A precision robot actuator

Abstract

The present invention discloses a precision robot actuator, comprising a power assembly (100), a transmission conversion assembly (200) and an actuator assembly (300); the power assembly (100) comprises four micro-integrated servo power sources (1002) and a mounting and fixing assembly (1001), the four micro-integrated servo power sources (1002) being sequentially mounted on one side of the mounting and fixing assembly (1001), and the first three micro-integrated servo power sources (1002) are all mounted with a crank rocker assembly, and the last micro-integrated servo power source (1002) is mounted with a rotating shaft input gear assembly (1003). The present invention adopts the principle of reciprocating wire transmission to realize a micro-integrated multi-degree-of-freedom end actuator, adopts a micro-integrated servo power source, satisfies the degree of freedom, load capacity and precision requirements, and effectively controls the overall volume and weight, and adopts an ingenious transmission scheme to effectively transmit power and mechanical action to the end actuator under the premise of ensuring precision.

Description

Technical Field

[0001] The present invention relates to the field of robot mechanical design, and in particular to a precision robot actuator. Background Art

[0002] Currently, in the field of industrial robots, especially in the field of automated robots in the manufacturing industry, the robot components, especially the end effector part, are large in size and require a large space for movement, which has great limitations in practical applications. As a result, it is difficult to meet the demand for automated assembly production of precision and extra-small parts, especially the assembly production of precision and small parts in limited spaces. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a precision robot actuator, which adopts the principle of reciprocating wire-drawing transmission to realize a miniature multi-degree-of-freedom end actuator, adopts a miniature integrated servo power source to meet the requirements of degrees of freedom, load capacity and precision while effectively controlling the overall volume and weight, and adopts an ingenious transmission scheme to effectively transmit power and mechanical action to the end actuator while ensuring accuracy.

[0004] The precision robot actuator of the present invention is realized by the following technical scheme: comprising a power assembly, a transmission conversion assembly and an actuator assembly;

[0005] The power assembly includes four micro-servo power sources and an installation and fixing assembly. The four micro-servo power sources are installed in sequence on one side of the installation and fixing assembly, and the first three micro-servo power sources are installed with crank rocker assemblies, and the last micro-servo power source is installed with a rotating shaft input gear assembly; the transmission conversion assembly includes a rotating output gear, a rotating shaft mounting plate, three sliding disk assemblies, an outer sliding disk guide and an actuator assembly mounting rod; a rotating shaft mounting plate is provided at one end of the outer sliding disk guide, the rotating output gear is provided on one side of the rotating shaft mounting plate, and the rotating output gear is meshed with the rotating shaft input gear assembly; two inner sliding disk guide shafts are installed on the other side of the rotating shaft mounting plate, and the three sliding disk assemblies are installed on the inner sliding disk guide shaft in sequence; one end of the outer sliding disk guide is fixed on the installation and fixing assembly, and the other end of the inner sliding disk guide shaft is installed with a tail end fixing.

[0006] As a preferred technical solution, a first wire pulley assembly is installed in the tail end fixing member; two pull rope assemblies are arranged on the first wire pulley assembly, the actuator assembly mounting rod is installed at the other end of the rotating output gear, and the other ends of the two pull rope assemblies are arranged in the actuator assembly mounting rod; the three groups of crank rocker assemblies on the power assembly are interconnected with the three groups of sliding plate assemblies of the transmission conversion assembly in sequence; the actuator assembly is installed on the actuator assembly mounting rod.

[0007] As a preferred technical solution, the crank rocker assembly includes a power crank assembly, a pull rod assembly and a shift rod assembly, one end of the power crank assembly is connected to a micro-servo power source, and the other end of the power crank assembly is connected to one end of the pull rod assembly, and the other end of the pull rod assembly is connected to one end of the shift rod assembly; the sliding plate assembly includes a sliding plate bearing, an inner sliding plate, and an outer sliding plate, the sliding plate bearing is installed on the inner ring of the outer sliding plate, and the inner sliding plate is installed on the inner ring of the sliding plate bearing, and the inner sliding plate is installed on the inner sliding plate guide shaft; the other ends of the three groups of shift rod assemblies are connected to the outer ring of the outer sliding plates of the three groups of sliding plate assemblies through the mounting and fixing assembly.

[0008] As a preferred technical solution, the actuator assembly includes an actuator assembly fixing part, an actuator mounting part, an actuator, a first rotating shaft, a second rotating shaft and a second wire wheel assembly; the actuator assembly is fixed to the actuator assembly mounting rod through the actuator assembly fixing part; a first rotating shaft is provided on the actuator assembly fixing part, and the actuator mounting part is hinged to the actuator assembly fixing part through the first rotating shaft; a second rotating shaft is provided at the upper end of the actuator mounting part, and both actuators are hinged to the actuator mounting part through the second rotating shaft; a second wire wheel assembly is provided under each of the two actuators, and two pull rope assemblies are respectively connected to the two second wire wheel assemblies.

[0009] The beneficial effects of the present invention are as follows: the present invention adopts the principle of reciprocating wire-drawing transmission to realize a miniature multi-degree-of-freedom end actuator, adopts a miniature integrated servo power source to meet the requirements of degrees of freedom, load capacity and precision while effectively controlling the overall volume and weight, and adopts an ingenious transmission scheme to effectively transmit power and mechanical action to the end actuator while ensuring precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0011] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0012] Figure 2 It is a schematic diagram of the structure of the power assembly of the present invention;

[0013] Figure 3 It is a schematic diagram of the structure of the transmission conversion assembly of the present invention;

[0014] Figure 4 It is a schematic diagram of the structure of the actuator assembly of the present invention. DETAILED DESCRIPTION

[0015] All features disclosed in this specification, or steps in all methods or processes disclosed, except mutually exclusive features and / or steps, can be combined in any manner.

[0016] Any feature disclosed in this specification (including any additional claims, abstract and drawings), unless otherwise stated, may be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

[0017] In the description of the present invention, it is necessary to understand that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "center", "end", "length", "outer end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0018] In addition, in the description of the present invention, “plurality” means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0019] Terms such as "upper", "above", "lower", "below", etc. used in the present invention to indicate spatial relative positions are used for the purpose of convenience to describe the relationship of one unit or feature relative to another unit or feature as shown in the accompanying drawings. Terms of spatial relative position may be intended to include different orientations of the device in use or operation other than the orientation shown in the drawings. For example, if the device in the figure is turned over, the unit described as being "below" or "beneath" other units or features will be located "above" the other units or features. Therefore, the exemplary term "below" can encompass both the above and below orientations. The device may be oriented in other ways, and the spatially related descriptors used herein shall be interpreted accordingly.

[0020] In the present invention, unless otherwise clearly specified and limited, the terms "disposed", "socketed", "connected", "through", "plugged" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] like Figure 1 — Figure 4As shown, a precision robot actuator of the present invention includes a power assembly 100, a transmission conversion assembly 200 and an actuator assembly 300;

[0022] The power assembly 100 includes four miniature servo power sources 1002 and a mounting assembly 1001. The four miniature servo power sources 1002 are sequentially mounted on one side of the mounting assembly 1001, and the first three miniature servo power sources 1002 are all mounted with crank rocker assemblies, and the last miniature servo power source 1002 is mounted with a rotating shaft input gear assembly 1003; the transmission conversion assembly 200 includes a rotating output gear 2001, a rotating shaft mounting plate 2002, three sliding disk assemblies, an outer sliding disk guide 2007 and an actuator assembly mounting rod 2010; the outer sliding disk A rotating shaft mounting plate 2002 is provided at one end of the guide member 2007, and a rotating output gear 2001 is provided on one side of the rotating shaft mounting plate 2002, and the rotating output gear 2001 is meshed with the rotating shaft input gear assembly 1003 to realize the overall rotational freedom of the actuator assembly; two inner sliding disk guide shafts 2006 are installed on the other side of the rotating shaft mounting plate 2002, and three sliding disk assemblies are installed on the inner sliding disk guide shaft 2006 in sequence; one end of the outer sliding disk guide member 2007 is fixed on the mounting and fixing assembly 1001, and a tail end fixing member 2009 is installed on the other end of the inner sliding disk guide shaft 2006.

[0023] In this embodiment, a first wire wheel assembly 2008 is installed in the tail end fixing member 2009; two pull rope assemblies 3006 are arranged on the first wire wheel assembly 2008, an actuator assembly mounting rod 2010 is installed at the other end of the rotating output gear 2001, and the other ends of the two pull rope assemblies 3006 are arranged in the actuator assembly mounting rod 2010; the three groups of crank rocker assemblies on the power assembly 100 are interconnected with the three groups of sliding disk assemblies of the transmission conversion assembly 200 in sequence; the actuator assembly 300 is installed on the actuator assembly mounting rod 2010.

[0024] In this embodiment, the crank rocker assembly includes a power crank assembly 1006, a pull rod assembly 1005 and a lever assembly 1004, one end of the power crank assembly 1006 is connected to the micro-servo power source 1002, and the other end of the power crank assembly 1006 is connected to one end of the pull rod assembly 1005, and the other end of the pull rod assembly is connected to one end of the lever assembly 1004; the sliding plate assembly includes a sliding plate bearing 2003, an inner sliding plate 2004, and an outer sliding plate 2005, the sliding plate bearing 2003 is installed on the inner ring of the outer sliding plate 2005, and the inner sliding plate 2004 is installed on the inner ring of the sliding plate bearing 2003, and the inner sliding plate 2004 is installed on the inner sliding plate guide shaft 2006; the other ends of the three groups of lever assemblies 1004 all pass through the mounting and fixing assembly 1001 and are connected to the outer ring of the outer sliding plate 2005 of the three groups of sliding plate assemblies, thereby converting the rotational motion of the power mechanism lever into the linear motion of the sliding plate assembly along the guide direction.

[0025] In this embodiment, the actuator assembly 300 includes an actuator assembly fixing member 3001, an actuator mounting member 3002, an actuator 3005, a first rotating shaft 3003, a second rotating shaft 3004 and a second wire wheel assembly 3007; the actuator assembly 300 is fixed to the actuator assembly mounting rod 2010 through the actuator assembly fixing member 3001; the actuator assembly fixing member 3001 is provided with a first rotating shaft 3003, and the actuator mounting member 3002 is hinged to the actuator assembly fixing member 3001 through the first rotating shaft 3003; the second rotating shaft 3004 is provided at the upper end of the actuator mounting member 3002, and the two actuators 3005 are both hinged to the actuator mounting member 3002 through the second rotating shaft 3004; the second wire wheel assembly 3007 is provided below the two actuators 3005, and the two pull rope assemblies 3006 are respectively connected to the two second wire wheel assemblies 3007.

[0026] The beneficial effects are as follows:

[0027] The present invention adopts a sophisticated transmission design to achieve precise wire-controlled movements, which can effectively ensure the movement accuracy while ensuring sufficient freedom of the end effector. It has great advantages in terms of the end effector volume, workspace compression, and control of overall volume and weight.

[0028] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that are not conceived through creative work should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope defined in the claims.

Claims

1. A precision robot actuator, characterized in that: It comprises a power assembly (100), a transmission conversion assembly (200) and an actuator assembly (300); The power assembly (100) comprises four micro-sized servo power sources (1002) and a mounting and fixing assembly (1001); the four micro-sized servo power sources (1002) are sequentially mounted on one side of the mounting and fixing assembly (1001); the first three micro-sized servo power sources (1002) are each mounted with a crank rocker assembly, and the last micro-sized servo power source (1002) is mounted with a rotating shaft input gear assembly (1003); the transmission conversion assembly (200) comprises a rotating output gear (2001), a rotating shaft mounting plate (2002), three sliding disc assemblies, an outer sliding disc guide (2007), and an actuator assembly mounting rod (201 0); a rotating shaft mounting plate (2002) is disposed at one end of the outer sliding plate guide (2007); a rotating output gear (2001) is disposed on one side of the rotating shaft mounting plate (2002), and the rotating output gear (2001) is meshed with a rotating shaft input gear assembly (1003); two inner sliding plate guide shafts (2006) are mounted on the other side of the rotating shaft mounting plate (2002), and three sliding plate assemblies are sequentially mounted on the inner sliding plate guide shafts (2006); one end of the outer sliding plate guide (2007) is fixed on the mounting and fixing assembly (1001), and a tail end fixing member (2009) is mounted on the other end of the inner sliding plate guide shaft (2006); A first wire pulley assembly (2008) is installed in the tail end fixing member (2009); two pull rope assemblies (3006) are arranged on the first wire pulley assembly (2008); an actuator assembly mounting rod (210) is installed at the other end of the rotating output gear (2001), and the other ends of the two pull rope assemblies (3006) are arranged in the actuator assembly mounting rod (2010); the three groups of crank rocker assemblies on the power assembly (100) are sequentially connected to the three groups of sliding plate assemblies of the transmission conversion assembly (200); the actuator assembly (300) is installed on the actuator assembly mounting rod (2010), The actuator assembly (300) comprises an actuator assembly fixing member (3001), an actuator mounting member (3002), an actuator (3005), a first rotating shaft (3003), a second rotating shaft (3004) and a second wire wheel assembly (3007); the actuator assembly (300) is fixed to an actuator assembly mounting rod (2010) via the actuator assembly fixing member (3001); the actuator assembly fixing member (3001) is provided with a first rotating shaft (3003), the actuator mounting member (3002) and a second wire wheel assembly (3007); (3002) is hinged to the actuator assembly fixing member (3001) through a first rotating shaft (3003); a second rotating shaft (3004) is arranged on the upper end of the actuator mounting member (3002), and the two actuators (3005) are hinged to the actuator mounting member (3002) through the second rotating shaft (3004); a second wire wheel assembly (3007) is arranged below the two actuators (3005), and the two pull rope assemblies (3006) are respectively connected to the two second wire wheel assemblies (3007).

2. The precision robot actuator according to claim 1, characterized in that: The crank rocker assembly comprises a power crank assembly (1006), a pull rod assembly (1005) and a lever assembly (1004); one end of the power crank assembly (1006) is connected to a micro-servo power source (1002), and the other end of the power crank assembly (1006) is connected to one end of the pull rod assembly (1005), and the other end of the pull rod assembly is connected to one end of the lever assembly (1004); the sliding plate assembly comprises a sliding plate bearing (2003), an inner sliding plate (2004), an outer sliding plate (2005), a sliding plate bearing (2003) is installed on the inner ring of the outer sliding plate (2005), and the inner sliding plate (2004) is installed on the inner ring of the sliding plate bearing (2003), and the inner sliding plate (2004) is installed on the inner sliding plate guide shaft (2006); the other ends of the three groups of lever assemblies (1004) all pass through the mounting and fixing assembly (1001) and are connected to the outer rings of the outer sliding plates (2005) of the three groups of sliding plate assemblies.

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