Single-channel input multi-function motion output transmission mechanism and clamping execution mechanism

Abstract

The application belongs to the technical field of transmission mechanism, and particularly relates to a single-channel input multifunctional motion output transmission mechanism and clamping execution mechanism. The single-channel input multifunctional motion output transmission mechanism comprises a motor, a gear reduction module, a ratchet directional module and a reciprocating screw rod power execution module connected in sequence. The reciprocating screw rod power execution module comprises a first reciprocating screw rod power execution unit and a second reciprocating screw rod power execution unit. The ratchet directional module comprises a first ratchet unit and a second ratchet unit. The two ratchet units are arranged to satisfy that when the first ratchet and the first pawl are in a relative sliding idle state, the second ratchet and the second pawl are in a meshing transmission state, thereby driving the first reciprocating screw rod power execution unit; when the second ratchet and the second pawl are in a relative sliding idle state, the first ratchet and the first pawl are in a meshing transmission state, thereby driving the second reciprocating screw rod power execution unit. The single-motor driving realizes multifunctional motion output, and improves the power density of the driving system.

Description

Technical Field

[0001] This invention belongs to the field of transmission mechanism technology, specifically relating to a single-channel input multi-functional motion output transmission mechanism and a clamping actuator. Background Technology

[0002] Robotics is one of the important trends in scientific development, and enabling robotic end effectors to mimic human hands to perform various tasks is an important part of robotics research.

[0003] In recent years, research on industrial robot grippers has increasingly focused on flexible, multi-degree-of-freedom designs, with the ultimate goal of dexterous manipulation similar to human fingers. Considering the limited space at the robot's end effector and the need to reduce control complexity, it is necessary to improve the structure and reduce the number of motors. Summary of the Invention

[0004] The purpose of this invention is to provide a transmission mechanism and clamping actuator with single-channel input and multi-functional motion output, which realizes multi-functional motion output through single motor drive and further improves the power density of the drive system.

[0005] To achieve the above objectives, the present invention provides a transmission mechanism with single-channel input and multi-functional motion output, comprising a power motor, a gear reduction module, a ratchet orientation module, and a reciprocating screw power execution module connected in sequence; the reciprocating screw power execution module includes a first reciprocating screw power execution unit and a second reciprocating screw power execution unit; The ratchet orientation module includes a first ratchet unit and a second ratchet unit; the first ratchet unit includes a first spur gear, a first ratchet fixedly connected to the first spur gear, a first ratchet output half-shaft connected to the first ratchet via a bearing, and a pulley drive component connected to the first ratchet output half-shaft; a first pawl movably connected to the first ratchet output half-shaft abuts against the teeth of the first ratchet; the pulley drive component is connected to the second reciprocating screw power execution unit; The second ratchet unit includes a second spur gear connected to the gear reduction module, a second ratchet fixedly connected to the second spur gear, and a second ratchet output half-shaft connected to the second ratchet via a bearing. A second pawl that abuts against the teeth of the second ratchet is movably connected to the second ratchet output half-shaft. The second ratchet output half-shaft is connected to the first reciprocating screw power execution unit. The second spur gear meshes with the first spur gear; the first ratchet unit and the second ratchet unit are configured such that when the first ratchet and the first pawl are in a relatively sliding, idle state, the second ratchet and the second pawl are in a meshing transmission state, thereby driving the first reciprocating screw power actuator unit; when the second ratchet and the second pawl are in a relatively sliding, idle state, the first ratchet and the first pawl are in a meshing transmission state, thereby driving the second reciprocating screw power actuator unit.

[0006] Furthermore, the second reciprocating screw power actuator includes a first finger slider and a second finger slider, and a second reciprocating transmission screw connected to the pulley transmission component; the first finger slider and the second finger slider are respectively engaged with the two ends of the second reciprocating transmission screw through crescents, and the second reciprocating transmission screw has a smooth part in the middle; the first finger slider and the second finger slider are respectively connected to a first actuator and a second actuator, which are used to drive the first actuator and the second actuator to move in the first degree of freedom.

[0007] Furthermore, the first reciprocating screw power actuator includes a first reciprocating transmission screw connected to the second ratchet output half shaft via a coupling, and a main transmission slider that is driven by the first reciprocating transmission screw through crescent meshing; the main transmission slider is connected to a main transmission center gear via bearings, and the main transmission center gear is connected to the first actuator and the second actuator respectively through several stages of first transmission units, for driving the second degree of freedom motion of the first actuator and the second actuator.

[0008] Furthermore, the plurality of first transmission units include a first double-sided spur rack meshing with the main transmission center gear, a first spur gear meshing with the other side of the first double-sided spur rack, a first helical gear meshing with the first spur gear, and a second helical gear meshing with the first helical gear. The second helical gear is fixedly connected to a first finger drive half shaft and a second finger drive half shaft. The first finger drive half shaft and the second finger drive half shaft are respectively connected to the first actuator and the second actuator for driving the second degree of freedom movement of the first actuator and the second actuator.

[0009] Furthermore, both the first actuator and the second actuator include a support component and a gripping component. The support component is connected to the first finger slider and the second finger slider, respectively, and the gripping component is connected to the first finger drive half shaft and the second finger drive half shaft via a rocker arm.

[0010] Furthermore, the main drive center gear is also connected to a third actuator and a fourth actuator through several stages of second transmission units; the several stages of second transmission units include a second double-sided spur rack meshing with the other side of the main drive center gear, a second spur gear meshing with the other side of the second double-sided spur rack, a third helical gear meshing with the second spur gear, and a fourth helical gear meshing with the third helical gear. The fourth helical gear is fixedly connected to a third finger drive half shaft and a fourth finger drive half shaft. The third finger drive half shaft and the fourth finger drive half shaft are respectively connected to the third actuator and the fourth actuator for driving the gripping motion of the third actuator and the fourth actuator.

[0011] Furthermore, the pulley drive component includes a first pulley fixedly connected to the first ratchet output half shaft and a second pulley connected to the first pulley via a drive belt; the second pulley is drively connected to the second reciprocating drive screw.

[0012] Furthermore, the transmission mechanism also includes a resistance overload module, which includes a first resistance shaft and a second resistance shaft. The first resistance shaft and the second resistance shaft are respectively connected to the first reciprocating transmission screw and the first pulley via couplings. When the external resistance torque is greater than the torque threshold of the resistance shaft, the power output end of the ratchet orientation module and the power input end of the reciprocating screw execution module will slide relative to each other, thereby realizing the function of interrupting the action.

[0013] Furthermore, the gear reduction module includes a first reduction gear connected to the power motor, a second reduction gear meshing with the first reduction gear, and a third reduction gear that is coaxially driven with the second reduction gear, the third reduction gear meshing with the power motor.

[0014] The present invention also provides a clamping actuator, including the single-channel input multi-functional motion output transmission mechanism described in any of the above claims.

[0015] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages: 1. Single motor achieves multi-functional motion output: This invention achieves multiple power transmission routes and multiple motion function outputs under single-channel power input conditions by using the coordinated action of gear reduction, two ratchet orientation units and two reciprocating screw power execution units. This eliminates the need to configure independent drive motors for different motion functions, which helps to reduce the number of drivers and reduce system complexity.

[0016] 2. Achieve rapid switching between different motion modes: This invention utilizes two sets of mirror ratchet mechanisms to convert the forward and reverse rotational motion of the power motor into unidirectional motion at different power output ends, thereby achieving rapid switching between different motion modes by changing the direction of power input. It is applicable to different grasping conditions of multi-degree-of-freedom four-finger actuators.

[0017] 3. Unidirectional rotation to achieve reciprocating motion: This invention uses a reciprocating lead screw power execution module, which can convert unidirectional rotation power into reciprocating linear motion at the execution end, avoiding the need for frequent motor reversal required in traditional reciprocating motion, simplifying the control process and improving motion stability.

[0018] 4. Overload protection function: The present invention is equipped with a resistance overload module. When the actuator is subjected to external resistance exceeding a preset threshold, the resistance shaft will slide relative to the actuator and interrupt the power transmission, thereby preventing excessive load from continuing to be transmitted to the actuator and realizing the protection of the actuator and the target object.

[0019] 5. Good power transmission stability: The present invention utilizes the mechanical characteristics of the ratchet mechanism and the reciprocating screw to enable unidirectional power transmission and a certain degree of self-locking capability, which can reduce the possibility of reverse movement of the actuator caused by external loads and improve the stability of the multi-degree-of-freedom actuator during grasping and operation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the single-channel input multi-functional motion output transmission mechanism provided by the present invention; Figure 2 This is a partial structural schematic diagram of the transmission mechanism with single-channel input and multi-functional motion output provided by the present invention; Figure 3 This is a schematic diagram of the power distribution structure of the second transmission reciprocating lead screw; Figure 4 This is a structural diagram of the ratchet orientation module; Figure 5 This is a cross-sectional view of the ratchet orientation module; Figure 6 This is a top view of the single-channel input multi-functional motion output transmission mechanism provided by the present invention; Figure 7 This is a partial structural diagram of the drive half-shaft connection relationship; Figure 8 This is a schematic diagram of the structure of the first reciprocating transmission lead screw; Figure 9 This is a schematic diagram of the transmission structure of the gear reduction module; Figure 10 This is a schematic diagram of the power transmission route of the single-channel input multi-functional motion output transmission mechanism provided by the present invention.

[0021] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-First finger slider bracket, 2-First finger slider support shaft, 3-Second finger slider support shaft, 4-Second finger slider bracket, 5-Second finger slider, 6-First reciprocating transmission lead screw, 7-Main transmission slider support shaft, 8-Main transmission slider positioning nut, 9-Main transmission center gear, 10-Main transmission slider, 11-Second reciprocating transmission lead screw, 12-Coupling, 13-First ratchet support half shaft, 14-First spur gear, 15-First ratchet output half shaft, 16-First pulley, 17-Transmission belt, 18-Power motor, 19-First finger slider, 20-First finger, 21-Second finger, 22-Second hand 23-First finger-driven half-shaft; 24-Second resistance shaft; 25-Second ratchet output half-shaft; 26-Second ratchet; 27-Pawl; 28-Second spur gear; 29-Second ratchet support half-shaft; 30-First resistance shaft; 31-Third finger; 32-Fourth finger; 33-First reduction gear; 34-Second reduction gear; 35-Third reduction gear; 36-First double-sided spur rack; 37-First spur gear; 38-Second helical gear; 39-Second double-sided spur rack; 40-Second spur gear; 41-Fourth helical gear; 42-Rockstick; 43-Connecting rod; 44-Fixed mounting bracket; 45-Second pulley. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] Please see Figures 1 to 10 To address the problems of existing multi-degree-of-freedom robot end effectors requiring multiple drive motors, resulting in complex structures, numerous drivers, high control difficulty, and limited end-effector installation space, this invention provides a single-channel input multi-functional motion output transmission mechanism, comprising a power motor 18, a gear reduction module, a ratchet orientation module, and a reciprocating screw power execution module connected in sequence; the reciprocating screw power execution module includes a first reciprocating screw power execution unit and a second reciprocating screw power execution unit.

[0024] The ratchet orientation module includes a first ratchet unit and a second ratchet unit; the first ratchet unit includes a first spur gear 14, a first ratchet (not shown in the figure) fixedly connected to the first spur gear 14, a first ratchet output half-shaft 15 connected to the first ratchet via a bearing, and a pulley drive component connected to the first ratchet output half-shaft 15. A first pawl (not shown in the figure) is movably connected to the first ratchet output half-shaft 15 and abuts against the teeth of the first ratchet; the pulley drive component is connected to the second reciprocating screw power execution unit.

[0025] The second ratchet unit includes a second spur gear 28 connected to the gear reduction module, a second ratchet 26 bolted to the second spur gear 28, and a second ratchet output shaft 25 connected to the second ratchet 26 via a bearing. A second pawl 27, which abuts against the teeth of the second ratchet 26, is movably connected to the second ratchet output shaft 25. The second ratchet output shaft 25 is connected to the first reciprocating screw power actuator. The second spur gear 28 and the second ratchet 26 are bolted together, and the second ratchet output shaft 25 and the second ratchet 26 are connected via a bearing, thereby interrupting power transmission.

[0026] The module achieves directional power output through a dual-channel ratchet mirror design, enabling the complex motor commutation to be broken down into two different power output ports during the operation of the transmission mechanism. This provides a clear power output for subsequent external multi-degree-of-freedom four-finger actuators to perform different actions.

[0027] The second spur gear 28 meshes with the first spur gear 14; the first ratchet unit and the second ratchet unit are configured such that when the first ratchet and the first pawl are in a relatively sliding, idle state, the second ratchet 26 and the second pawl 27 are in a meshing transmission state, thereby driving the first reciprocating screw power execution unit; when the second ratchet 26 and the second pawl 27 are in a relatively sliding, idle state, the first ratchet and the first pawl are in a meshing transmission state, thereby driving the second reciprocating screw power execution unit.

[0028] With this configuration, only the forward and reverse rotation of a single power motor 18 is needed to drive the bidirectional rotation of the first ratchet and the second ratchet 26. The relative sliding or abutting of the first pawl and the second pawl 27 then determines whether to drive the rotation of the connected ratchet output half-shaft, thereby determining whether to drive the corresponding reciprocating screw actuator. Therefore, the rotation of the reciprocating screw actuator is unidirectional, yet it can drive the motion of two different reciprocating screw actuators, thus generating two different power outputs. This invention, without adding an input motor, achieves power deceleration, distribution, orientation, and motion conversion through a mechanical structure, enabling a single power input to drive multiple actuators to complete different motion functions. This reduces the complexity of the drive system for multi-degree-of-freedom actuators and increases the power density of the end effector.

[0029] In particular, the first spur gear 14 and the second spur gear 28 are preferably 31-tooth spur gears.

[0030] The second reciprocating screw power actuator includes a first finger slider 19 and a second finger slider 5, and a second reciprocating transmission screw 11 connected to the pulley transmission component. The first finger slider 19 and the second finger slider 5 are respectively engaged with the two ends of the second reciprocating transmission screw 11 through crescents. The second reciprocating transmission screw 11 has a smooth part in the middle to prevent the first finger slider 19 and the second finger slider 5 from colliding. The first finger slider 19 and the second finger slider 5 are respectively connected to a first actuator and a second actuator to drive the first actuator and the second actuator to move in the first degree of freedom, such as closing or separating.

[0031] Furthermore, the first finger slider 19 and the second finger slider 5 are respectively fixedly connected to the first finger slider bracket 1 and the second finger slider bracket 4 by bolts, transmitting the motion of the second finger slider 5 and the first finger slider 19 to the first finger slider bracket 1 and the second finger slider bracket 4. The first finger slider bracket 1 and the second finger slider bracket 4 are respectively fixedly connected to the first finger slider support shaft 2 and the second finger slider support shaft 3 by linear bearings to ensure the straightness of the movement of the first finger slider bracket 1 and the second finger slider bracket 4. The first finger slider support shaft 2 and the second finger slider support shaft 3 are then fixedly mounted by a fixed mounting bracket 44. Finally, the first finger 20 and the second finger 21 are respectively connected to the first finger slider bracket 1 and the second finger slider bracket 4 by pins, realizing the syndactylus operation of the multi-degree-of-freedom manipulator.

[0032] Furthermore, the first reciprocating screw power actuator includes a first reciprocating transmission screw 6 connected to the second ratchet output half-shaft 25 via a coupling 12, and a main transmission slider 10 that is driven by the first reciprocating transmission screw 6 through crescent meshing. A main transmission center gear 9 is connected to the main transmission slider 10 via bearings, and is finally radially positioned by a main transmission slider positioning nut 8, thereby achieving linear and rotary motion. The main transmission center gear 9 is connected to the first actuator and the second actuator respectively through several stages of first transmission units, used to drive the second degree of freedom motion of the first actuator and the second actuator, such as grasping.

[0033] The reciprocating lead screw power execution module of the transmission mechanism of the present invention can realize the reciprocating motion of the lead screw and slider by inputting unidirectional rotation, thus eliminating the lead screw transmission that used to achieve the reciprocating motion of the slider by reversing the power.

[0034] Please see Figure 8 The first reciprocating transmission screw 6 has connecting shafts at both ends and two closed helical grooves with equal pitch and opposite directions in the middle. Transition curve grooves are set at both ends of the two helical grooves to connect the left-hand and right-hand helical grooves. The transition groove is generally an arc / parabola to smooth the crescent-shaped reversal and reduce impact. The helical groove has a groove structure, with the crescent head embedded in the groove. The axial force is transmitted by pushing the crescent with the side wall of the groove.

[0035] Specifically, both the first actuator and the second actuator include a support component and a gripping component. The support component is connected to the first finger slider 19 and the second finger slider 5, respectively, and the gripping component is connected to the first finger drive half-shaft 23 and the second finger drive half-shaft 22 via a rocker arm 42, respectively.

[0036] Please see Figure 7 The first actuator and the second actuator can be the first finger 20 and the second finger 21. At this time, the supporting component is the first finger slider bracket 1 and the second finger slider bracket 4. The gripping component can be a parallelogram linkage mechanism. The first finger drive half shaft 23 and the second finger drive half shaft 22 are hinged to the parallelogram linkage mechanism through the rocker arm 42, and are also connected to the first finger slider bracket 1 and the second finger slider bracket 4 through the connecting rod 43 respectively, for supporting the first finger drive half shaft 23 and the second finger drive half shaft 22.

[0037] Please see Figure 6The plurality of first transmission units include a first double-sided spur rack 36 meshing with the main transmission center gear 9, a first spur gear 37 meshing with the other side of the rack of the first double-sided spur rack 36, a first helical gear meshing with the first spur gear 37, and a second helical gear 38 meshing with the first helical gear. The second helical gear 38 is fixedly connected to a first finger drive half-shaft 23 and a second finger drive half-shaft 22. The first finger drive half-shaft 23 and the second finger drive half-shaft 22 are respectively connected to the first actuator and the second actuator to drive the second degree of freedom movement of the first actuator and the second actuator. In particular, the second finger drive half-shaft 22 and the first finger drive half-shaft 23 provide gripping force to the first finger 20 and the second finger 21 by rotation.

[0038] The first double-sided spur rack 36 is sleeved on the slide rod and slides with the rotation of the main transmission center gear 9, thereby driving the first spur gear 37 meshing with it to rotate. The first spur gear 37 drives the first helical gear set below it to rotate, thereby driving the second helical gear 38 to rotate. The second helical gear 38 drives the two fingers connected to it to drive the half shaft to rotate, thereby driving the movement of the parallelogram linkage mechanism through the rocker arm 42 to achieve gripping.

[0039] Specifically, the main drive center gear 9 is also connected to a third actuator and a fourth actuator through several stages of second transmission units; the several stages of second transmission units include a second double-sided spur rack 39 meshing with the other side of the main drive center gear 9, a second spur gear 40 meshing with the other side of the rack of the second double-sided spur rack 39, a third helical gear meshing with the second spur gear 40, and a fourth helical gear 41 meshing with the third helical gear. The fourth helical gear 38 is fixedly connected to a third finger drive half shaft and a fourth finger drive half shaft. The third finger drive half shaft and the fourth finger drive half shaft are respectively connected to the third actuator and the fourth actuator for driving the gripping motion of the third actuator and the fourth actuator.

[0040] The third and fourth actuators have the same structure as the first and second actuators, but they are closer together and do not require a finger-pushing drive structure. They are only connected to the third and fourth finger-pushing half-shafts via a rocker arm and a connecting rod.

[0041] The positions of the gears in the second transmission unit are basically the same as those in the first transmission unit.

[0042] Furthermore, the pulley drive component includes a first pulley 16 fixedly connected to the first ratchet output half-shaft 15 and a second pulley 45 connected to the first pulley 16 via a drive belt 17; the second pulley 45 is drively connected to the second reciprocating drive screw 11. Specifically, the first pulley 16 is a large pulley, and the second pulley 45 is a small pulley.

[0043] Furthermore, the transmission mechanism also includes a resistance overload module, which includes a first resistance shaft 30 and a second resistance shaft 24. The first resistance shaft 30 and the second resistance shaft 24 are respectively connected to the first reciprocating transmission screw 6 and the first pulley 16 via couplings. When the external resistance torque is greater than the torque threshold of the resistance shaft, the power output end of the ratchet orientation module and the power input end of the reciprocating screw execution module slip relative to each other, thereby interrupting the power transmission and stopping the current movement, thus protecting the transmission mechanism and the target object. When the mechanism runs to the reverse track of the reciprocating screw, the torque limiting effect is released and the power transmission is restored.

[0044] Specifically, the second resistance shaft 24 is mounted on the large pulley 16 through the internal groove design, ensuring that the fixed end of the second resistance shaft 24 is fixedly connected to the first ratchet output half shaft 15, while the sliding end of the second resistance shaft 24 is connected to the large pulley 16 by screws.

[0045] The second ratchet output half-shaft 25 uses an internal groove design to mount the first resistance shaft 30 onto the second ratchet output half-shaft 25, ensuring that the fixed end of the first resistance shaft 30 and the second ratchet output half-shaft 25 are fixedly connected. The sliding end of the first resistance shaft 30 is connected to the coupling 12 by screws. The coupling 12 connects the first resistance shaft 30 and the first reciprocating transmission screw 6 to ensure synchronous rotation.

[0046] Please see Figure 9 The gear reduction module adopts a two-stage reduction design with a small reduction ratio. It achieves power reduction and torque increase through gear meshing. It includes a first reduction gear 33 connected to the power motor 18, a second reduction gear 34 meshing with the first reduction gear 33, and a third reduction gear 35 coaxially driven with the second reduction gear 34. The third reduction gear 35 meshes with the 28. The gear reduction module rationally distributes the single power input in the mechanism space, providing power output for different parts and different actions in the subsequent execution.

[0047] The transmission mechanism typically includes a fixed mounting bracket 44 for supporting and fixing corresponding components. For example, the output shaft of the power motor 18 passes through the side wall of the fixed mounting bracket 44 and is then connected to the first reduction gear 33. The drive shafts of the first pulley 16 and the second pulley 45 pass through the same side wall of the fixed mounting bracket 44. The first pulley 16 is then connected to the first ratchet output half-shaft 15 via a coupling, and the output shaft of the second pulley 45 is connected to the second reciprocating transmission screw 11. The other end of the second reciprocating transmission screw 11 is then fixed to the other side wall of the fixed mounting bracket 44. The other end of the first spur gear 14 is connected to the first ratchet support half-shaft 13, which can be fixedly connected to the fixed mounting bracket 44. To ensure the straightness of the assembly and movement of the first reciprocating transmission screw 6, the main transmission slider support shaft 7 is connected to the main transmission slider 10 via a linear bearing. The main transmission slider support shaft 7 can then be fixedly connected to the fixed mounting bracket 44.

[0048] The working principle of the transmission mechanism of this invention is as follows: The transmission mechanism uses a single power motor as the power input, reduces and increases the torque of the power through a gear reduction module and distributes it spatially, then filters the power transmission direction through a ratchet orientation module so that different power output ends obtain unidirectional rotational power in the corresponding direction, and finally converts the rotational motion into linear reciprocating motion through a reciprocating screw power execution module, thereby achieving multi-functional and multi-channel power output under single-channel input conditions. Specifically, when the power motor 18 rotates in the first direction, it drives the second spur gear 28 and the first spur gear 14 to rotate through the gear reduction module. At this time, due to the mirror transmission configuration of the ratchet and pawl of the two ratchet orientation modules, the first ratchet and the first pawl are in a relatively sliding idle state, while the second ratchet 26 and the second pawl 27 are in a meshing transmission state. Then, the second pawl 27 drives the second ratchet output half shaft 25 to rotate, and finally drives the first reciprocating transmission screw 6 to rotate. At this time, since the first pawl is only in a sliding state, it will not drive the first pulley 16 to rotate. When the power motor 18 rotates in the second direction, the first pulley 16 rotates according to the same principle, which in turn drives the second reciprocating transmission screw 11 to rotate, thus realizing the bidirectional rotation drive of a single motor to move with different degrees of freedom.

[0049] The transmission mechanism of this invention can be applied to a multi-degree-of-freedom four-finger actuator. The transmission mechanism is installed on the multi-degree-of-freedom four-finger actuator. The actuator can determine the required grasping action based on the size, shape and posture of the external object. Without adding an input motor, it can quickly and accurately switch power and execute actions by changing the direction of power input. In addition, it can select different overload devices according to the state of the external object, enabling damage-free operation.

[0050] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A transmission mechanism with single-channel input and multi-functional motion output, characterized in that, It includes a power motor (18), a gear reduction module, a ratchet orientation module, and a reciprocating screw power execution module connected in sequence; the reciprocating screw power execution module includes a first reciprocating screw power execution unit and a second reciprocating screw power execution unit; The ratchet orientation module includes a first ratchet unit and a second ratchet unit; the first ratchet unit includes a first spur gear (14), a first ratchet fixedly connected to the first spur gear (14), a first ratchet output half-shaft (15) connected to the first ratchet via a bearing, and a pulley drive component connected to the first ratchet output half-shaft (15). A first pawl that abuts against the teeth of the first ratchet is movably connected to the first ratchet output half-shaft (15); the pulley drive component is connected to the second reciprocating screw power execution unit. The second ratchet unit includes a second spur gear (28) connected to the gear reduction module, a second ratchet (26) fixedly connected to the second spur gear (28), and a second ratchet output half-shaft (25) connected to the second ratchet (26) via a bearing. A second pawl (27) is movably connected to the second ratchet output half-shaft (25) and abuts against the teeth of the second ratchet (26). The second ratchet output half-shaft (25) is connected to the first reciprocating screw power execution unit. The second spur gear (28) meshes with the first spur gear (14). The first ratchet unit and the second ratchet unit are configured such that when the first ratchet and the first pawl are in a relatively sliding, idle state, the second ratchet (26) and the second pawl (27) are in a meshing transmission state, thereby driving the first reciprocating screw power execution unit; when the second ratchet (26) and the second pawl (27) are in a relatively sliding, idle state, the first ratchet and the first pawl are in a meshing transmission state, thereby driving the second reciprocating screw power execution unit.

2. The transmission mechanism with single-channel input and multi-functional motion output according to claim 1, characterized in that, The second reciprocating screw power actuator includes a first finger slider (19) and a second finger slider (5), and a second reciprocating transmission screw (11) connected to the pulley transmission component; the first finger slider (19) and the second finger slider (5) are respectively engaged with the two ends of the second reciprocating transmission screw (11) through crescents, and the second reciprocating transmission screw (11) is provided with a smooth part in the middle. The first finger slider (19) and the second finger slider (5) are respectively connected to a first actuator and a second actuator, which are used to drive the first actuator and the second actuator to move the first degree of freedom.

3. The transmission mechanism with single-channel input and multi-functional motion output according to claim 2, characterized in that, The first reciprocating screw power actuator includes a first reciprocating transmission screw (6) connected to the second ratchet output half shaft (25) via a coupling (12), and a main transmission slider (10) that is connected to the first reciprocating transmission screw (6) via crescent meshing; the main transmission slider (10) is connected to a main transmission center gear (9) via bearings, and the main transmission center gear (9) is connected to the first actuator and the second actuator respectively via several stages of first transmission units, for driving the second degree of freedom motion of the first actuator and the second actuator.

4. The transmission mechanism with single-channel input and multi-functional motion output according to claim 3, characterized in that, The first transmission unit of several stages includes a first double-sided spur rack (36) meshing with the main transmission center gear (9), a first spur gear (37) meshing with the other side of the rack of the first double-sided spur rack (36), a first helical gear meshing with the first spur gear (37), and a second helical gear (38) meshing with the first helical gear. The second helical gear (38) is fixedly connected to a first finger drive half shaft (23) and a second finger drive half shaft (22). The first finger drive half shaft (23) and the second finger drive half shaft (22) are respectively connected to the first actuator and the second actuator to drive the second degree of freedom motion of the first actuator and the second actuator.

5. The transmission mechanism with single-channel input and multi-functional motion output according to claim 4, characterized in that, The first actuator and the second actuator both include a support component and a gripping component. The support component is connected to the first finger slider (19) and the second finger slider (5) respectively. The gripping component is connected to the first finger drive half shaft (23) and the second finger drive half shaft (22) respectively via a rocker arm (42).

6. The transmission mechanism with single-channel input and multi-functional motion output according to any one of claims 3-5, characterized in that, The main drive center gear (9) is also connected to a third actuator and a fourth actuator through several stages of second drive units; the several stages of second drive units include a second double-sided spur rack (39) meshing with the other side of the main drive center gear (9), a second spur gear (40) meshing with the other side of the rack of the second double-sided spur rack (39), a third helical gear meshing with the second spur gear (40), and a fourth helical gear (41) meshing with the third helical gear. The fourth helical gear (38) is fixedly connected to a third finger drive half shaft and a fourth finger drive half shaft. The third finger drive half shaft and the fourth finger drive half shaft are respectively connected to the third actuator and the fourth actuator for driving the gripping motion of the third actuator and the fourth actuator.

7. The transmission mechanism with single-channel input and multi-functional motion output according to any one of claims 1-5, characterized in that, The pulley drive component includes a first pulley (16) fixedly connected to the first ratchet output half shaft (15) and a second pulley (45) connected to the first pulley (16) via a drive belt (17); the second pulley (45) is drive-connected to the second reciprocating drive screw (11).

8. The transmission mechanism with single-channel input and multi-functional motion output according to claim 7, characterized in that, The transmission mechanism also includes a resistance overload module, which includes a first resistance shaft (30) and a second resistance shaft (24). The first resistance shaft (30) and the second resistance shaft (24) are respectively connected to the first reciprocating transmission screw (6) and the first pulley (16) through a coupling. When the external resistance torque is greater than the torque threshold of the resistance shaft, the power output end of the ratchet orientation module and the power input end of the reciprocating screw execution module will slide relative to each other to realize the function of interrupting the action.

9. The transmission mechanism with single-channel input and multi-functional motion output according to any one of claims 1-5, characterized in that, The gear reduction module includes a first reduction gear (33) connected to the power motor (18), a second reduction gear (34) meshing with the first reduction gear (33), and a third reduction gear (35) coaxially driven with the second reduction gear (34). The third reduction gear (35) meshes with the (28).

10. A clamping actuator, characterized in that, The transmission mechanism includes the single-channel input multi-functional motion output as described in any one of claims 1-9.

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