Power transmission device and robot end effector

Abstract

The present invention discloses a power transmission device, comprising a base, a power device for providing power, a transmission device, and a stroke device. The power device is mounted on the base and connected to the transmission device, and the transmission device is connected to the stroke device to output power. Furthermore, the power transmission device of the present invention is applied to a robot to become a robot end effector, facilitating the control of the robot end effector's motion execution operations through the robot's signal output. The present invention converts the circular motion output by the power source device into linear motion through the transmission device and the stroke device. The transmission device and the forming device of the present invention have a simple structure, are easy to manufacture and use, reduce costs, and are greatly conducive to promotion and application.

Description

Technical Field

[0001] The present invention relates to a power transmission device, and in particular to a power transmission device and a robot end execution device for transmitting power and realizing end power output execution. Background Art

[0002] Robot end effectors are used to execute actions, and they are crucial for the flexibility and ease of operation of the robot's output. Existing robot end effectors employ a helical wheel structure, which can achieve controllability. However, the helical wheel's complex structure leads to high costs when precise control is required.

[0003] Therefore, if a simple and low-cost power transmission device for a robot end effector is provided, it will be more conducive to the manufacture and realization of a wide range of applications of robots. Summary of the Invention

[0004] The object of the present invention is to provide a power transmission device with a simple structure and reduced cost.

[0005] In order to solve the above technical problems, the present invention provides a power transmission device, including a base, a power device providing power, a transmission device and a stroke device. The power device is installed on the base and connected to the transmission device, and the transmission device is connected to the stroke device to perform power output.

[0006] As described above, the power transmission device includes a first transmission device and a second transmission device, wherein the first transmission device is connected to the power device, the second transmission device is connected to the first transmission device, and the second transmission device is connected to the stroke device to perform power output.

[0007] As described above, the power transmission device, the first transmission device includes a first connecting rod and a second connecting rod, the second transmission device includes a first sliding device and a second sliding device, the first end of the first connecting rod is connected to the power device, the second end of the first connecting rod is connected to the first sliding device, the first end of the second connecting rod is connected to the power device, the second end of the second connecting rod is connected to the second sliding device, and the first sliding device and the second sliding device are respectively connected to the travel device.

[0008] As described above, the power transmission device comprises a power transmission sleeve and a power source device, and the first connecting rod and the second connecting rod are respectively connected to the power transmission sleeve.

[0009] In the power transmission device as described above, the power transmission sleeve includes a first sleeve hole and a second sleeve hole, the first connecting rod is connected to the power transmission sleeve through the first sleeve hole, and the second connecting rod is connected to the power transmission sleeve through the second sleeve hole.

[0010] In the power transmission device as described above, the first sliding device includes a first slider, and the second sliding device includes a second slider. The first slider and the second slider are respectively installed on the stroke device and slide relative to the stroke device.

[0011] In the power transmission device as described above, the travel device is a slide rail, and the first slider and the second slider slide relative to the slide rail.

[0012] The power transmission device as described above further includes a limiting device for limiting the moving position of the transmission device.

[0013] As described above, the power transmission device, the limiting device includes a first limiting device and a second limiting device, the second limiting device is a limiting column, the first limiting device is a limiting sensor, the sensor senses the movement position of the transmission device and feeds back a signal, thereby realizing the limiting of the transmission device.

[0014] The present invention further provides a robot end effector, including a power transmission device and an end effector, wherein the transmission device includes a base, a power device for providing power, a transmission device and a travel device, the power device is installed on the base and connected to the transmission device, the end effector is installed on the transmission device, and the transmission device is connected to the travel device to output power to the end effector to perform an action.

[0015] As described above, the robot end effector, the transmission device includes a first transmission device and a second transmission device, the end effector includes a first end effector and a second end effector, the first transmission device is respectively connected to the power device and the first end effector, the second transmission device is respectively connected to the power device and the second end effector, the first and second transmission devices receive power from the power device and transmit it to the first and second end effectors to perform operations.

[0016] In the robot end effector as described above, the travel device is a slide rail, and the first transmission device and the second transmission device slide relative to the slide rail and drive the first and second end effectors to slide.

[0017] As described above, the power transmission device of the present invention has a simple structure, is easy to manufacture and process, reduces manufacturing costs, and provides a flexible and convenient power transmission output method to meet power transmission output requirements. The robot end effector based on the power transmission device of the present invention enables flexible control of the robot's end effector action output, reduces the cost of the robot end effector, facilitates operational control of the robot end effector's power output, and facilitates widespread application and promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1This is a schematic diagram of the first state structure of the power transmission device of the present invention.

[0019] Figure 2 This is a schematic diagram of the second state structure of the power transmission device of the present invention.

[0020] Figure 3 It is a plan view of the power transmission device of the present invention in a second state.

[0021] Figure 4 This is a schematic diagram of the third state structure of the power transmission device of the present invention.

[0022] Figure 5 It is a plan view of the power transmission device of the present invention in a first state.

[0023] Figure 6 yes Figure 5 Cross-sectional view along line AA.

[0024] Figure 7 This is a schematic diagram of the first state structure of the robot end effector of the present invention.

[0025] Figure 8 This is a schematic diagram of the second state structure of the robot end effector of the present invention. DETAILED DESCRIPTION

[0026] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose, the specific implementation methods, structural features and effects of the power transmission device and robot end effector of the present invention are described in detail below in combination with the accompanying drawings and embodiments.

[0027] The power transmission device of the present invention transmits power to equipment requiring power control, enabling control of the equipment's motion path and motion mode. The power transmission device of the present invention utilizes a simple structure to transmit power and control the terminal equipment requiring motion control, making it easy to manufacture and low-cost. The power transmission device of the present invention can achieve force transmission based on different force control methods as needed.

[0028] like Figure 1 The power transmission device of the present invention includes a base 1 for mounting and fixing, a power device fixed to the base, a transmission device, and a travel device for achieving the output trajectory of the power transmission. The base 1 is a square platform, and the power device is mounted in the middle of the base 1. The power device includes a power source device 9 for providing power output and a power source sleeve 2 for providing a connection for the power source output. The power source device 9 is mounted and located below the base 1 and can be a stepper motor, servo motor, DC motor, or cylinder.

[0029] The power source sleeve 2 is installed on the output shaft of the output end of the power source device 9, including a first sleeve and a second sleeve extending oppositely on both sides. The transmission shaft 8 of the power source device 9 passes through the base 1 and is installed with the power source sleeve 2 to output power.

[0030] The transmission device includes a first transmission device and a second transmission device. The first transmission device is connected to the power source shaft sleeve for transmitting power to the second transmission device. The second transmission device is respectively connected to the first transmission device and the stroke device, thereby realizing the transmission output of the power of the first transmission device according to the trajectory of the stroke device.

[0031] The first transmission device includes a first connecting rod 3 and a second connecting rod 4, and the second transmission device includes a first sliding device 5 and a second sliding device 6. The first end 32 of the first connecting rod 3 is connected to the first sleeve of the power source sleeve 2 via an axial hole structure, and the second end 31 is connected to the first sliding device 5 via an axial hole structure. The first end 41 of the second connecting rod 4 is connected to the second sleeve of the power source sleeve 2 via an axial hole structure, and the second end 42 is connected to the second sliding device 6 via an axial hole.

[0032] The first sliding device 5 includes a first sliding portion 51 and a first connecting portion 52. The first sliding portion 51 cooperates with the stroke device 7 to achieve the motion trajectory of the power transmission output. The first sliding portion 51 can be two independent first upper sliding blocks 51 and first lower sliding blocks 12, or it can be a sliding block of an integrated structure. In this specific embodiment, the first sliding portion 51 is formed by the first upper and lower sliding blocks 51 and 12 being fixedly connected via a screw hole structure to form a single sliding portion. The first lower sliding block 12 can adopt an industry-standard sliding module structure to reduce manufacturing and use costs. The lower end surface of the first lower sliding block 12 cooperates with the stroke device 7.

[0033] The stroke device 7 of the present invention adopts a linear guide rail with a linear stroke trajectory. The lower end surface of the first lower slider 12 is provided with a concave linear groove to match the structure of the stroke device 7. The first lower slider 12 slides on the forming device through the concave linear groove.

[0034] The second sliding device 6 includes a second sliding portion and a second connecting portion 62. Since the stroke distance between the second connecting rod 4 and the second sliding device 6 is short when the stroke is in the maximum stroke state, the length of the second connecting portion 62 can also realize that the second connection is not connected to the second connecting rod 4 and transmits the power required for the stroke. The second sliding portion cooperates with the stroke device 7 to realize power transmission and convert it into a linear sliding output according to the linear guide structure of the forming device 7. The second sliding portion can be composed of two independent sliding blocks, namely the second upper and lower sliding blocks, or it can be an integral sliding structure with an integrated structure. In this specific embodiment, the second sliding portion adopts the structure of the second upper and lower sliding blocks 61 and 13 and is fixedly connected as a whole by means of an axial hole. The second lower sliding block 13 is made of an existing standard slider to reduce costs. The lower end face of the second sliding block 13 is provided with a linear groove that matches the shape of the guide rail of the stroke device 7, so that the second lower sliding block 13 can convert the power output transmission of the power device into a linear sliding force output.

[0035] The power transmission device of the present invention is connected by the first connecting rod 3 and the second connecting rod 4 of the power device, the first sliding device 5 connecting the first connecting rod 3, and the second sliding device 6 connecting the second connecting rod 4. As the power source device of the power device outputs power through the transmission shaft 8, the power source sleeve 2 is driven to move, and then the first connecting rod 3 and the second connecting rod 4 are driven to move as the transmission shaft 8 rotates. The movement of the first connecting rod 3 and the second connecting rod 4 respectively drives the movement of the first sliding device 5 and the second sliding device 6. Since the movement of the first sliding device 5 and the second sliding device is limited by the guide rail of the stroke device 7, the movement of the first and second sliding devices 5 and 6 can only be linear motion according to the linear trajectory of the stroke device 7.

[0036] The power transmission device of the present invention also includes a limiting device for limiting the movement positions of the first and second sliding devices 5 and 6. The limiting device includes a second limiting device 11 and a first limiting device 10. In a specific embodiment, the second limiting device 11 is mounted on the base 1 near the power source sleeve 2 and limits the movement of the power source sleeve 2 with the transmission shaft 8. It uses a mechanical limiting column. The second limiting device includes a sensor and a limiting wheel 101. The limiting wheel 101 is located near the second sliding device 6. When it contacts the second sliding device 6, it triggers a sensor signal. The signal transmitted through signal transmission lines 102a, 102b, and 102c further controls the movement of the power source device 9, thereby limiting the further movement position of the second sliding device 6. In a specific embodiment, to protect and prevent the first and second sliding devices 5 and 6 from colliding when they reach their minimum travel, which could affect their use, a flexible limiting block 53 is provided on the side of the first sliding device 5 opposite the second sliding device 6.

[0037] In order to more clearly describe the structure of the power transmission device of the present invention and the principle of the power transmission process, a similar description is given below.

[0038] like Figure 2 and Figure 3 , is a state diagram of the power transmission device of the present invention when it moves to the minimum stroke distance. In this state, the power source device 9 drives the first connecting rod 3 and the second connecting rod 4 through the power transmitted by the rotation of the transmission shaft 8. The first sliding device 5 and the second sliding device 6 are respectively driven by the first connecting rod 3 and the second connecting rod 4 to slide linearly along the guide rail of the stroke device 7. The first sliding device 5 and the second sliding device 6 move toward each other, and eventually move to the minimum distance and cannot move closer. The limit block 53 further prevents the first sliding device 5 and the second sliding device 6 from colliding due to being too close to each other when they reach the minimum distance. If the first limit device 10 does not sense the pressure contact signal of the second sliding device 6, the limiting action of the second sliding device 6 is not triggered.

[0039] like Figure 4 ,exist Figure 2 On the basis of the minimum stroke of the present invention, the power source device 9 of the power transmission device of the present invention outputs power through the transmission shaft 8. The rotation of the transmission shaft 8 drives the movement of the first connecting rod 3 and the second connecting rod 4 and transmits power to the first sliding device 5 and the second sliding device 6 respectively. The first sliding device 5 and the second sliding device 6 are acted upon by the transmission forces in opposite directions of the first connecting rod 3 and the second connecting rod 4, and slide along the linear guide rail of the stroke device 7 and move away from each other, so that the first sliding device 5 and the second sliding device 6 are driven by the first connecting rod 3 and the second connecting rod 4 to move away from each other along the guide rail of the stroke device 7.

[0040] See also Figure 1 and Figure 5 ,exist Figure 4 On this basis, the first sliding device 5 and the second sliding device 6 continue to slide along the guide rail of the stroke device 7 and continue to move away from each other until the first sliding device 5 and the second sliding device 6 reach their maximum travel distance on the guide rail of the stroke device 7 due to the influence of the arm length of the first connecting rod 3 and the second connecting rod 4. At this time, the second sliding device 6 contacts the limiting wheel 101. The limiting wheel 101 senses the signal transmitted through the signal transmission lines 102a, 102b, and 102c, and then controls the power source device 9 to apply a static limiting force, so that the second connecting rod 4 maintains its current posture and cannot move further away from the first connecting rod 3. As a result, the sliding distance between the first sliding device 5 and the second sliding device 6 is maximized to reach the maximum movement stroke position of the power transmission device of the present invention.

[0041] like Figure 6, we can further see that the transmission shaft 8 of the power source device drives the movement of the first and second connecting rods 3 and 4 through the power source shaft sleeve 2, driving the movement so that the sliding block 51 of the first sliding device and the sliding block 61 of the second sliding device both reach their maximum travel and cannot move away from each other. At this time, the distance between the first connecting rod 3 and the second connecting rod 4 also reaches the maximum backward movement travel. Figure 2 The state of the minimum stroke of the first sliding device 5 and the second sliding device 6 is Figure 1 、 Figure 5 The maximum stroke of the power transmission device of the present invention is completed, thereby completing a complete stroke of the power transmission device of the present invention. Figure 1 、 Figure 5 In the state, the transmission shaft 8 rotates in the opposite direction, which drives the first connecting rod and the second connecting rod 3 and 4 to move toward each other, thereby driving the first sliding device and the second sliding device 5 and 6 to move toward each other along the guide rail of the stroke device 7 until they reach Figure 2 The minimum travel position.

[0042] From the above, it can be seen that the power transmission device of the present invention converts the circular motion of the transmission shaft 8 of the source power device into linear trajectory motion through the power transmission device of the present invention by connecting the first and second connecting rods 3 and 4 of the power source sleeve 2, and the first sliding device 5 and the second sliding device 6 respectively cooperate with the guide rails of the stroke device 7, thereby realizing the power execution output of linear motion.

[0043] like Figure 7 The power transmission device of the present invention is applied to the end effector of a robot, forming a specific embodiment of the robot end effector of the present invention. In this specific embodiment, the end effector is mounted on the first sliding device 5 and the second sliding device 6 of the power transmission device of the present invention, so that the linear motion of the first sliding device 5 and the second sliding device 6 drives the linear motion trajectory of the end effector. Specifically, in this embodiment, the first clamping jaw 15 is mounted and fixed on the first upper slider 51 of the first sliding device, and the second clamping jaw 16 is mounted and fixed on the second upper slider 61 of the second sliding device.

[0044] Figure 7 This is the closed state of the robot end effector of the present invention at its minimum stroke, with the first and second jaws 15, 16 in a closed position. The first jaw end 151 of the first jaw 15 is connected and fixed to the first upper slider 51, while the first jaw end 161 of the second jaw is connected and fixed to the second upper slider 61. As the first and second sliding devices 5, 6 move, they close to their minimum stroke, forming a circular jaw space that can be used to grip circular objects.

[0045] Figure 8The robot end effector of the present invention is in the open state of the maximum stroke, and the first clamping jaw 15 and the second clamping jaw 16 are opened to the maximum distance. Figure 7 In the embodiment, a circular object is clamped between the first clamping jaw 15 and the second clamping jaw 16. Figure 8 Then, the first clamping jaw 15 and the second clamping jaw 16 are opened so that the clamped circular object can be released.

[0046] The structure and principle of the power transmission device of the present invention described above can be transformed and implemented by those skilled in the art. For example, the shape of the first connecting rod 3 and the second connecting rod 4 can be set to an arc shape, and the stroke device 7 can be transformed into an arc-shaped sliding track. Then, when the power transmission device of the present invention moves, the first connecting rod 3 and the second connecting rod 4 drive the first sliding device 5 and the second sliding device 6 to move along the arc track of the stroke device 7 in an arc-shaped curve. For another example, those skilled in the art can also apply the power transmission device of the present invention to other fields, and transform the first clamping jaw 15 and the second clamping jaw 16 into a rectangular strip-shaped first clamping jaw and a second clamping jaw. Then, when the first clamping jaw and the second clamping jaw move, the movement can be used to push two different objects together to an intermediate position through the first clamping jaw and the second clamping jaw. Of course, those skilled in the art can also adapt to the needs of different occasions based on the above-mentioned implementation of the present invention or equivalent transformation.

[0047] To sum up, the present invention clearly describes the principle and structure of the power transmission device through the above-mentioned embodiments, and further explains the structure and principle of applying the power transmission device of the present invention to the end effector of the robot, and converts the circular motion output by the power source device into non-circular motion through the transmission device and the stroke device. The transmission device and the stroke device of the present invention have a simple structure, are easy to manufacture and use, reduce costs, and are greatly beneficial to promotion and application.

[0048] It is obvious to those skilled in the art that the above textual description and graphic examples of the present invention are not intended to limit the scope of protection of the patent rights of the present invention. Under the description and principle explanation of the above technical solutions and specific implementation methods of the present invention and the drawings, the purpose and principle of the present invention can be achieved through familiar technical means such as transformation, equivalence, and replacement, which are all within the scope of protection of the patent rights of the present invention.

Claims

1. A power transmission device, characterized in that: It includes a base, a power device for providing power, a transmission device and a stroke device. The power device is installed on the base and connected to the transmission device. The transmission device is connected to the stroke device to perform power output. The transmission device includes a first transmission device and a second transmission device. The first transmission device is connected to the power device, and the second transmission device is connected to the first transmission device. The second transmission device is connected to the stroke device to perform power output. The first transmission device includes a first connecting rod and a second connecting rod. The power device includes a power transmission sleeve and a power source device. The first connecting rod and the second connecting rod are respectively connected to the power transmission sleeve. The transmission shaft of the power device is installed with the power transmission sleeve to output power.

2. The power transmission device according to claim 1, characterized in that: The second transmission device includes a first sliding device and a second sliding device, the first end of the first connecting rod is connected to the power device, the second end of the first connecting rod is connected to the first sliding device, the first end of the second connecting rod is connected to the power device, the second end of the second connecting rod is connected to the second sliding device, and the first sliding device and the second sliding device are respectively connected to the travel device.

3. The power transmission device according to claim 2, characterized in that: The power transmission sleeve includes a first sleeve hole and a second sleeve hole. The first connecting rod is connected to the power transmission sleeve through the first sleeve hole, and the second connecting rod is connected to the power transmission sleeve through the second sleeve hole.

4. The power transmission device according to claim 3, characterized in that: The first sliding device includes a first slider, and the second sliding device includes a second slider. The first slider and the second slider are respectively installed on the stroke device and slide relative to the stroke device.

5. The power transmission device according to claim 4, characterized in that: The travel device is a slide rail, and the first slider and the second slider slide relative to the slide rail.

6. The power transmission device according to any one of claims 1 to 5, characterized in that: It also includes a limiting device for limiting the moving position of the transmission device.

7. The power transmission device according to claim 6, characterized in that: The limiting device includes a first limiting device and a second limiting device, the second limiting device is a limiting column, and the first limiting device is a limiting sensor, which senses the movement position of the transmission device and feeds back a signal, thereby realizing the limiting of the transmission device.

8. A robot end effector, characterized in that: It includes a power transmission device and an end effector, the transmission device includes a base, a power device for providing power, a transmission device and a stroke device, the power device is installed on the base and connected to the transmission device, the end effector is installed on the transmission device, the transmission device is connected to the stroke device to output power to the end effector to perform an action, the transmission device includes a first transmission device and a second transmission device, the first transmission device is connected to the power device, the second transmission device is connected to the first transmission device, the second transmission device is connected to the stroke device to output power, the first transmission device includes a first connecting rod and a second connecting rod, the power device includes a power transmission sleeve and a power source device, the first connecting rod and the second connecting rod are respectively connected to the power transmission sleeve, and the transmission shaft of the power device is installed with the power transmission sleeve to output power.

9. The robot end effector according to claim 8, characterized in that: The end effector includes a first end effector and a second end effector. The first transmission device is respectively connected to the power device and the first end effector, and the second transmission device is respectively connected to the power device and the second end effector. The first and second transmission devices receive power from the power device and transmit it to the first and second end effectors to perform operations.

10. The robot end effector according to claim 9, characterized in that: The travel device is a slide rail, and the first transmission device and the second transmission device slide relative to the slide rail and drive the first and second end effectors to slide.

Images