Linear driving mechanism
This invention provides a linear driving mechanism having a housing, front and rear covers fixed at opposite ends of the housing, a stator arranged inside the housing, and a hollow rotor arranged inside the stator, driven by the stator to rotate. The linear driving mechanism further includes a rolling lead screw fitted inside the rotor, a first bearing, and a second bearing. The rolling lead screw includes a central screw rod and a screw nut. The screw nut is fixedly sleeved around the inner peripheral side of the rotor near the front cover. The linear driving mechanism of the present invention can enhance the integration of the rolling lead screw and rotor to reduce the volume space of the linear driving mechanism, meeting the demand for miniaturization.
1 . A linear driving mechanism comprising:
a housing;
a front cover and a rear cover fixed respectively at opposite ends of the housing;
a stator inside the housing;
a hollow rotor inside the stator for being driven to rotate by the stator;
a rolling lead screw sleeved inside the rotor;
a first bearing sleeved on the rotor and fixed at one end of the rear cover;
a second bearing sleeved on the rolling lead screw and fixed inside the housing; wherein
the rolling lead screw comprises a central screw rod set on an inner peripheral side of the rotor and passing through the center of the front cover, and a screw nut forming a transmission pair with the central screw rod;
the screw nut is fixedly sleeved around the inner peripheral side of the rotor near the front cover end; and
the rolling lead screw is a planetary rolling screw; the screw nut includes an internal thread structure on one side close to the central screw rod; the central screw rod includes a screw body set on the inner peripheral side of the rotor and an extension portion extending from one end of the screw body near the front cover; an outer peripheral side of the screw body includes an external thread structure;
wherein the rolling lead screw further includes a first and second gear rings fixed at the two ends of an inner peripheral side of the screw nut, and a plurality of annular lead screw columns spaced around the central lead screw, each annular lead screw column having lead screw external thread structures on an outer peripheral side thereof; each end of each annular lead screw column is respectively set in the first gear ring and the second gear ring to form a rotational connection; the lead screw external thread structures of each annular lead screw column respectively mesh with the external thread structures of the lead screw body, and the lead screw external thread structures of each annular lead screw column also respectively mesh with the internal thread structures of the screw nut; the internal thread structure of the screw nut is formed at an inner periphery of a middle portion of the screw nut;
the rotor drives the screw nut to rotate, thereby driving the central screw rod to achieve a linear telescopic movement.
2 . The linear driving mechanism as described in claim 1 , wherein a length of the screw body equals a length of the motor, and the screw nut is fixed at an end of the rotor near the front cover.
3 . The linear driving mechanism as described in claim 1 , wherein the first bearing and the second bearing are respectively located on the opposite sides of the stator and spaced apart from the stator; an outer wall of the rotor protrudes for forming a shaft stop; one end of the second bearing near the front cover abuts against the front cover; and one end of the second bearing far from the front cover abuts against the shaft stop.
4 . The linear driving mechanism as described in claim 1 , wherein a motor formed by the stator and the rotor together is an 8-pole-9-slot structure, or a 10-pole-12-slot structure, or a 14-pole-12-slot structure, or a 16-pole-12-slot structure.
5 . The linear driving mechanism as described in claim 1 , wherein the rotor comprises a hollow rotor shaft disposed within the housing and a plurality of permanent magnets spaced apart and fixed to the outer wall of the rotor shaft; the multiple permanent magnets are spaced apart from the stator; the first bearing and the second bearing are respectively sleeved on the rotor shaft; and the screw nut is fixedly sleeved around the inner peripheral side of the rotor shaft near the front cover.
6 . The linear driving mechanism as described in claim 1 , further comprising a position sensor, wherein the position sensor comprises a collecting part fixed to the rear cover and a rotating part fixed to one end of the rotor near the rear cover, with the collecting part being opposite and spaced from the rotating part.
7 . The linear driving mechanism as described in claim 6 , further including a base which is fixedly sleeved around and sealing an end of the rotor near the rear cover, wherein the rotating part is fixed with the base.
8 . A robot, comprising limb joints and the linear driving mechanism as described in claim 1 applied to the limb joints.