Vacuum robot power transmission device

Abstract

The utility model provides a kind of vacuum mechanical arm power transmission device, comprising: first pulley, and the opposite side of its first outer circumferential surface is equipped with first fixed anchor point and is equipped with movable adjustable movable anchor point by a tension adjusting component;Second pulley, and the opposite sides of its second outer circumferential surface are equipped with second fixed anchor point respectively;First synchronous belt, for open loop belt, one end is connected and fixed in movable anchor point, after the other end is wound around the partial circumferential surface of first pulley and the partial circumferential surface of second pulley, is connected and fixed in one of second fixed anchor point;Second synchronous belt, for open loop belt, one end is connected and fixed in first fixed anchor point, after the other end is wound around the partial circumferential surface of first pulley and the partial circumferential surface of second pulley, is connected and fixed in another second fixed anchor point.The utility model adjusts the position of movable anchor point by a tension adjusting component, and the tension of first synchronous belt and second synchronous belt is adjusted by the adaptive rotation of second pulley, and the transmission accuracy is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a power transmission device for a vacuum robotic arm. Background Technology

[0002] Typically, some vacuum robotic arms use a metal belt and pulley drive system to transmit power. The metal belt is connected to corresponding pulleys by screws to transfer torque between the pulleys and the metal belt. However, with this structure, the metal belt is prone to shrinkage after being tensioned, and its position is easily misaligned, resulting in a decrease in transmission accuracy.

[0003] In view of this, it is necessary to propose a power transmission device for a vacuum robotic arm to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a power transmission device for a vacuum robotic arm, which can improve the problem of decreased transmission accuracy caused by metal belt retraction and positional offset.

[0005] This utility model provides a power transmission device for a vacuum robotic arm, which is installed in the upper arm and / or forearm of the vacuum robotic arm. The power transmission device includes:

[0006] The first pulley has a first outer peripheral surface, one side of which is provided with a first fixed anchor point and the opposite side is provided with a movable and adjustable anchor point through a tension adjustment component.

[0007] The second pulley has a second outer peripheral surface, and second fixed anchor points at different heights are respectively provided on opposite sides of the second outer peripheral surface. One of the second fixed anchor points is at the same transmission height as the movable anchor point, and the other second fixed anchor point is at the same transmission height as the first fixed anchor point.

[0008] The first synchronous belt is an open-loop belt. One end is sleeved and secured to the movable anchor point, and the other end is sleeved and secured to one of the second fixed anchor points after wrapping around a portion of the circumference of the first pulley and a portion of the circumference of the second pulley.

[0009] The second synchronous belt is set opposite to the first synchronous belt and is an open-loop belt. One end is sleeved and fixed to the first fixed anchor point, and the other end is sleeved and fixed to another second fixed anchor point after wrapping around a part of the circumference of the first pulley and a part of the circumference of the second pulley.

[0010] Specifically, by adjusting the position of the movable anchor point through the tension adjustment component, the first pulley rotates and drives the first synchronous belt to wrap tightly around the first pulley to adjust the tension of the first synchronous belt. Under the drive of the first synchronous belt, the second pulley rotates adaptively, thereby driving the second synchronous belt to wrap tightly around the second pulley to adjust the tension of the second synchronous belt.

[0011] In one possible embodiment, the first outer peripheral surface is provided with an opening, the interior of the first pulley is provided with a receiving area corresponding to the opening, the tension adjustment component is disposed in the receiving area, and the movable anchor point is located at the opening.

[0012] In one possible embodiment, the tension adjustment assembly includes an actuator and an actuator, the actuator having a first inclined surface on the side facing the actuator, and the actuator being locked and fixed to the bottom of the receiving area by a first locking member;

[0013] The movable anchor point is located on the actuator. The actuator has a second inclined surface parallel to the first inclined surface on the side facing the actuator. The actuator has a strip-shaped hole in the vertical direction. The extension direction of the strip-shaped hole is consistent with the direction of the line connecting the centers of the first pulley and the second pulley. The actuator is locked and fixed to the bottom of the receiving area by a second locking member passing through the strip-shaped hole.

[0014] The actuator abuts against the second inclined plane via the first inclined plane and is located above the second inclined plane. Before locking the actuator and the actuator, the actuator and the movable anchor point on it can be adjusted to move closer to or further away from the actuator by adjusting the abutting position of the actuator on the second inclined plane.

[0015] In one possible embodiment, the second inclined surface is provided with a guide limiting groove, and the first inclined surface is provided with a guide block corresponding to the guide limiting groove. The guide block has two opposite sides along the longitudinal direction, and the guide block is located in the guide limiting groove, with the two sides abutting against the groove wall of the guide limiting groove.

[0016] In one possible embodiment, the guide block further has a slope and a first clearance surface connected to the bottom end of the slope, the slope being the top surface of the guide block and used to abut against the top edge of the guide limiting groove, the first clearance surface being arranged parallel to the first inclined surface and used to abut against the second inclined surface.

[0017] In one possible embodiment, the actuator is further provided with a cutting surface on the side facing the actuator, the cutting surface being arranged vertically and connected to the top of the first inclined surface;

[0018] The guide block also has a vertical surface arranged in the vertical direction and a second clearance surface connected to the bottom end of the vertical surface. The vertical surface is connected to the bottom end of the cutting surface, and the second clearance surface is arranged parallel to the first inclined surface and is used to abut against the second inclined surface.

[0019] In one possible embodiment, the bottom of the receiving area is provided with a first screw hole, and the actuator is provided with a through hole along the vertical direction. The actuator is locked and fixed to the bottom of the receiving area by the first locking member passing through the through hole and the first screw hole.

[0020] In one possible embodiment, the bottom of the receiving area is further provided with a second screw hole, through which the second locking member passes through the strip hole and the second screw hole to lock and fix the actuator to the bottom of the receiving area.

[0021] In one possible embodiment, the actuator includes a movable base and a movable block disposed on the side of the movable base, the movable anchor point is disposed on the movable block, and the movable block is located at the opening.

[0022] In one possible embodiment, the first synchronization band is located above the second synchronization band; or...

[0023] The first synchronization band is located below the second synchronization band.

[0024] The beneficial effects of the power transmission device for the vacuum robotic arm provided by this utility model are as follows: By setting a tension adjustment component on the first pulley to adjust the position of the movable anchor point, and through the adaptive rotation of the second pulley, the tension of the first and second synchronous belts is adjusted, thereby avoiding problems such as belt retraction and positional deviation, and improving transmission accuracy. In a further embodiment, by setting a strip hole on the actuator to facilitate adjustment of the relative positional relationship between the actuator and the actuator, and by adjusting the abutment position of the actuator on the second inclined surface, the actuator and its movable anchor point can be adjusted to move closer to or further away from the actuator, thereby achieving adjustment of the tension of the synchronous belt. In an even further embodiment, through the coordinated cooperation of the guide block and the guide limiting groove, the motion trajectory is limited during the relative movement of the actuator and the actuator, preventing relative positional deviation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the power transmission device for the vacuum robotic arm of this utility model from one perspective.

[0026] Figure 2 This is a schematic diagram of the power transmission device for the vacuum robotic arm of this utility model from another perspective.

[0027] Figure 3This is a schematic diagram of the first pulley, movable anchor point, and tension adjustment component in the power transmission device of the vacuum robotic arm of this utility model.

[0028] Figure 4 This is a schematic diagram of the tension adjustment component in the power transmission device of the vacuum robotic arm of this utility model.

[0029] Figure 5 This is a top view of the first pulley in the power transmission device of the vacuum robotic arm of this utility model.

[0030] Figure 6 This is a schematic diagram of the actuator in the power transmission device of the vacuum robotic arm of this utility model.

[0031] Figure 7 This is a schematic diagram of the actuator in the power transmission device of the vacuum robotic arm of this utility model in the first specific embodiment.

[0032] Figure 8 This is a schematic diagram of the actuator in the power transmission device of the vacuum robotic arm of this utility model in a second specific embodiment.

[0033] Explanation of reference numerals in the attached drawings: 100, first pulley; 110, first fixed anchor point; 200, second pulley; 210, second fixed anchor point; 310, first synchronous belt; 320, second synchronous belt; 400, opening; 500, receiving area; 510, first screw hole; 520, second screw hole; 600, movable anchor point; 700, tension adjustment assembly; 710, actuator; 711, adjusting block; 7111, first... 7112. Inclined surface; 7113. Perforation; 7114. Cutting surface; 7115. Guide block; 71141. Side surface; 71142. Slope; 71143. First clearance surface; 71145. Vertical surface; 71146. Second clearance surface; 720. Actuator; 721. Moving seat; 7211. Second inclined surface; 7212. Strip hole; 7213. Guide limiting groove; 72131. Top edge; 722. Moving block. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0035] To address the problems existing in the prior art, this utility model provides a power transmission device for a vacuum robotic arm. This power transmission device is installed in the upper arm and / or forearm of the vacuum robotic arm. (See attached image.) Figure 1 and Figure 2 The power transmission device includes: a first pulley 100, a second pulley 200, a first synchronous belt 310, a second synchronous belt 320, and a tension adjustment assembly 700. The first pulley 100 has a first outer peripheral surface, with a first fixed anchor point 110 on one side and a movable anchor point 600 on the opposite side via the tension adjustment assembly 700. The second pulley 200 has a second outer peripheral surface, with second fixed anchor points 210 at different heights on opposite sides of the second outer peripheral surface. One second fixed anchor point 210 is at the same transmission height as the movable anchor point 600, and the other second fixed anchor point 210 is at the same transmission height as the first fixed anchor point 110. The first synchronous belt 310 is an open-loop belt. One end of the first synchronous belt 310 is sleeved and secured to the movable anchor point 600, and the other end of the first synchronous belt 310 wraps around a portion of the circumference of the first pulley 100 and a portion of the circumference of the second pulley 200 before being sleeved and secured to one of the second fixed anchor points 210. The second synchronous belt 320 is arranged opposite to the first synchronous belt 310. The second synchronous belt 320 is an open-loop belt. One end of the second synchronous belt 320 is sleeved and fixed at the first fixed anchor point 110. The other end of the second synchronous belt 320 is sleeved and fixed at another second fixed anchor point 210 after wrapping around part of the circumference of the first pulley 100 and part of the circumference of the second pulley 200.

[0036] The position of the movable anchor point 600 is adjusted by the tension adjustment component 700, causing the first pulley 100 to rotate and drive the first synchronous belt 310 to wrap tightly around the first pulley 100 to adjust the tension of the first synchronous belt 310. Under the drive of the first synchronous belt 310, the second pulley 200 rotates adaptively, thereby driving the second synchronous belt 320 to wrap tightly around the second pulley 200 to adjust the tension of the second synchronous belt 320.

[0037] by Figure 1 The structure is illustrated by example. The tension adjustment assembly 700 moves the movable anchor point 600 closer to the second pulley 200, thereby causing one end of the first synchronous belt 310 to rotate counterclockwise around the first pulley 100, thus adjusting the tension of the first synchronous belt 310. Since the other end of the first synchronous belt 310 is located at one of the second fixed anchor points 210 of the second pulley 200, the second pulley 200, driven by the first synchronous belt 310, rotates counterclockwise adaptively along with its other second fixed anchor point 210. Since one end of the second synchronous belt 320 is located at the other second fixed anchor point 210, the second synchronous belt 320 is rotated tightly around the second pulley 200, thus adjusting the tension of the second synchronous belt 320.

[0038] In this embodiment, a first fixed anchor point 110 and a movable anchor point 600 are provided on the first outer peripheral surface of the first pulley 100, and two second fixed anchor points 210 are provided on the second outer peripheral surface of the second pulley 200. The position of a movable anchor point 600 on the first pulley 100 is adjusted by a tension adjustment component 700. Through the adaptive rotation of the second pulley 200, the first synchronous belt 310 and the second synchronous belt 320 can be tensioned synchronously, avoiding problems such as shrinkage and positional deviation of the first synchronous belt 310 and the second synchronous belt 320, thereby improving the transmission accuracy.

[0039] In one embodiment, see Figure 3 The first outer peripheral surface is provided with an opening 400, and the first pulley 100 is provided with a receiving area 500 corresponding to the opening 400. The tension adjustment component 700 is located in the receiving area 500, and the movable anchor point 600 is located at the opening 400.

[0040] In this embodiment, a receiving area 500 is provided inside the first pulley 100 to install the tension adjustment component 700. Since the receiving area 500 is provided corresponding to the opening 400, the movable anchor point 600 is located at the opening 400 on the first outer peripheral surface through the tension adjustment component 700.

[0041] The structure and working principle of the tension adjustment component 700 will be explained in detail below with reference to specific embodiments.

[0042] In one embodiment, see Figure 4 and Figure 5 The tension adjustment assembly 700 includes an actuator 710 and an actuator 720. The actuator 710 has a first inclined surface 7111 on the side facing the actuator 720. The actuator 710 is locked and fixed to the bottom of the receiving area 500 by a first locking member. A movable anchor point 600 is provided on the actuator 720. The actuator 720 has a second inclined surface 7211 parallel to the first inclined surface 7111 on the side facing the actuator 710. The actuator 720 has a vertically oriented slot 7212. The extension direction of the slot 7212 is consistent with the direction of the center line connecting the first pulley 100 and the second pulley 200. The actuator 720 is locked and fixed to the bottom of the receiving area 500 by a second locking member passing through the slot 7212. The actuator 710 abuts against the second inclined surface 7211 via the first inclined surface 7111 and is located above the second inclined surface 7211. Before locking the actuator 710 and the actuator 720, the actuator 720 and its movable anchor point 600 can be adjusted to move closer to or further away from the actuator 710 by adjusting the abutting position of the actuator 710 on the second inclined surface 7211.

[0043] In this embodiment, the actuator 710 is located above the second inclined surface 7211. Due to the locking action of the first locking member, the actuator 710 presses against the second inclined surface 7211 of the actuator 720. Because of the inclined fit design of the first and second inclined surfaces 7111, the abutment position of the actuator 710 on the second inclined surface 7211 can be adjusted, i.e., the contact portion of the first and second inclined surfaces 7111. For example, in the current state, when the actuator 710 is located above the second inclined surface 7211, the locking of the actuator 720 is released, and the first locking member is turned downwards. Under the pressing action of the first locking member, the actuator 710 also moves downwards, thereby pushing the actuator 720 and its movable anchor point 600 away from the actuator 710, achieving position adjustment of the movable anchor point 600, and thus adjusting the tension of the synchronous belt.

[0044] On the one hand, the second locking member locks and fixes the actuator 720, and on the other hand, the actuator 710 presses and fixes the actuator 720. The two work together to fix both sides of the actuator 720, preventing the movable anchor point 600 from shifting due to external force and preventing the synchronous belt from shrinking back after tensioning.

[0045] In one embodiment, see Figure 5 The bottom of the receiving area 500 is provided with a first screw hole 510, and the actuator 710 is provided with a through hole 7112 along the vertical direction. The actuator 710 is locked and fixed to the bottom of the receiving area 500 by passing through the through hole 7112 and the first screw hole 510 with a first locking member.

[0046] In one embodiment, see Figure 5 The bottom of the receiving area 500 is also provided with a second screw hole 520. The actuator 720 is locked and fixed to the bottom of the receiving area 500 by passing the second locking member through the strip hole 7212 and the second screw hole 520.

[0047] Specifically, the first locking component and the second locking component are bolts, screws, etc., and the through hole 7112 and the strip hole 7212 are stepped holes, so that the end of the first locking component can be located in the through hole 7112 and the end of the second locking component can be located in the strip hole 7212.

[0048] In a preferred embodiment, see Figures 6 to 8The second inclined surface 7211 is provided with a guide limiting groove 7213, and the first inclined surface 7111 is provided with a guide block 7114 corresponding to the guide limiting groove 7213. The guide block 7114 has two opposing sides 71141 along the longitudinal direction. The guide block 7114 is located in the guide limiting groove 7213, and the two sides 71141 are in contact with the groove wall of the guide limiting groove 7213. In this embodiment, due to the guiding effect of the guide block 7114 and the guide limiting groove 7213, the movement trajectory of the actuator 710 and the actuating member 720 can be limited during relative movement, thus preventing positional deviation.

[0049] This utility model proposes two different design schemes for the guide block 7114, which will be explained below with reference to two specific embodiments.

[0050] In the first specific embodiment, see Figure 6 and Figure 7 The guide block 7114 also has a slope 71142 and a first clearance surface 71143 connected to the bottom end of the slope 71142. The slope 71142 is the top surface of the guide block 7114 and is used to abut against the top edge 72131 of the guide limiting groove 7213. The first clearance surface 71143 is arranged parallel to the first inclined surface 7111 and is used to abut against the second inclined surface 7211.

[0051] In this embodiment, when adjusting the abutment position of the actuator 710 on the second inclined surface 7211, the slope 71142 can abut against the top edge 72131 of the guide limiting groove 7213, and the first clearance surface 71143 can abut against the portion of the second inclined surface 7211 located above the guide limiting groove 7213, thereby achieving a wider range of adjustment. In both cases, the first inclined surface 7111 does not abut against the second inclined surface 7211.

[0052] In the second specific embodiment, see Figure 6 and Figure 8 The actuator 710 also has a cutting surface 7113 on the side facing the actuator 720. The cutting surface 7113 is arranged vertically and connected to the top of the first inclined surface 7111. The guide block 7114 also has a vertical surface 71145 arranged vertically and a second clearance surface 71146 connected to the bottom end of the vertical surface 71145. The vertical surface 71145 is connected to the bottom end of the cutting surface 7113, and the second clearance surface 71146 is arranged parallel to the first inclined surface 7111 and is used to abut against the second inclined surface 7211.

[0053] In this embodiment, when adjusting the abutment position of the actuator 710 on the second inclined surface 7211, the second clearance surface 71146 can also abut against the portion of the second inclined surface 7211 located above the guide limiting groove 7213 to achieve a wider range of adjustment. In this case, the first inclined surface 7111 does not abut against the second inclined surface 7211.

[0054] In one embodiment, see Figure 3 and Figure 6 The actuator 720 includes a movable seat 721 and a movable block 722 disposed on the side 71141 of the movable seat 721. The movable anchor point 600 is disposed on the movable block 722. The movable block 722 is located at the opening 400. The second inclined surface 7211 and the strip hole 7212 are located on the movable seat 721.

[0055] In one embodiment, see Figure 7 and Figure 8 The actuator 710 includes an adjusting block 711, with a first inclined surface 7111 and a through hole 7112 located on the adjusting block 711.

[0056] In some embodiments, the first synchronization belt 310 is located above the second synchronization belt 320, such as Figure 1 and Figure 2 As shown; or, the first synchronization belt 310 is located below the second synchronization belt 320.

[0057] In one specific embodiment, the first pulley 100 is synchronously connected to the power source.

[0058] In the description of this utility model, it should be understood that the terms "comprising" and "having" as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0059] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0061] While the embodiments of this utility model have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of this utility model as defined in the claims. Furthermore, the utility model described herein may have other embodiments and can be implemented or realized in various ways. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains.

Claims

1. A power transmission device for a vacuum robotic arm, disposed in the upper arm and / or forearm of the vacuum robotic arm, characterized in that, The power transmission device includes: The first pulley (100) has a first outer peripheral surface, one side of which is provided with a first fixed anchor point (110) and the opposite side is provided with a movable and adjustable anchor point (600) through a tension adjustment assembly (700). The second pulley (200) has a second outer peripheral surface, and the two opposite sides of the second outer peripheral surface are respectively provided with second fixed anchor points (210) at different heights. One of the second fixed anchor points (210) is located at the same transmission height as the movable anchor point (600), and the other second fixed anchor point (210) is located at the same transmission height as the first fixed anchor point (110). The first synchronous belt (310) is an open-loop belt. One end is sleeved and secured to the movable anchor point (600), and the other end is sleeved and secured to one of the second fixed anchor points (210) after wrapping around a portion of the circumference of the first pulley (100) and a portion of the circumference of the second pulley (200). The second synchronous belt (320) is set opposite to the first synchronous belt (310) and is an open loop belt. One end is sleeved and fixed at the first fixed anchor point (110), and the other end is sleeved and fixed at another second fixed anchor point (210) after wrapping around a part of the circumference of the first pulley (100) and a part of the circumference of the second pulley (200). The position of the movable anchor point (600) is adjusted by the tension adjustment component (700), so that the first pulley (100) rotates and drives the first synchronous belt (310) to wrap tightly around the first pulley (100) to adjust the tension of the first synchronous belt (310). Under the drive of the first synchronous belt (310), the second pulley (200) rotates adaptively, thereby driving the second synchronous belt (320) to wrap tightly around the second pulley (200) to adjust the tension of the second synchronous belt (320).

2. The power transmission device for a vacuum robotic arm according to claim 1, characterized in that, The first outer peripheral surface is provided with an opening (400), and the first pulley (100) is provided with a receiving area (500) corresponding to the opening (400). The tension adjustment component (700) is located in the receiving area (500), and the movable anchor point (600) is located at the opening (400).

3. The power transmission device for a vacuum robotic arm according to claim 2, characterized in that, The tension adjustment assembly (700) includes an actuator (710) and an actuator (720). The actuator (710) has a first inclined surface (7111) on one side facing the actuator (720). The actuator (710) is locked and fixed to the bottom of the receiving area (500) by a first locking member. The movable anchor point (600) is provided on the actuator (720). The actuator (720) has a second inclined surface (7211) parallel to the first inclined surface (7111) on the side facing the actuator (710). The actuator (720) has a strip hole (7212) in the vertical direction. The extension direction of the strip hole (7212) is consistent with the direction of the center line connecting the first pulley (100) and the second pulley (200). The actuator (720) is locked and fixed to the bottom of the receiving area (500) by a second locking member passing through the strip hole (7212). The actuator (710) abuts against the second inclined plane (7211) via the first inclined plane (7111) and is located above the second inclined plane (7211). Before locking the actuator (710) and the actuator (720), the actuator (720) and its movable anchor point (600) can be adjusted to move closer to or further away from the actuator (710) by adjusting the abutment position of the actuator (710) on the second inclined plane (7211).

4. The power transmission device for a vacuum robotic arm according to claim 3, characterized in that, The second inclined surface (7211) is provided with a guide limiting groove (7213), and the first inclined surface (7111) is provided with a guide block (7114) corresponding to the guide limiting groove (7213). The guide block (7114) has two opposite sides (71141) along the longitudinal direction. The guide block (7114) is located in the guide limiting groove (7213), and the two sides (71141) are in contact with the groove wall of the guide limiting groove (7213).

5. The power transmission device for a vacuum robotic arm according to claim 4, characterized in that, The guide block (7114) also has a slope (71142) and a first clearance surface (71143) connected to the bottom end of the slope (71142). The slope (71142) is the top surface of the guide block (7114) and is used to abut against the top edge (72131) of the guide limiting groove (7213). The first clearance surface (71143) is arranged parallel to the first inclined surface (7111) and is used to abut against the second inclined surface (7211).

6. The power transmission device for a vacuum robotic arm according to claim 4, characterized in that, The actuator (710) is further provided with a cutting surface (7113) on the side facing the actuator (720), the cutting surface (7113) is arranged vertically and connected to the top of the first inclined surface (7111); The guide block (7114) also has a vertical surface (71145) arranged in the vertical direction and a second clearance surface (71146) connected to the bottom end of the vertical surface (71145). The vertical surface (71145) is connected to the bottom end of the cutting surface (7113). The second clearance surface (71146) is arranged parallel to the first inclined surface (7111) and is used to abut against the second inclined surface (7211).

7. The power transmission device for a vacuum robotic arm according to claim 3, characterized in that, The bottom of the receiving area (500) is provided with a first screw hole (510), and the actuator (710) is provided with a through hole (7112) along the vertical direction. The actuator (710) is locked and fixed to the bottom of the receiving area (500) by passing the first locking member through the through hole (7112) and the first screw hole (510).

8. The power transmission device for a vacuum robotic arm according to claim 3, characterized in that, The bottom of the receiving area (500) is also provided with a second screw hole (520). The second locking member passes through the strip hole (7212) and the second screw hole (520) to lock and fix the actuator (720) to the bottom of the receiving area (500).

9. The power transmission device for a vacuum robotic arm according to claim 3, characterized in that, The actuator (720) includes a movable seat (721) and a movable block (722) disposed on the side (71141) of the movable seat (721), the movable anchor point (600) is disposed on the movable block (722), and the movable block (722) is located at the opening (400).

10. The power transmission device for a vacuum robotic arm according to any one of claims 1-9, characterized in that, The first synchronization band (310) is located above the second synchronization band (320); or, The first synchronization band (310) is located below the second synchronization band (320).

Images