Robot tail end driver and robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot tail end driver and a robot. The robot tail end driver comprises a mounting piece, a spline shaft, a driving mechanism and a limiting piece. The spline shaft is rotatably connected to the mounting piece and provided with an output end used for driving the execution end, and the output end protrudes out of the mounting piece. The driving mechanism is in transmission connection with the spline shaft and used for driving the spline shaft to rotate relative to the mounting part. The limiting piece is connected to the spline shaft and rotatably connected to the mounting piece, the limiting piece protrudes relative to the side, close to the output end, of the mounting piece, and the limiting piece is used for enabling the execution end on the output end to be spaced from the mounting piece. The robot tail end driver has high operation stability.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot end driver and a robot. Background Art

[0002] SCARA robot (assembly robot) is a cylindrical coordinate industrial robot with high working efficiency and reliable operation, and is widely used in the assembly industry. In the field of automation and intelligent equipment, it is often used in situations where the spindle can rotate around the axis and move linearly along the axis.

[0003] The existing end drive of horizontal multi-joint robots usually uses a spline shaft to drive the actuator (such as a tool, fixture, etc.) to move. In order to ensure the stability of the spline shaft, a mounting plate is generally used to constrain the spline shaft and the linear guide rod together to form a component module. During operation, the spline shaft rotates relative to the mounting plate to drive the actuator (such as a tool, etc.) to rotate. However, in the structure of this end drive, when the actuator is installed at the output end of the spline shaft, the rotation during operation may cause the actuator to touch the mounting plate, causing the actuator to scrape against the mounting plate when the spline shaft rotates, or even hinder the rotation of the spline shaft. In severe cases, it may cause the drive motor to overload and shut down. Utility Model Content

[0004] The present application provides a robot end driver, and the present application also provides a robot having the above robot end driver.

[0005] In a first aspect, the present application provides a robot end driver, which is applied to a robot having an actuator end, and the robot end driver includes a mounting part, a spline shaft, a driving mechanism, and a limiter. The spline shaft is rotatably connected to the mounting part, and the spline shaft has an output end for driving the actuator end, and the output end protrudes from the mounting part. The driving mechanism is transmission-connected to the spline shaft and is used to drive the spline shaft to rotate relative to the mounting part. The limiter is connected to the spline shaft and rotatably connected to the mounting part, and the limiter protrudes relative to a side of the mounting part close to the output end, and the limiter is used to space the actuator end on the output end from the mounting part.

[0006] In some optional examples, the robot end drive further includes a bearing, and the bearing is disposed between the limit member and the mounting member.

[0007] In some optional examples, the mounting member includes a mounting plate and a limiting portion, the mounting plate is provided with a first mounting hole, the limiting portion is arranged on the hole wall of the first mounting hole and protrudes relative to the hole wall; the limiting member is passed through the first mounting hole, the bearing is arranged in the mounting hole, and the limiting portion is abutted against one end of the outer ring of the bearing.

[0008] In some optional examples, a limit groove is provided on the hole wall, and the robot end driver also includes a limit ring, which is sleeved on the outside of the spline shaft and embedded in the limit groove. The limit ring is pressed against the end of the outer ring of the bearing away from the limit portion to jointly limit the axial displacement of the bearing with the limit portion.

[0009] In some optional examples, the limiting member includes a mounting sleeve and a positioning member, the mounting sleeve is arranged outside the spline shaft and is rotatably inserted into the mounting member, and the positioning member is inserted into the mounting sleeve along the radial direction of the spline shaft and is connected between the spline shaft and the mounting sleeve.

[0010] In some optional examples, the limit member also includes a limit sleeve, which is connected to the mounting sleeve and is sleeved outside the spline shaft. The limit sleeve protrudes from a side of the mounting member close to the output end, and the outer diameter of the limit sleeve is smaller than the outer diameter of the mounting sleeve.

[0011] In some optional examples, the robot end driver further includes a guide rod, which passes through the mounting member and is arranged parallel to and spaced from the spline shaft.

[0012] In some optional examples, the mounting member is provided with a second mounting hole and an adjustment groove, both of which penetrate the mounting member along the axial direction of the guide rod, one end of the adjustment groove is connected to the mounting hole, and the other end penetrates the side wall of the mounting member, and the extension direction of the adjustment groove intersects with the axial direction of the guide rod; at least part of the structure of the guide rod is clamped in the second mounting hole.

[0013] In some optional examples, the robot end drive also includes a locking member, which is connected to the mounting member and passes through the opposite side walls of the adjustment slot, and is used to lock the guide rod.

[0014] In a second aspect, an embodiment of the present application further provides a robot, comprising a joint body, an execution end and the above-mentioned robot end driver, wherein the robot end driver is connected between the joint body and the execution end, and the execution end is connected to the output end.

[0015] Compared with the prior art, when the robot end driver provided in the embodiment of the present application is applied to a robot with an execution end, before use, the worker needs to connect the execution end with the output end. Since the limiter protrudes relative to the mounting part, the worker will not make the surfaces of the execution end and the mounting part facing each other contact during installation. When in use, the driving mechanism drives the spline shaft to rotate relative to the mounting part, and drives the execution end on the output end to rotate relative to the mounting part. When the execution end rotates, it will not scratch the mounting part under the action of the limiter, thereby improving the operating stability of the robot end driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a module block diagram of a robot provided in one embodiment of the present application.

[0018] Figure 2 It is a simplified structural diagram of a robot end driver provided in one embodiment of the present application.

[0019] Figure 3 yes Figure 2 Schematic diagram of the partial structure of the robot end drive shown.

[0020] Figure 4 yes Figure 3 The robot end drive and Figure 1 The cross-sectional structure diagram of the execution end is shown.

[0021] Figure 5 yes Figure 3 A schematic diagram of the structure of the mounting parts of the robot end drive is shown.

[0022] Figure 6 yes Figure 3 The schematic diagram of the structure of the limiter of the robot end drive is shown.

[0023] Explanation of reference numerals: 100, robot end drive; 10, ball screw; 20, limit piece; 21, mounting sleeve; 212, limit boss; 214, mounting boss; 23, positioning piece; 25, limit sleeve; 30, spline shaft; 32, output end; 40, bearing; 50, driving mechanism; 60, limit retaining ring; 70, mounting piece; 72, mounting plate; 721, first mounting hole; 723, hole wall; 725, limit groove; 727, second mounting hole; 729, adjustment groove; 74, limit part; 76, locking piece; 90, guide rod; 200, robot; 201, joint body; 203, actuator end. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0025] If certain words are used in the specification and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use differences in names as a way to distinguish components, but use differences in components' functions as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0026] See also Figure 1 An embodiment of the present application provides a robot end driver 100 , which can be applied to a robot 200 having an execution end 203 .

[0027] This specification does not limit the specific type of the robot 200. For example, the robot 200 may be an industrial robot arm robot or a collaborative robot. In this embodiment, the robot 200 is a cylindrical coordinate industrial robot. The robot 200 may include a joint body 201, a robot end driver 100, and an execution end 203. The robot end driver 100 is connected between the joint body 201 and the execution end 203, and is used to drive the execution end 203 to move relative to the joint body 201 under the drive of the joint body 201. This specification does not limit the specific type of the execution end 203. The execution end 203 may be a joint of the robot 200, such as a wrist joint or an elbow joint, and the execution end 203 may also be a fixture.

[0028] This specification does not limit the specific structure of the robot 200. As an example, the robot 200 may also include a base, which may be set on a workbench in the application environment of the robot 200 and is used to install the joint body 201. The joint body 201 is rotatably set on the base, and may include a first joint arm and a second joint arm. The first joint arm is rotatably connected between the second joint arm and the base, and when the first joint arm rotates relative to the base, it can drive the second joint arm to rotate.

[0029] In this application, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed" and the like 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 a direct connection, or it can be indirectly connected through an intermediate medium, it can be internal communication between two elements, or it can be only surface contact. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] See also Figure 2 In this embodiment, the robot end drive 100 is connected to the joint body 201 (such as Figure 1 As shown). This specification does not limit the specific structure of the robot end driver 100. The robot end driver 100 may include a coupled screw spline shaft, or may include a spline shaft and a screw shaft. As an example, the robot end driver 100 may include a ball screw 10, a screw nut, a screw drive assembly (not shown in the figure), a spline shaft 30, a drive mechanism 50 and a mounting member 70. The ball screw 10 is rotatably connected to the joint body 201, and the spline shaft 30 is spaced apart from the ball screw 10. The screw nut is connected to the ball screw 10 and to the spline shaft 30 through a threaded pair. The screw drive assembly is connected to the ball screw 10 in a transmission connection, and is used to drive the ball screw 10 to rotate so as to drive the screw nut to move along a predetermined axial direction X. The drive mechanism 50 is connected to the spline shaft 30 in a transmission connection, and is used to drive the spline shaft 30 to rotate. The mounting member 70 is movably connected to the spline shaft 30.

[0031] When in use, the screw drive assembly drives the ball screw 10 to rotate relative to the joint body 201, and the rotation of the ball screw 10 drives the screw nut to move along the predetermined axial direction X. The execution end 203 can be directly or indirectly fixed to the screw nut through some motion components, so that the execution end 203 can achieve linear reciprocating movement under the drive of the screw nut. The movement of the screw nut drives the mounting member 70 to move along the predetermined axial direction X through the spline shaft 30, and the execution end 203 can also be directly or indirectly fixed to the mounting member 70 or the spline shaft 30 through some motion components to achieve linear motion. The driving mechanism 50 drives the spline shaft 30 to rotate relative to the mounting member 70, and the spline shaft 30 drives the execution end 203 to achieve rotational motion.

[0032] See also Figure 3 and Figure 4 In this embodiment, the spline shaft 30 is rotatably connected to the mounting member 70, and the spline shaft 30 has an output end 32 for driving the actuator 203, and the output end 32 protrudes from the mounting member 70. The robot end driver 100 may also include a stopper 20, which is connected to the spline shaft 30 and rotatably connected to the mounting member 70, and the stopper 20 protrudes relative to the side of the mounting member 70 close to the output end 32, and the stopper 20 is used to space the actuator 203 on the output end 32 from the mounting member 70. As an example, when the actuator 203 is mounted on the output end 32, in the direction of the axis of the spline shaft 30, the minimum distance between the stopper 20 and the actuator 203 is smaller than the minimum distance between the mounting member 70 and the actuator 203.

[0033] Before use, the worker needs to connect the actuator 203 with the output end 32. Since the stopper 20 protrudes relative to the mounting member 70, the worker will not make the actuator 203 and the mounting member 70 face each other when installing. When in use, the driving mechanism 50 drives the spline shaft 30 to rotate relative to the mounting member 70, and drives the actuator 203 on the output end 32 to rotate relative to the mounting member 70. When the actuator 203 rotates, it will not scratch the mounting member 70 under the action of the stopper 20, thereby improving the operating stability of the robot end driver 100.

[0034] In this embodiment, the spline shaft 30 is slidably connected to the joint body 201 (such as Figure 1 203 ), which is used to realize the rotational movement of the execution end 203. Specifically, one end of the spline shaft 30 is rotatably connected to the mounting member 70, and the other end can be indirectly rotatably connected to the screw nut. The spline shaft 30 is extended along a predetermined axial direction X.

[0035] Please refer again Figure 2 In this embodiment, the driving mechanism 50 is used to drive the spline shaft 30 to rotate. This specification does not limit the specific structure of the driving mechanism 50. For example, the driving mechanism 50 may include a rotating motor, a synchronous belt and synchronous pulley transmission group, a spline nut and other structures. As another example, the driving mechanism 50 may include a transmission combination of a cylinder, a gear and a rack. As an example, the driving mechanism 50 may include a driving member and a spline nut. The spline nut is rotatably connected to the joint body 201. The spline nut is sleeved outside the spline shaft 30 and connected to the spline shaft 30. The driving member is connected to the spline nut for driving the spline nut to rotate, and the spline nut rotates to drive the spline shaft 30. This specification does not limit the specific type of the driving member. For example, the driving member can be a driving source such as a rotating motor, a rotating cylinder, a motor, etc. A gear and rack transmission structure that cooperates with each other can also be provided between the driving member and the spline nut, and a synchronous belt and a synchronous pulley transmission structure that cooperate with each other can also be provided.

[0036] Please also see Figure 2 and Figure 3In this embodiment, the robot end driver 100 may further include a guide rod 90, which is slidably connected to the joint body 201, and is disposed between the screw nut and the mounting member 70, and is used to improve the stability of the linear motion of the screw nut. One end of the guide rod 90 is fixedly connected to the screw nut, and the other end is fixedly connected to the mounting member 70. The guide rod 90 is arranged parallel to and spaced from the ball screw 10 and the spline shaft 30. When the screw nut moves along the predetermined axial direction X, the spline shaft 30, the guide rod 90, and the mounting member 70 are driven to move synchronously along the predetermined axial direction X, and the guide rod 90 improves the bending resistance of the robot end driver 100. In this embodiment, there are two guide rods 90, and the two guide rods 90 are arranged parallel to and spaced from each other. The two guide rods 90 can be located on opposite sides of the ball screw 10, and the two guide rods 90 further improve the bending resistance of the robot end driver 100.

[0037] Please also see Figure 4 and Figure 5 In this embodiment, the mounting member 70 may include a mounting plate 72, and the spline shaft 30 and the two guide rods 90 are both connected to the mounting plate 72. In order to reduce the volume of the mounting plate 72, the mounting plate 72 is designed to be a triangular plate that can just allow the spline shaft 30 and the two guide rods 90 to pass through. The mounting plate 72 may be provided with a first mounting hole 721 for mounting the spline shaft 30, and the spline shaft 30 is rotatably passed through the first mounting hole 721, and the output end 32 of the spline shaft 30 protrudes relative to one side of the mounting plate 72.

[0038] In order to improve the stability of the rotational cooperation between the spline shaft 30 and the mounting plate 72, in this embodiment, the robot end driver 100 may further include a bearing 40, which is disposed between the mounting plate 72 and the spline shaft 30. Specifically, the bearing 40 is embedded in the first mounting hole 721. The mounting member 70 may further include a limiting portion 74, which is disposed on the hole wall 723 of the first mounting hole 721 and protrudes relative to the hole wall 723. The end of the outer ring of the bearing 40 that is away from the output end 32 abuts against the limiting portion 74, and the limiting portion 74 limits the displacement of the bearing 40 in the axial direction of the spline shaft 30 in the direction away from the output end 32, thereby improving the installation stability of the bearing 40.

[0039] In this embodiment, the robot end driver 100 further includes a limiting retaining ring 60 for further limiting the bearing 40. In order to facilitate the installation of the limiting retaining ring 60, a limiting groove 725 is provided on the hole wall 723. The limiting groove 725 is located at one end of the first mounting hole 721 away from the limiting portion 74, and is recessed relative to the hole wall 723. The limiting groove 725 is opened along the circumference of the first mounting hole 721, and the limiting groove 725 is an annular groove. The limiting retaining ring 60 is sleeved outside the spline shaft 30 and embedded in the limiting groove 725. The limiting retaining ring 60 is against one end of the outer ring of the bearing 40 away from the limiting portion 74. The limiting retaining ring 60 and the limiting portion 74 jointly limit the bearing 40, limit the displacement of the bearing 40 along the axial direction of the spline shaft 30, and greatly improve the installation stability of the bearing 40 installed on the mounting plate 72. In order to prevent the limit ring 60 from contacting the inner ring of the bearing 40 and affecting the relative rotation of the bearing 40, in this embodiment, the limit ring 60 is open-ring shaped, and the diameter of the inner ring of the limit ring 60 is greater than or equal to the inner diameter of the outer ring of the bearing 40.

[0040] The mounting member 70 may also be provided with a second mounting hole 727 and an adjustment groove 729, both of which penetrate the mounting plate 72 along the axial direction of the guide rod 90 (the axial direction of the guide rod 90 is parallel to the predetermined axial direction X). One end of the adjustment groove 729 is connected to the second mounting hole 727, and the other end penetrates the side wall of the mounting plate 72. The extension direction of the adjustment groove 729 intersects with the axial direction of the guide rod 90. At least part of the structure of the guide rod 90 is clamped in the second mounting hole 727, and the setting of the adjustment groove 729 can be applicable to guide rods 90 of more sizes. In this embodiment, the number of guide rods 90 is set to two, and accordingly, the number of second mounting holes 727 is set to two. The two second mounting holes 727 and the first mounting hole 721 are arranged in a triangular pattern, and the two second mounting holes 727 and the two guide rods 90 are set one by one, and the guide rods 90 are embedded in the corresponding second mounting holes 727. There are also two adjustment slots 729 , which are arranged in one-to-one correspondence with the two second mounting holes 727 , and the adjustment slots 729 are connected to the corresponding second mounting holes 727 .

[0041] Please also see Figure 3 and Figure 5 In this embodiment, the robot end driver 100 may further include a locking member 76, which is connected to the mounting plate 72 and passes through the opposite side walls of the adjustment slot 729, and is used to lock the guide rod 90 in the second mounting hole 727. In this embodiment, the locking member 76 is a locking screw, and tightening the locking screw limits the expansion of the adjustment slot 729, thereby locking the guide rod 90 in the second mounting hole 727, thereby improving the installation stability of the guide rod 90.

[0042] Please also see Figure 3 and Figure 4The limit member 20 is disposed between the spline shaft 30 and the mounting plate 72, and is used to limit the actuator end 203 installed on the output end 32. The present specification does not limit the specific structure of the limit member 20. For example, the limit member 20 can be a limit protrusion formed on the spline shaft 30. The limit protrusion can be disposed on the portion of the spline shaft 30 outside the mounting plate 72, or can be disposed between the mounting plate 72 and the spline shaft 30. In this embodiment, the limit member 20 can include a mounting sleeve 21 and a positioning member 23. The mounting sleeve 21 is sleeved on the outside of the spline shaft 30 and rotatably penetrated in the mounting plate 72. Specifically, in this embodiment, the mounting sleeve 21 can be fixedly connected to the spline shaft 30 through the positioning member 23. The mounting sleeve 21 is connected to the inner ring of the bearing 40, and is rotatably connected to the mounting plate 72 through the bearing 40. The spline shaft 30 is indirectly rotatably connected to the mounting plate 72 via the mounting sleeve 21 . When the spline shaft 30 rotates, the mounting sleeve 21 is driven to rotate relative to the mounting plate 72 .

[0043] Please also see Figure 4 and Figure 6 The bearing 40 is arranged between the mounting plate 72 and the mounting sleeve 21, and a protrusion structure may be arranged on the peripheral wall of the mounting sleeve 21 to limit the bearing 40. For example, the limiting member 20 may further include a limiting boss 212, which is arranged around the peripheral wall of the mounting sleeve 21 and is located in the first mounting hole 721, and one end of the inner ring of the bearing 40 abuts against the limiting boss 212. The arrangement of the limiting boss 212 further improves the installation stability of the bearing 40.

[0044] This specification does not limit the specific structure of the positioning member 23. For example, the positioning member 23 can be a clamping structure between the mounting sleeve 21 and the spline shaft 30, or the positioning member 23 can also be a fastener such as a screw, a bolt, or a pin. In this embodiment, the positioning member 23 adopts a fastening screw, and the positioning member 23 is penetrated through the mounting sleeve 21 along the radial direction of the spline shaft 30 and connected between the spline shaft 30 and the mounting sleeve 21. In order to facilitate the installation of the positioning member 23, the limiting member 20 can also include a mounting boss 214, which is arranged around the outer wall of the mounting sleeve 21 and protrudes relative to the outer wall, and the mounting boss 214 is continuously connected to the end of the limiting boss 212 away from the output end 32. The outer diameter of the mounting boss 214 is larger than the outer diameter of the mounting sleeve 21, and the mounting boss 214 is located outside the first mounting hole 721. The positioning member 23 is passed through the mounting boss 214 and connected between the spline shaft 30 and the mounting sleeve 21 . The mounting boss 214 improves the installation stability of the positioning member 23 and also improves the locking force of the positioning member 23 on the spline shaft 30 and the mounting sleeve 21 .

[0045] In this embodiment, the limiting member 20 further includes a limiting sleeve 25, which is connected to the mounting sleeve 21 and sleeved outside the spline shaft 30. The limiting sleeve 25 protrudes from the side of the mounting member 70 close to the output end 32, and the outer diameter of the limiting sleeve 25 is smaller than the outer diameter of the mounting sleeve 21. The limiting sleeve 25 is continuously connected to the mounting sleeve 21 along the axial direction of the spline shaft 30, and one end of the limiting sleeve 25 away from the mounting sleeve 21 extends from the first mounting hole 721 to protrude from the side surface of the mounting plate 72 facing the output end 32. The limiting sleeve 25 rotates synchronously with the spline shaft 30 and also rotates synchronously with the actuator 203 on the output end 32, which can reliably space the actuator 203 and the mounting plate 72, thereby improving the operation stability of the robot end driver 100. During processing, the worker can control the axial distance between the bottom surface of the mounting plate 72 (the side surface of the mounting plate 72 facing the output end 32) and the actuator 203 by controlling the axial length of the limiting sleeve 25.

[0046] The outer diameter of the limiting sleeve 25 is smaller than the outer diameter of the mounting sleeve 21, and the wall thickness of the limiting sleeve 25 is relatively small. Even if the actuator 203 shakes or contacts the limiting sleeve 25 when rotating, the contact area between the actuator 203 and the limiting sleeve 25 is relatively small due to the relatively small wall thickness of the limiting sleeve 25, and the friction force or contact hindrance between the two is also relatively small. Compared with the actuator 203 directly contacting the large-area mounting plate 72, the operation stability of the robot end driver 100 is improved.

[0047] In summary, before using the robot end driver 100 provided in the embodiment of the present application, the worker needs to connect the execution end 203 with the output end 32. Since the stopper 20 protrudes relative to the mounting member 70, the worker will not make the surface of the execution end 203 contact the surface of the mounting member 70 during installation. During use, the driving mechanism 50 drives the spline shaft 30 to rotate relative to the mounting member 70, and drives the execution end 203 on the output end 32 to rotate relative to the mounting member 70. When the execution end 203 rotates, it will not scratch the mounting member 70 under the action of the stopper 20, thereby improving the stability of the operation of the robot end driver 100.

[0048] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not drive the essence of the corresponding technical solutions out of the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot end driver, applied to a robot having an execution end, characterized in that: include: Mounting parts; A spline shaft rotatably connected to the mounting member, the spline shaft having an output end for driving the actuator end, the output end protruding from the mounting member; A driving mechanism, drivingly connected to the spline shaft and used for driving the spline shaft to rotate relative to the mounting member; And a limit member, connected to the spline shaft and rotatably connected to the mounting member, the limit member protrudes relative to a side of the mounting member close to the output end, and the limit member is used to space the execution end on the output end from the mounting member.

2. The robot end driver according to claim 1, characterized in that: The robot end driver further includes a bearing, and the bearing is arranged between the limiting member and the mounting member.

3. The robot end driver according to claim 2, characterized in that: The mounting member includes a mounting plate and a limiting portion, the mounting plate is provided with a first mounting hole, the limiting portion is arranged on the hole wall of the first mounting hole and protrudes relative to the hole wall; the limiting member is passed through the first mounting hole, the bearing is arranged in the mounting hole, and the limiting portion is abutted against one end of the outer ring of the bearing.

4. The robot end driver according to claim 3, characterized in that: The hole wall is provided with a limiting groove, and the robot end driver also includes a limiting retaining ring, which is sleeved on the outside of the spline shaft and embedded in the limiting groove. The limiting retaining ring is pressed against one end of the outer ring of the bearing away from the limiting portion to jointly limit the axial displacement of the bearing with the limiting portion.

5. The robot end driver according to claim 1, characterized in that: The limiting member includes a mounting sleeve and a positioning member, wherein the mounting sleeve is sleeved outside the spline shaft and rotatably penetrated in the mounting member, and the positioning member penetrates the mounting sleeve along the radial direction of the spline shaft and is connected between the spline shaft and the mounting sleeve.

6. The robot end driver according to claim 5, characterized in that: The limiting member also includes a limiting sleeve, which is connected to the mounting sleeve and sleeved outside the spline shaft. The limiting sleeve protrudes from a side of the mounting member close to the output end, and the outer diameter of the limiting sleeve is smaller than the outer diameter of the mounting sleeve.

7. The robot end driver according to any one of claims 1 to 6, characterized in that: The robot end driver also includes a guide rod, which is passed through the mounting member and is arranged parallel to and spaced from the spline shaft.

8. The robot end driver according to claim 7, characterized in that: The mounting member is provided with a second mounting hole and an adjustment groove, and the second mounting hole and the adjustment groove both penetrate the mounting member along the axial direction of the guide rod, one end of the adjustment groove is connected to the mounting hole, and the other end penetrates the side wall of the mounting member, and the extension direction of the adjustment groove intersects with the axial direction of the guide rod; at least part of the structure of the guide rod is clamped in the second mounting hole.

9. The robot end driver according to claim 8, characterized in that: The robot end driver also includes a locking member, which is connected to the mounting member and passes through two opposite side walls of the adjustment slot, and is used to lock the guide rod.

10. A robot, characterized in that: include: Joint body; Execution side; And the robot end driver as described in any one of claims 1 to 9, the robot end driver is connected between the joint body and the execution end, and the execution end is connected to the output end.

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