Transmission device, transmission system and mechanical arm

Abstract

The embodiment of the utility model provides a transmission device, a transmission system and a mechanical arm, and relates to the technical field of mechanical transmission, and the transmission device comprises a device body, and a transmission part, a transmission mechanism, two clutches and two output parts which are arranged on the device body. The transmission part is connected with the transmission mechanism, the transmission mechanism is in transmission connection with the two output parts, and an included angle exists between the driving directions of the two output parts. The two clutches correspond to the two output pieces one to one, and the clutches are arranged between the corresponding output pieces and the transmission mechanism. According to the transmission device provided by the embodiment of the invention, one transmission part is matched with the transmission mechanism and the two clutches to switch transmission of the two output parts, so that independent control in two driving directions is realized, and the transmission structure is more compact, smaller in size and lighter in weight.

Description

Technical Field

[0001] This application relates to the field of mechanical transmission technology, and in particular to a transmission device, transmission system and robotic arm. Background Technology

[0002] In recent years, robotic arms have been widely used in industrial assembly, safety and explosion protection, and other fields due to their unique operational flexibility. The mechanical mechanism of a robotic arm consists of a series of rigid components connected by joints, enabling the end effector to accurately and flexibly complete the required tasks.

[0003] In related technologies, the joints of a robotic arm need to rotate in two different directions, so two output shafts are required to drive it.

[0004] However, the transmission structure at the joints of existing robotic arms that switches between different output shafts is not compact enough, resulting in a large space occupation. Utility Model Content

[0005] Based on this, this application provides a transmission device, transmission system, and robotic arm to solve the problem that the transmission structure at the joints of existing robotic arms is not compact enough when switching between different output shaft rotations.

[0006] In a first aspect, this application provides a transmission device, including a device body and a transmission component, a transmission mechanism, two clutches and two output components disposed on the device body;

[0007] The transmission component is connected to the transmission mechanism, and the transmission mechanism is connected to two output components respectively, and the driving directions of the two output components are at an angle.

[0008] Two clutches correspond one-to-one with two output components, and the clutches are located between the corresponding output components and the transmission mechanism.

[0009] In one possible implementation, the transmission mechanism includes a driving member and a driven component, with the driving member disposed on the transmission member and the driven component being drively connected to the driving member;

[0010] One of the two clutches is connected to the driving component, and the other is connected to the driven component.

[0011] In one possible implementation, the driven component includes a first driven member and a second driven member, the first driven member being drivenly connected to the driving member, and the first driven member being drivenly connected to a corresponding clutch through the second driven member.

[0012] In one possible implementation, the driving element is a driving gear, which is sleeved on the transmission element;

[0013] The first driven element is a driven gear that matches the driving gear, and the driven gear meshes with the driving gear.

[0014] In one possible implementation, both the driven gear and the driving gear are bevel gears.

[0015] In one possible implementation, the second driven element is a driven shaft, and the driven gear is connected to the corresponding clutch via the driven shaft.

[0016] In one possible implementation, the device body has a mounting cavity, and the transmission mechanism and each clutch are located within the mounting cavity;

[0017] The transmission components and each output component are respectively inserted into the main body of the device and extend out of the main body of the device.

[0018] In one possible implementation, at least one of the transmission components and output components is provided with a bearing between itself and the device body.

[0019] In one possible implementation, the two output components rotate about their own axes, and the axes of rotation of the two output components intersect.

[0020] In one possible implementation, at least one of the two clutches is an electromagnetic clutch.

[0021] Secondly, this application also provides a transmission system, including a rotary drive and any of the transmission devices provided in the first aspect, wherein the rotary drive is connected to the transmission component.

[0022] In one possible implementation, the rotary drive includes a motor and a reducer, with the output of the motor being driven by the input of the reducer, and the output of the reducer being driven by the input of the transmission component.

[0023] Thirdly, this application also provides a robotic arm, including a robotic arm body, wherein any of the transmission devices provided in the first aspect are provided at the joints of the robotic arm body.

[0024] Alternatively, the joints of the robotic arm body may be equipped with any of the transmission systems provided in the second aspect.

[0025] The transmission device, transmission system, and robotic arm provided in this application include a device body and a transmission component, a transmission mechanism, two clutches, and two output components mounted on the device body. The transmission component is connected to the transmission mechanism, and the transmission mechanism is respectively connected to the two output components, with the driving directions of the two output components at an angle to each other for transmission in two directions. Two clutches are positioned one-to-one with each output component, between the corresponding output component and the transmission mechanism. When the transmission component is driven to rotate, the clutches engage or disengage, causing the corresponding output component to rotate or stop rotating. Therefore, the transmission device provided in this application uses one transmission component in conjunction with the transmission mechanism and two clutches to switch the transmission of two output components, achieving independent control of two driving directions. The transmission structure is more compact, smaller, and lighter. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the transmission system provided in an embodiment of this application;

[0028] Figure 2 This is a partial internal structure diagram of the transmission system provided in an embodiment of this application.

[0029] Figure label:

[0030] 10: Rotary drive;

[0031] 11: Electric motor;

[0032] 12: Speed ​​reducer;

[0033] 100: Device body;

[0034] 110: Installation cavity;

[0035] 120: Bearing;

[0036] 200: Transmission components;

[0037] 300: Transmission mechanism;

[0038] 310: Active component;

[0039] 320: Slave component;

[0040] 321: First follower;

[0041] 322: Second follower;

[0042] 400: Clutch;

[0043] 500: Output component. Detailed Implementation

[0044] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of methods and apparatus consistent with some aspects of this application as detailed in the appended claims.

[0045] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0046] As mentioned in the background section, in related technologies, a transmission method using dual motors and dual reducers is used to control two degrees of freedom on the robotic arm separately. However, due to the large number of parts, the body size cannot be reduced, it occupies a large space, and the cost is also high.

[0047] To address the aforementioned problems in the prior art, this application provides a transmission device, a transmission system, and a robotic arm. The transmission device provided in this application includes a device body and a transmission component, a transmission mechanism, two clutches, and two output components mounted on the device body. The transmission component is connected to the transmission mechanism, and the transmission mechanism is respectively connected to the two output components, with the driving directions of the two output components having an included angle for transmission in two directions. Two clutches are positioned one-to-one with the two output components and are located between the corresponding output component and the transmission mechanism. When the transmission component is driven to rotate, the clutches engage or disengage, causing the corresponding output component to rotate or stop rotating. In other words, by using one transmission component in conjunction with the transmission mechanism and two clutches, the transmission of the two output components can be switched, achieving independent control of the two driving directions. The transmission structure is more compact, smaller in size, and lighter.

[0048] The technical solutions of this application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0049] Firstly, please refer to Figures 1-2 As shown, this application provides a transmission device, including a device body 100 and a transmission component 200, a transmission mechanism 300, two clutches 400 and two output components 500 disposed on the device body 100.

[0050] The transmission component 200 is connected to the transmission mechanism 300, and the transmission mechanism 300 is connected to two output components 500 respectively, and the driving directions of the two output components 500 are at an angle.

[0051] Two clutches 400 correspond one-to-one with two output components 500, and the clutches 400 are located between the corresponding output components 500 and the transmission mechanism 300.

[0052] In this embodiment, the device body 100 serves as the installation base, which at least supports the transmission component 200, the transmission mechanism 300, the clutch 400, and the output component 500. The device body 100 can be a box, frame, shell, or other structure.

[0053] In this embodiment, the transmission component 200 is used to transmit rotational torque. It can be a transmission shaft, transmission rod, etc. The transmission component 200 can be mounted on the device body 100 through bearings and bearing seats, and can rotate around its own axis.

[0054] In this embodiment, the transmission mechanism 300 is used to transmit the rotational torque from the transmission component 200 to the output component 500. The transmission mechanism 300 can be a bevel gear transmission mechanism, a universal joint transmission mechanism, etc.

[0055] In this embodiment, the clutch 400 is used to control the rotation or stop of the output component 500, and it can be an electromagnetic clutch, a hydraulic clutch, etc.

[0056] In this embodiment, the output component 500 is used to transmit rotational torque. It can be an output shaft, an output rod, etc. The output component 500 can also be mounted on the device body 100 through bearings and bearing seats, and can rotate around its own axis. The rotation axes of the two output components 500 can intersect or be out of plane.

[0057] The transmission component 200 is connected to two clutches 400 via the transmission mechanism 300. The two clutches 400 are connected to two output components 500 respectively. The driving directions of the two output components 500 are at an angle, that is, their rotation axes intersect or are out of plane.

[0058] Specifically, the transmission device can be installed at the joint of the robotic arm, and when the drive transmission component 200 rotates, such as... Figure 2 As shown, the clutch 400 engages or disengages to cause the corresponding output component 500 to rotate or stop rotating, thereby enabling the robotic arm to rotate in multiple directions.

[0059] It is understandable that, compared to the transmission structure that uses dual motors and dual reducers to control the two degrees of freedom on the robotic arm separately, the transmission device in this embodiment uses a transmission component 200 in conjunction with a transmission mechanism 300 and two clutches 400 to switch the rotation of the two output components 500, thereby achieving independent control of the two rotation directions. The transmission structure is more compact, smaller in size, occupies less space, is lighter, and has a lower cost.

[0060] It is worth noting that by arranging the clutch 400 on two output components 500 in different directions, the on / off state can be directly controlled, reducing the number of gears and avoiding the machining and assembly of the transfer gears, resulting in a simpler and more reliable structure.

[0061] Therefore, the transmission device provided in this embodiment includes a device body 100 and a transmission component 200, a transmission mechanism 300, two clutches 400, and two output components 500 disposed on the device body 100. The transmission component 200 is connected to the transmission mechanism 300, and the transmission mechanism 300 is respectively connected to the two output components 500, with the driving directions of the two output components 500 having an angle to transmit in two directions. The two clutches 400 are configured to correspond one-to-one with the two output components 500 and are disposed between the corresponding output component 500 and the transmission mechanism 300. When the transmission component 200 is driven to rotate, the clutches 400 engage or disengage, so that the corresponding output component 500 rotates or stops rotating. That is, by using one transmission component 200 in conjunction with the transmission mechanism 300 and two clutches 400, the transmission of the two output components 500 can be switched, realizing independent control of the two driving directions. The transmission structure is more compact, smaller in size, and lighter.

[0062] In one possible design, the transmission mechanism 300 includes a driving element 310 and a driven component 320, with the driving element 310 disposed on the transmission element 200 and the driven component 320 being connected to the driving element 310 in a transmission manner.

[0063] One of the two clutches 400 is connected to the driving component 310, and the other is connected to the driven component 320.

[0064] In this way, such as Figure 2As shown, the transmission component 200 can drive the driven component 320 to rotate through the driving component 310. The driving component 310 drives one clutch 400 and the corresponding output component 500 to rotate, and the driven component 320 drives another clutch 400 and the corresponding output component 500 to rotate, which facilitates the distribution of the rotational torque of the transmission component 200.

[0065] Specifically, in this embodiment, the driven component 320 includes a first driven member 321 and a second driven member 322. The first driven member 321 is connected to the driving member 310 in a transmission manner, and the first driven member 321 is connected to the corresponding clutch 400 in a transmission manner through the second driven member 322.

[0066] With this setting, such as Figure 2 As shown, the driving member 310 can drive the first driven member 321 to rotate, the first driven member 321 drives the second driven member 322 to rotate, and the second driven member 322 drives the corresponding output member 500 to rotate through the clutch 400, making the transmission structure more reasonable.

[0067] For example, in this embodiment, the driving member 310 is a driving gear, which is sleeved on the transmission member 200.

[0068] The first driven member 321 is a driven gear that matches the driving gear, and the driven gear meshes with the driving gear.

[0069] Specifically, such as Figure 2 As shown, the driving gear is coaxial with the transmission component 200 and can be integrally formed or detachably connected. Furthermore, the driving gear can also be coaxially connected to a clutch 400 via a transmission shaft. The driven gear is connected to the second driven component 322 and meshes with the driving gear, facilitating machining and installation.

[0070] Furthermore, in this embodiment, both the driven gear and the driving gear are bevel gears.

[0071] This allows for the intersection or perpendicularity of the 500° rotation axes of the two output components, while ensuring stable transmission and accuracy.

[0072] The specific size and parameters of the bevel gear can be determined according to actual needs, and this embodiment does not impose too many restrictions.

[0073] Furthermore, in this embodiment, the second driven member 322 is a driven shaft, and the driven gear is connected to the corresponding clutch 400 through the driven shaft.

[0074] Specifically, such as Figure 2 As shown, one end of the driven shaft is connected to the corresponding clutch 400, and the other end of the driven shaft is connected to the driven gear.

[0075] This facilitates the installation and connection between the driven gear and the clutch 400. The specific size and specifications of the driven shaft can be determined according to actual needs, and no excessive restrictions are imposed in this embodiment.

[0076] In some embodiments, the device body 100 has a mounting cavity 110, and the transmission mechanism 300 and each clutch 400 are located in the mounting cavity 110.

[0077] The transmission component 200 and each output component 500 are respectively inserted into the device body 100 and extend to the outside of the device body 100.

[0078] Specifically, such as Figure 2 As shown, the device body 100 is a closed box structure with an installation cavity 110 inside, which is used to house the transmission mechanism 300, each clutch 400, some transmission components 200, and each output component 500 for protection.

[0079] The portions of the transmission component 200 and each output component 500 located in the mounting cavity 110 are respectively connected to the transmission mechanism 300 and each clutch 400. The specific shape and size of the device body 100 and the mounting cavity 110 can be determined according to actual installation requirements; this embodiment does not impose excessive restrictions.

[0080] Furthermore, in this embodiment, at least one of the transmission component 200 and each output component 500 is provided with a bearing 120 between itself and the device body 100.

[0081] Specifically, the transmission component 200 and each output component 500 are provided with bearing holes at their insertion points on the device body 100, and bearings are respectively installed in the bearing holes. The transmission component 200 and each output component 500 are inserted into the bearings to reduce rotational resistance.

[0082] The bearing can be a rolling bearing, a sliding bearing, etc. The specific model and specifications of the bearing can be determined according to actual needs, and are not specifically limited in this embodiment.

[0083] In some embodiments, the two output components 500 rotate about their own axes, and the axes of rotation of the two output components 500 intersect. Further, the axes of rotation of the two output components 500 are perpendicular.

[0084] Specifically, the rotation direction of the transmission component 200 is consistent with the rotation direction of one of the clutches 400 and its corresponding output component 500, and perpendicular to the rotation direction of the other clutch 400 and its corresponding output component 500. That is, one output component 500 rotates around... Figure 2 Rotate along the Y-axis, and another output component 500 rotates around it. Figure 2 Rotate along the X-axis.

[0085] In this way, by controlling the two output components 500 to rotate around two intersecting or perpendicular axes through a transmission component 200, the independent rotational motion requirement of the robotic arm joints in the horizontal or vertical plane can be met.

[0086] In some embodiments, at least one of the two clutches 400 is an electromagnetic clutch.

[0087] Among them, the electromagnetic clutch can achieve remote operation with low control energy. The engagement or disengagement of the clutch can be controlled by high and low frequency signals of the current, which determines whether the rotational motion of the transmission component 200 can be output through the output component 500.

[0088] This facilitates automated control, while also offering fast operation, simple structure, and mature technology. The specific model and specifications of the electromagnetic clutch can be determined based on actual needs; this embodiment does not impose excessive restrictions.

[0089] Secondly, embodiments of this application also provide a transmission system, including a rotary drive 10 and a transmission device provided in any of the above embodiments, wherein the rotary drive 10 is connected to the transmission component 200 in a transmission connection.

[0090] The structure of the transmission device has been described in detail in the above embodiments and will not be repeated here.

[0091] The transmission system provided in this application embodiment, by configuring a transmission device, includes a device body 100 and a transmission component 200, a transmission mechanism 300, two clutches 400, and two output components 500 disposed on the device body 100. The transmission component 200 is connected to the transmission mechanism 300, and the transmission mechanism 300 is respectively connected to the two output components 500, with the driving directions of the two output components 500 having an angle to transmit in two directions. The two clutches 400 are configured to correspond one-to-one with the two output components 500 and are disposed between the corresponding output component 500 and the transmission mechanism 300. When the transmission component 200 is driven to rotate, the clutches 400 engage or disengage, causing the corresponding output component 500 to rotate or stop rotating. That is, by using one transmission component 200 in conjunction with the transmission mechanism 300 and two clutches 400 to switch the transmission of the two output components 500, independent control of the two driving directions is achieved. The transmission structure is more compact, smaller in size, and lighter.

[0092] Furthermore, in this embodiment, the rotary drive 10 includes a motor 11 and a reducer 12. The output end of the motor 11 is connected to the input end of the reducer 12, and the output end of the reducer 12 is connected to the input end of the transmission component 200.

[0093] Specifically, the motor 11 can be a stepper motor, etc., and the reducer 12 can be a planetary reducer, harmonic reducer, RV reducer, etc. The motor 11 is connected to the transmission component 200 through the reducer 12, which can convert high speed and small torque into low speed and large torque, thereby facilitating the stable rotation of the robotic arm.

[0094] The rotation axes of the motor 11 and the reducer 12 are aligned with the rotation axis of the transmission component 200, and also with the rotation axes of one of the clutches 400 and its corresponding output component 500, while being perpendicular to the rotation axes of the other clutch 400 and its corresponding output component 500. The specific models and specifications of the motor 11 and the reducer 12 can be determined according to actual needs; this embodiment does not impose excessive restrictions.

[0095] It should be noted that by using a motor 11 and a reducer 12 to drive the transmission component 200, and then using a clutch 400 to select the output of the output component 500, the number of parts is reduced, the size is smaller, and the cost is lower. Moreover, the rotation direction of the output component 500 can be switched by adjusting the rotation direction of the motor 11.

[0096] Thirdly, embodiments of this application also provide a robotic arm, including a robotic arm body, on which a transmission device or transmission system provided in any of the above embodiments is disposed. The robotic arm can...

[0097] The robotic arm provided in this application embodiment, through the configuration of a transmission device or a transmission system having such a device, includes a device body 100 and a transmission component 200, a transmission mechanism 300, two clutches 400, and two output components 500 disposed on the device body 100. The transmission component 200 is connected to the transmission mechanism 300, and the transmission mechanism 300 is respectively connected to the two output components 500, with the driving directions of the two output components 500 having an angle to transmit in two directions. The two clutches 400 are configured to correspond one-to-one with the two output components 500 and are disposed between the corresponding output component 500 and the transmission mechanism 300. When the driving transmission component 200 is rotated, the clutches 400 engage or disengage, causing the corresponding output component 500 to rotate or stop rotating. That is, by using one transmission component 200 in conjunction with the transmission mechanism 300 and two clutches 400 to switch the transmission of the two output components 500, independent control of the two driving directions is achieved. The transmission structure is more compact, smaller in size, and lighter.

[0098] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0099] It should be understood that this application is not limited to the precise structures described above and shown in the appendix, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A transmission device, characterized in that, It includes a device body (100) and a transmission component (200), a transmission mechanism (300), two clutches (400) and two output components (500) disposed on the device body (100). The transmission component (200) is connected to the transmission mechanism (300), and the transmission mechanism (300) is connected to the two output components (500) respectively, and the rotation axes of the two output components (500) are at an angle. The two clutches (400) correspond one-to-one with the two output components (500), and the clutches (400) are located between the corresponding output components (500) and the transmission mechanism (300).

2. The transmission device according to claim 1, characterized in that, The transmission mechanism (300) includes a driving member (310) and a driven component (320). The driving member (310) is disposed on the transmission member (200), and the driven component (320) is connected to the driving member (310) in a transmission manner. One of the two clutches (400) is drivenly connected to the driving member (310), and the other is drivenly connected to the driven member (320).

3. The transmission device according to claim 2, characterized in that, The driven component (320) includes a first driven member (321) and a second driven member (322). The first driven member (321) is connected to the driving member (310) in a transmission connection. The first driven member (321) is connected to the corresponding clutch (400) through the second driven member (322).

4. The transmission device according to claim 3, characterized in that, The driving component (310) is a driving gear, which is sleeved on the transmission component (200); The first driven member (321) is a driven gear that matches the driving gear, and the driven gear meshes with the driving gear.

5. The transmission device according to claim 4, characterized in that, Both the driven gear and the driving gear are bevel gears.

6. The transmission device according to claim 4, characterized in that, The second driven member (322) is a driven shaft, and the driven gear is connected to the corresponding clutch (400) through the driven shaft.

7. The transmission device according to claim 1, characterized in that, The device body (100) has a mounting cavity (110), and the transmission mechanism (300) and each of the clutches (400) are located in the mounting cavity (110); The transmission component (200) and each of the output components (500) are respectively inserted into the device body (100) and extend to the outside of the device body (100).

8. The transmission device according to claim 7, characterized in that, At least one of the transmission component (200) and each of the output components (500) is provided with a bearing (120) between itself and the device body (100).

9. The transmission device according to any one of claims 1 to 8, characterized in that, The two output components (500) rotate about their own axes, and the axes of rotation of the two output components (500) intersect.

10. The transmission device according to any one of claims 1 to 8, characterized in that, At least one of the two said clutches (400) is an electromagnetic clutch.

11. A transmission system, characterized in that, It includes a rotary drive (10) and a transmission device as described in any one of claims 1 to 10, wherein the rotary drive (10) is connected to the transmission member (200) in a transmission connection.

12. The transmission system according to claim 11, characterized in that, The rotary drive (10) includes a motor (11) and a reducer (12). The output end of the motor (11) is connected to the input end of the reducer (12), and the output end of the reducer (12) is connected to the input end of the transmission component (200).

13. A robotic arm, characterized in that, Includes a robotic arm body, wherein the joints of the robotic arm body are provided with a transmission device as described in any one of claims 1 to 10; Alternatively, the joints of the robotic arm body may be provided with a transmission system as described in claim 11 or 12.

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