CN211565921U

CN211565921U - Power transmission device and robot end execution device

Info

Publication number: CN211565921U
Application number: CN201921284376.4U
Authority: CN
Inventors: 包磊
Original assignee: Zixun Intelligent Technology Beijing Co ltd
Current assignee: Zixun Intelligent Technology Beijing Co ltd
Priority date: 2019-08-09
Filing date: 2019-08-09
Publication date: 2020-09-25
Anticipated expiration: 2029-08-09

Abstract

The utility model discloses a power transmission device, including base, the power device who provides power, transmission and stroke device, power device installs in the base and connects transmission, and transmission connects stroke device and carries out power take off. Further, will the utility model discloses a power transmission is applied to the robot and becomes the terminal final actuating device of robot, is convenient for control the terminal final actuating device's of robot action execution operation through the signal output of robot. The utility model discloses a transmission, stroke device and convert the circular motion of power source device output into rectilinear motion, and the utility model discloses a transmission and forming device's simple structure, the manufacturing and use of being convenient for has reduceed the cost, is favorable to promoting greatly and uses.

Description

Power transmission device and robot end execution device

Technical Field

The utility model relates to a power transmission especially relates to a power transmission and terminal final actuating device of robot that transmission power and realization terminal power take off carried out.

Background

The robot end executing device is used for the robot to execute actions and relates to the flexibility and the operation convenience of robot output actions. The robot tail end executing device in the prior art adopts a spiral wheel structure to realize the controllability of the output action of the robot. However, the complicated structure of the helical wheel is costly under the condition that precise control is satisfied.

Therefore, if a simple and low-cost power transmission device for the robot end executing device is provided, the robot end executing device is more beneficial to manufacturing and realizing wide application of the robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a power transmission device, the structure is simple and easy, reduce cost.

In order to solve the technical problem, the utility model provides a power transmission device, including base, the power device, transmission and the stroke device that provide power, power device installs in the base and connects transmission, and transmission connects stroke device and carries out power take off.

The power transmission device comprises a first transmission device and a second transmission device, wherein the first transmission device is connected with the power device, the second transmission device is connected with the first transmission device, and the second transmission device is connected with the stroke device to perform power output.

The power transmission device as described above, the first transmission device includes a first connecting rod and a second connecting rod, the second transmission device includes a first sliding device and a second sliding device, the first end of the first connecting rod is connected to the power device, the second end of the first connecting rod is connected to the first sliding device, the first end of the second connecting rod is connected to the power device, the second end of the second connecting rod is connected to the second sliding device, and the first sliding device and the second sliding device are respectively connected to the stroke device.

The power transmission device comprises a power transmission shaft sleeve and a power source device, and the first connecting rod and the second connecting rod are respectively connected with the power transmission shaft sleeve.

The power transmission device comprises a power transmission shaft sleeve, a first connecting rod and a second connecting rod, wherein the power transmission shaft sleeve comprises a first shaft sleeve hole and a second shaft sleeve hole, the first connecting rod is connected with the power transmission shaft sleeve through the first shaft sleeve hole, and the second connecting rod is connected with the power transmission shaft sleeve through the second shaft sleeve hole.

In the power transmission device, the first sliding device includes a first slider, the second sliding device includes a second slider, and the first slider and the second slider are respectively mounted on the stroke device and slide relative to the stroke device.

In the power transmission device, the stroke device is a slide rail, and the first slider and the second slider slide relative to the slide rail.

The power transmission device further comprises a limiting device used for limiting the movement position of the transmission device.

According to the power transmission device, the limiting device comprises the first limiting device and the second limiting device, the second limiting device is the limiting column, the first limiting device is the limiting sensor, and the sensor senses the movement position of the transmission device and feeds back a signal, so that the limitation of the transmission device is realized.

The utility model discloses still further provide an end effector of robot, including power transmission and end effector, transmission includes base, the power device, transmission and the stroke device that provide power, and power device installs in the base and connects transmission, end effector install in transmission, transmission connect stroke device execution power output extremely end effector carries out the action.

The robot end effector as described above, the transmission device includes a first transmission device and a second transmission device, the end effector includes a first end effector and a second end effector, the first transmission device is connected to the power device and the first end effector respectively, the second transmission device is connected to the power device and the second end effector respectively, and the first and second transmission devices receive power of the power device and transmit the power to the first and second end effectors to perform operations.

In the robot end effector as described above, the stroke device is a slide rail, and the first transmission device and the second transmission device slide relative to the slide rail and drive the first end effector and the second end effector to slide.

As described above, the utility model discloses a power transmission device structure is simply convenient for make processing, has reduced manufacturing cost, provides nimble convenient power transmission output mode, satisfies power transmission output's demand. The utility model discloses terminal final actuating device of robot based on power transmission has realized the nimble control of the terminal execution action output of robot, has reduced terminal final actuating device of robot's cost, and the terminal final actuating device's of robot power take off's of being convenient for operation control, the wide application and the popularization of also being convenient for.

Drawings

Fig. 1 is a schematic diagram of a state 1 structure of the power transmission device of the present invention.

Fig. 2 is a schematic diagram of a 2 nd state structure of the power transmission device of the present invention.

Fig. 3 is a plan view of the 2 nd state of the power transmission device of the present invention.

Fig. 4 is a 3 rd state structural diagram of the power transmission device of the present invention.

Fig. 5 is a plan view of the power transmission device of the present invention in state 1.

Fig. 6 is a sectional view taken along line a-a of fig. 5.

Fig. 7 is a schematic diagram of the 1 st state structure of the robot end effector of the present invention.

Fig. 8 is a schematic diagram of a 2 nd state structure of the robot end effector of the present invention.

Detailed Description

To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined purpose, the following detailed description will be given to the specific embodiments, structural features and effects of the power transmission device and the robot end effector of the present invention with reference to the accompanying drawings and embodiments.

The utility model discloses a power transmission gives the equipment that needs power control with power transmission, realizes the control to the motion route and the motion mode of equipment. The utility model discloses a power transmission device adopts simple structure's structure to realize the transmission of power and control and need realize the terminal equipment of motion control, is convenient for make, and is with low costs. The utility model discloses a power transmission can be as required with the control mode of power according to the power of difference and realize the transmission of power.

As shown in fig. 1, the power transmission device of the present invention includes a base 1 for mounting and fixing, a power device fixed to the base, a transmission device, and a stroke device for realizing an output trajectory of power transmission. The base 1 is a square pedestal, the power device is arranged in the middle of the base 1 and comprises a power source device 9 for providing power output and a power source shaft sleeve 2 for providing power output connection, the power source device 9 is arranged below the base 1 and can adopt modes such as a stepping motor, a servo motor, a direct current motor or an air cylinder.

The power source shaft sleeve 2 is arranged on an output shaft of an output end of the power source device 9 and comprises a first shaft sleeve and a second shaft sleeve, two sides of the first shaft sleeve and two sides of the second shaft sleeve extend out oppositely, and a transmission shaft 8 of the power source device 9 penetrates through the base 1 and is arranged with the power source shaft sleeve 2 to output power.

The transmission device comprises a first transmission device and a second transmission device, the first transmission device is connected with the power source shaft sleeve and used for transmitting power to the second transmission device, and the second transmission device is respectively connected with the first transmission device and the stroke device, so that the power of the first transmission device is output in a transmission mode according to the track of the stroke device.

The first transmission comprises a first link 3 and a second link 4, and the second transmission comprises a first slide 5 and a second slide 6. The first end 32 of the first link 3 is connected to the first boss of the power source boss 2 through a shaft hole structure, and the second end 31 is connected to the first sliding device 5 through a shaft hole structure. The first end 41 of the second link 4 is connected with the second shaft sleeve of the power source shaft sleeve 2 through a shaft hole structure, and the second end 42 is connected with the second sliding device 6 through a shaft hole structure.

The first sliding device 5 includes a first sliding portion 51 and a first connecting portion 52, the first sliding portion 51 and the stroke device 7 cooperate to realize the motion track of the power transmission output, and the first sliding portion 51 may be two independent first upper sliding blocks 51 and first lower sliding blocks 12, or may be a sliding block with an integral structure. In this embodiment, first sliding portion 51 is formed by fixedly connecting first upper and lower sliding

blocks

51, 12 through a screw hole, first lower sliding block 12 may be formed by an industry standard sliding module, so as to reduce manufacturing and using costs, and lower end surface of first lower sliding block 12 is engaged with stroke device 7.

The utility model discloses a stroke device 7 adopts the linear guide of straight-line stroke orbit, and the lower terminal surface of first lower slider 12 sets up the spill straight line groove for cooperating the structure of stroke device 7, and first lower slider 12 slides on forming device through the spill straight line groove.

The second sliding device 6 comprises a second sliding part and a second connecting part 62, because the stroke distance of the second connecting rod 4 and the second sliding device 6 in the maximum stroke state is short, the length of the second connecting part 62 can also realize the connection of the second connecting rod 4 and the second connecting rod and conduct the power required by the stroke, and the second sliding part is matched with the stroke device 7 to realize the power transmission and convert the power transmission into the linear sliding output according to the linear guide rail structure of the forming device 7. The second sliding part can be composed of two independent sliding blocks of the second upper sliding block and the second lower sliding block, and can also be a sliding structure of an integral structure. In this embodiment, the second sliding portion adopts the structure of the second upper and lower

sliding blocks

61 and 13 and is fixedly connected into a whole by way of the shaft hole, the second lower sliding block 13 is made of the existing standard sliding block, so as to reduce the cost, and the lower end surface of the second sliding block 13 is provided with a linear groove matched with the shape of the guide rail of the stroke device 7, so that the second lower sliding block 13 can convert the power output transmission of the power device into linear sliding force output.

The utility model discloses a power transmission passes through the first connecting rod 3 of connecting power device, second connecting rod 4, connect the first slider 5 of first connecting rod 3, connect the second slider 6 of second connecting rod 4, power output along with power device's power supply unit passes through transmission shaft 8 drives power supply axle sleeve 2 motion, and then drive first connecting rod 3 and second connecting rod 4 and move along with the rotation of transmission shaft 8, the motion of first connecting rod 3 and second connecting rod 4 drives the motion of first slider 5 and second slider 6 respectively, because the motion of first slider 5 and second slider receives the guide rail restriction of stroke device 7, thereby make first,

second slider

5, 6's motion can only be linear motion according to the straight line orbit of 7 that forms the device.

The utility model discloses a power transmission still includes the stop device who is used for restricting the motion position of first,

second slider

5, 6. The limiting device comprises a second limiting device 11 and a first limiting device 10, in a specific embodiment, the second limiting device 11 is installed on the base 1 and located at a position close to the power source shaft sleeve 2 and limits the power source shaft sleeve 2 to move along with the transmission shaft 8, and a mechanical limiting column is adopted. The second limiting means comprises a sensor and a limiting wheel 101, the limiting wheel 101 being located adjacent to the second slide means 6 and upon contact with the second slide means 6 initiating the sensor signal from the sensor and transmitting a signal via

signal conducting wires

102a, 102b, 102c further controlling the movement of the power source means 9, thereby limiting the position of further movement of the second slide means 6. In the embodiment, in order to protect and avoid the first sliding device 5 and the second sliding device 6 from being collided when moving to the minimum stroke, and the use is influenced, a flexible limiting block 53 is arranged at the side of the first sliding device 5 opposite to the second sliding device 6.

For a clear description of the structure of the power transmission device and the principle of the power transmission process of the present invention, the following description is made similarly.

Fig. 2 and 3 are diagrams showing the power transmission device according to the present invention in a state where the power transmission device is moved to a distance of a minimum stroke. In this state, the power source device 9 drives the first connecting rod 3 and the second connecting rod 4 to move through the power of the rotation and rotation transmission of the transmission shaft 8, the first sliding device 5 and the second sliding device 6 are respectively driven by the first connecting rod 3 and the second connecting rod 4 which are connected to move along the guide rail of the stroke device 7 in a linear sliding manner, the first sliding device 5 and the second sliding device 6 move in opposite directions, and finally move to the minimum distance and cannot approach to each other, and the limit block 53 further prevents the first sliding device 5 and the second sliding device 6 from colliding due to too close to each other when moving to the minimum distance. In the case where the first stopper 10 does not sense the pressure contact signal of the second sliding device 6, the stopper motion for the second sliding device 6 is not triggered.

As shown in fig. 4, on the basis of the minimum stroke of fig. 2, the utility model discloses a power transmission's power source device 9 passes through transmission shaft 8 output power, and transmission shaft 8 rotates the motion that drives first connecting rod 3, second connecting rod 4 and transmits power to first slider 5, second slider 6 respectively. The first sliding device 5 and the second sliding device 6 are acted by the transmission forces of the first connecting rod 3 and the second connecting rod 4 in opposite directions, and slide along the linear guide rail of the stroke device 7 and move away from each other, so that the first sliding device 5 and the second sliding device 6 are driven by the first connecting rod 3 and the second connecting rod 4 to separate away from each other along the guide rail of the stroke device 7.

Referring to fig. 1 and 5 again, on the basis of fig. 4, the first sliding device 5 and the second sliding device 6 continue to slide along the guide rail of the stroke device 7 and continue to move away from each other until the maximum stroke distance is reached on the guide rail of the stroke device 7 between the first sliding device 5 and the second sliding device 6 under the influence of the arm lengths of the first connecting rod 3 and the second connecting rod 4. At this moment, second slider 6 contacts spacing round 101, and spacing round 101 senses signal processing back that signal passes through

signal conduction line

102a, 102b, 102c conduction and then controls power supply unit 9 and applys static spacing power for second connecting rod 4 keeps current gesture and can not further deviate from first connecting rod 3 motion, from this, also makes the distance of the slip stroke between first slider 5, the second slider 6 reach the maximum motion stroke position of power transmission.

As shown in fig. 6, it can be further seen that the transmission shaft 8 of the power source device drives the first and second connecting

rods

3 and 4 to move through the power source shaft sleeve 2, so that the sliding block 51 of the first sliding device and the sliding block 61 of the second sliding device both reach the maximum stroke and cannot move away from each other, and at this time, the distance between the first connecting rod 3 and the second connecting rod 4 also reaches the maximum back-moving stroke. To this end, from the state of the minimum stroke of the first sliding device 5 and the second sliding device 6 in fig. 2 to the maximum stroke of fig. 1 and 5, a complete stroke of the power transmission device of the present invention is completed, and in the state of fig. 1 and 5 of the maximum stroke, the transmission shaft 8 rotates in the opposite direction, and then drives the first connecting rod and the second connecting

rod

3 and 4 to move in opposite directions, so as to drive the first sliding device and the second sliding

device

5 and 6 to also do linear opposite movements along the guide rail of the stroke device 7 until reaching the minimum stroke position in fig. 2.

According to the above, the utility model discloses a power transmission passes through the first, second connecting

rod

3, 4 of connecting power source axle sleeve 2 to and first slider 5, second slider 6 cooperate the guide rail of stroke device 7 respectively, realized passing through the circular motion of source power device's transmission shaft 8 the utility model discloses a power transmission converts the straight line orbit motion into to can realize linear motion's power and carry out output.

As shown in fig. 7, the power transmission device of the present invention is applied to the end effector of the robot, and becomes a specific embodiment of the end effector of the robot of the present invention. In this embodiment, the utility model discloses a power transmission's first slider 5, second slider 6 installation end effector realize driving end effector's straight s linear movement track with first slider 5, second slider 6's linear motion. Specifically, in the present embodiment, the first jaw 15 is fixedly attached to the first upper slider 51 of the first slide, and the second jaw 16 is fixedly attached to the second upper slider 61 of the second slide.

Fig. 7 shows a minimum stroke closed state of the robot end effector of the present invention, in which the first jaw 15 and the second jaw 16 are in a closed state. The first jaw end 151 of the first jaw 15 is connected and fixed to the first upper slide block 51, the first jaw end 161 of the second jaw is connected and fixed to the second upper slide block 61, and the second jaw end 152 of the first jaw 15 and the second jaw end 162 of the second jaw 16 are closed to a minimum stroke along with the movement of the first sliding device 5 and the second sliding device 6 to form a circular jaw space, which can be used for clamping a circular object.

Fig. 8 shows the maximum stroke of the robot end effector of the present invention in an open state, in which the first jaw 15 and the second jaw 16 are open to the maximum distance. If in fig. 7 a circular object is clamped between the first jaw 15 and the second jaw 16, in fig. 8 the first jaw 15 and the second jaw 16 are opened so that the clamped circular object is released.

The above-described structure and principle of the power transmission device of the present invention can be implemented by changing the shape of the first connecting rod 3 and the second connecting rod 4, for example, by changing the stroke device 7 into an arc-shaped sliding track, and then when the power transmission device of the present invention is in motion, the first connecting rod, the second connecting

rod

3 and 4 drive the first sliding device 5 and the second sliding device 6 to move along the arc-shaped sliding track of the stroke device 7 in an arc-shaped curve. For another example, those skilled in the art can also apply the power transmission device of the present invention to other fields, and convert the first clamping jaw 15 and the second clamping jaw 16 into the first clamping jaw and the second clamping jaw in rectangular strip shape, so that when the first clamping jaw and the second clamping jaw move, the first clamping jaw and the second clamping jaw can push two different objects to gather together and push to the middle position. Of course, those skilled in the art can adapt the requirements of various situations according to the implementation of the present invention or equivalent changes.

To sum up, the utility model discloses a principle and the structure of power transmission device have been clearly described to foretell embodiment, have also further explained will the utility model discloses a power transmission device is applied to terminal final actuating device's of robot structure and principle, converts the circular motion of power source device output into non-circular motion through transmission, stroke device, and the utility model discloses a simple structure of transmission and stroke device, the manufacturing use of being convenient for has reduceed the cost, is favorable to promoting greatly and using.

It is obvious to those skilled in the art that the above-mentioned written description and the examples of the drawings and figures of the present invention are not intended to limit the scope of the claims of the present invention, and that the objects and principles of the present invention can be realized by means of the familiar technical means such as transformation, equivalence, replacement, etc. all within the scope of the present invention.

Claims

1. The utility model provides a power transmission device, its characterized in that includes the base, provides power, transmission and the stroke device of power, and power device installs in the base and connects transmission, and transmission connects the stroke device and carries out power take off, transmission includes first transmission and second transmission, first transmission connects power device, and first transmission is connected to the second transmission, and the second transmission is connected the stroke device carries out power take off.

2. The power transmission device of claim 1, wherein the first transmission device comprises a first link and a second link, the second transmission device comprises a first sliding device and a second sliding device, a first end of the first link is connected with the power device, a second end of the first link is connected with the first sliding device, a first end of the second link is connected with the power device, a second end of the second link is connected with the second sliding device, and the first sliding device and the second sliding device are respectively connected with the stroke device.

3. The power transmission device of claim 2, wherein the power device includes a power hub and a power source device, and the first and second links are connected to the power hub, respectively.

4. The power transmission device of claim 3, wherein the power transmitting sleeve includes a first sleeve aperture and a second sleeve aperture, the first link rod being coupled to the power transmitting sleeve through the first sleeve aperture, and the second link rod being coupled to the power transmitting sleeve through the second sleeve aperture.

5. The power transmission device of claim 4, wherein the first sliding means comprises a first slider and the second sliding means comprises a second slider, and the first slider and the second slider are respectively mounted to and slide relative to the stroke means.

6. The power transmission device of claim 5, wherein the stroke device is a slide rail, and the first and second slides slide relative to the slide rail.

7. The power transmission device as claimed in any one of claims 1 to 5, further comprising a limiting means for limiting the position of movement of the transmission device.

8. The power transmission device according to claim 7, wherein the limiting device comprises a first limiting device and a second limiting device, the second limiting device is a limiting column, the first limiting device is a limiting sensor, and the sensor senses the movement position of the transmission device and feeds back a signal, so that the limiting of the transmission device is realized.

9. The robot end executing device is characterized by comprising a power transmission device and an end effector, wherein the power transmission device comprises a base, a power device for providing power, a transmission device and a stroke device, the power device is installed on the base and connected with the transmission device, the end effector is installed on the transmission device, the transmission device is connected with the stroke device to execute power output to the end effector to execute actions, the transmission device comprises a first transmission device and a second transmission device, the first transmission device is connected with the power device, the second transmission device is connected with the first transmission device, and the second transmission device is connected with the stroke device to execute power output.

10. The robotic end effector as claimed in claim 9, wherein the end effector includes a first end effector and a second end effector, the first transmission is coupled to the power unit and the first end effector, the second transmission is coupled to the power unit and the second end effector, and the first and second transmissions receive power from the power unit and transmit the power to the first and second end effectors for performing the operation.

11. The robotic end effector as claimed in claim 10, wherein the stroke device is a slide rail, and the first and second actuators slide relative to the slide rail and slide the first and second end effectors.