A detachable transmission switching device for an intelligent robotic arm

Abstract

The present invention discloses a detachable transmission switching device for an intelligent robotic arm, comprising a housing, a box body, a hydraulic module, a power input shaft mounted inside the housing, an input bevel gear, a first transmission bevel gear, a second transmission bevel gear, a first mounting inner shaft, a second mounting inner shaft, a first inner shaft cylindrical gear, a second inner shaft cylindrical gear, a first external shaft sleeve, a second external shaft sleeve, a first shaft sleeve cylindrical gear, a first output bevel gear, a second shaft sleeve cylindrical gear, a second output bevel gear, a power tooth internal tooth meshing auxiliary mechanism, a power tooth external tooth meshing auxiliary mechanism, a clutch unit, a push rod and a guide rail, and an external tooth output wheel and an internal tooth output wheel mounted inside the housing. The present invention enables the single-axis power of the intelligent robotic arm to achieve multiple power outputs to the end effector, thereby increasing the functionality of the end effector and enabling the end effector to be driven and controlled by the intelligent robotic arm without the need for separate drive and control modules, thereby reducing complexity and cost.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robotic arms, and in particular to a detachable transmission switching device for an intelligent robotic arm. Background Art

[0002] Intelligent machinery is the product of my country's continuously improving manufacturing and production levels. It is used to replace manual labor to complete various tasks and has been widely used in many fields. Among them, intelligent robotic arm technology is an important part of intelligent machinery.

[0003] In general production, intelligent robotic arms operate on target objects by directly running the end effector. When the task is simple, the large working space of the intelligent robotic arm can easily lead to redundant tasks and inefficient use of working resources. When the task is complex, it is necessary to add additional drive modules and control modules to the end effector to increase the functionality of the end effector, which increases manufacturing cost and complexity. In addition, most drive modules and control modules need to be specially formulated according to the end effector to achieve the corresponding function. They are unique and bound, which easily leads to a variety of end effectors and the need to frequently replace the end effector when performing large quantities of complex tasks. Therefore, it is necessary to develop a detachable transmission switching device for intelligent robotic arms. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a detachable transmission switching device for an intelligent robotic arm. By arranging the transmission switching device on the intelligent robotic arm, the single-axis multi-purpose of the intelligent robotic arm can be realized, that is, the single-axis power of the intelligent robotic arm can realize multi-power output to the end effector, thereby increasing the functionality of the end effector, and then the end effector can be driven and controlled by the host of the intelligent robotic arm, without the need to separately add a drive module and a control module, thereby reducing complexity and manufacturing cost; while ensuring the functionality of the intelligent robotic arm, the redundancy of the intelligent robotic arm's operating tasks is avoided, and operating resources are fully utilized, thereby improving operating efficiency; the transmission switching device is structurally detachable, realizing the modular requirements of the intelligent robotic arm on the mounting equipment, and is convenient to load and unload, overcoming the problems of binding and uniqueness, and can be uninstalled and installed at any time according to production needs.

[0005] The object of the present invention is to provide a detachable transmission switching device for an intelligent robotic arm.

[0006] The purpose of the present invention can be achieved by taking the following technical solutions:

[0007] A detachable transmission switching device for an intelligent robotic arm comprises a housing, a box body, a hydraulic module, a power input shaft installed inside the housing, an input bevel gear, a first transmission bevel gear, a second transmission bevel gear, a first mounting inner shaft, a second mounting inner shaft, a first inner shaft cylindrical gear, a second inner shaft cylindrical gear, a first external shaft sleeve, a second external shaft sleeve, a first shaft sleeve cylindrical gear, a first output bevel gear, a second shaft sleeve cylindrical gear, a second output bevel gear, a power tooth internal tooth meshing auxiliary mechanism, a power tooth external tooth meshing auxiliary mechanism, a clutch unit, a push rod and a guide rail, and an external tooth output wheel and an internal tooth output wheel installed inside the housing, wherein the power input shaft serves as an input end, the bottom end of which extends out of the housing and is connected to the robotic arm of the industrial robot, and the top end of which is connected to the There is an input bevel gear, and the left and right sides of the input bevel gear are respectively meshed with the first transmission bevel gear and the second transmission bevel gear, and the first transmission bevel gear and the second transmission bevel gear are respectively connected to the first mounting inner shaft and the second mounting inner shaft, and the two mounting inner shafts are respectively connected to the left and right sides of the box body through bearings, and the outer sides of the first mounting inner shaft and the second mounting inner shaft are respectively sleeved with the first inner shaft cylindrical gear and the second inner shaft cylindrical gear, and each inner shaft cylindrical gear can rotate synchronously with the corresponding mounting inner shaft, and the gear pump of the hydraulic module is arranged outside the box body and connected to the first mounting inner shaft, and the outer sides of the first mounting inner shaft and the second mounting inner shaft are respectively sleeved with the first external shaft sleeve and the second external shaft sleeve, and the two ends of the first external shaft sleeve are respectively sleeved with the first shaft sleeve cylindrical gear The gear and the first output bevel gear, the two ends of the second external shaft sleeve are respectively sleeved with the second shaft sleeve cylindrical gear and the second output bevel gear, and the first shaft sleeve cylindrical gear and the second shaft sleeve cylindrical gear are located at one end close to the power input shaft, each shaft sleeve cylindrical gear and the output bevel gear can rotate synchronously with the corresponding external shaft sleeve, the first output bevel gear is externally meshed with the bottom end of the power gear internal gear meshing auxiliary mechanism, the second output bevel gear is externally meshed with the bottom end of the power gear external gear meshing auxiliary mechanism, the top end of the power gear internal gear meshing auxiliary mechanism extends out of the box body and meshes internally with the internal gear output wheel provided above the box body, the top end of the power gear external gear meshing auxiliary mechanism extends out of the box body and meshes externally with the external gear output wheel provided above the box body, the external gear output wheel and the internal gear output The output wheels are coaxially arranged, and the internally toothed output wheel is connected to the housing of the transmission mechanism as the first output end, and the externally toothed output wheel is connected to the bevel gear of the transmission shaft of the transmission mechanism through a bevel gear as the second output end. The externally toothed output wheel and the internally toothed output wheel are jointly installed inside the box body, and the box body is connected to the box body. There are two clutch units, namely the first clutch unit and the second clutch unit. The two clutch units are respectively slidably installed on the guide rails, and the two clutch units are connected by a push rod, and the push rod is connected to the hydraulic cylinder of the hydraulic module. When the hydraulic cylinder of the hydraulic module applies thrust to the push rod, the clutch gear of the second clutch unit can be meshed with the second inner shaft cylindrical gear and the second shaft sleeve cylindrical gear, thereby realizing the output of the power input shaft from the second output end.When the hydraulic cylinder of the hydraulic module applies a pulling force to the push rod, the clutch gear of the first clutch unit can be engaged with the first inner shaft cylindrical gear and the first sleeve cylindrical gear, thereby realizing the power input shaft output from the first output end.

[0008] Furthermore, each clutch unit includes a sliding base, two clutch gear paddles and a clutch gear, the sliding base is mounted on the guide rail, the two clutch gear paddles are parallel to each other and symmetrically mounted on the sliding base, and the clutch gear is fixed on the two clutch gear paddles.

[0009] Further, the power tooth internal tooth engagement auxiliary mechanism includes a first power receiving bevel gear, a first connecting shaft, a first external tooth output wheel auxiliary gear, a first internal tooth output wheel auxiliary gear and a first auxiliary gear positioning sleeve, the first power receiving bevel gear is externally meshed with the first output bevel gear, one end of the first connecting shaft is connected to the first power receiving bevel gear, the first external tooth output wheel auxiliary gear is arranged on the first connecting shaft through a bearing, and the first internal tooth output wheel auxiliary gear is sleeved on the other end of the first connecting shaft through the first auxiliary gear positioning sleeve.

[0010] Furthermore, the power tooth external tooth engagement auxiliary mechanism includes a second power receiving bevel gear, a second connecting shaft, a second external tooth output wheel auxiliary gear, a second internal tooth output wheel auxiliary gear and a second auxiliary gear positioning sleeve. The second power receiving bevel gear is externally meshed with the second output bevel gear, one end of the second connecting shaft is connected to the second power receiving bevel gear, the second external tooth output wheel auxiliary gear is sleeved on the second connecting shaft through the second auxiliary gear positioning sleeve, and the second internal tooth output wheel auxiliary gear is arranged on the other end of the second connecting shaft through a bearing.

[0011] Furthermore, two non-powered gear auxiliary mechanisms are provided between the external gear output wheel and the internal gear output wheel. The two non-powered gear auxiliary mechanisms and the power gear internal gear meshing auxiliary mechanism and the power gear external gear meshing auxiliary mechanism are evenly arranged between the external gear output wheel and the internal gear output wheel in a planetary gear transmission manner. The non-powered gear auxiliary mechanism includes a third connecting shaft, a third external gear output wheel auxiliary gear and a third internal gear output wheel auxiliary gear. The third external gear output wheel auxiliary gear and the third internal gear output wheel auxiliary gear are respectively arranged on the third connecting shaft through bearing sleeves, and the third external gear output wheel auxiliary gear is meshed with the external gear output wheel, and the third internal gear output wheel auxiliary gear is meshed with the internal gear output wheel.

[0012] Furthermore, the hydraulic module includes a gear pump, a liquid storage tank, a hydraulic cylinder, an electromagnetic reversing valve and a relief valve. The oil suction port of the gear pump is connected to the liquid storage tank through a pipeline, and its oil outlet is connected to the oil inlet of the relief valve and the first interface of the electromagnetic reversing valve through pipelines respectively. The oil outlet of the relief valve is connected to the liquid storage tank through a pipeline, and the second interface and the third interface of the electromagnetic reversing valve are connected to the upper end and the lower end of the piston of the hydraulic cylinder through pipelines respectively, and its fourth interface is connected to the liquid storage tank through a pipeline.

[0013] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0014] 1. The transmission switching device of the present invention features a power switching structure with a single-axis input power source and dual power outputs via internal and external gears. The axis of the power input shaft is consistently collinear with the axes of the internal and external gear output wheels, ensuring structural consistency. This ensures that the torque provided by the intelligent robotic arm end-point is effectively utilized when power is transmitted through the transmission switching device. Furthermore, by utilizing two identical clutch units to manage the internal and external gear outputs, the two transmission structures are located on either side of the power input shaft axis, with their respective axes consistently aligned with the axis of the power input shaft. This provides structural symmetry and ensures that the center of gravity of the transmission switching device remains aligned with the axis of the intelligent robotic arm end-point shaft during rapid operation, preventing deformation and damage to the intelligent robotic arm due to uneven force.

[0015] 2. This invention utilizes a clutch unit and a hydraulic module to switch the output power of internal and external gears. The hydraulic module utilizes four key components: an M-type electromagnetic reversing valve, a relief valve, a gear pump, and a hydraulic cylinder. The gear pump is powered by a constantly operating power input shaft, while the switching power of the M-type electromagnetic reversing valve can be supplied by the power drive module of the intelligent robotic arm. Thus, under the same power operating conditions, this transmission switching device effectively utilizes resources, further reducing consumable materials and energy.

[0016] 3. The present invention uses a building block assembly, with a box body that is joined together from top to bottom as a building frame, which can effectively and accurately position the various components of the transmission switching device inside the box body, reducing the use of fixing parts such as bolts and screws. This assembly form ensures the positioning of the input and output interfaces of the transmission switching device, and ultimately enables the transmission switching device to be disassembled at any time as a mounting module of an intelligent robotic arm. Furthermore, the building block assembly is a hierarchical assembly from bottom to top, which also reduces the difficulty of assembly to a certain extent and improves reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a top view of the transmission switching device of the present invention.

[0018] Figure 2 It is a bottom view of the transmission switching device of the present invention.

[0019] Figure 3 Schematic diagram of the internal structure of the transmission switching device of the present invention.

[0020] Figure 4 It is a cross-sectional view of the transmission switching device of the present invention.

[0021] Figure 5 It is a structural schematic diagram of the hydraulic module of the present invention.

[0022] Figure 6 This is a schematic structural diagram of the transmission switching device of the present invention using an internal gear output wheel to output power.

[0023] Figure 7 This is a schematic structural diagram of the transmission switching device of the present invention using an external gear output wheel to output power.

[0024] Figure 8 It is a structural schematic diagram of the power gear internal gear engagement auxiliary mechanism of the present invention.

[0025] Figure 9 It is a structural schematic diagram of the power gear external gear engagement auxiliary mechanism of the present invention.

[0026] Figure 10 It is a structural schematic diagram of the non-powered gear auxiliary mechanism of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] like Figure 1As shown, this embodiment provides a detachable transmission switching device for an intelligent robotic arm, including a housing 101, a box body 102, a hydraulic module, a power input shaft 104 installed inside the housing 101, an input bevel gear 105, a first transmission bevel gear 1061, a second transmission bevel gear 1062, a first mounting inner shaft 1071, a second mounting inner shaft 1072, a first inner shaft cylindrical gear 1081, a second inner shaft cylindrical gear 1082, a first external shaft sleeve 1091, a second external shaft sleeve 1092, a first shaft sleeve cylindrical gear 1101, a first output bevel gear 1111, a second shaft sleeve cylindrical gear 1102, a second output bevel gear 1112, a power tooth internal gear meshing auxiliary mechanism 112, and a power tooth external gear meshing auxiliary mechanism. Structure 113, clutch unit, push rod 114 and guide rail 115, as well as external gear output wheel 117 and internal gear output wheel 118 installed inside the box body 102, the power input shaft 104 serves as the input end, the bottom end of which extends out of the box body 101 and is connected to the intelligent robotic arm, and the top end is connected to the input bevel gear 105, the left and right sides of the input bevel gear 105 are respectively engaged with the first transmission bevel gear 1061 and the second transmission bevel gear 1062, the first transmission bevel gear 1061 and the second transmission bevel gear 1062 are respectively connected to the first installation inner shaft 1071 and the second installation inner shaft 1072, the two installation inner shafts are respectively connected to the left and right sides of the box body 101 through bearings, the first installation inner shaft 1071 and the second installation inner shaft 1072 The outer sides are respectively sleeved with the first inner shaft cylindrical gear 1081 and the second inner shaft cylindrical gear 1082, each inner shaft cylindrical gear can rotate synchronously with the corresponding installation inner shaft, the gear pump 103 of the hydraulic module is arranged outside the box body 101, and is connected to the first installation inner shaft 1071, the outer sides of the first installation inner shaft 1071 and the second installation inner shaft 1072 are respectively sleeved with the first external shaft sleeve 1091 and the second external shaft sleeve 1092, the two ends of the first external shaft sleeve 1091 are respectively sleeved with the first shaft sleeve cylindrical gear 1101 and the first output bevel gear 1111, the two ends of the second external shaft sleeve 1092 are respectively sleeved with the second shaft sleeve cylindrical gear 1102 and the second output bevel gear 1112, and the first shaft sleeve cylindrical gear 1101 and the first external shaft sleeve 1092 are respectively sleeved with the second shaft sleeve cylindrical gear 1102 and the second output bevel gear 1112, and the first shaft sleeve cylindrical gear 1101 and the first external shaft sleeve 1092 are respectively sleeved with the first shaft sleeve cylindrical gear 1101 and the first output bevel gear 1111. The two-shaft cylindrical gear 1102 is located at one end close to the power input shaft 104. Each shaft sleeve cylindrical gear and output bevel gear can rotate synchronously with the corresponding external shaft sleeve. The first output bevel gear 1111 is externally meshed with the bottom end of the power gear internal gear meshing auxiliary mechanism 112. The second output bevel gear 1112 is externally meshed with the bottom end of the power gear external gear meshing auxiliary mechanism 113. The top end of the power gear internal gear meshing auxiliary mechanism 112 extends out of the box body 101 and is internally meshed with the internal gear output wheel 118 provided above the box body 101. The top end of the power gear external gear meshing auxiliary mechanism 113 extends out of the box body 101 and is externally meshed with the external gear output wheel 117 provided above the box body 101. The external gear output wheel 117 and the internal gear output wheel 118 are coaxially arranged.The internally toothed output wheel 118 is the first output end, and the externally toothed output wheel 117 is the second output end. The two output ends are respectively connected to the end effector, thereby driving the end effector to perform different actions, increasing the functionality of the end effector and avoiding frequent replacement of the end effector. The externally toothed output wheel 117 and the internally toothed output wheel 118 are installed together inside the box body 102, and the box body 102 is connected to the box body 101. There are two clutch units, namely the first clutch unit 119 and the second clutch unit 120. The two clutch units are respectively slidably mounted on the guide rail 115 and the two clutch units are connected by a push rod 114. The push rod 114 is connected to the hydraulic cylinder 116 of the hydraulic module, and the hydraulic cylinder 116 of the hydraulic module is installed in the box body.

[0029] Each clutch unit includes a sliding base 1191, two clutch gear paddles 1192 and a clutch gear 1193. The sliding base 1191 is installed on the guide rail 115. The two clutch gear paddles 1192 are parallel to each other and symmetrically installed on the sliding base 1191. The clutch gear 1193 is fixed on the two clutch gear paddles 1192.

[0030] like Figure 5 As shown, the hydraulic module includes a gear pump 103, a liquid storage tank 122, a hydraulic cylinder 116, a solenoid reversing valve 123 and a relief valve 124. The oil suction port of the gear pump is connected to the liquid storage tank through a pipeline, and its oil outlet is connected to the oil inlet of the relief valve and the first interface 1231 of the solenoid reversing valve 123 through a pipeline respectively. The oil outlet of the relief valve is connected to the liquid storage tank through a pipeline. The solenoid reversing valve 123 is an M-type solenoid reversing valve, and its second interface 1232 and third interface 1233 are connected to the upper end and lower end of the piston of the hydraulic cylinder through pipelines respectively, and its fourth interface 1234 is connected to the liquid storage tank through a pipeline. The solenoid reversing valve uses the electromagnetic principle to switch the direction of the liquid flow, and the relief valve can ensure that the excess liquid pumped out by the gear pump is drained back to the liquid storage tank when the solenoid reversing valve fails.

[0031] When the solenoid reversing valve is in the neutral position and does not move, the oil pumped out by the gear pump returns to the reservoir through the first port 1231 and the fourth port 1234 in sequence, and the hydraulic cylinder does not move. When the solenoid reversing valve moves to one side, the oil pumped out by the gear pump enters the upper end of the hydraulic cylinder piston through the first port 1231 and the second port 1232 in sequence, while the oil at the lower end of the hydraulic cylinder piston is discharged into the reservoir through the third port 1233 and the fourth port 1234 in sequence, thus causing the hydraulic cylinder piston to move downward, ultimately forming a pushing motion of the hydraulic cylinder. Similarly, when the solenoid reversing valve moves to the other side, the oil pumped out by the gear pump enters the lower end of the hydraulic cylinder piston through the first port 1231 and the third port 1233 in sequence, while the oil at the upper end of the hydraulic cylinder piston is discharged into the reservoir through the second port 1232 and the fourth port 1234 in sequence, thus causing the hydraulic cylinder piston to move upward, ultimately forming a pulling motion of the hydraulic cylinder.

[0032] In this embodiment, since the gear shaft of the gear pump 103 is always connected to the first mounting inner shaft 1071, and the first mounting inner shaft 1071 always receives power from the first transmission bevel gear 1061, the gear pump 103 can utilize the power of the first transmission bevel gear 1061 and is always in pumping operation, thereby effectively utilizing resources and reducing energy consumption.

[0033] like Figure 6 As shown, when the hydraulic cylinder 116 of the hydraulic module applies a pulling force to the push rod 114, the clutch gear 1193 of the first clutch unit 119 can engage with the first inner shaft cylindrical gear 1081 and the first sleeve cylindrical gear 1101, thereby realizing the output of the power input shaft 104 by the internal gear output wheel 118 (first output end).

[0034] like Figure 7 As shown, when the hydraulic cylinder 116 of the hydraulic module applies thrust to the push rod 114, the clutch gear of the second clutch unit 120 can engage with the second inner shaft cylindrical gear 1082 and the second sleeve cylindrical gear 1102, thereby realizing the output of the power input shaft 104 by the external gear output wheel 117 (second output end).

[0035] Specifically, the length of the push rod 114 is set as follows: when the first clutch unit 119 is moved to make its clutch gear engage with the first inner shaft cylindrical gear 1081 and the first sleeve cylindrical gear 1101, it can be seen that the other clutch gear can be staggered with the second inner shaft cylindrical gear 1082, so that when the inner gear output wheel 118 rotates to output, the outer gear output wheel 117 will not transmit power, thereby ultimately achieving the effect of transmission switching.

[0036] like Figure 8As shown, the power tooth internal tooth meshing auxiliary mechanism 112 is mainly responsible for receiving the torque transmitted from the first output bevel gear 1111, and is responsible for maintaining internal tooth meshing with the internal tooth output wheel 118 and transmitting power, while maintaining external tooth meshing with the external tooth output wheel 117 and isolating power to ensure the structural stability of the external tooth output wheel 117. It includes a first power receiving bevel gear 1121, a first connecting shaft 1122, a first external gear output wheel auxiliary gear 1123, a first internal gear output wheel auxiliary gear 1124 and a first auxiliary gear positioning sleeve 1125. The first power receiving bevel gear 1121 is externally meshed with the first output bevel gear 1111, one end of the first connecting shaft 1122 is connected to the first power receiving bevel gear 1121, the first external gear output wheel auxiliary gear 1123 is provided on the first connecting shaft 1122 through a bearing, and the first internal gear output wheel auxiliary gear 1124 is sleeved on the other end of the first connecting shaft 1122 through the first auxiliary gear positioning sleeve 1125. At the same time, the first external gear output wheel auxiliary gear 1123 and the first internal gear output wheel auxiliary gear 1124 can be isolated by the first auxiliary gear positioning sleeve 1125, so as to better transmit power.

[0037] like Figure 9 As shown, the power tooth external tooth meshing auxiliary mechanism 113 is mainly responsible for receiving the torque transmitted from the second output bevel gear 1112, and is responsible for maintaining external tooth meshing with the external tooth output wheel 117 and transmitting power, while maintaining internal tooth meshing with the internal tooth output wheel 118 and isolating power to ensure the structural stability of the internal tooth output wheel 118. It includes a second power receiving bevel gear 1131, a second connecting shaft 1132, a second external gear output wheel auxiliary gear 1133, a second internal gear output wheel auxiliary gear 1134 and a second auxiliary gear positioning sleeve 1135. The second power receiving bevel gear 1131 is externally meshed with the second output bevel gear 1112, one end of the second connecting shaft 1132 is connected to the second power receiving bevel gear 1131, the second external gear output wheel auxiliary gear 1133 is sleeved on the second connecting shaft 1132 through the second auxiliary gear positioning sleeve 1135, and the second internal gear output wheel auxiliary gear 1134 is provided on the other end of the second connecting shaft 1132 through a bearing. At the same time, the second external gear output wheel auxiliary gear 1133 and the second internal gear output wheel auxiliary gear 1134 can be isolated by the second auxiliary gear positioning sleeve 1135, thereby better transmitting power.

[0038] Two non-powered gear auxiliary mechanisms 121 are further provided between the external gear output wheel 117 and the internal gear output wheel 118. The two non-powered gear auxiliary mechanisms 121 and the power gear internal gear meshing auxiliary mechanism 112 and the power gear external gear meshing auxiliary mechanism 113 are evenly arranged between the external gear output wheel 117 and the internal gear output wheel 118 in a planetary gear transmission manner. Figure 10As shown, the non-powered gear auxiliary mechanism 121 includes a third connecting shaft 1211, a third external-tooth output wheel auxiliary gear 1212 and a third internal-tooth output wheel auxiliary gear 1213. The third external-tooth output wheel auxiliary gear 1212 and the third internal-tooth output wheel auxiliary gear 1213 are respectively mounted on the third connecting shaft 1211 through bearing sleeves, and the third external-tooth output wheel auxiliary gear 1212 is engaged with the external-tooth output wheel 117, and the third internal-tooth output wheel auxiliary gear 1213 is engaged with the internal-tooth output wheel 118.

[0039] When the power input shaft receives rotational power from the intelligent robotic arm, the transmission bevel gear and the transmission bevel gear, sharing the same transmission ratio as the input bevel gear, begin transmitting the same speed and torque. Their rotations are opposite to those of the input bevel gear, and the input torque and the transmitted torque are perpendicular to each other. The transmission bevel gear and the internal cylindrical gear are connected to their corresponding mounting inner shafts and therefore rotate with the power input shaft. The external sleeves, acting as an external sleeve without a power source, do not rotate with the mounting inner shaft when the internal shaft is installed. Only when the external sleeves receive transmission power do the corresponding sleeve cylindrical gears and output bevel gears rotate together.

[0040] The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and invention concept of the present invention within the scope disclosed by the present invention, which falls within the scope of protection of the present invention.

Claims

1. A detachable transmission switching device for an intelligent robotic arm, characterized in that: The invention comprises a box body, a box body, a hydraulic module, a power input shaft installed inside the box body, an input bevel gear, a first transmission bevel gear, a second transmission bevel gear, a first installation inner shaft, a second installation inner shaft, a first inner shaft cylindrical gear, a second inner shaft cylindrical gear, a first external shaft sleeve, a second external shaft sleeve, a first shaft sleeve cylindrical gear, a first output bevel gear, a second shaft sleeve cylindrical gear, a second output bevel gear, a power tooth internal tooth meshing auxiliary mechanism, a power tooth external tooth meshing auxiliary mechanism, a clutch unit, a push rod and a guide rail, and an external tooth output wheel and an internal tooth output wheel installed inside the box body, wherein the power input shaft serves as an input end, the bottom end of which extends out of the box body and is connected to the mechanical arm of the industrial robot, and the top end is connected to the input bevel gear, the input bevel gear The left and right sides of the wheel are respectively meshed with the first transmission bevel gear and the second transmission bevel gear, the first transmission bevel gear and the second transmission bevel gear are respectively connected to the first mounting inner shaft and the second mounting inner shaft, the two mounting inner shafts are respectively connected to the left and right sides of the box body through bearings, the outer sides of the first mounting inner shaft and the second mounting inner shaft are respectively sleeved with the first inner shaft cylindrical gear and the second inner shaft cylindrical gear, each inner shaft cylindrical gear can rotate synchronously with the corresponding mounting inner shaft, the gear pump of the hydraulic module is arranged outside the box body and connected to the first mounting inner shaft, the outer sides of the first mounting inner shaft and the second mounting inner shaft are respectively sleeved with the first external shaft sleeve and the second external shaft sleeve, the two ends of the first external shaft sleeve are respectively sleeved with the first shaft sleeve cylindrical gear and the first output bevel gear The two ends of the second external shaft sleeve are respectively sleeved with the second shaft sleeve cylindrical gear and the second output bevel gear, and the first shaft sleeve cylindrical gear and the second shaft sleeve cylindrical gear are located at one end close to the power input shaft, each shaft sleeve cylindrical gear and the output bevel gear can rotate synchronously with the corresponding external shaft sleeve, the first output bevel gear is externally meshed with the bottom end of the power gear internal gear meshing auxiliary mechanism, the second output bevel gear is externally meshed with the bottom end of the power gear external gear meshing auxiliary mechanism, the top end of the power gear internal gear meshing auxiliary mechanism extends out of the box body and meshes internally with the internal gear output wheel provided above the box body, the top end of the power gear external gear meshing auxiliary mechanism extends out of the box body and meshes externally with the external gear output wheel provided above the box body, the external gear output wheel and the internal gear output wheel are coaxially arranged The internal gear output wheel is connected to the housing of the transmission mechanism as the first output end, and the external gear output wheel is connected to the bevel gear of the transmission shaft of the transmission mechanism through a bevel gear as the second output end. The external gear output wheel and the internal gear output wheel are installed together inside the box body, and the box body is connected to the box body. There are two clutch units, namely the first clutch unit and the second clutch unit. The two clutch units are slidably installed on the guide rails, and the two clutch units are connected by a push rod. The push rod is connected to the hydraulic cylinder of the hydraulic module. When the hydraulic cylinder of the hydraulic module applies thrust to the push rod, the clutch gear of the second clutch unit can be meshed with the second inner shaft cylindrical gear and the second shaft sleeve cylindrical gear, thereby realizing the output of the power input shaft from the second output end.When the hydraulic cylinder of the hydraulic module applies a pulling force to the push rod, the clutch gear of the first clutch unit can be engaged with the first inner shaft cylindrical gear and the first sleeve cylindrical gear, thereby realizing the power input shaft output from the first output end.

2. The detachable transmission switching device for an intelligent robotic arm according to claim 1, characterized in that: Each clutch unit includes a sliding base, two clutch gear paddles and a clutch gear. The sliding base is installed on the guide rail. The two clutch gear paddles are parallel to each other and symmetrically installed on the sliding base. The clutch gear is fixed on the two clutch gear paddles.

3. The detachable transmission switching device for an intelligent robotic arm according to claim 1, characterized in that: The power tooth internal tooth engagement auxiliary mechanism includes a first power receiving bevel gear, a first connecting shaft, a first external tooth output wheel auxiliary gear, a first internal tooth output wheel auxiliary gear and a first auxiliary gear positioning sleeve. The first power receiving bevel gear is externally meshed with the first output bevel gear, one end of the first connecting shaft is connected to the first power receiving bevel gear, the first external tooth output wheel auxiliary gear is provided on the first connecting shaft through a bearing, and the first internal tooth output wheel auxiliary gear is sleeved on the other end of the first connecting shaft through the first auxiliary gear positioning sleeve.

4. The detachable transmission switching device for an intelligent robotic arm according to claim 1, characterized in that: The power tooth external tooth engagement auxiliary mechanism includes a second power receiving bevel gear, a second connecting shaft, a second external tooth output wheel auxiliary gear, a second internal tooth output wheel auxiliary gear and a second auxiliary gear positioning sleeve. The second power receiving bevel gear is externally meshed with the second output bevel gear, one end of the second connecting shaft is connected to the second power receiving bevel gear, the second external tooth output wheel auxiliary gear is sleeved on the second connecting shaft through the second auxiliary gear positioning sleeve, and the second internal tooth output wheel auxiliary gear is arranged on the other end of the second connecting shaft through a bearing.

5. The detachable transmission switching device for an intelligent robotic arm according to claim 1, characterized in that: Two non-powered gear auxiliary mechanisms are also provided between the external gear output wheel and the internal gear output wheel. The two non-powered gear auxiliary mechanisms and the power gear internal gear meshing auxiliary mechanism and the power gear external gear meshing auxiliary mechanism are evenly arranged between the external gear output wheel and the internal gear output wheel in a planetary gear transmission manner. The non-powered gear auxiliary mechanism includes a third connecting shaft, a third external gear output wheel auxiliary gear and a third internal gear output wheel auxiliary gear. The third external gear output wheel auxiliary gear and the third internal gear output wheel auxiliary gear are respectively arranged on the third connecting shaft through bearing sleeves, and the third external gear output wheel auxiliary gear is meshed with the external gear output wheel, and the third internal gear output wheel auxiliary gear is meshed with the internal gear output wheel.

6. The detachable transmission switching device for an intelligent robotic arm according to claim 1, characterized in that: The hydraulic module includes a gear pump, a liquid storage tank, a hydraulic cylinder, an electromagnetic reversing valve and a relief valve. The oil suction port of the gear pump is connected to the liquid storage tank through a pipeline, and its oil outlet is connected to the oil inlet of the relief valve and the first interface of the electromagnetic reversing valve through pipelines respectively. The oil outlet of the relief valve is connected to the liquid storage tank through a pipeline, the second interface and the third interface of the electromagnetic reversing valve are connected to the upper end and the lower end of the piston of the hydraulic cylinder through pipelines respectively, and its fourth interface is connected to the liquid storage tank through a pipeline.

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