TWI728792B - Ball screw spline device - Google Patents

Abstract

The invention provides a ball screw spline device, which is mainly characterized by a body, a screw with plurality of flat-cut driven surfaces, a ball type axial driver provided on the body, a ball free spline rotation driver, a guiding pressure structure and a locking member. In which, the ball free spline rotation driver includes a second drive motor, an outer sleeve, and an inner forced cylinder screwed into the outer sleeve. The inner forced cylinder has plurality of elastic claw shaped pieces. The inner side of each elastic claw shaped piece has a driving surface matched with the flat-cut driven surface corresponding to the screw. When the inner forced cylinder is screwed and adjusted, the guiding pressure structure is caused to produce a radial guiding action to drive the elastic claw shaped pieces inwardly convergence and then bring the driving surface closer to the flat-cut driven surface, thereby stabilizing the actuating state of the screw.

Description

Ball screw spline device

The present invention relates to a ball screw; in particular, it refers to an innovative structural type revealer of a ball screw spline device.

The ball screw spline device referred to in the present invention (also referred to as a spline ball screw in the industry) is currently widely used in the robotics industry to make the robot arm perform such as axial forward and retreat and rotation (note: two actions can be Simultaneously or separately) and other simpler actions.

In the structural design of the conventional ball screw spline device, the drive of the screw is mainly through the arrangement of a spiral groove nut group and a straight groove nut group to drive the screw to achieve axial forward, retreat, and rotational movement. The spiral groove nut group and the straight groove nut group both use balls as the transmission medium. This conventional structure type uses balls as the transmission medium between each nut group and the screw. The load capacity is the same as the general ball screw device, but the structure is much more complicated.

However, because today’s products are required to be light, thin, short and small, the requirements for product assembly and alignment are also increasing. From the perspective of the robot industry where screw spline devices are currently widely used, it is because of the The subject matter may also be light-weight materials (such as small circuit boards) or working conditions that require a small overall movement displacement. Therefore, the load faced by the screw in the actuation process is compared with that of a general ball screw. The application environment of the rod is much lighter. In this case, if the industry still adopts the aforementioned conventional ball screw spline device with a relatively complicated structure, it is essentially unnecessary (Note: Traditional ball screw spline device usually needs to be considered. Applied to the heavy load function in the field of workpiece processing); that is to say, if the industry can further develop a structure that is simpler, the cost can be relatively reduced, and the structure of the innovative screw spline device can be applied to the light load application environment. One development direction is obviously an important technical issue that is worthy of the relevant industry's efforts to think about breakthroughs.

Therefore, in view of the above-mentioned problems of the conventional ball screw spline device technology, how to develop an innovative structure that can be more ideal and practical is really awaiting the relevant industry to think about the goal and direction of breakthrough; in view of this , The inventor has been engaged in the manufacturing, development and design of related products for many years. Aiming at the above goals, after detailed design and careful evaluation, he finally obtained a practical invention.

The main purpose of the present invention is to provide a ball screw spline device. The technical problem to be solved is to think and innovate on how to develop a new type of ball screw spline device with more ideal practicality. breakthrough.

Based on the foregoing objectives, the technical feature of the present invention to solve the problem is mainly that the ball screw spline device includes: a device body extending along an axis, the device body having a head end and a tail end, and the device body has an A rod placement groove arranged on the axis, the rod placement groove has a notch that passes through the head end; a screw with a plurality of flat-cut moving surfaces, the screw is accommodated in the rod groove in a movable rotation or axial sliding state , The screw shaft has a spiral groove, and the plurality of flat-cut active surfaces are formed on the screw shaft in a form of extending along the axis, and the extending direction of each flat-cut active surface and the axis are parallel to each other , And each of the flat-cut active surfaces is in an interval arrangement relationship; a ball-type axial drive is arranged at one of the head end and the tail end of the device body, and the ball-type axial drive includes a fixed on the device body A first drive motor and a ball circulation seat driven by the connection of the first drive motor, wherein the ball circulation seat has a through hole for the screw to pass through, the ball circulation seat is formed with a circulation groove passing through the through hole, and the circulation in the through hole The groove corresponds to the spiral groove of the screw shaft, and the circulating groove contains a number of balls to form a state where a number of balls are interposed between the circulating groove and the spiral groove for cyclic rolling; a ball spline rotation driver, It is arranged at one of the head end and the tail end of the device body and is arranged in a spaced relationship with the ball-type axial drive. The ball-free spline rotation driver includes a second drive motor fixed to the device body, and The second driving motor is connected to drive a driven outer sleeve and a driven inner forcing cylinder screwed into the driven outer sleeve, wherein the driven outer sleeve has an assembling groove, and an internal thread section is formed in the assembling groove. The forced cylinder is accommodated in the assembling groove, and the driven inner forced cylinder includes an outer section, an inner section and a through hole, wherein the through hole is for the screw shaft to pass through, and the outer section forms an external thread section system. Threaded with the internal thread section, the driven inner cylinder is formed with a plurality of elastic claw pieces, and the inner side of each elastic claw piece is formed with a driving surface that matches the corresponding flat-cut moving surface of the screw, and the end surface of the outer section forms a Tool driving part; a guiding and pressing structure, including a peripheral guide wall formed in the outer sleeve adjacent to the internal thread section, and an inner surrounding guide formed at the relative position of the inner section of the driven inner sleeve The movable wall, and the inner guide wall also corresponds to the section where the plurality of elastic claw pieces are located; when the driven inner forcing cylinder is screwed and adjusted in the retracting direction relative to the driven outer sleeve, the inner guide wall and the outer guide A radial guiding action is generated between the moving walls to drive the plural elastic claw pieces to radially inwardly converge, so that the plural driving surfaces approach the plural flat-cut receiving surfaces of the screw rod, thereby stabilizing the screw operating state; a locking member is arranged at One of the moved outer sleeves is used to lock the adjustment state of the moved inner forcing cylinder.

The main effects and advantages of the present invention are that the rotation driving part of the ball screw spline device can be driven by the driving surface formed by the elastic claw piece of the driven inner cylinder and the flat-cutting driven surface formed by the screw to achieve the rotation drive. Function, this is a type without balls, so the components can be greatly simplified, and the screw only needs to be processed to form the flat-cut moving surface. Compared with the conventional groove type, the waste generated by the processing is much reduced, and the processing The molding efficiency is better. It has the function of screw stabilization to reduce the fit gap when the rotation is driven, and in the future, it can be screwed to adjust the driven inner cylinder to achieve a better fit, so as to extend the service life of the device. It is especially suitable for In the light-loaded robotic arm application environment, the equipment cost can be greatly reduced. In addition, the plurality of driving surfaces formed by the elastic claw pieces of the moved inner forcing cylinder can be used to produce a simple scraping effect; furthermore, the fork-shaped inner spaced concave edge portions formed by the elastic claw pieces opposite to each other, more It can provide a temporary storage location for the waste generated during the aforementioned scraping action.

Further, both the outer section and the inner section of the driven inner forcing cylinder are set in an integrally formed structure.

Alternatively, the outer member and the inner member of the forced inner member are configured as two separate abutting structures, forming a relative definition between the outer member and the inner member, forming a pushing surface and a pushing surface rubbing against each other The shape of the lean; and the radial section between the outer guide wall and the inner guide wall is set in a non-circular matching relationship, so that when the outer guide wall rotates, the inner guide wall is driven to rotate synchronously.

L1: axis

10: Device body

11: head end

12: tail end

13: Rod slot

135: Notch

20: Screw

21: Flat-cut moving surface

22: Spiral groove

30: Ball type axial drive

31: The first drive motor

315: Axial convex tube

317: Connecting Block

32: Ball circulation seat

33: Through hole

34: Circulation groove

35: Ball

40: No ball spline rotation drive

40B: No ball spline rotation driver

41: Driven outer sleeve

413: assembly slot

415: Internal thread section

415: Internal thread section

417: Radial screw hole

42: second drive motor

42B: second drive motor

43: Driven Internal Forced Tube

43B: Internal Forced Parts

431: External section

431B: External components

4315: push noodles

432: Internal section

432B: Internal components

4325: Pushed Surface

433: piercing hole

433B: piercing hole

434: External thread section

435: Elastic claw piece

436: Explosive

437: Tool Driving Department

439: Hole

44: Forced cylinder

441: Outer End

442: inner end

443: piercing hole

445: Claw Piece

446: Explosion

447: Tool Driving Department

50: Guiding compression structure

50B: Guided compression structure

51: Peripheral guide wall

51B: Peripheral guide wall

52: inner wall guide wall

52B: Inner wall guide wall

60: Locking member

Figure 1 is a combined perspective view of a preferred embodiment of the present invention.

Figure 2 is a side view of the appearance of a preferred embodiment of the present invention.

Figure 3 is a partial cross-sectional view of a preferred embodiment of the present invention.

Fig. 4 is a second partial structural cross-sectional view of the preferred embodiment of the present invention.

Fig. 5 is an exploded perspective view of partial components of the preferred embodiment of the present invention.

Fig. 6 is a cross-sectional view of the actuation state of the preferred embodiment of the present invention.

Figure 7 is a sectional view of section 7-7 of Figure 6;

Fig. 8 is a second sectional view of the actuation state of the preferred embodiment of the present invention.

Fig. 9 is a cross-sectional view of 9-9 of Fig. 8.

Fig. 10 is a cross-sectional view of an embodiment in which both the outer section and the inner section of the driven inner forcing cylinder of the present invention are set to a two-piece split abutting structure.

Fig. 11 is a cross-sectional view of 11-11 of Fig. 10.

Fig. 12 is a diagram of another embodiment of the ball-spline-less spin driver according to the present invention.

Please refer to Figures 1-9, which are preferred embodiments of the ball screw spline device of the present invention. However, these embodiments are for illustrative purposes only and are not limited by this structure in the patent application.

The ball screw spline device includes the following composition: a device body 10, which extends along an axis L1, the device body 10 has a head end 11 and a tail end 12, and the device body 10 is parallel There is a rod placement groove 13 arranged along the axis L1, the rod placement groove 13 has a notch 135 passing through the head end 11; a screw 20 with a plurality of flat-cut moving surfaces 21, the screw 20 is flexible The shaft of the screw 20 has a helical groove 22 in a state of being rotated or axially sliding. The shaft of the screw 20 has a helical groove 22, and the plurality of flat-cut moving surfaces 21 are formed on the shaft of the screw 20. The configuration is extended along the axis L1, and the plane extension direction of each of the flat-cut active surfaces 21 is in phase with the axis L1. Parallel to each other, and each of the flat-cut active surfaces 21 is in a spaced arrangement relationship; a ball type axial driver 30 is provided at one of the head end 11 and the tail end 12 of the device body 10, and the ball The axial drive 30 includes a first drive motor 31 fixed to the device body 10 and a ball recirculation seat 32 connected and driven by the first drive motor 31, wherein the ball recirculation seat 32 has a through hole 33 for supplying The screw 20 passes through, the ball circulation seat 32 forms a circulation groove 34 passing through the through hole 33, and the circulation groove 34 in the through hole 33 corresponds to the spiral groove 22 of the shaft of the screw 20, And the circulating groove 34 accommodates a number of balls 35, which constitutes a state in which the balls 35 are interposed between the circulating groove 34 and the spiral groove 22 for circulating rolling; a ball-free spline rotation driver 40 is provided At one of the head end 11 and the tail end 12 of the device body 10 and the ball-type axial driver 30 in a spaced arrangement relationship, the ball-free spline rotation driver 40 includes fixed to the device body 10 a second drive motor 42, a driven outer sleeve 41 connected and driven by the second drive motor 42, and a driven inner forcing cylinder 43 screwed into the driven outer sleeve 41, wherein the driven outer sleeve The barrel 41 has an assembling groove 413 (note: the opening of the assembling groove 413 is opposite to the notch 135 of the rod placement groove 13), an internal thread section 415 is formed in the assembling groove 413, and the driven inner forcing barrel 43 is accommodated In the assembling groove 413, and the driven inner forcing cylinder 43 includes an outer section 431, an inner section 432, and a through hole 433, wherein the through hole 433 is for the shaft of the screw 20 to pass through, and the outer The section 431 is formed with an external threaded section 434 which is screwed with the internal threaded section 415, the driven inner forcing cylinder 43 is formed with a plurality of elastic claw pieces 435, and the inner side of each of the plurality of elastic claw pieces 435 is formed with a driving surface 436. Each of the flat-cut moving surfaces 21 corresponding to the screw 20 cooperates, and the end surface of the outer section 431 of the driven inner forcing cylinder 43 is formed with a tool driving portion 437; a guiding and pressing structure 50 includes a A peripheral guide wall 51 adjacent to the inner threaded section 415 in the driven outer sleeve 41 and the inner section 432 formed in the driven inner sleeve 43 are relatively positioned An inner guide wall 52 is located, and the inner guide wall 52 also corresponds to the section where the plurality of elastic claw pieces 435 are located; wherein when the driven inner forcing cylinder 43 is inwardly formed relative to the driven outer sleeve 41 During the screw adjustment in the shrinking direction, a radial guiding action is generated between the inner guide wall 52 and the outer guide wall 51 to drive the plurality of elastic claw pieces 435 to radially inwardly converge (as shown in Figure 9). Show), make the plural driving surface 436 approach the plural flat-cut receiving surface 21 of the screw 20, thereby stabilizing the operating state of the screw 20 (note: due to the reduction of the fit gap when driven by rotation); a locking member 60 is provided At one of the moved outer sleeves 41, it is used to lock the adjustment state of the above-mentioned driven inner forcing cylinder 43; and in this example, both the outer section 431 and the inner section 432 of the driven inner forcing cylinder 43 The system is set as a one-piece structure.

Wherein, both the outer guide wall 51 and the inner guide wall 52 of the guide and press structure 50 are set to any one of the following types: one of them is a cone-shaped peripheral wall matching type (i.e. 4); Second, the inner guide wall is set to a cone-shaped peripheral wall type, and the peripheral guide wall is set to a straight cylindrical peripheral wall type (Note: the drawing is omitted in this example).

As shown in Figures 4 and 5, in this example, the locking member 60 is in the form of a bolt, so that one of the moved outer sleeve 41 is provided with a radial screw hole 417, and the radial screw hole 417 is The end is penetrated to the outer periphery of the driven inner forcing cylinder 43, and the locking member 60 is screwed into the radial screw hole 417, whereby the screwing of the locking member 60 urges the driven inner forcing cylinder 43 to lock the driven inner The screw movement adjustment state of the forced cylinder 43.

As shown in FIG. 5, in this example, the tool driving portion 437 formed at the outer end of the driven inner forcing cylinder is a type composed of two concave holes 439 arranged in pairs at intervals.

As shown in FIG. 3, in this example, the first drive motor 31 of the ball type axial driver 30 is extended with an axial convex tube portion 315, and the axial convex tube portion 315 is combined A connecting seat 317 is positioned; and the connecting seat 317 and the ball recirculating seat 32 achieve a combined positioning through a screw lock type.

With the above-mentioned structural composition and technical features, the ball screw spline device of the present invention is mainly capable of driving the screw 20 to produce axial forward and retreat movement and rotational movement; taking the above-mentioned preferred embodiment as an example, The arrangement of the ball-type axial drive 30 is shown in FIG. 3, when the first drive motor 31 drives the ball recirculation seat 32 to rotate, because another section of the screw 20 is moved by the plurality of elastic claws of the inner forcing cylinder 43 The driving surface 436 formed on the inner side of the sheet 435 is constrained to form a state in which its rotation direction is temporarily restricted (as shown in FIG. 4). Therefore, when the aforementioned ball circulation seat 32 rotates, a number of balls circulately displaced along the circulation groove 34 35. It will relatively drive the screw 20 to produce an axial displacement movement. As for the axial displacement direction of the screw 20 to advance or retreat, it depends on the forward or reverse direction of the rotation of the ball recirculating seat 32; on the other hand, as shown in Figure 4 As shown, through the arrangement of the ball-free spline rotation driver 40, when the second drive motor 42 drives the driven outer sleeve 41 to rotate, the driven inner sleeve 43 will also rotate synchronously. The driving surface 436 formed on the inner side of each elastic claw piece 435 is in a state of mating with the flat-cut receiving surface 21 corresponding to the screw 20 (Note: There is only a small gap, as shown in Figure 9, to keep the screw 20 axially When the driven inner cylinder 43 rotates, it will drive the screw 20 to rotate accordingly. As for the rotation of the screw 20 in the forward and reverse directions, it depends on the forward and reverse directions of the second drive motor 42; It is worth mentioning in the invention that the rotational drive part is driven by the driving surface 436 formed by the elastic claw pieces 435 of the driven inner forcing cylinder 43 and the flat-cut receiving surface 21 formed by the screw 20 to cooperate to achieve rotational drive. Function, this is an innovative rotational drive type without balls, the components can be greatly simplified, and the screw 20 only needs to be processed to form the flat-cut moving surface 21, and the waste generated by the processing is compared with the conventional concave groove The type is reduced a lot, and the processing and forming efficiency is better, and the screw is stable The function is fixed to reduce the fit gap when the rotation is driven, and in the future, when it is worn out, you can also adjust the driven inner forcing cylinder 43 by screwing to achieve a better fit. For this part, please refer to Figures 6, 7 and 8, 9 The structural state difference changes can be clearly understood. Among them, Figure 6 shows the screwed state of the driven inner forcing cylinder 43, which is a state of screwing downwards in the figure. In this state, the driving surface of the elastic claw piece 435 is formed. 436 and the flat-cut moving surface 21 of the screw 20 have a large fit gap (as shown in W in Figure 7); and as shown in Figures 8 and 9, when we move the inner forced cylinder 43 to the figure When screwing in the upward direction, the outer guide wall 51 and the inner guide wall 52 of the guide pressing structure 50 are in a tapered peripheral wall matching pattern, so that the driving surface 436 of each elastic claw piece 435 will be Converge inward (as shown by arrow L2 in Figure 9), and then get closer to the flat-cut receiving surface 21 of the screw 20, so that the matching clearance between the driving surface 436 and the flat-cut receiving surface 21 can reach The smallest is relatively to maximize the accuracy of the driving. Of course, the aforementioned adjustment action must be based on the premise that the smoothness of the axial movement of the screw 20 is not affected, and this can be known by actually testing the movement state of the screw 20. The aforementioned technical feature that the inner force cylinder 43 can be screwed and adjusted can prolong the service life of the device, and is especially suitable for the light-loaded robotic arm application environment, and the equipment cost can be greatly reduced.

In addition, in practical applications of the present invention, the plurality of driving surfaces 436 formed by the elastic claw pieces 435 of the driven inner cylinder 43 can also be used to produce a simple dust and dirt scraping effect; The relatively formed fork-shaped inner spaced concave edge portion can also provide a temporary storage location for the waste generated during the aforementioned scraping action.

As shown in FIG. 10, the ball-spline-less spin driver disclosed in this example differs from the embodiment disclosed in FIGS. 1 to 9 mainly in that the one that is screwed with the driven outer sleeve 41 is the same The driven inner force member 43B, the driven inner member 43B is accommodated outside the driven member In the assembling groove 413 of the sleeve 41, and the driven inner urging member 43B includes an outer member 431B and an inner member 432B, which are respectively provided with a through hole 433B, wherein the through hole 433B allows the shaft of the screw 20 to pass through, The outer member 431B is formed with an external threaded section 434 which is screwed to the internal threaded section 415, the driven inner forcing member 43B is formed with a plurality of elastic claw pieces 435, and the inner side of each elastic claw piece 435 is formed with a driving surface 436 which is connected to The corresponding flat-cut moving surfaces 21 of the screw 20 are matched; and the guiding and pressing structure 50B of this example includes a peripheral guiding formed in the moving outer sleeve 41 adjacent to the inner threaded section 415 The wall 51B and an inner guide wall 52B formed at the relative position of the inner member 432B, and the inner guide wall 52B also corresponds to the section where the plurality of elastic claw pieces 435 are located; in this example, when the driven When the inner urging member 43B is screwed and adjusted in a retracting direction relative to the driven outer sleeve 41, a radial guiding action is generated between the inner guide wall 52B and the outer guide wall 51B to drive the plural elasticity The claw piece 435 converges radially inwardly, so that the plural driving surface 436 approaches the plural flat-cut receiving surface 21 of the screw 20; and wherein, the outer member 431B and the inner member 432B of the driven inner forcing member 43B are both connected It is set as a two-piece abutting structure to form a relative definition between the outer member 431B and the inner member 432B to form a pushing surface 4315 and a pushing surface 4325 that rub against each other; in addition, the peripheral guide moves The radial section between the wall 51B and the inner guide wall 52B is set in a non-circular matching relationship (as shown in FIG. 11), so that when the outer guide wall 51B rotates, the inner guide wall is driven 52B rotates synchronously. One additional note is that in this example, a locking member (not shown in the figure) is also provided at one of the moved outer sleeves 41 to lock the adjustment state of the aforementioned moved inner forcing member 43B.

10, the radial cross-section between the peripheral guide wall 51B and the inner peripheral guide wall 52B can be set to be polygonal, polygonal, or have multiple flat edges, etc. Circular matching relationship.

In the embodiment disclosed in FIG. 10, the radial cross section of the inner member 432B can also be set to a C shape, which can also achieve the function of compressing and generating radial inward deformation.

As shown in FIG. 12, in this example, another specific implementation aspect of the ball-free spline rotation driver is provided; the difference between this example and the embodiment disclosed in FIGS. 1 to 11 is mainly the The ball-spline-less rotation driver 40B includes a second drive motor 42B fixed to the device body 10 and a driven cylinder 44 connected and driven by the second drive motor 42B. The driven cylinder 44 includes an outer end. 441, an inner end 442, and a through hole 443, wherein the through hole 443 allows the shaft of the screw 20 to pass through, and the driven cylinder 44 is formed with a plurality of driving surfaces 446 corresponding to each of the screw 20 The flat-cut receiving surface 21 is matched, and the outer end 441 is formed with a tool driving portion 447. This example is to illustrate that the ball-spline-less rotation driver can also be a simpler type without the aforementioned screw adjustment and guiding structure.

10: Device body

11: head end

13: Rod slot

135: Notch

20: Screw

21: Flat-cut moving surface

22: Spiral groove

41: Driven outer sleeve

415: Internal thread section

417: Radial screw hole

43: Driven Internal Forced Tube

431: External section

432: Internal section

433: piercing hole

434: External thread section

435: Elastic claw piece

437: Tool Driving Department

439: Hole

60: Locking member

Claims (8)

A ball screw spline device includes: A device body is a type extending along an axis, the device body has a head end and a tail end, and the device body has a rod holder groove arranged along the axis, and the rod holder groove has a groove Pierce the head end; A screw with a plurality of flat-cut moving surfaces, the screw is accommodated in the rod groove of the device body in a movable rotation or axial sliding state, the screw shaft has a spiral groove, and the plurality of flat-cut The receiving surface is formed on the screw shaft to extend along the axis, and make the surface extending direction of each flat-cut receiving surface parallel to the axis, and between the flat-cut receiving surfaces Interval configuration relationship; A ball-type axial driver is arranged at one of the head end and the tail end of the device body. The ball-type axial driver includes a first drive motor fixed to the device body and a first drive motor fixed to the device body. The connection drives a ball circulation seat, wherein the ball circulation seat has a through hole for the screw to pass through, the ball circulation seat is formed with a circulation groove passing through the through hole, the circulation groove in the through hole and the The spiral groove of the screw shaft corresponds to the spiral groove, and the circulating groove accommodates a plurality of balls, which constitutes a state in which the plurality of balls are interposed between the circulating groove and the spiral groove for circulating rolling; A ball-free spline rotation driver is arranged at one of the head end and the tail end of the device body and is arranged in a spaced relationship with the ball-type axial driver. The ball-free spline rotation driver includes a fixed A second driving motor arranged in the device body, a driven outer sleeve connected and driven by the second driving motor, and a driven inner forcing cylinder screwed into the driven outer sleeve, wherein the driven outer sleeve There is an assembling groove, an internal thread section is formed in the assembling groove, the driven inner forcing cylinder is accommodated in the assembling groove, and the driven inner forcing cylinder includes an outer section, an inner section and a through hole, Wherein the threaded hole is for the screw shaft to pass through, the outer section is formed with an external threaded section which is screwed with the internal threaded section, the driven inner forcing cylinder is formed with a plurality of elastic claw pieces, each of the elastic claw pieces A driving surface is formed on the inner side to cooperate with each of the flat-cut driving surfaces corresponding to the screw, and the end surface of the outer section of the driven inner forcing cylinder is formed with a tool driving part; A guiding and pressing structure, including a peripheral guiding wall formed in the driven outer sleeve adjacent to the internal thread section, and an inner surrounding guide formed at a relative position of the inner section of the driven inner sleeve The movable wall, and the inner guide wall also corresponds to the section where the plurality of elastic claw pieces are located; wherein when the driven inner forcing cylinder is screwed and adjusted in a retracting direction relative to the driven outer sleeve, the inner circumference is made A radial guiding action is generated between the guiding wall and the peripheral guiding wall to drive the plurality of elastic claw pieces to radially inwardly converge, so that the plurality of driving surfaces approach the plurality of flat-cut receiving surfaces of the screw; and A locking member arranged at one of the moved outer sleeves to lock the adjustment state of the aforementioned moved inner forcing cylinder; And wherein, both the outer section and the inner section of the driven inner forcing cylinder are set in an integrally formed structure. The ball screw spline device according to claim 1, wherein both the outer guide wall and the inner guide wall of the guide pressing structure are set to any one of the following types: one or both are Cone-shaped peripheral wall matching type; secondly, the inner surrounding guide wall is set to a cone-shaped peripheral wall type, and the peripheral guide wall is set to a straight cylindrical peripheral wall type. The ball screw spline device according to claim 1 or 2, wherein the locking member is in the form of a bolt, so that one of the moved outer sleeves is provided with a radial screw hole, and the inner end of the radial screw hole It penetrates to the outer circumference of the driven inner forcing cylinder, and the locking member is screwed into the radial screw hole, thereby pressing the driven inner forcing cylinder through the screwing of the locking member to lock the screwing adjustment of the driven inner forcing cylinder status. A ball screw spline device includes: A device body is a type extending along an axis, the device body has a head end and a tail end, and the device body has a rod holder groove arranged along the axis, and the rod holder groove has a groove Pierce the head end; A screw with a plurality of flat-cut moving surfaces, the screw is accommodated in the rod groove of the device body in a movable rotation or axial sliding state, the screw shaft has a spiral groove, and the plurality of flat-cut The receiving surface is formed on the screw shaft to extend along the axis, and make the surface extending direction of each flat-cut receiving surface parallel to the axis, and between the flat-cut receiving surfaces Interval configuration relationship; A ball-type axial driver is arranged at one of the head end and the tail end of the device body. The ball-type axial driver includes a first drive motor fixed to the device body and a first drive motor fixed to the device body. The connection drives a ball circulation seat, wherein the ball circulation seat has a through hole for the screw to pass through, the ball circulation seat is formed with a circulation groove passing through the through hole, the circulation groove in the through hole and the The spiral groove of the screw shaft corresponds to the spiral groove, and the circulating groove accommodates a plurality of balls, which constitutes a state in which the plurality of balls are interposed between the circulating groove and the spiral groove for circulating rolling; A ball-free spline rotation driver is arranged at one of the head end and the tail end of the device body and is arranged in a spaced relationship with the ball-type axial driver. The ball-free spline rotation driver includes a fixed A second driving motor arranged in the device body, a driven outer sleeve connected and driven by the second driving motor, and a driven inner urging member screwed into the driven outer sleeve, wherein the driven outer sleeve There is an assembly groove, an internal thread section is formed in the assembly groove, the driven inner forcing member is accommodated in the assembling groove, and the driven inner forcing member includes an outer member and an inner member separately provided with a through hole, Wherein the threaded hole is for the screw shaft to pass through, the outer member is formed with an external threaded section which is screwed with the internal threaded section, the moved inner forcing member is also formed with a plurality of elastic claw pieces, and the inner side of each elastic claw piece A driving surface is formed to match each of the flat-cut driving surfaces corresponding to the screw, and the end surface of the outer member of the driven inner forcing member is formed with a tool driving part; A guiding and pressing structure includes a peripheral guiding wall formed in the driven outer sleeve adjacent to the internal thread section, and an inner surrounding guiding wall formed at a relative position of the inner member, and the inner surrounding The guide wall also corresponds to the section where the plurality of elastic claw pieces are located; wherein when the driven inner forcing member is screwed and adjusted in a retracting direction relative to the driven outer sleeve, the inner guide wall and the peripheral guide A radial guiding action is generated between the movable walls to drive the plurality of elastic claw pieces to radially inwardly converge, so that the plurality of driving surfaces approach the plurality of flat-cut receiving surfaces of the screw; and A locking member arranged at one of the moved outer sleeves to lock the adjustment state of the aforementioned moved inner forcing member; And wherein, both the outer member and the inner member of the driven inner member are set as two separate abutting structures, forming a relative delimitation between the outer member and the inner member, forming a pushing surface and a pushing surface. The frictional abutment type; In addition, the radial section between the peripheral guide wall and the inner guide wall is set in a non-circular matching relationship, so that when the outer guide wall rotates, the inner surround is driven The guide wall rotates synchronously. The ball screw spline device according to claim 4, wherein both the outer guide wall and the inner guide wall of the guide pressing structure are set to any one of the following types: one or both are Cone-shaped peripheral wall matching type; secondly, the inner surrounding guide wall is set to a cone-shaped peripheral wall type, and the peripheral guide wall is set to a straight cylindrical peripheral wall type. The ball screw spline device according to claim 4 or 5, wherein the locking member is in the form of a bolt, so that one of the moved outer sleeves is provided with a radial screw hole, and the inner end of the radial screw hole It penetrates to the outer circumference of the driven inner forcing cylinder, and the locking member is screwed into the radial screw hole, thereby pressing the driven inner forcing cylinder through the screwing of the locking member to lock the screwing adjustment of the driven inner forcing cylinder status. The ball screw spline device according to claim 4, wherein the radial cross-section between the outer guide wall and the inner guide wall is set to be polygonal, polygonal, or have multiple flat edges, etc. A non-circular matching relationship. A ball screw spline device includes: A device body is a type extending along an axis, the device body has a head end and a tail end, and the device body has a rod holder groove arranged along the axis, and the rod holder groove has a groove Pierce the head end; A screw with a plurality of flat-cut moving surfaces, the screw is accommodated in the rod groove of the device body in a movable rotation or axial sliding state, the screw shaft has a spiral groove, and the plurality of flat-cut The receiving surface is formed on the screw shaft to extend along the axis, and make the surface extending direction of each flat-cut receiving surface parallel to the axis, and between the flat-cut receiving surfaces Interval configuration relationship; A ball-type axial driver is arranged at one of the head end and the tail end of the device body. The ball-type axial driver includes a first drive motor fixed to the device body and a first drive motor fixed to the device body. The connection drives a ball circulation seat, wherein the ball circulation seat has a through hole for the screw to pass through, the ball circulation seat is formed with a circulation groove passing through the through hole, the circulation groove in the through hole and the The spiral groove of the screw shaft corresponds to the spiral groove, and the circulating groove contains a plurality of balls, which constitutes a state in which the plurality of balls are interposed between the circulating groove and the spiral groove for circulating rolling; and A ball-free spline rotation driver is arranged at one of the head end and the tail end of the device body and is arranged in a spaced relationship with the ball-type axial driver. The ball-free spline rotation driver includes a fixed A second driving motor provided in the main body of the device and a driven force cylinder connected to and driven by the second driving motor. The driven force cylinder includes an outer end, an inner end and a through hole, wherein the through hole For the screw shaft to pass through, the driven forced cylinder is formed with a plurality of driving surfaces that are matched with each of the flat-cut driving surfaces corresponding to the screw, and a tool driving part is formed at the outer end.

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