A transmission component and an end effector

Abstract

The present application discloses a transmission assembly and an end effector, relating to the technical field of mechanical transmission. The transmission assembly includes a support arm, and a drive assembly disposed on the support arm. A rotation and translation assembly respectively connected to the drive assembly is further disposed on the support arm. The rotation and translation assembly includes a sleeve disposed on the support arm, and a first connection assembly and a second connection assembly respectively disposed on the sleeve. The first connection assembly and the second connection assembly are used for connecting with an acting member. Wherein, the first connection assembly and the second connection assembly can rotate around the sleeve, and the first connection assembly can slide along the sleeve. The second connection assembly is located outside the sliding range of the first connection assembly. It can improve the integration of transmission, is beneficial to the miniaturization of the robotic arm, and further improves the applicability during use.

Description

Technical Field

[0001] This application relates to the technical field of mechanical transmission, and more particularly, to a transmission component and an end effector. Background Art

[0002] With the development of society and the improvement of productivity, more and more industries are replacing manual labor with robots. Robots can not only repeat the same work tirelessly, but also work for a long time in different complex environments, such as high-temperature and corrosive environments. Therefore, robots will continue to penetrate into industries such as industry, agriculture, exploration, and medicine, and achieve specific functions through robotic arms.

[0003] Existing multi-degree-of-freedom robotic arms need to rely on different connection forms between adjacent joints to achieve actions such as rotation, pitching, or lifting during movement. The integration of transmission is relatively low, and a large amount of space is occupied when implementing the required actions, which affects the miniaturization of the robotic arm and has a greater limitation on the diversification of the application scenarios of the robotic arm. Summary of the Invention

[0004] The purpose of this application is to provide a transmission component and an end effector, which can improve the integration of transmission, facilitate the miniaturization of the robotic arm, and thus improve the applicability during use.

[0005] The embodiments of this application are implemented as follows:

[0006] On the one hand, an embodiment of this application provides a transmission component, including a support arm, and a drive component disposed on the support arm. A rotation and translation component respectively connected to the drive component is also disposed on the support arm. The rotation and translation component includes a sleeve disposed on the support arm, and a first connection component and a second connection component respectively disposed on the sleeve. The first connection component and the second connection component are used to connect with an acting member. Wherein, the first connection component and the second connection component can rotate around the sleeve, and the first connection component can slide along the sleeve, and the second connection component is located outside the sliding range of the first connection component.

[0007] Optionally, the rotation and translation component further includes a transmission shaft and a lead screw rotatably connected to the support arm. The drive component is respectively in transmission connection with the transmission shaft and the lead screw. The lead screw is located inside the sleeve. The lead screw is in transmission connection with the first connection component through a nut, and the transmission shaft is in transmission connection with the second connection component.

[0008] Optionally, the driving assembly includes a first motor and a second motor disposed on the support arm. A first synchronous pulley is provided at the output end of the first motor, and a second synchronous pulley is provided at the output end of the second motor. One end of the transmission shaft close to the support arm is provided with a first idler pulley, and one end of the lead screw close to the support arm is provided with a second idler pulley. The first synchronous pulley is connected to the first idler pulley through a first synchronous belt, and the second synchronous pulley is connected to the second idler pulley through a second synchronous belt.

[0009] Optionally, the driving assembly further includes a connecting shaft. The connecting shaft is rotatably connected to the support arm and is connected to the second motor. The second synchronous pulley is disposed on the connecting shaft so that the first synchronous pulley and the second synchronous pulley are offset on the rotation center line. The connecting shaft passes through the annular space inside the first synchronous belt.

[0010] Optionally, the driving assembly further includes a fixing seat. The first motor and the second motor are connected to the support arm through the fixing seat. The fixing seat and the support arm are cavity structures. The first synchronous pulley is located inside the fixing seat, and the second synchronous pulley is located inside the support arm. A tensioning assembly is further provided inside the support arm, and the tensioning assembly is used to abut against the second synchronous belt.

[0011] Optionally, the transmission assembly further includes a positioning assembly. The positioning assembly includes a mounting seat and a first bearing seat. The mounting seat is connected to the support arm, and the first bearing seat is connected to the mounting seat. One end of the lead screw close to the support arm is rotatably connected to the first bearing seat through a first rolling bearing, and the mounting seat is connected to one end of the sleeve. The rotation and translation assembly further includes a first positioning seat. The first positioning seat is connected to the mounting seat, and the transmission shaft is rotatably connected to the first positioning seat.

[0012] Optionally, the first connection assembly includes a sliding sleeve and a first connection seat rotatably connected to the sliding sleeve. The sleeve is provided with a sliding groove along the extension direction of the sleeve. The sliding sleeve is connected to the nut through a connecting member passing through the sliding groove. A guiding bearing is provided on the connecting member, and the guiding bearing is matched with the sliding groove. The first connection seat is used to connect to the acting member.

[0013] Optionally, a connecting flange is provided on the sleeve. The second connecting component includes a bearing flange, a gear disc, a second bearing seat and a second connecting seat. One end of the lead screw away from the support arm is rotatably connected to the second bearing seat through a second rolling bearing. The second bearing seat is connected to the connecting flange. The outer ring of the bearing flange is connected to the connecting flange, and the inner ring of the bearing flange is connected to the gear disc. The second connecting seat is connected to the gear disc. The rotation and translation assembly further includes a second positioning seat. The second positioning seat is connected to the connecting flange, and the transmission shaft is rotatably connected to the second positioning seat. A transmission gear is further provided on the transmission shaft, and the transmission gear meshes with the gear disc.

[0014] Optionally, a bracket is provided between the first positioning seat and the second positioning seat. Position sensors electrically connected to the controller are spaced apart on the bracket. The position sensors are used to sense the extreme positions of the first connecting component sliding along the sleeve.

[0015] An embodiment of the present application further provides an end effector, including the transmission component described in any one of the above, and an acting member connected to the transmission component.

[0016] The beneficial effects of the embodiments of the present application include:

[0017] The transmission component and the end effector provided by the embodiments of the present application drive the rotation and translation assembly on the support arm through the support arm and the drive component provided on the support arm. When the first connecting component and the second connecting component rotate around the sleeve, the acting member can be driven to rotate synchronously. When only the first connecting component slides along the sleeve, the acting member is driven to perform a pitching motion. In addition, when the first connecting component and the second connecting component are connected to the acting member, they can be respectively connected to the acting member through connecting rods to form a quadrilateral structure. As the motion states of the first connecting component and the second connecting component change, the acting member is driven to perform actions such as rotation, pitching and lifting. The completion of the above actions only requires the drive component to drive the rotation and translation assembly to act, and there is no need to use a variety of transmission structures to separately complete single actions. By using the transmission component provided by the embodiments of the present application, when applied to a robotic arm, the integration degree of transmission can be improved, which is beneficial to the miniaturization of the robotic arm, and further improves the applicability during use. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 One of the structural schematic diagrams of the transmission assembly provided by the embodiment of the present application;

[0020] Figure 2 Another structural schematic diagram of the transmission assembly provided by the embodiment of the present application;

[0021] Figure 3 Another structural schematic diagram of the transmission assembly provided by the embodiment of the present application;

[0022] Figure 4 Structural schematic diagram of the connection between the support arm and the drive component in the embodiment of the present application;

[0023] Figure 5 Structural schematic diagram of the cooperation between the second synchronous belt and the tensioning component in the embodiment of the present application;

[0024] Figure 6 It is Figure 2 Partial enlarged view of area A in

[0025] Figure 7 It is Figure 2 Partial enlarged view of area B in

[0026] Figure 8 It is Figure 2 Partial enlarged view of area C in

[0027] Icon: 100 - Transmission assembly; 110 - Support arm; 120 - Drive component; 121 - First motor; 122 - Second motor; 123 - First synchronous pulley; 124 - Second synchronous pulley; 125 - First synchronous belt; 126 - Second synchronous belt; 127 - Connecting shaft; 128 - Fixed seat; 129 - Tensioning component; 130 - Rotary translation component; 131 - Sleeve; 1312 - Chute; 1314 - Connecting flange; 132 - First connecting component; 1321 - Sliding sleeve; 1323 - Connecting piece; 1325 - Guide bearing; 133 - Second connecting component; 1331 - Bearing flange; 1333 - Gear disc; 1335 - Second bearing seat; 1337 - Second connecting seat; 1339 - Second rolling bearing; 134 - Transmission shaft; 1342 - First idler pulley; 1344 - Transmission gear; 135 - Lead screw; 1351 - Nut; 1352 - Second idler pulley; 136 - First positioning seat; 137 - Second positioning seat; 138 - Bracket; 1382 - Position sensor; 140 - Positioning component; 141 - Mounting seat; 143 - First bearing seat; 145 - First rolling bearing. Detailed implementation manners

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. Usually, the components of the embodiments of this application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of this application claimed, but merely represents selected embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts fall within the scope of protection of this application.

[0030] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0031] In the description of this application, it should also be noted that unless otherwise clearly specified and limited, the terms "arranged" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0032] Please refer to Figure 1 , this embodiment provides a transmission assembly 100, including a support arm 110 and a drive assembly 120 arranged on the support arm 110. A rotation and translation assembly 130 is also arranged on the support arm 110 and is respectively connected to the drive assembly 120. The rotation and translation assembly 130 includes a sleeve 131 arranged on the support arm 110, and a first connection assembly 132 and a second connection assembly 133 respectively arranged on the sleeve 131. The first connection assembly 132 and the second connection assembly 133 are used to connect to an acting member. Among them, the first connection assembly 132 and the second connection assembly 133 can rotate around the sleeve 131, and the first connection assembly 132 can slide along the sleeve 131. The second connection assembly 133 is located outside the sliding range of the first connection assembly 132.

[0033] Specifically, the embodiment of the present application does not specifically limit the setting form of the support arm 110. It can be a connecting support member fixed to the device or a certain section of the support arm of the robotic arm, and can be flexibly set according to the use environment. The driving component 120 provided on the support arm 110 serves as the power source for the movement of the rotation and translation component 130, providing a power basis for the movement of the rotation and translation component 130. It can be understood that the second connection component 133 is located outside the sliding range of the first connection component 132. When the first connection component 132 slides along the sleeve 131, interference with the second connection component 133 is avoided, which is beneficial to improving the stability and reliability of the transmission.

[0034] It should be noted that the first connection component 132 and the second connection component 133 jointly act on the acting member, providing a connection bridge for the spatial transformation and attitude transformation of the acting member. For example, when the first connection component 132 and the second connection component 133 rotate around the sleeve 131, the acting member can be driven to rotate a specific angle to point to different positions as needed. It is also possible to make the first connection component 132 slide along the extension direction of the sleeve 131. During the process of the first connection component 132 sliding along the sleeve 131, the acting member is driven to make corresponding state conversions, such as the pitching action of the acting member.

[0035] When the first connection component 132 and the second connection component 133 are connected to the acting member, they can be respectively connected to the acting member through connecting rods. In this way, a quadrilateral structure is formed among the first connection component 132, the second connection component 133, the connecting rods, and the acting member. When the first connection component 132 slides along the extension direction of the sleeve 131, the acting member can have pitching or lifting actions. When the first connection component 132 and the second connection component 133 rotate around the sleeve 131, the acting member is driven to rotate synchronously by a corresponding angle, thereby realizing diversified adjustment and control of the acting member.

[0036] The transmission component 100 provided by the embodiment of the present application drives the rotation and translation component 130 on the support arm 110 through the support arm 110 and the drive component 120 provided on the support arm 110. When the first connection component 132 and the second connection component 133 rotate around the sleeve 131, the acting member can be driven to rotate synchronously. Only when the first connection component 132 slides along the sleeve 131, the acting member is driven to perform a pitching motion. In addition, when the first connection component 132 and the second connection component 133 are connected to the acting member, they can be respectively connected to the acting member through connecting rods to form a quadrilateral structure. As the motion states of the first connection component 132 and the second connection component 133 change, the acting member is driven to perform actions such as rotation, pitching, and lifting. The completion of the above actions only requires the drive component 120 to drive the rotation and translation component 130 to act, without using multiple transmission structures to separately complete single actions. By using the transmission component 100 provided by the embodiment of the present application, when applied to a robotic arm, the integration degree of transmission can be improved, which is beneficial to the miniaturization of the robotic arm, and thus the applicability during use is improved.

[0037] As Figure 1 and Figure 2 shown, the rotation and translation component 130 further includes a transmission shaft 134 and a lead screw 135 rotatably connected to the support arm 110. The drive component 120 is respectively in transmission connection with the transmission shaft 134 and the lead screw 135. The lead screw 135 is located inside the sleeve 131. The lead screw 135 is in transmission connection with the first connection component 132 through a nut 1351, and the transmission shaft 134 is in transmission connection with the second connection component 133.

[0038] Specifically, the transmission shaft 134 and the lead screw 135 are respectively rotatably connected to the support arm 110. When the drive component 120 is respectively in transmission connection with the transmission shaft 134 and the lead screw 135, the transmission shaft 134 is driven to rotate or the lead screw 135 is driven to rotate, or the transmission shaft 134 and the lead screw 135 can be driven to rotate simultaneously. When the transmission shaft 134 rotates, the second connection component 133 is driven to rotate around the sleeve 131 through the transmission shaft 134. When the lead screw 135 rotates, the first connection component 132 is driven to slide along the sleeve 131 through the nut 1351. Since the first connection component 132 and the second connection component 133 are respectively connected to the acting member, when the second connection component 133 rotates around the sleeve 131, the second connection component 133 is driven to rotate around the sleeve 131 synchronously through the acting member to realize the adjustment of the attitude of the acting member.

[0039] As Figure 3 and Figure 4As shown in the figure, the drive assembly 120 includes a first motor 121 and a second motor 122 disposed on the support arm 110. A first synchronous pulley 123 is provided at the output end of the first motor 121, and a second synchronous pulley 124 is provided at the output end of the second motor 122. One end of the transmission shaft 134 close to the support arm 110 is provided with a first idler pulley 1342, and one end of the lead screw 135 close to the support arm 110 is provided with a second idler pulley 1352. The first synchronous pulley 123 is connected to the first idler pulley 1342 through a first synchronous belt 125, and the second synchronous pulley 124 is connected to the second idler pulley 1352 through a second synchronous belt 126.

[0040] Specifically, in the above form, the first motor 121 can drive the transmission shaft 134 to rotate, and the second motor 122 can drive the lead screw 135 to rotate. The first motor 121 and the second motor 122 can be selectively started simultaneously or only one of them can be started according to needs. In this way, the second connection assembly 133 can be driven to rotate by the transmission shaft 134, and the first connection assembly 132 can be driven to slide along the sleeve 131 by the lead screw 135, making the transmission structure more compact and improving the space utilization rate.

[0041] As Figure 4 shown in the figure, the drive assembly 120 further includes a connecting shaft 127. The connecting shaft 127 is rotatably connected to the support arm 110 and is connected to the second motor 122. The second synchronous pulley 124 is provided on the connecting shaft 127 so that the first synchronous pulley 123 and the second synchronous pulley 124 are offset on the rotation center line. The connecting shaft 127 passes through the annular space inside the first synchronous belt 125.

[0042] Exemplarily, both ends of the connecting shaft 127 are rotatably connected to the support arm 110 to stably support the connecting shaft 127 and prevent the connecting shaft 127 from being deformed by force. The connecting shaft 127 is connected to the second motor 122 to provide the required power for the rotation of the connecting shaft 127. The second synchronous pulley 124 is provided on the connecting shaft 127 so that the first synchronous pulley 123 and the second synchronous pulley 124 are offset on the rotation center line (that is, the distance between the first synchronous pulley 123 and the first motor 121 is different from the distance between the second synchronous pulley 124 and the second motor 122). Moreover, when the first synchronous pulley 123 is connected to the first idler pulley 1342 through the first synchronous belt 125 and the second synchronous pulley 124 is connected to the second idler pulley 1352 through the second synchronous belt 126, the connecting shaft 127 passes through the annular space inside the first synchronous belt 125, making the arrangement of the drive assembly 120 more compact, which is beneficial to improving the space utilization rate and making the mutual transmission more compact.

[0043] As Figure 4 and Figure 5As shown, the drive assembly 120 further includes a fixed seat 128. The first motor 121 and the second motor 122 are connected to the support arm 110 through the fixed seat 128. The fixed seat 128 and the support arm 110 are cavity structures. The first synchronous pulley 123 is located inside the fixed seat 128, and the second synchronous pulley 124 is located inside the support arm 110. A tensioning assembly 129 is further provided inside the support arm 110, and the tensioning assembly 129 is used to abut against the second synchronous belt 126.

[0044] Specifically, the fixed seat 128 not only plays a role in supporting and fixing, but also provides the required accommodation space for the transmission of the first motor 121 and the second motor 122, so as to facilitate the connection between the first motor 121 and the first synchronous pulley 123, and the connection between the second motor 122 and the connecting shaft 127. By adopting the above method, the first synchronous pulley 123 is located inside the fixed seat 128, and the second synchronous pulley 124 is located inside the support arm 110, so as to make full use of the occupied space of the fixed seat 128 and the support arm 110. While ensuring that the support arm 110 and the fixed seat 128 play a stable supporting role, it provides the required space for the power transmission of the drive assembly 120. In addition, a tensioning assembly 129 is further provided inside the support arm 110, and the tensioning assembly 129 is used to abut against the second synchronous belt 126 to ensure the tension of the second synchronous belt 126, which is beneficial to improving the stability of the connection.

[0045] Exemplarily, the tensioning assembly 129 can be fixedly connected to the support arm 110 through a support frame provided inside the support arm 110, and abuts against one side of the second synchronous belt 126 through a pulley provided on the support frame. In this way, not only the second synchronous belt 126 is tensioned, but also the friction between the tensioning assembly 129 and the second synchronous belt 126 is reduced, which is beneficial to improving the transmission stability and the service life of the second synchronous belt 126.

[0046] As Figure 6 shown, the transmission assembly 100 further includes a positioning assembly 140. The positioning assembly 140 includes a mounting seat 141 and a first bearing seat 143. The mounting seat 141 is connected to the support arm 110, the first bearing seat 143 is connected to the mounting seat 141, and one end of the lead screw 135 close to the support arm 110 is rotatably connected to the first bearing seat 143 through a first rolling bearing 145. The mounting seat 141 is connected to one end of the sleeve 131; the rotation and translation assembly 130 further includes a first positioning seat 136. The first positioning seat 136 is connected to the mounting seat 141, and the transmission shaft 134 is rotatably connected to the first positioning seat 136.

[0047] Specifically, the sleeve 131 is connected to the support arm 110 through the mounting seat 141 of the positioning component 140. When the sleeve 131 is connected to the mounting seat 141, threads can be provided at the corresponding connection positions of the sleeve 131 and the mounting seat 141 so that the sleeve 131 and the mounting seat 141 are threadedly connected. In order to ensure the stability of the connection, fasteners can also be provided on the mounting seat 141 to facilitate stable abutment with the sleeve 131, which is beneficial to improving the stability of the connection and enabling the sleeve 131 to be stably connected to the support arm 110. In addition, by providing a first bearing seat 143 on the mounting seat 141, the lead screw 135 is rotatably connected to the first bearing seat 143 through the first rolling bearing 145. When the second motor 122 drives the lead screw 135 to rotate through the second idler pulley 1352 provided on the lead screw 135, the rotation of the lead screw 135 is more stable, which is beneficial to improving the stability of the transmission.

[0048] Similarly, the first positioning seat 136 is fixedly connected to the mounting seat 141, and the transmission shaft 134 is rotatably connected to the first positioning seat 136. When the first motor 121 drives the transmission shaft 134 to rotate through the first idler pulley 1342 provided on the transmission shaft 134, the rotation of the transmission shaft 134 is more stable, which is beneficial to improving the stability of the transmission.

[0049] As Figure 7 shown, the first connection component 132 includes a sliding sleeve 1321 and a first connection seat rotatably connected to the sliding sleeve 1321. The sleeve 131 is provided with a chute 1312 along the extension direction of the sleeve 131. The sliding sleeve 1321 is connected to the nut 1351 through a connecting piece 1323 passing through the chute 1312. A guide bearing 1325 is provided on the connecting piece 1323, and the guide bearing 1325 cooperates with the chute 1312. The first connection seat is used to connect to the acting piece.

[0050] Exemplarily, a connection hole can be provided on the first connection seat so that the acting piece is directly connected to the connection hole, or the acting piece is connected to the connection hole through a connecting rod to realize the control of the attitude of the acting piece. The sliding sleeve 1321 and the first connection seat can be connected through a bearing. In this way, when the second connection component 133 rotates, the first connection seat can be driven to rotate synchronously by the acting piece without affecting the sliding of the sliding sleeve 1321.

[0051] Through the chute 1312 arranged in the extending direction of the sleeve 131, when the lead screw 135 rotates, since the sliding sleeve 1321 is connected to the nut 1351 through the connecting member 1323 passing through the chute 1312, the nut 1351 cannot rotate synchronously with the lead screw 135. When there is relative rotation between the lead screw 135 and the nut 1351, there is an axial movement between the nut 1351 and the lead screw 135, thereby driving the sliding sleeve 1321 to slide along the sleeve 131 through the nut 1351. By matching the bearing provided on the connecting member 1323 with the chute 1312, when the sliding sleeve 1321 slides along the sleeve 131, the friction during sliding can be reduced, making the sliding process smoother and facilitating the reduction of noise generated during sliding.

[0052] As Figure 8 shown, a connecting flange 1314 is provided on the sleeve 131. The second connecting assembly 133 includes a bearing flange 1331, a gear disk 1333, a second bearing seat 1335, and a second connecting seat 1337. One end of the lead screw 135 away from the support arm 110 is rotatably connected to the second bearing seat 1335 through a second rolling bearing 1339. The second bearing seat 1335 is connected to the connecting flange 1314. The outer ring of the bearing flange 1331 is connected to the connecting flange 1314, and the inner ring of the bearing flange 1331 is connected to the gear disk 1333. The second connecting seat 1337 is connected to the gear disk 1333. The rotation and translation assembly 130 further includes a second positioning seat 137. The second positioning seat 137 is connected to the connecting flange 1314, and the transmission shaft 134 is rotatably connected to the second positioning seat 137. A transmission gear 1344 is further provided on the transmission shaft 134, and the transmission gear 1344 meshes with the gear disk 1333.

[0053] Specifically, the sleeve 131 and the connecting flange 1314 can be fixedly connected through fasteners or connected by welding, as long as the connection stability can be ensured. The present application embodiment does not make specific limitations in this regard. The lead screw 135 is connected to the second bearing seat 1335 through the second rolling bearing 1339, and the second bearing seat 1335 is connected to the connecting flange 1314. In this way, both ends of the lead screw 135 are rotatably connected to the sleeve 131 respectively, which can play a stable supporting role for the lead screw 135, is beneficial to ensuring the stability of the lead screw 135 when transmitting torque, avoiding the lead screw 135 from being bent under force, and is beneficial to ensuring the reliability and stability of the transmission.

[0054] In addition, the outer ring of the bearing flange 1331 is connected to the connecting flange 1314, and the inner ring of the bearing flange 1331 is connected to the gear disk 1333. While ensuring the connection between the gear disk 1333 and the sleeve 131, the gear disk 1333 and the sleeve 131 can rotate relative to each other. When the transmission shaft 134 transmits force to the gear disk 1333 through the transmission gear 1344, the gear disk 1333 can drive the second connecting seat 1337 connected to the gear disk 1333 to rotate synchronously. Among them, the second positioning seat 137 is fixedly connected to the connecting flange 1314, and the transmission shaft 134 is rotatably connected to the second positioning seat 137. When the first motor 121 drives the transmission shaft 134 to rotate through the first idler gear 1342 provided on the transmission shaft 134, stable supports are provided at both ends of the transmission shaft 134, so that the rotation of the transmission shaft 134 is more stable, which is beneficial to improving the stability of the transmission.

[0055] As Figure 3 shown, a bracket 138 is provided between the first positioning seat 136 and the second positioning seat 137. Position sensors 1382 electrically connected to the controller are arranged at intervals on the bracket 138. The position sensors 1382 are used to sense the extreme positions of the first connection assembly 132 sliding along the sleeve 131.

[0056] Specifically, when the position of the first connection assembly 132 sliding along the sleeve 131 corresponds to the position sensor 1382, in order to ensure safety during use, the controller controls the second motor 122 to stop working according to this position information, avoiding the sliding position of the first connection assembly 132 exceeding the stroke. Similarly, position sensors 1382, such as proximity switches, can also be provided on the second positioning seat 137 or the connecting flange 1314. The gear disk 1333 can be correspondingly provided with a boss. When the boss on the gear disk 1333 corresponds to the proximity switch, the controller controls the first motor 121 to stop working to prevent the rotation of the gear disk 1333 from exceeding the stroke. In this way, it is beneficial to improve the stability and safety of the transmission assembly 100 during operation.

[0057] The embodiment of the present application also discloses an end effector, including the transmission assembly 100 in the foregoing embodiment and an acting member connected to the transmission assembly 100. By way of example, the acting member can be a brush, a light source, a drill bit, a manipulator, etc., and the embodiment of the present application does not make specific limitations thereto. The end effector includes the same structure and beneficial effects as the transmission assembly 100 in the foregoing embodiment. The structure and beneficial effects of the transmission assembly 100 have been described in detail in the foregoing embodiment and will not be elaborated here.

[0058] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and changes can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A transmission component, characterized in that, It includes a support arm, and a driving component arranged on the support arm. A rotation and translation component respectively connected to the driving component is also arranged on the support arm. The rotation and translation component includes a sleeve arranged on the support arm, and a first connection component and a second connection component respectively arranged on the sleeve. The first connection component and the second connection component are used to connect with an acting piece. Wherein, the first connection component and the second connection component can rotate around the sleeve, and the first connection component can slide along the sleeve. The second connection component is located outside the sliding range of the first connection component; The rotation and translation component further includes a transmission shaft and a lead screw rotatably connected to the support arm. The driving component is respectively in transmission connection with the transmission shaft and the lead screw. The lead screw is located inside the sleeve. The lead screw is in transmission connection with the first connection component through a nut. The transmission shaft is in transmission connection with the second connection component; The first connection component includes a sliding sleeve, and a first connection seat rotatably connected to the sliding sleeve. The sleeve is provided with a chute along the extending direction of the sleeve. The sliding sleeve is connected to the nut through a connecting piece penetrating through the chute. A guiding bearing is arranged on the connecting piece. The guiding bearing is matched with the chute. The first connection seat is used to connect with the acting piece; A connection flange is arranged on the sleeve. The second connection component includes a bearing flange, a gear disk, a second bearing seat and a second connection seat. One end of the lead screw far away from the support arm is rotatably connected to the second bearing seat through a second rolling bearing. The second bearing seat is connected to the connection flange. The outer ring of the bearing flange is connected to the connection flange. The inner ring of the bearing flange is connected to the gear disk. The second connection seat is connected to the gear disk; The rotation and translation component further includes a second positioning seat. The second positioning seat is connected to the connection flange. And the transmission shaft is rotatably connected to the second positioning seat. A transmission gear is also arranged on the transmission shaft. The transmission gear is meshed with the gear disk.

2. The drive assembly according to claim 1, wherein, The driving component includes a first motor and a second motor arranged on the support arm. A first synchronous pulley is arranged at the output end of the first motor. A second synchronous pulley is arranged at the output end of the second motor; One end of the transmission shaft close to the support arm is provided with a first idler pulley. One end of the lead screw close to the support arm is provided with a second idler pulley. The first synchronous pulley is connected to the first idler pulley through a first synchronous belt. The second synchronous pulley is connected to the second idler pulley through a second synchronous belt.

3. The drive assembly according to claim 2, characterized in that, The driving component further includes a connecting shaft. The connecting shaft is rotatably connected to the support arm. And the connecting shaft is connected to the second motor. The second synchronous pulley is arranged on the connecting shaft. So that the first synchronous pulley and the second synchronous pulley are staggered on the rotation center line. The connecting shaft penetrates through the annular space inside the first synchronous belt.

4. The drive assembly according to claim 2 or 3, characterized in that, The driving assembly further includes a fixed seat. The first motor and the second motor are connected to the support arm through the fixed seat. The fixed seat and the support arm are of cavity structures. The first synchronous pulley is located inside the fixed seat, and the second synchronous pulley is located inside the support arm. A tensioning assembly is further arranged inside the support arm, and the tensioning assembly is used to abut against the second synchronous belt.

5. The transmission assembly according to any one of claims 1-3, characterized in that, The transmission assembly further includes a positioning assembly. The positioning assembly includes a mounting seat and a first bearing seat. The mounting seat is connected to the support arm, and the first bearing seat is connected to the mounting seat. One end of the lead screw close to the support arm is rotatably connected to the first bearing seat through a first rolling bearing, and the mounting seat is connected to one end of the sleeve. The rotation and translation assembly further includes a first positioning seat. The first positioning seat is connected to the mounting seat, and the transmission shaft is rotatably connected to the first positioning seat.

6. The drive assembly according to claim 5, characterized in that, A bracket is arranged between the first positioning seat and the second positioning seat. Position sensors electrically connected to the controller are arranged at intervals on the bracket. The position sensors are used to sense the limit positions of the first connecting assembly sliding along the sleeve.

7. An end effector, characterized in that, It includes the transmission assembly according to any one of claims 1-6, and an acting member connected to the transmission assembly.

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