portion 41, the second magnetic attraction portion 42 and the third magnetic attraction portion 43, so that not only the stress of the ball can be reduced, but also the play can be easily adjusted, and the motion repeatability precision of the robot is improved, and meanwhile, the characteristics of the positive and negative electrodes can be changed by changing the current direction by using the electromagnet. The device has simple structure principle, small installation space and easy installation and disassembly, and can be suitable for various sports occasions with requirements on sports precision.

As shown in fig. 3, in the process of driving the screw shaft 10 to move up and down by the inner ring 212, the third balls between the inner ring 212 and the first fixing structure 22 (outer ring) receive a large downward force due to the existence of the self-gravity of the inner ring 212, the third magnetic attraction portion 43 between the inner ring 211 and the spline pulley 311 is electrified to generate a magnetic field, the N-level of the magnetic field is upward, the coils on the outer periphery side of the first outer ring magnet 412 of the first magnetic attraction portion 41 fixed to the inner ring 211 are electrified to generate a magnetic field, the N-level of the magnetic field is downward, and the repulsive force acts upward on the inner ring 212 to offset a part of the downward force received by the third balls according to the principle of homopolar repulsion; in the process of driving the screw shaft 10 to rotate by the spline inner ring 312, the spline inner ring 312 is not acted by axial force, due to the existence of gravity, the axial play between the spline inner ring 312 and the second fixing structure 32 (spline inner ring) is increased, the position of the spline inner ring is shifted downwards, after the third magnetic attraction part 43 is electrified to generate magnetism, the N level of the third magnetic attraction part is downward, the S level of the second outer ring magnet 422 of the second magnetic attraction part 42 fixed on the spline belt wheel 311 is upward after the second outer ring magnet 422 is electrified, and at the moment, the attractive force can act on the spline inner ring 312 upwards according to the principle of opposite pole attraction, so that the axial play is reduced.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or described herein.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (16)

1. A lead screw assembly, comprising:

a screw shaft (10);

the first driving part (20) and the second driving part (30), wherein the first driving part (20) and the second driving part (30) are sleeved on the outer circumference side of the screw shaft (10) and are in driving connection with the screw shaft (10), the first driving part (20) is used for driving the screw shaft (10) to perform lifting movement, and the second driving part (30) is used for driving the screw shaft (10) to perform rotary movement;

an electromagnetic buffer device (40), wherein the electromagnetic buffer device (40) is sleeved on the outer periphery side of the screw shaft (10) and is positioned between the first driving part (20) and the second driving part (30);

the electromagnetic buffer device (40) is provided with a first magnetic attraction part (41), a second magnetic attraction part (42) and a third magnetic attraction part (43), at least one part of the first magnetic attraction part (41) is connected with the first driving part (20), at least one part of the second magnetic attraction part (42) is connected with the second driving part (30), the third magnetic attraction part (43) is located between the first magnetic attraction part (41) and the second magnetic attraction part (42), and the third magnetic attraction part (43) is used for providing upward acting force for the first magnetic attraction part (41) or the second magnetic attraction part (42).

2. A screw assembly according to claim 1, wherein,

the first driving part (20) is positioned above the second driving part (30), one part of the third magnetic attraction part (43) is used for generating a magnetic field with the same polarity as the first magnetic attraction part (41), and the other part of the third magnetic attraction part (43) is used for generating a magnetic field with the opposite polarity to the second magnetic attraction part (42); or alternatively, the first and second heat exchangers may be,

the first driving part (20) is positioned below the second driving part (30), one part of the third magnetic attraction part (43) is used for generating a magnetic field with the polarity opposite to that of the first magnetic attraction part (41), and the other part of the third magnetic attraction part (43) is used for generating a magnetic field with the same magnetism as that of the second magnetic attraction part (42).

3. The screw assembly according to claim 1, wherein an outer peripheral side of at least one of the first magnetic attraction portion (41), the second magnetic attraction portion (42), and the third magnetic attraction portion (43) is wound with a coil, and a magnetic pole is changed by changing a current direction in the coil.

4. The screw assembly according to claim 1, wherein the first magnetic attraction portion (41) and the second magnetic attraction portion (42) each comprise a split electromagnet, and the third magnetic attraction portion (43) comprises at least two integrated electromagnets.

5. A screw assembly according to claim 1, wherein the first magnetic attraction portion (41) comprises:

a first inner ring magnet (411), wherein the first inner ring magnet (411) is connected to the first driving unit (20);

a first outer ring magnet (412), wherein the first outer ring magnet (412) is sleeved on the outer periphery side of the first inner ring magnet (411), a coil is wound on the outer periphery side of the first outer ring magnet (412), and the first inner ring magnet (411) is rotatably arranged relative to the first outer ring magnet (412);

-a first ball (413), the first ball (413) being located between the first inner ring magnet (411) and the first outer ring magnet (412).

6. A screw assembly according to claim 1, wherein,

the lead screw assembly further includes:

the first mounting plate (50) is sleeved on the outer periphery side of the screw shaft (10), and the first mounting plate (50) is used for being connected with the tail end of the robot;

the first driving unit (20) includes:

a first rotating structure (21), wherein the first rotating structure (21) is sleeved on the outer peripheral side of the screw shaft (10), a first accommodating groove (2111) is formed in one side of the first rotating structure (21) facing the second driving part (30), the first magnetic attraction part (41) is positioned in the first accommodating groove (2111), and at least one part of the first magnetic attraction part (41) is connected with the first rotating structure (21);

the first fixing structure (22), the first fixing structure (22) is sleeved on the outer periphery side of the first rotating structure (21), and the first fixing structure (22) is connected with the first mounting plate (50).

7. A screw assembly according to claim 6, wherein the first rotating structure (21) comprises:

a lead screw pulley (211), wherein the first accommodating groove (2111) is formed on the side of the lead screw pulley (211) facing the second driving part (30);

the lead screw female inner ring (212), the lead screw female inner ring (212) is positioned at one side of the lead screw female belt wheel (211) far away from the first accommodating groove (2111), and the lead screw female inner ring (212) is connected with the lead screw female belt wheel (211);

the first fixing structure (22) is a screw nut outer ring, the screw nut outer ring is sleeved on the outer periphery side of the screw nut inner ring (212), and a third ball is arranged between the screw nut outer ring and the screw nut inner ring (212).

8. A screw assembly according to claim 1, wherein,

the lead screw assembly further includes:

the first mounting plate (50) is sleeved on the outer periphery side of the screw shaft (10), and the first mounting plate (50) is used for being connected with the tail end of the robot;

the third magnetic part (43) comprises:

-a mounting structure (431), the mounting structure (431) being connected to the first mounting plate (50);

a first magnet structure (432), wherein the first magnet structure (432) is arranged on the surface of the mounting structure (431) facing the first magnetic attraction part (41);

and a second magnet structure (433), wherein the second magnet structure (433) is arranged on the surface of the mounting structure (431) facing the second magnetic attraction part (42).

9. The screw assembly according to claim 8, wherein the mounting structure (431) is movably connected to the first mounting plate (50).

10. The screw assembly according to claim 8, wherein the mounting structure (431) comprises:

a second mounting plate (4311), the first magnet structure (432) and the second magnet structure (433) being mounted on both side surfaces of the second mounting plate (4311), respectively;

a plurality of mounting posts (4312), a first end of each mounting post (4312) is connected with the first mounting plate (50), a second end of each mounting post (4312) is connected with the second mounting plate (4311), and a length of each mounting post (4312) is adjustably set so as to adjust a distance between the first mounting plate (50) and the second mounting plate (4311) through the mounting posts (4312).

11. The screw assembly according to claim 1, wherein the second magnetic attraction portion (42) comprises:

a second inner ring magnet (421), wherein the second inner ring magnet (421) is connected to the second driving unit (30);

a second outer-ring magnet (422), wherein the second outer-ring magnet (422) is sleeved on the outer periphery side of the second inner-ring magnet (421), a coil is wound on the outer periphery side of the second outer-ring magnet (422), and the second inner-ring magnet (421) is rotatably arranged relative to the second outer-ring magnet (422);

and a second ball (423), wherein the second ball (423) is positioned between the second inner ring magnet (421) and the second outer ring magnet (422).

12. A screw assembly according to claim 1, wherein the second drive (30) comprises:

a second rotating structure (31), wherein the second rotating structure (31) is sleeved on the outer peripheral side of the screw shaft (10), a second accommodating groove (3111) is formed on one side of the second rotating structure (31) facing the first driving part (20), the second magnetic part (42) is positioned in the second accommodating groove (3111), and at least one part of the second magnetic part (42) is connected with the second rotating structure (31);

the second fixing structure (32), the second fixing structure (32) is sleeved on the outer periphery side of the second rotating structure (31), and the second fixing structure (32) is used for being connected with the tail end of the robot.

13. A screw assembly according to claim 12, wherein the second rotating structure (31) comprises:

a spline female pulley (311), wherein the spline female pulley (311) has the second accommodating groove (3111) on a side facing the first driving section (20);

a spline female inner ring (312), wherein the spline female inner ring (312) is positioned at one side of the spline female pulley (311) far away from the second accommodating groove (3111), and the spline female inner ring (312) is connected with the spline female pulley (311);

the second fixing structure (32) is a spline outer ring sleeved on the outer peripheral side of the spline inner ring (312), and a fourth ball is arranged between the spline outer ring and the spline inner ring (312).

14. The lead screw assembly of claim 1, further comprising:

and a protective case (60), wherein the protective case (60) is covered on the outer peripheral side of the second drive part (30) which is exposed outside.

15. A robot, comprising:

a robot body;

a screw assembly (4), the screw assembly (4) being configured to be mounted to a distal end of the robot body to drive the distal end of the robot body to perform a lifting motion and a rotating motion, the screw assembly (4) being a screw assembly according to any one of claims 1 to 14.

16. The robot of claim 15, wherein the robot body comprises:

a base (1); the first end of the first joint arm (2) is connected with the base (1);

the first end of the second joint arm (3) is connected with the second end of the first joint arm (2), and the screw rod assembly (4) is connected with the second end of the second joint arm (3);

and the protective outer cover (5) is covered on the second joint arm (3) and part of the screw rod assembly (4).

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