CN112959353A - Transmission assembly and end effector - Google Patents

Abstract

The application discloses transmission assembly and end effector relates to mechanical transmission technical field. This transmission assembly includes the support arm, and sets up drive assembly on the support arm, still be provided with on the support arm respectively with the rotatory translation subassembly that drive assembly connects, rotatory translation subassembly is including setting up sleeve on the support arm, and set up respectively first coupling assembling and second coupling assembling on the sleeve, first coupling assembling with second coupling assembling is used for connecting with the effect, wherein, first coupling assembling with second coupling assembling can wind the sleeve rotates, just first coupling assembling can be followed the sleeve slides, second coupling assembling is located outside the first coupling assembling sliding range. Can promote driven integrated level, be favorable to realizing the miniaturization of arm, and then promote the suitability when using.

Description

Transmission assembly and end effector

Technical Field

The application relates to the technical field of mechanical transmission, in particular to a transmission assembly and an end effector.

Background

With the development of society and the improvement of productivity, more and more industries use robots to replace manual work, and the robots not only can repeatedly work on the same workpiece without sleep, but also can work for a long time in different complex environments, such as high-temperature and corrosive environments, so that the robots can continuously go deep into industries such as industry, agriculture, exploration, medical treatment and the like, and realize specific functions through mechanical arms.

The existing multi-degree-of-freedom mechanical arm needs to rely on different connection forms between adjacent joints to realize actions such as rotation, pitching or lifting in the motion process, transmission integration is low, a large amount of space is occupied when required actions are realized, the miniaturization of the mechanical arm is influenced, and great limitation is brought to the diversification of application scenes of the mechanical arm.

Disclosure of Invention

An object of this application is to provide a drive assembly and end effector can promote driven integrated level, is favorable to realizing the miniaturization of arm, and then promotes the suitability when using.

The embodiment of the application is realized as follows:

an aspect of the embodiment of the application provides a transmission assembly, including the support arm, and set up drive assembly on the support arm, still be provided with on the support arm respectively with the rotatory translation subassembly that drive assembly connects, rotatory translation subassembly is including setting up sleeve on the support arm, and set up respectively first connecting element and second coupling assembling on the sleeve, first connecting element with second coupling assembling is used for connecting with the effect, wherein, first connecting element with second coupling assembling can wind the sleeve rotates, just first connecting element can be followed the sleeve slides, second coupling assembling is located outside the first connecting element sliding range.

Optionally, the rotary translation subassembly still include with the support arm rotates transmission shaft and the lead screw of connecting, drive assembly respectively with the transmission shaft with lead screw transmission connects, the lead screw is located in the sleeve, the lead screw pass through the nut with first coupling assembly transmission connects, the transmission shaft with second coupling assembly transmission connects.

Optionally, the driving assembly includes a first motor and a second motor disposed on the support arm, an output end of the first motor is provided with a first synchronizing wheel, and an output end of the second motor is provided with a second synchronizing wheel; the transmission shaft is close to the one end of support arm is provided with first idler, the lead screw is close to the one end of support arm is provided with the second idler, first synchronizing wheel through first hold-in range with first idler is connected, the second synchronizing wheel through the second hold-in range with the second idler is connected.

Optionally, the driving assembly further comprises a connecting shaft, the connecting shaft is rotatably connected with the supporting arm, the connecting shaft is connected with the second motor, the second synchronizing wheel is arranged on the connecting shaft, so that the first synchronizing wheel and the second synchronizing wheel are arranged on the rotation central line in a staggered mode, and the connecting shaft penetrates through an annular space in the first synchronizing belt.

Optionally, the driving assembly further comprises a fixing seat, the first motor and the second motor are connected with the supporting arm through the fixing seat, the fixing seat and the supporting arm are of a cavity structure, the first synchronizing wheel is located in the fixing seat, the second synchronizing wheel is located in the supporting arm, a tensioning assembly is further arranged in the supporting arm, and the tensioning assembly is used for abutting against the second synchronizing wheel.

Optionally, the transmission assembly further includes a positioning assembly, the positioning assembly includes a mounting seat and a first bearing seat, the mounting seat is connected to the support arm, the first bearing seat is connected to the mounting seat, one end of the lead screw close to the support arm is rotatably connected to the first bearing seat through a first rolling bearing, and the mounting seat is connected to one end of the sleeve; the rotary translation assembly further comprises a first positioning seat, the first positioning seat is connected with the mounting seat, and the transmission shaft is rotatably connected with the first positioning seat.

Optionally, first connection assembly includes the sliding sleeve, and with the sliding sleeve rotates the first connecting seat of connecting, the sleeve is followed telescopic extending direction is provided with the spout, the sliding sleeve through wear to locate the connecting piece of spout with the nut is connected, be provided with guide bearing on the connecting piece, guide bearing with the spout cooperatees, first connecting seat be used for with the effect is connected.

Optionally, a connecting flange is arranged on the sleeve, the second connecting assembly comprises a bearing flange, a gear plate, a second bearing seat and a second connecting seat, one end of the lead screw, which is far away from the supporting arm, is rotatably connected with the second bearing seat through a second rolling bearing, the second bearing seat is connected with the connecting flange, an outer ring of the bearing flange is connected with the connecting flange, an inner ring of the bearing flange is connected with the gear plate, and the second connecting seat is connected with the gear plate; the rotary translation assembly further comprises a second positioning seat, the second positioning seat is connected with the connecting flange, the transmission shaft is rotatably connected with the second positioning seat, and a transmission gear is further arranged on the transmission shaft and meshed with the gear disc.

Optionally, a bracket is arranged between the first positioning seat and the second positioning seat, position sensors electrically connected with the controller are arranged on the bracket at intervals, and the position sensors are used for sensing the limit position of the first connecting assembly sliding along the sleeve.

An embodiment of the present application further provides an end effector, which includes the transmission assembly as described in any one of the above, and an acting element connected to the transmission assembly.

The beneficial effects of the embodiment of the application include:

the transmission assembly and the end effector provided by the embodiment of the application are driven to move by the rotating and translating assembly on the supporting arm through the supporting arm and the driving assembly arranged on the supporting arm. When the first connecting component and the second connecting component rotate around the sleeve, the acting piece can be driven to synchronously rotate. Only when the first connecting component slides along the sleeve, the acting piece is driven to perform pitching motion. In addition, when the first connecting assembly and the second connecting assembly are connected with the acting element, the first connecting assembly and the second connecting assembly can be connected with the acting element through the connecting rods respectively to form a quadrilateral structure, and the action element is driven to realize actions such as rotation, pitching and lifting along with the change of the motion state of the first connecting assembly and the second connecting assembly. Adopt the transmission assembly that this application embodiment provided, when being applied to the arm, can promote driven integrated level, be favorable to realizing the miniaturization of arm, and then promote the suitability when using.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic structural diagram of a transmission assembly according to an embodiment of the present disclosure;

fig. 2 is a second schematic structural diagram of a transmission assembly according to an embodiment of the present application;

FIG. 3 is a third schematic structural diagram of a transmission assembly according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of a support arm coupled to a drive assembly according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a second timing belt engaged with a tensioning assembly according to an embodiment of the present disclosure;

FIG. 6 is an enlarged view of a portion of FIG. 2 at A;

FIG. 7 is an enlarged view of a portion of FIG. 2 at B;

fig. 8 is a partially enlarged view at C in fig. 2.

Icon: 100-a transmission assembly; 110-a support arm; 120-a drive assembly; 121-a first motor; 122-a second motor; 123-a first synchronizing wheel; 124-a second synchronizing wheel; 125-first synchronization belt; 126-a second synchronous belt; 127-a connecting shaft; 128-a fixed seat; 129-a tensioning assembly; 130-a rotational-translational component; 131-a sleeve; 1312-a chute; 1314-connecting flange; 132-a first connection assembly; 1321-a sliding sleeve; 1323-attachment member; 1325-guide bearing; 133-a second connection assembly; 1331-bearing flange; 1333-gear wheel; 1335-a second bearing block; 1337-a second connection seat; 1339-a second rolling bearing; 134-a drive shaft; 1342-a first idler; 1344-drive gear; 135-a lead screw; 1351-nut; 1352-second idler; 136-a first positioning seat; 137-a second positioning seat; 138-a scaffold; 1382-a position sensor; 140-a positioning assembly; 141-a mounting seat; 143-a first bearing seat; 145-first rolling bearing.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Referring to fig. 1, the present embodiment provides a transmission assembly 100, including a supporting arm 110 and a driving assembly 120 disposed on the supporting arm 110, the supporting arm 110 is further provided with a rotation and translation assembly 130 respectively connected to the driving assembly 120, the rotation and translation assembly 130 includes a sleeve 131 disposed on the supporting arm 110, and a first connecting assembly 132 and a second connecting assembly 133 respectively disposed on the sleeve 131, the first connecting assembly 132 and the second connecting assembly 133 are used for connecting to an acting element, wherein the first connecting assembly 132 and the second connecting assembly 133 can rotate around the sleeve 131, the first connecting assembly 132 can slide along the sleeve 131, and the second connecting assembly 133 is located outside a sliding range of the first connecting assembly 132.

Specifically, the arrangement form of the support arm 110 is not particularly limited in the embodiment of the present application, and may be a connection support member fixed on the device, or a certain section of the support arm of the mechanical arm, and specifically, the support arm may be flexibly arranged according to the use environment. The drive assembly 120 disposed on the support arm 110 serves as a power source for the motion of the rotational-translational assembly 130, and provides a power basis for the motion of the rotational-translational assembly 130. It can be understood that the second connecting member 133 is located outside the sliding range of the first connecting member 132, and when the first connecting member 132 slides along the sleeve 131, the second connecting member 133 is prevented from interfering with the second connecting member 133, which is beneficial to improving the stability and reliability of the transmission.

It should be noted that the first connecting assembly 132 and the second connecting assembly 133 act together on the acting element to provide a bridge for connecting the space transformation and the posture transformation of the acting element. Illustratively, when the first connecting member 132 and the second connecting member 133 rotate around the sleeve 131, the acting member is driven to rotate by a specific angle so as to point to different positions as required. The first connecting component 132 can also slide along the extending direction of the sleeve 131, and in the process that the first connecting component 132 slides along the sleeve 131, the acting element is driven to make corresponding state conversion, such as the pitching motion of the acting element.

When the first connecting assembly 132 and the second connecting assembly 133 are connected with the acting element, the first connecting assembly 132 and the second connecting assembly 133 can be respectively connected with the acting element through the connecting rod, so that a quadrilateral structure is formed among the first connecting assembly 132, the second connecting assembly 133, the connecting rod and the acting element, when the first connecting assembly 132 slides along the extension direction of the sleeve 131, the acting element can have actions such as pitching or lifting, and when the first connecting assembly 132 and the second connecting assembly 133 rotate around the sleeve 131, the acting element is driven to synchronously rotate by a corresponding angle, and diversified adjustment control of the acting element is realized.

The driving assembly 100 provided by the embodiment of the present application drives the rotation and translation assembly 130 on the supporting arm 110 to move through the supporting arm 110 and the driving assembly 120 disposed on the supporting arm 110. When the first connecting member 132 and the second connecting member 133 rotate around the sleeve 131, the acting elements are driven to rotate synchronously. Only the first connecting element 132 slides along the sleeve 131, and drives the acting element to perform a pitching motion. In addition, when the first connecting assembly 132 and the second connecting assembly 133 are connected to the acting element, they can be connected to the acting element through a connecting rod, so as to form a quadrilateral structure, and along with the change of the motion state of the first connecting assembly 132 and the second connecting assembly 133, the acting element is driven to realize the actions of rotation, pitching, lifting and the like, and the completion of the actions can be completed only by driving the rotating and translating assembly 130 through the driving assembly 120, and it is not necessary to adopt various transmission structures to complete single actions respectively to realize the actions. Adopt the transmission assembly 100 that this application embodiment provided, when being applied to the arm, can promote driven integrated level, be favorable to realizing the miniaturization of arm, and then promote the suitability when using.

As shown in fig. 1 and 2, the rotation and translation assembly 130 further includes a transmission shaft 134 and a lead screw 135 rotatably connected to the support arm 110, the driving assembly 120 is respectively in transmission connection with the transmission shaft 134 and the lead screw 135, the lead screw 135 is located in the sleeve 131, the lead screw 135 is in transmission connection with the first connecting assembly 132 through a nut 1351, and the transmission shaft 134 is in transmission connection with the second connecting assembly 133.

Specifically, the transmission shaft 134 and the lead screw 135 are respectively rotatably connected to the support arm 110, and when the driving assembly 120 is respectively rotatably connected to the transmission shaft 134 and the lead screw 135, the transmission shaft 134 or the lead screw 135 is driven to rotate, and the transmission shaft 134 and the lead screw 135 can also be driven to rotate at the same time. When the transmission shaft 134 rotates, the second connecting assembly 133 is driven to rotate around the sleeve 131 by the transmission shaft 134, and when the lead screw 135 rotates, the first connecting assembly 132 is driven to slide along the sleeve 131 by the nut 1351. Since the first connecting assembly 132 and the second connecting assembly 133 are connected to the acting member, respectively, when the second connecting assembly 133 rotates around the sleeve 131, the second connecting assembly 133 rotates around the sleeve 131 synchronously by the acting member, so as to adjust the posture of the acting member.

As shown in fig. 3 and 4, the driving assembly 120 includes a first motor 121 and a second motor 122 disposed on the support arm 110, an output end of the first motor 121 is provided with a first synchronizing wheel 123, and an output end of the second motor 122 is provided with a second synchronizing wheel 124; the end of the transmission shaft 134 close to the support arm 110 is provided with a first idle wheel 1342, the end of the lead screw 135 close to the support arm 110 is provided with a second idle wheel 1352, the first synchronous wheel 123 is connected with the first idle wheel 1342 through a first synchronous belt 125, and the second synchronous wheel 124 is connected with the second idle wheel 1352 through a second synchronous belt 126.

Specifically, adopt above-mentioned form, the accessible first motor 121 drives transmission shaft 134 and rotates to drive lead screw 135 through second motor 122 and rotate, first motor 121 and second motor 122 can select to start simultaneously as required, or only one of them starts, so, just can drive second coupling assembling 133 through transmission shaft 134 and rotate, and drive first coupling assembling 132 through lead screw 135 and slide along sleeve 131, make transmission structure compacter, promote space utilization.

As shown in fig. 4, the driving assembly 120 further includes a connecting shaft 127, the connecting shaft 127 is rotatably connected to the supporting arm 110, the connecting shaft 127 is connected to the second motor 122, the second synchronizing wheel 124 is disposed on the connecting shaft 127, so that the first synchronizing wheel 123 and the second synchronizing wheel 124 are disposed on the rotating center line in a staggered manner, and the connecting shaft 127 is disposed through an annular space in the first synchronizing belt 125.

Illustratively, both ends of the connecting shaft 127 are respectively rotatably connected with the supporting arms 110 to play a role of stably supporting the connecting shaft 127 and preventing the connecting shaft 127 from deforming under stress, and the connecting shaft 127 is connected with the second motor 122 for providing required power for the rotation of the connecting shaft 127. The second synchronizing wheel 124 is provided on the connecting shaft 127 such that the first synchronizing wheel 123 and the second synchronizing wheel 124 are disposed to be staggered on the rotation center line (i.e., the distance between the first synchronizing wheel 123 and the first motor 121 is different from the distance between the second synchronizing wheel 124 and the second motor 122). In addition, when the first synchronizing wheel 123 is connected with the first idle wheel 1342 through the first synchronizing belt 125 and the second synchronizing wheel 124 is connected with the second idle wheel 1352 through the second synchronizing belt 126, the connecting shaft 127 penetrates through an annular space in the first synchronizing belt 125, so that the arrangement among the driving assemblies 120 is more compact, the space utilization rate is improved, and the transmission among the driving assemblies is more compact.

As shown in fig. 4 and 5, the driving assembly 120 further includes a fixing base 128, the first motor 121 and the second motor 122 are connected to the supporting arm 110 through the fixing base 128, the fixing base 128 and the supporting arm 110 are in a hollow structure, the first synchronizing wheel 123 is located in the fixing base 128, the second synchronizing wheel 124 is located in the supporting arm 110, a tensioning assembly 129 is further disposed in the supporting arm 110, and the tensioning assembly 129 is used for abutting against the second synchronizing wheel 126.

Specifically, the fixing base 128 not only plays a role of supporting and fixing, but also provides a required accommodating space for transmission of the first motor 121 and the second motor 122, so as to facilitate connection between the first motor 121 and the first synchronous pulley 123, and connection between the second motor 122 and the connecting shaft 127. In this way, the first synchronizing wheel 123 is located in the fixing base 128, and the second synchronizing wheel 124 is located in the supporting arm 110, so as to fully utilize the occupied space of the fixing base 128 and the supporting arm 110, and provide a required space for the power transmission of the driving assembly 120 while ensuring that the supporting arm 110 and the fixing base 128 play a role in stable support. In addition, a tensioning assembly 129 is further arranged in the supporting arm 110, and the tensioning assembly 129 is used for abutting against the second synchronous belt 126 so as to ensure the tension degree of the second synchronous belt 126, which is beneficial to improving the connection stability.

For example, the tension assembly 129 may be fixedly connected to the support arm 110 by a support frame disposed in the support arm 110, and may abut against one side of the second timing belt 126 by a pulley disposed on the support frame. Thus, the second synchronous belt 126 is tensioned, friction between the tensioning assembly 129 and the second synchronous belt 126 is reduced, and transmission stability and service life of the second synchronous belt 126 are improved.

As shown in fig. 6, the transmission assembly 100 further includes a positioning assembly 140, the positioning assembly 140 includes a mounting seat 141 and a first bearing seat 143, the mounting seat 141 is connected to the support arm 110, the first bearing seat 143 is connected to the mounting seat 141, one end of the lead screw 135 close to the support arm 110 is rotatably connected to the first bearing seat 143 through a first rolling bearing 145, and the mounting seat 141 is connected to one end of the sleeve 131; the rotational-translational assembly 130 further includes a first positioning seat 136, the first positioning seat 136 is connected to the mounting seat 141, and the transmission shaft 134 is rotatably connected to the first positioning seat 136.

Specifically, the sleeve 131 is connected with the support arm 110 through the mounting seat 141 of the positioning assembly 140, when the sleeve 131 is connected with the mounting seat 141, threads can be arranged at the corresponding connection position of the sleeve 131 and the mounting seat 141, so that the sleeve 131 and the mounting seat 141 are in threaded connection, a fastening piece can be arranged on the mounting seat 141 for ensuring the connection stability, so that the sleeve 131 can be stably abutted against the sleeve 131, the connection stability can be improved, and the sleeve 131 and the support arm 110 can be stably connected. In addition, the first bearing seat 143 is arranged on the mounting seat 141, so that the lead screw 135 is rotatably connected with the first bearing seat 143 through the first rolling bearing 145, and when the second motor 122 drives the lead screw 135 to rotate through the second idle gear 1352 arranged on the lead screw 135, the rotation of the lead screw 135 is more stable, which is beneficial to improving the stability of transmission.

Similarly, first locating seat 136 and mount pad 141 fixed connection, and transmission shaft 134 and first locating seat 136 rotate and be connected, when first motor 121 drives transmission shaft 134 to rotate through setting up the first idler 1342 on transmission shaft 134, make the rotation of transmission shaft 134 more steady, are favorable to promoting driven stability.

As shown in fig. 7, the first connecting assembly 132 includes a sliding sleeve 1321 and a first connecting seat rotatably connected to the sliding sleeve 1321, the sleeve 131 is provided with a sliding groove 1312 along an extending direction of the sleeve 131, the sliding sleeve 1321 is connected to a nut 1351 through a connecting member 1323 penetrating the sliding groove 1312, the connecting member 1323 is provided with a guide bearing 1325, the guide bearing 1325 is matched with the sliding groove 1312, and the first connecting seat is used for connecting with the acting member.

For example, the first connection seat may be provided with a connection hole so that the acting element is directly connected to the connection hole, or the acting element is connected to the connection hole through a link to control the posture of the acting element. The sliding sleeve 1321 and the first connecting seat can be connected by a bearing, so that when the second connecting component 133 rotates, the first connecting seat can be driven by the acting element to rotate synchronously without affecting the sliding of the sliding sleeve 1321.

Through the sliding groove 1312 arranged in the extending direction of the sleeve 131, when the screw 135 rotates, because the sliding sleeve 1321 is connected with the nut 1351 through the connecting piece 1323 penetrating through the sliding groove 1312, the nut 1351 cannot rotate synchronously with the screw 135, and when the screw 135 rotates relative to the nut 1351, the nut 1351 and the screw 135 move axially, so that the sliding sleeve 1321 is driven by the nut 1351 to slide along the sleeve 131. Through the cooperation of the bearing arranged on the connecting member 1323 and the sliding groove 1312, when the sliding sleeve 1321 slides along the sleeve 131, the friction force during sliding can be reduced, so that the sliding process is smoother, and the noise generated during the sliding process can be reduced.

As shown in fig. 8, a connecting flange 1314 is disposed on the sleeve 131, the second connecting assembly 133 includes a bearing flange 1331, a gear disc 1333, a second bearing seat 1335 and a second connecting seat 1337, one end of the lead screw 135 away from the supporting arm 110 is rotatably connected to the second bearing seat 1335 through a second rolling bearing 1339, the second bearing seat 1335 is connected to the connecting flange 1314, an outer ring of the bearing flange 1331 is connected to the connecting flange 1314, an inner ring of the bearing flange 1331 is connected to the gear disc 1333, and the second connecting seat 1337 is connected to the gear disc 1333; the rotational translation assembly 130 further includes a second positioning seat 137, the second positioning seat 137 is connected to the connecting flange 1314, the transmission shaft 134 is rotatably connected to the second positioning seat 137, a transmission gear 1344 is further disposed on the transmission shaft 134, and the transmission gear 1344 is engaged with the gear plate 1333.

Specifically, the sleeve 131 and the connecting flange 1314 may be fixedly connected by a fastener, or may be connected by welding, as long as the connection stability can be ensured, which is not particularly limited in the embodiments of the present application. The lead screw 135 is connected with the second bearing seat 1335 through the second rolling bearing 1339, and the second bearing seat 1335 is connected with the connecting flange 1314, so, make the both ends of lead screw 135 rotate respectively with between the sleeve 131 and be connected, can play stable supporting role to lead screw 135, be favorable to guaranteeing the stability when lead screw 135 transmits moment, avoid lead screw 135 atress to buckle, be favorable to guaranteeing driven reliability and stability.

In addition, the outer ring of the bearing flange 1331 is connected with the connecting flange 1314, the inner ring of the bearing flange 1331 is connected with the gear disc 1333, and the gear disc 1333 and the sleeve 131 can rotate relatively while the connection between the gear disc 1333 and the sleeve 131 is ensured, so that when the transmission shaft 134 transmits force to the gear disc 1333 through the transmission gear 1344, the gear disc 1333 can drive the second connecting seat 1337 connected with the gear disc 1333 to rotate synchronously. Wherein, second positioning seat 137 and connection flange 1314 fixed connection, and transmission shaft 134 rotates with second positioning seat 137 and is connected, and when first motor 121 drove transmission shaft 134 through setting up the first idler 1342 on transmission shaft 134 and rotates, make the both ends of transmission shaft 134 have stable support to make the rotation of transmission shaft 134 more steady, be favorable to promoting driven stability.

As shown in fig. 3, a bracket 138 is disposed between the first positioning seat 136 and the second positioning seat 137, a position sensor 1382 electrically connected to the controller is disposed on the bracket 138 at an interval, and the position sensor 1382 is used for sensing a limit position of the first connecting assembly 132 sliding along the sleeve 131.

Specifically, when the sliding position of the first connection component 132 along the sleeve 131 corresponds to the position sensor 1382, in order to ensure the safety during use, the controller controls the second motor 122 to stop working according to the position information, so as to prevent the sliding position of the first connection component 132 from exceeding the stroke. Similarly, the second positioning seat 137 or the connecting flange 1314 may also be provided with a position sensor 1382, such as a proximity switch, and the gear disc 1333 may be correspondingly provided with a boss, and when the boss on the gear disc 1333 corresponds to the proximity switch, the controller controls the first motor 121 to stop working, so as to prevent the gear disc 1333 from rotating beyond a stroke, and thus, the stability and safety of the transmission assembly 100 during operation are improved.

The embodiment of the application also discloses an end effector, which comprises the transmission assembly 100 in the previous embodiment, and an acting element connected with the transmission assembly 100. For example, the acting element may be a brush, a light source, a drill, a robot, or the like, which is not particularly limited in the embodiments of the present application. The end effector incorporates the same structure and benefits as the drive assembly 100 of the previous embodiment. The structure and advantages of the transmission assembly 100 have been described in detail in the foregoing embodiments, and are not repeated herein.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. The utility model provides a transmission assembly, its characterized in that, includes the support arm, and sets up drive assembly on the support arm, still be provided with on the support arm respectively with the rotatory translation subassembly that drive assembly connects, rotatory translation subassembly is including setting up sleeve on the support arm, and set up respectively first coupling assembling and second coupling assembling on the sleeve, first coupling assembling with second coupling assembling is used for connecting with the effect, wherein, first coupling assembling with second coupling assembling can wind the sleeve rotates, just first coupling assembling can follow the sleeve slides, second coupling assembling is located outside first coupling assembling sliding range.

2. The transmission assembly according to claim 1, wherein the rotational-translational assembly further includes a transmission shaft and a lead screw rotatably connected to the support arm, the driving assembly is respectively connected to the transmission shaft and the lead screw, the lead screw is located in the sleeve, the lead screw is connected to the first connection assembly through a nut, and the transmission shaft is connected to the second connection assembly through a transmission.

3. The transmission assembly according to claim 2, wherein the driving assembly comprises a first motor and a second motor arranged on the supporting arm, wherein an output end of the first motor is provided with a first synchronizing wheel, and an output end of the second motor is provided with a second synchronizing wheel; the transmission shaft is close to the one end of support arm is provided with first idler, the lead screw is close to the one end of support arm is provided with the second idler, first synchronizing wheel through first hold-in range with first idler is connected, the second synchronizing wheel through the second hold-in range with the second idler is connected.

4. The transmission assembly according to claim 3, wherein the driving assembly further includes a connecting shaft, the connecting shaft is rotatably connected to the supporting arm, the connecting shaft is connected to the second motor, the second synchronizing wheel is disposed on the connecting shaft, so that the first synchronizing wheel and the second synchronizing wheel are disposed on a rotation center line in a staggered manner, and the connecting shaft is disposed through an annular space in the first synchronizing belt.

5. The transmission assembly according to claim 3 or 4, wherein the driving assembly further comprises a fixing seat, the first motor and the second motor are connected with the supporting arm through the fixing seat, the fixing seat and the supporting arm are of a cavity structure, the first synchronizing wheel is located in the fixing seat, the second synchronizing wheel is located in the supporting arm, and a tensioning assembly is further arranged in the supporting arm and used for abutting against the second synchronizing wheel.

6. The transmission assembly according to any one of claims 2 to 4, further comprising a positioning assembly, wherein the positioning assembly comprises a mounting seat and a first bearing seat, the mounting seat is connected with the supporting arm, the first bearing seat is connected with the mounting seat, one end of the screw rod close to the supporting arm is rotatably connected with the first bearing seat through a first rolling bearing, and the mounting seat is connected with one end of the sleeve;

the rotary translation assembly further comprises a first positioning seat, the first positioning seat is connected with the mounting seat, and the transmission shaft is rotatably connected with the first positioning seat.

7. The transmission assembly according to claim 6, wherein the first connecting assembly includes a sliding sleeve and a first connecting seat rotatably connected to the sliding sleeve, the sliding sleeve is provided with a sliding slot along an extending direction of the sliding sleeve, the sliding sleeve is connected to the nut through a connecting member inserted into the sliding slot, the connecting member is provided with a guide bearing, the guide bearing is engaged with the sliding slot, and the first connecting seat is configured to be connected to the acting member.

8. The transmission assembly according to claim 6, wherein a connecting flange is arranged on the sleeve, the second connecting assembly comprises a bearing flange, a gear disc, a second bearing seat and a second connecting seat, one end of the lead screw, which is far away from the supporting arm, is rotatably connected with the second bearing seat through a second rolling bearing, the second bearing seat is connected with the connecting flange, an outer ring of the bearing flange is connected with the connecting flange, an inner ring of the bearing flange is connected with the gear disc, and the second connecting seat is connected with the gear disc;

the rotary translation assembly further comprises a second positioning seat, the second positioning seat is connected with the connecting flange, the transmission shaft is rotatably connected with the second positioning seat, and a transmission gear is further arranged on the transmission shaft and meshed with the gear disc.

9. The transmission assembly according to claim 8, wherein a bracket is disposed between the first positioning seat and the second positioning seat, and a position sensor electrically connected to the controller is spaced from the bracket and is configured to sense an extreme position of the first connecting assembly sliding along the sleeve.

10. An end effector comprising a transmission assembly according to any one of claims 1 to 9, and an acting element connected to the transmission assembly.

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