CN219170911U - Robot end driver and robot - Google Patents

Abstract

The application relates to the technical field of robots, in particular to a robot end driver and a robot. The robot end driver comprises a ball screw, a screw nut, a ball spline shaft, a spline nut, a connecting piece, an auxiliary mounting piece, a screw driving mechanism and a spline driving mechanism. The screw nut is used for being rotatably connected to the joint main body of the robot, the screw nut is connected to the ball screw through a thread pair, and the screw nut is used for driving the ball screw to move along the direction of the preset axis. The ball spline shaft is arranged at intervals with the ball screw, and is used for driving the executing end of the robot. The spline nut is sleeved outside the ball spline shaft and is connected with the ball spline shaft. The connecting piece is connected between the ball screw and the ball spline shaft. The screw rod driving mechanism is used for driving the screw rod nut to rotate. The spline driving mechanism is used for driving the spline nut to rotate. The robot tail end driver distributes the rotary motion and the linear motion to the ball spline shaft and the ball screw respectively, so that the bearing capacity is improved.

Description

Robot end driver and robot

Technical Field

The application relates to the technical field of robots, in particular to a robot end driver and a robot.

Background

The SCARA robot (assembly robot) is a cylindrical coordinate type industrial robot, has the characteristics of high working efficiency and reliable operation, and is widely applied to the assembly industry. In the field of automation and intelligent equipment, occasions where the main shaft can rotate around the axial direction and can move along the axial direction in a linear manner are frequently used.

The end shaft of the existing horizontal multi-joint robot adopts a compound ball screw spline, and a spline raceway and a screw raceway are compounded on the compound ball screw spline shaft, so that the bearing capacity of the shaft is reduced, and the robot is mostly used for light-load working conditions. The composite single-rod ball screw spline shaft cannot bear the application under the heavy load and high speed, and if a large-sized composite ball screw spline is selected, the composite single-rod ball screw spline shaft is more difficult to manufacture, so that the manufacturing cost is higher.

Disclosure of Invention

The application provides a robot end driver, and the application also provides a robot with the robot end driver.

In a first aspect, the present application provides a robotic end drive comprising a ball screw, a screw nut, a ball spline shaft, a spline nut, a connector, an auxiliary mount, a screw drive mechanism, and a spline drive mechanism. The screw nut is used for being rotatably connected to the joint main body of the robot, the screw nut is connected to the ball screw through a thread pair, and the screw nut is used for driving the ball screw to move along the direction of the preset axis. The ball spline shaft is arranged at intervals with the ball screw, and is used for driving the executing end of the robot. The spline nut is sleeved outside the ball spline shaft and is connected with the ball spline shaft. The connecting piece is connected between the ball screw and the ball spline shaft. The screw rod driving mechanism is connected to the screw rod nut in a transmission manner, and is used for driving the screw rod nut to rotate, and driving the ball screw rod to move along the direction of the preset axis when the screw rod nut rotates, and driving the ball spline shaft to move through the connecting piece when the ball screw rod moves. The spline driving mechanism is connected with the spline nut in a transmission way and used for driving the spline nut to rotate, and the spline nut drives the ball spline shaft to rotate when rotating.

In some alternative examples, the first shell comprises a main shell and an inner shell, the auxiliary mounting piece and the spline nut are arranged at intervals along the direction of a preset axis, the auxiliary mounting piece comprises a main body and auxiliary balls, the inner side wall of the main body is provided with a containing groove, the peripheral wall of the ball spline shaft is provided with a ball chute, and the main body is sleeved on the ball spline shaft so that the containing groove and the ball chute form a containing channel together; the ball is arranged in the accommodating channel.

In some alternative examples, the lead screw and the spline nuts are spaced apart along a direction of the predetermined axis.

In some alternative examples, the robotic end driver further includes a bearing that is sleeved outside the ball spline shaft and is connected between the ball spline shaft and the connector.

In some alternative examples, the number of the connecting pieces is two, the two connecting pieces are respectively located at two ends of the ball screw, two ends of the ball spline shaft are respectively connected to the two connecting pieces, and the spline nut is located between the two connecting pieces.

In a second aspect, an embodiment of the present application further provides a robot, including a joint body and the robot end driver described above, where the robot end driver is connected to the joint body.

In some alternative examples, the robot further comprises a base, the joint body comprises a first joint arm rotatably connected to the base and a second joint arm rotatably connected to the first joint arm, and the robot end driver is connected to the second joint arm.

In some alternative examples, the first articulated arm is rotatable relative to the base about a first axis of rotation, and the second articulated arm is rotatable relative to the first articulated arm about a second axis of rotation; the first rotation axis and the second rotation axis are parallel to each other.

In some alternative examples, the second articulated arm is provided with a mounting cavity, and the screw nut, the screw driving mechanism, the spline nut, the auxiliary mounting piece and the spline driving mechanism are all mounted in the mounting cavity; the screw rod driving mechanism comprises a screw rod driving piece and a first transmission assembly, the spline driving mechanism comprises a spline driving piece and a second transmission assembly, and the screw rod driving piece and the spline driving piece are arranged at one end, close to the first joint arm, of the mounting cavity.

In some optional examples, the robot further comprises a controller, the controller is arranged on the base, the screw rod driving mechanism further comprises a screw rod cable, the screw rod cable is arranged in the joint main body along the length direction of the second joint arm and the length direction of the first joint arm, one end of the screw rod cable is connected with the screw rod driving piece, and the other end of the screw rod cable is connected with the controller; or/and, spline drive mechanism still includes the spline cable of being connected in spline drive spare, and the spline cable is arranged in the joint main part along the length direction of second joint arm and the length direction of first joint arm, and the one end of spline cable is connected in spline drive spare, and the other end is connected in the controller.

Compared with the prior art, when the robot end driver provided by the embodiment of the application is applied to a robot, the screw driving mechanism drives the screw nut to rotate and drives the ball screw to move along the direction of the preset axis relative to the joint main body, and the ball screw drives the ball spline shaft to move through the connecting piece. The spline driving mechanism drives the spline nut to rotate and drives the ball spline shaft to rotate relative to the joint main body. The rotary motion and the linear motion of the execution end of the robot are respectively dispersed to the ball spline shaft and the ball screw, and the ball spline shaft and the ball screw can jointly bear bending moment generated during the large-load running of the robot, so that the bearing capacity of the robot is improved.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a block diagram of a robot according to an embodiment of the present application.

Fig. 2 is a schematic structural view of a robot end driver and a joint body according to an embodiment of the present application.

Fig. 3 is a schematic view of the internal structure of the robot end driver and joint body shown in fig. 2.

Fig. 4 is a plan view of the internal structure of the robot end driver and joint body shown in fig. 2.

FIG. 5 is a schematic view of the configuration of the robot end effector and second articulated arm shown in FIG. 3

Fig. 6 is a cross-sectional view of a ball screw and a screw nut of the robot end driver shown in fig. 3.

Fig. 7 is a cross-sectional view of a ball spline shaft and a spline master of the robot end drive shown in fig. 3.

Fig. 8 is a cross-sectional view of the auxiliary mount and ball spline shaft of the robotic end effector shown in fig. 3.

Description of the reference numerals: 100. a robot end driver; 10. a ball screw; 11. a screw nut; 12. a thread groove; 13. a first ball; 30. a ball spline shaft; 31. a spline master; 312. a mounting groove; 314. a second ball; 32. ball sliding grooves; 33. a ball passage; 34. an auxiliary mounting member; 341. a main body; 3412. a receiving groove; 343. an auxiliary ball; 345. a receiving channel; 50. a connecting piece; 70. a screw rod driving mechanism; 72. a screw rod driving member; 74. a first transmission assembly; 76. a lead screw cable; 90. a spline drive mechanism; 92. a spline driver; 94. a second transmission assembly; 96. a spline cable; 110. a bearing; 200. a robot; 20. a joint body; 21. a first articulated arm; 211. a first housing; 212. an inner cavity; 214. a first speed reducer; 216. a first driving member; 23. a second articulated arm; 231. a second housing; 232. a mounting cavity; 234. a second speed reducer; 236. a second driving member; 40. a base; 60. a controller; 80. and the execution end.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In the description of the present utility model, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1, an embodiment of the present application provides a robot end driver 100, and the robot end driver 100 may be applied to a robot 200.

The specific type of the robot 200 is not limited in this specification, and for example, the robot 200 may be an industrial robot arm robot or a cooperative robot, and in this embodiment, the robot 200 is a cylindrical coordinate type industrial robot. The robot 200 may include a joint body 20, a robot end driver 100, and an actuating end 80, the robot end driver 100 being connected between the joint body 20 and the actuating end 80 for driving the actuating end 80 to move relative to the joint body 20 under the driving of the joint body 20.

Referring to fig. 2, in the present embodiment, the robot 200 further includes a base 40, and the base 40 may be disposed on a workbench of an application environment of the robot 200, for mounting the joint main body 20. The joint body 20 is rotatably disposed on the base 40, and may include a first joint arm 21 and a second joint arm 23. The first joint arm 21 is rotatably connected between the second joint arm 23 and the base 40, and when the first joint arm 21 rotates relative to the base 40, the second joint arm 23 can be driven to rotate.

Referring to fig. 2 and fig. 3, in particular, in the present embodiment, one end of the first joint arm 21 is rotatably connected to the base 40, and the first joint arm 21 can rotate about the first rotation axis O1 relative to the base 40. The extending direction of the first joint arm 21 is substantially perpendicular to the first rotation axis O1. The first joint arm 21 includes a first housing 211, a first speed reducer 214, and a first driving member 216, the first housing 211 has an inner cavity 212, the first speed reducer 214 is disposed in the inner cavity 212, and the first driving member 216 is disposed on the base 40.

Wherein the axis of the first speed reducer 214 is coaxial with the first rotation shaft O1. The first driving member 216 is drivingly connected to the first speed reducer 214, and the specific type of the first driving member 216 is not limited in this specification, for example, the first driving member 216 may be a driving source such as a rotating electric machine, a rotating cylinder, or a motor, and in this embodiment, the first driving member 216 is a motor. The first driving member 216 is disposed on one side of the first shaft O1, and is disposed on one side of the first shaft O1 away from an end of the first joint arm 21 away from the base 40. The transmission manner between the first driving member 216 and the first speed reducer 214 is not limited in this specification, for example, the first driving member 216 may drive the first speed reducer 214 through a gear assembly, and may also drive the first speed reducer 214 through a synchronous pulley. The first speed reducer 214 is in driving connection with the second joint arm 23 to drive the second joint arm 23 to rotate relative to the first joint arm 21.

In this embodiment, the second joint arm 23 is rotatably connected to an end of the first joint arm 21 remote from the base 40, and the second joint arm 23 can rotate about the second rotation axis O2 relative to the first joint arm 21. Wherein the second rotation axis O2 and the first rotation axis O1 are parallel to each other, and the extending direction of the second joint arm 23 is also substantially perpendicular to the first rotation axis O1. The second articulated arm 23 includes a second housing 231, a second speed reducer 234, and a second drive member 236, the second housing 231 being provided with a mounting cavity 232, the second speed reducer 234 and the second drive member 236 being both disposed in the mounting cavity 232.

Wherein, the axis of the second speed reducer 234 is coaxial with the second rotating shaft O2. The second driving member 236 is drivingly connected to the second speed reducer 234, and the specific type of the second driving member 236 is not limited in this specification, for example, the second driving member 236 may be a driving source such as a rotating electric machine, a rotating cylinder, or a motor, and in this embodiment, the second driving member 236 employs a motor. The second driving member 236 is disposed on one side of the second rotating shaft O2, and is located on one side of the second rotating shaft O2 away from the end of the first joint arm 21 away from the base 40. The transmission manner between the second driving member 236 and the second speed reducer 234 is not limited in this specification, and for example, the second driving member 236 may drive the second speed reducer 234 through a gear assembly, or may drive the second speed reducer 234 through a synchronous pulley.

Referring to fig. 3, 4 and 5, in the present embodiment, the robot end driver 100 is connected to an end of the second joint arm 23 remote from the first joint arm 21. The robot end driver 100 includes a ball screw 10, a screw nut 11, and a screw driving mechanism 70. The ball screw 10 is slidably disposed through the second housing 231, and is configured to drive the actuating end 80 (shown in fig. 1) of the robot 200 to perform a linear motion. It should be understood that the foregoing "drive" is to be understood as a direct drive connection between the two, with the ball screw 10 directly driving the implement end 80 of the robot 200, or an indirect drive (e.g., when there is a centered drive element between the two), such as with the ball screw 10 drivingly connected to a drive element through which the implement end 80 of the robot 200 is indirectly driven.

The longitudinal direction of the ball screw 10 is the same as the direction of the second axis O2. The screw nut 11 is disposed between the ball screw 10 and the second joint arm 23, and the screw nut 11 is connected to the ball screw 10 through a screw pair. Specifically, referring to fig. 6, a screw groove 12 is formed on the outer peripheral wall of the ball screw 10, a first ball 13 is formed on the inner wall of the screw nut 11, and the first ball 13 is embedded in the screw groove 12. The screw nut 11 is rotatably disposed in the second articulated arm 23. The screw driving mechanism 70 is disposed in the mounting cavity 232, and the screw driving mechanism 70 is drivingly connected to the screw nut 11 for driving the screw nut 11 to rotate relative to the second joint arm 23.

In use, the screw drive mechanism 70 drives the screw nut 11 to rotate, the screw nut 11 does not move linearly under the restriction of the second joint arm 23, and the first ball 13 is engaged with the screw groove 12, thereby driving the ball screw 10 to move in the direction of the predetermined axis X relative to the second joint arm 23. Wherein the predetermined axis X is parallel to the second axis O2. The robot end driver 100 performs a linear motion through the ball screw 10.

In the present embodiment, the screw driving mechanism 70 includes a screw driving member 72 and a first transmission assembly 74, and the screw driving member 72 is connected to the screw nut 11 through the first transmission assembly 74. The specific type of the screw driver 72 is not limited in this specification, and for example, the screw driver 72 may be a driving source such as a rotary motor, a rotary cylinder, a motor, or the like, and in this embodiment, the screw driver 72 employs a motor. The screw drive 72 is disposed at an end of the mounting cavity 232 proximate the first articulated arm 21 to reduce the inertia of the robot 200 (shown in fig. 1) itself. The specific structure of the first transmission assembly 74 is not limited in this specification, for example, the first transmission assembly 74 may include a structure of a gear, a rack, etc. that cooperate with each other, and may also include a synchronous belt and a synchronous pulley that cooperate with each other.

Referring to fig. 4 and 5, in the present embodiment, the robot end driver 100 further includes a ball spline shaft 30, a spline female 31, and a spline driving mechanism 90. The ball spline shaft 30 is slidably disposed through the second housing 231, and is used to drive the actuating end 80 of the robot 200 (shown in fig. 1) for rotational movement. The length direction of the ball spline shaft 30 is the same as the length direction of the ball screw 10, and the ball spline shaft 30 is parallel to the ball screw 10 and is spaced apart from the ball screw 10. The spline nut 31 is arranged between the ball spline shaft 30 and the second joint arm 23, the spline nut 31 and the screw nut 11 are both positioned in the mounting cavity 232, and the spline nut 31 and the screw nut 11 are arranged at intervals along the direction of the preset axis X, so that the space of the mounting cavity 232 is utilized greatly, and the volume of the second joint arm 23 is reduced.

The spline nut 31 is sleeved on the ball spline shaft 30 and connected with the ball spline shaft 30. Specifically, referring to fig. 7, a ball chute 32 is provided on the outer peripheral wall of the ball spline shaft 30, a mounting groove 312 and a second ball 314 are provided on the inner wall of the spline nut 31, and the spline nut 31 is sleeved on the ball spline shaft 30 such that the mounting groove 312 and the ball chute 32 together form a ball channel 33, and the ball channel 33 extends along the direction of the predetermined axis X. The second ball 314 is embedded in the ball passage 33. The spline nut 31 is rotatably provided in the second joint arm 23. The spline driving mechanism 90 is disposed in the mounting cavity 232, and the spline driving mechanism 90 is drivingly connected to the spline housing 31 for driving the spline housing 31 to rotate relative to the second joint arm 23.

In use, the spline drive mechanism 90 drives the spline nut 31 to rotate, the spline nut 31 drives the ball spline shaft 30 to rotate relative to the second joint arm 23 through the second balls 314, and the robot end driver 100 achieves rotational movement through the ball spline shaft 30.

To improve the stability of the rotation of the ball spline shaft 30, the robot end driver 100 further includes an auxiliary mount 34, the auxiliary mount 34 being used to mount the ball spline shaft 30 to the second articulated arm 23. The auxiliary mounting member 34 is sleeved outside the ball spline shaft 30 and disposed within the mounting cavity 232. The auxiliary mounting member 34 is spaced apart from the spline housing 31 in the direction of the predetermined axis X.

The specific structure of the auxiliary mounting member 34 is not limited in this specification, and for example, the auxiliary mounting member 34 may be an auxiliary sleeve, the auxiliary sleeve is disposed in the second joint arm 23, and the ball spline shaft 30 is movably disposed through the auxiliary sleeve and is rotatable and movable relative to the auxiliary sleeve. The provision of the auxiliary sleeve facilitates the installation of the ball spline shaft 30 and provides guidance and support for the ball spline shaft 30 as it moves. Referring to fig. 8, the auxiliary mounting member 34 may also be a spline female structure, and specifically, referring to fig. 8, the auxiliary mounting member 34 includes a main body 341 and auxiliary balls 343, a receiving groove 3412 is formed on an inner wall of the main body 341, the main body 341 is sleeved on the ball spline shaft 30 so that the receiving groove 3412 and the ball sliding groove 32 together form a receiving channel 345, and the auxiliary balls 343 are embedded in the receiving channel 345. When the spline driving mechanism 90 drives the spline nut 31 to rotate to drive the ball spline shaft 30 to rotate, the ball spline shaft 30 drives the main body 341 to rotate relative to the second joint arm 23 through the auxiliary balls 343, and the auxiliary mounting member 34 improves the stability of the ball spline shaft 30 rotating relative to the second joint arm 23.

In this embodiment, the spline drive mechanism 90 includes a spline driver 92 and a second transmission assembly 94, the spline driver 92 being coupled to the spline housing 31 by the second transmission assembly 94. The specific type of the spline driver 92 is not limited in this specification, and for example, the spline driver 92 may be a driving source of a rotary electric machine, a rotary cylinder, a motor, or the like, and in this embodiment, the spline driver 92 employs a motor. The spline driver 92 is disposed at an end of the mounting cavity 232 near the first joint arm 21 to further reduce the inertia of the robot 200 itself, and the spline driver 92 and the screw driver 72 are disposed at both sides of the second rotation axis O2, respectively. The specific structure of the second transmission assembly 94 is not limited in this specification, for example, the second transmission assembly 94 may include a gear, a rack, and the like that cooperate with each other, and may also include a synchronous belt and a synchronous pulley that cooperate with each other.

In this embodiment, the robot end driver 100 further includes a connection member 50, the connection member 50 is connected between the ball screw 10 and the ball spline shaft 30, the ball screw 10 drives the ball spline shaft 30 to move along the direction of the predetermined axis X through the connection member 50 when the ball screw 10 moves, and the ball screw 10 indirectly drives the actuating end 80 of the robot 200 (shown in fig. 1) to perform a linear motion through the connection member 50 and the ball spline shaft 30. The connecting piece 50 is approximately plate-shaped, the connecting piece 50 is sleeved on the ball screw 10 and fixedly connected with the ball screw 10, and the connecting piece 50 is sleeved on the ball spline shaft 30 and rotatably connected with the ball spline shaft 30. The connection member 50 has two mounting through holes for the ball spline shaft 30 and the ball screw 10 to pass through, respectively. In order to avoid affecting the rotation of the ball spline shaft 30, the robot end driver 100 further includes a bearing 110, and the bearing 110 is disposed in a mounting through hole of the connection member 50 for the ball spline shaft 30 to pass through. The bearing 110 is sleeved outside the ball spline shaft 30 and is connected between the connecting member 50 and the ball spline shaft 30.

The connecting pieces 50 are arranged at one end of the ball screw 10, two connecting pieces 50 are respectively arranged at two ends of the ball screw 10, and two ends of the ball screw 10 are respectively arranged at two sides of the second joint arm 23 in order to improve the stability of the movement of the ball screw 10 with the ball spline shaft 30. Both ends of the ball spline shaft 30 are respectively connected to two connecting pieces 50, and the spline nut 31 and the screw nut 11 are both located between the two connecting pieces 50. When the robot 200 is applied, the ball screw 10 is driven by the screw nut 11 to move along the direction of the preset axis X, the ball screw 10 drives the ball spline shaft 30 to move along the direction of the preset axis X through the connecting piece 50, the rotation motion and the linear motion of the execution end 80 are respectively dispersed to the ball spline shaft 30 and the ball screw 10, the ball spline shaft 30 and the ball screw 10 can jointly bear bending moment generated when the robot 200 runs under a large load, and the bearing capacity of the robot 200 is improved. The ball screw 10 can drive the ball spline shaft 30 to displace simultaneously through the connecting piece 50, so that the flexibility of the robot 200 is improved.

Referring to fig. 3 and 4 again, in the present embodiment, the robot 200 further includes a controller 60, and the controller 60 is disposed on the base 40 and electrically connected to the screw driving member 72 and the spline driving member 92. The specific type of the controller 60 is not limited in this specification, and for example, the controller 60 may be a control circuit board, a control chip, or the like, which may be connected to the joint main body 20 and electrically connected to the screw driver 72 and the spline driver 92 through cables.

The screw driving mechanism 70 further includes a screw cable 76, wherein the screw cable 76 is disposed on the joint body 20, one end of the screw cable is connected to the screw driving member 72, and the other end of the screw cable extends from the mounting cavity 232 into the inner cavity 212, extends to the base 40 along the length direction of the first joint arm 21, and is connected to the controller 60. The spline driving mechanism 90 further includes a spline cable 96, and the spline cable 96 is disposed on the joint body 20, one end of the spline cable 96 is connected to the spline driving member 92, and the other end extends from the mounting cavity 232 into the inner cavity 212, extends along the length direction of the first joint arm 21 to the base 40, and is connected to the controller 60. The controller 60 controls the ball spline shaft 30 to drive the execution end 80 to move through driving and controlling the screw rod driving piece 72 and the spline driving piece 92, and the screw rod cable 76 and the spline cable 96 are arranged in the joint main body 20, so that the risk that the robot 200 is interfered by the outside is reduced, and meanwhile, the compactness of the structure of the robot 200 is improved.

In summary, in the robot end driver 100 provided in the embodiment of the present application, the screw driving member 72 drives the screw nut 11 to rotate, so as to drive the ball screw 10 to move along the predetermined axis X relative to the second joint arm 23, and the ball screw 10 drives the ball spline shaft 30 to move through the connecting member 50. The spline driver 92 drives the spline nut 31 to rotate, which drives the ball spline shaft 30 to rotate relative to the second joint arm 23. The rotational movement and the linear movement of the execution end 80 are respectively dispersed to the ball spline shaft 30 and the ball screw 10, and the ball spline shaft 30 and the ball screw 10 can jointly bear bending moment generated during the large-load running of the robot 200, so that the bearing capacity of the robot 200 is improved. The ball screw 10 can drive the ball spline shaft 30 to displace simultaneously through the connecting piece 50, so that the flexibility of the robot 200 is improved.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting. Although the present application has been described in detail with reference to the foregoing embodiments, one of ordinary skill in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents. Such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A robot end effector for use with a robot, comprising:

a ball screw;

the screw nut is used for being rotatably connected to the joint main body of the robot, the screw nut is connected to the ball screw through a thread pair, and the screw nut is used for driving the ball screw to move along the direction of a preset axis;

the ball spline shaft is arranged at intervals with the ball screw and is used for driving the executing end of the robot;

the spline nut is sleeved outside the ball spline shaft and connected with the ball spline shaft;

the connecting piece is connected between the ball screw and the ball spline shaft;

the auxiliary mounting piece is sleeved outside the ball spline shaft and is used for connecting the ball spline shaft to the joint main body;

the screw rod driving mechanism is connected with the screw rod nut in a transmission way and used for driving the screw rod nut to rotate, the screw rod nut drives the ball screw rod to move along the direction of the preset axis when rotating, and the ball screw rod drives the ball spline shaft to move through the connecting piece when moving;

and the spline driving mechanism is connected with the spline nut in a transmission way and is used for driving the spline nut to rotate, and the spline nut drives the ball spline shaft to rotate when rotating.

2. The robot end driver according to claim 1, wherein the auxiliary mounting member and the spline housing are disposed at intervals in a direction of the predetermined axis, the auxiliary mounting member includes a main body and auxiliary balls, an inner side wall of the main body is provided with a receiving groove, a peripheral wall of the ball spline shaft is provided with a ball chute, and the main body is sleeved on the ball spline shaft so that the receiving groove and the ball chute together form a receiving channel; the ball is arranged in the accommodating channel.

3. The robotic end driver of claim 1, wherein the lead screw nut and the spline nut are spaced along the direction of the predetermined axis.

4. The robot end drive of claim 1, further comprising a bearing, wherein the bearing is sleeved outside the ball spline shaft and is connected between the ball spline shaft and the connector.

5. The robot end effector as claimed in any one of claims 1 to 4, wherein the number of the connectors is two, the two connectors are respectively located at both ends of the ball screw, both ends of the ball spline shaft are respectively connected to the two connectors, and the spline nut is located between the two connectors.

6. A robot, comprising:

a joint body; and

the robot end effector as claimed in any one of claims 1 to 5, which is connected to the joint body.

7. The robot of claim 6, further comprising a base, wherein the joint body comprises a first joint arm rotatably coupled to the base and a second joint arm rotatably coupled to the first joint arm, and wherein the robot end driver is coupled to the second joint arm.

8. The robot of claim 7 wherein said first articulated arm is rotatable about a first axis of rotation relative to said base and said second articulated arm is rotatable about a second axis of rotation relative to said first articulated arm; the first rotation axis and the second rotation axis are parallel to each other.

9. The robot of claim 7 or 8, wherein the second articulated arm is provided with a mounting cavity, and the lead screw nut, the lead screw drive mechanism, the spline nut, the auxiliary mount, and the spline drive mechanism are all mounted to the mounting cavity; the screw rod driving mechanism comprises a screw rod driving piece and a first transmission assembly, the spline driving mechanism comprises a spline driving piece and a second transmission assembly, and the screw rod driving piece and the spline driving piece are both arranged at one end, close to the first joint arm, of the mounting cavity.

10. The robot of claim 9, further comprising a controller disposed on the base, the screw drive mechanism further comprising a screw cable disposed within the joint body along a length direction of the second joint arm and a length direction of the first joint arm, one end of the screw cable being connected to the screw drive and the other end being connected to the controller; or/and the like,

the spline driving mechanism further comprises a spline cable connected to the spline driving piece, the spline cable is arranged in the joint main body along the length direction of the second joint arm and the length direction of the first joint arm, one end of the spline cable is connected to the spline driving piece, and the other end of the spline cable is connected to the controller.

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