A drive mechanism, a clamping device and a robot

Abstract

The utility model discloses a drive mechanism, clamping device and robot, include: drive assembly, drive assembly includes transmission shaft, the outer surface of transmission shaft forms at least one first installation department, transmission assembly, transmission assembly includes transmission part, transmission part is equipped with first installation hole, the inner wall of first installation hole forms at least one second installation department, transmission shaft is embedded in first installation hole, and first installation department cooperates with second installation department. The technical scheme provided by the present application is convenient for later maintenance and overhauling, can also avoid stress concentration, reduce the cooperation play of transmission part and transmission shaft, thereby reducing the influence between transmission shaft and transmission part of assembly play.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a drive mechanism, a gripping device, and a robot. Background Technology

[0002] In the prior art, the drive mechanism for opening and closing the gripper in a robot is usually welded to the transmission component. This method makes it impossible to disassemble the transmission component and the drive shaft, thus making it impossible to maintain and repair them. Utility Model Content

[0003] The purpose of this application is to provide a drive mechanism, a clamping device, and a robot.

[0004] According to a first aspect of the embodiments of this application, a driving mechanism is provided, comprising: A drive assembly, the drive assembly including a drive shaft, on the outer surface of which at least one first mounting portion is formed; A transmission assembly includes a transmission member, the transmission member having a first mounting hole, at least one second mounting portion being formed on the inner wall of the first mounting hole, the transmission shaft being fitted into the first mounting hole, and the first mounting portion cooperating with the second mounting portion.

[0005] Optionally, the first mounting portion is a protrusion that protrudes from the outer surface of the drive shaft, and the second mounting portion is a groove that is recessed into the inner wall of the first mounting hole, with the protrusion embedded in the groove.

[0006] Optionally, the cross-section of the protrusion is bow-shaped along the radial direction of the drive shaft; The groove has an arc-shaped cross-section along the radial direction of the transmission component.

[0007] Optionally, the diameter d of the drive shaft and the diameter D of the protrusion are respectively, and the value of d / D ranges from 2 to 5.

[0008] Optionally, a second mounting hole is provided at the end of the drive shaft; The drive mechanism further includes a limiting component, which includes a connector and a limiting member. The limiting member abuts against one end of the transmission member, and the connector passes through the limiting member and connects to the second mounting hole to restrict the axial movement of the transmission member along the transmission shaft.

[0009] Optionally, the connector is a screw, which is screwed into the limiting member and the second mounting hole.

[0010] Optionally, a plurality of the first mounting portions are formed on the outer surface of the drive shaft, and the plurality of the first mounting portions are arranged at intervals along the circumference of the drive shaft; The first mounting hole has a plurality of second mounting portions formed inside it, and the plurality of second mounting portions are arranged at intervals along the circumference of the first mounting hole; A first mounting part cooperates with a second mounting part.

[0011] Optionally, the transmission component is a gear; The transmission assembly further includes a first rack and a second rack, which are arranged radially apart along the gear. The first rack meshes with the gear, and the second rack meshes with the gear.

[0012] According to a second aspect of the embodiments of this application, a clamping device is provided, comprising: The aforementioned drive mechanism; A first clamping part and a second clamping part are provided, the first clamping part is provided on the first rack of the transmission assembly, and the second clamping part is provided on the second rack of the transmission assembly. The driving mechanism can drive the first clamping part and the second clamping part to move towards or away from each other.

[0013] According to a third aspect of the embodiments of this application, a robot is provided, comprising: The aforementioned drive mechanism; or The aforementioned clamping device.

[0014] One technical advantage of this application embodiment is that the drive shaft and the transmission component are detachably connected, which facilitates later maintenance and repair. Furthermore, while the drive shaft and the transmission component can be detachably connected, stress concentration can be avoided, the clearance between the transmission component and the drive shaft can be reduced, and the impact of assembly clearance on the drive shaft and the transmission component can be reduced.

[0015] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0017] Figure 1 This is a schematic diagram of the drive mechanism in the embodiments of this application; Figure 2 This is a schematic diagram of the drive assembly and transmission component in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the driving component in the embodiments of this application; Figure 4 This is a schematic diagram of the drive shaft, drive component, and limiting assembly in the embodiments of this application; Figure 5 for Figure 4 Sectional view at point AA; Figure 6 This is a schematic diagram of the transmission shaft in an embodiment of this application; Figure 7 This is a schematic diagram of the transmission component in an embodiment of this application; Figure 8 This is a schematic diagram of the transmission component in an embodiment of this application.

[0018] Explanation of reference numerals in the attached drawings: Drive mechanism 100; Drive assembly 1; Drive component 11; Transmission shaft 12; Outer surface 121; Second mounting hole 122; First mounting part 13; Transmission assembly 2; Transmission component 21; First mounting hole 211; Second mounting part 212; Inner wall 213; First rack 22; Second rack 23; Limiting assembly 3; Limiting component 31; Third mounting hole 311; Connecting component 32; Housing 4; First guide component 5; Second guide component 6; Second guide rail 61; Second slider 62. Detailed Implementation

[0019] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0020] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0021] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0022] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0024] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0025] In the description of this invention, it should be understood that if the terms "axial", "radial", etc., are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] like Figures 1-8 As shown, according to a first aspect of the embodiments of this application, a drive mechanism 100 is provided, including a drive assembly 1 and a transmission assembly 2; the drive assembly 1 includes a drive shaft 12, and at least one first mounting portion 13 is formed on the outer surface 121 of the drive shaft 12; the transmission assembly 2 includes a transmission member 21, the transmission member 21 having a first mounting hole 211, and at least one second mounting portion 212 being formed on the inner wall 213 of the first mounting hole 211; the drive shaft 12 is detachably connected to the transmission member 21, the drive shaft 12 is fitted into the first mounting hole 211, and the first mounting portion 13 cooperates with the second mounting portion 212.

[0028] like Figure 1 As shown, the drive mechanism 100 includes a drive component 1 and a transmission component 2.

[0029] like Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the drive assembly 1 includes a drive member 11 and a transmission shaft 12. The transmission shaft 12 is driven by the drive member 11, and the drive member 11 can drive the transmission shaft 12 to rotate around its own axis. A first mounting portion 13 is formed on the outer surface 121 of the transmission shaft 12. It can be understood that the first mounting portion 13 and the transmission shaft 12 are an integral structure. The number of first mounting portions 13 can be one, two, three or more.

[0030] The transmission assembly 2 includes a transmission member 21, which has a first mounting hole 211. The axial direction of the first mounting hole 211 is the same as the axial direction of the transmission shaft 12, and the axial direction of the transmission member 21 is the same as the circumferential direction of the transmission shaft 12. A second mounting portion 212 is formed on the inner wall 213 of the first mounting hole 211. It can be understood that the second mounting portion 212 and the transmission member 21 are an integral structure. The number of second mounting portions 212 can be one, two, three or more. The number of first mounting portions 13 is the same as the number of second mounting portions 212.

[0031] To further explain, the transmission component 21 is connected to the transmission shaft 12. Specifically, the transmission shaft 12 is embedded in the first mounting hole 211, and the first mounting part 13 located in the circumference of the transmission shaft 12 cooperates with the second mounting part 212 located in the inner wall 213 of the first mounting hole 211.

[0032] In the drive mechanism 100 of this application, the first mounting part 13 and the drive shaft 12 are integrally formed, and the second mounting part 212 and the transmission component 21 are integrally formed. The first mounting part 13 and the second mounting part 212 cooperate to achieve a detachable connection. Therefore, in the drive mechanism 100 of this application, the drive shaft 12 and the transmission component 21 are detachably connected, which facilitates later maintenance and repair. Furthermore, while the drive shaft 12 and the transmission component 21 can be detachably connected, stress concentration can be avoided, the clearance between the transmission component 21 and the drive shaft 12 can be reduced, and the impact of assembly clearance on the drive shaft 12 and the transmission component 21 can be reduced.

[0033] The driving component 11 can be a motor, a rotary cylinder, etc., and preferably, a motor is used in this application.

[0034] In one specific embodiment, the first mounting part 13 is a groove, which is recessed inward on the outer surface 121 of the drive shaft 12, and the second mounting part 212 is a protrusion, which protrudes from the inner wall 213 of the second mounting hole and is embedded in the groove.

[0035] like Figure 3 , Figure 7 and Figure 8As shown, in another specific embodiment, the first mounting portion 13 is a protrusion that protrudes from the outer surface 121 of the drive shaft 12, and the second mounting portion 212 is a groove that recesses into the inner wall 213 of the first mounting hole 211, with the protrusion embedded in the groove. Specifically, the first mounting portion 13 is a protrusion that protrudes radially from the outer surface 121 of the drive shaft 12, and the length direction of the protrusion is the same as the axial direction of the rotating shaft; the second mounting portion 212 is a groove that recesses radially into the inner wall of the first mounting hole 211. 213 Recessed; When the drive shaft 12 is embedded in the first mounting hole 211, the outer surface 121 of the drive shaft 12 cooperates with the inner wall 213 of the first mounting hole 211, and the protrusion is embedded in the groove; When the drive member 11 drives the drive shaft 12 to rotate around its own axis, it can drive the transmission member 21 to rotate together with the drive shaft 12; In this embodiment, the first mounting part 13 is a protrusion, which can enhance the structural strength of the drive shaft 12. When the drive shaft 12 drives the transmission member 21 to rotate, the drive shaft 12 can provide a large torque and can limit the circumferential rotation of the transmission member 21 relative to the drive shaft 12.

[0036] In one specific embodiment, along the radial direction of the transmission shaft 12, the cross-section of the protrusion is rectangular, square, triangular, crescent-shaped, semi-circular, or other irregular shape; along the radial direction of the transmission assembly 2, the cross-section of the groove is rectangular, square, triangular, crescent-shaped, semi-circular, or other irregular shape.

[0037] like Figure 6 As shown, in another specific embodiment, the cross-section of the protrusion is arc-shaped along the radial direction of the transmission shaft 12; specifically, an arc shape refers to the area enclosed by a chord and the corresponding arc larger than a semicircle, that is, the cross-sectional shape of the protrusion is larger than a semicircle but smaller than a full circle; the cross-section of the groove is arc-shaped along the radial direction of the transmission member 21; specifically, the cross-sectional shape of the groove is arc-shaped, so that the protrusion can be embedded in the groove; in this embodiment, the cross-sectional shape of the protrusion is arc-shaped, and the protrusion is embedded in the groove. When the transmission shaft 12 drives the transmission member 21 to rotate, the problem of slippage between the transmission shaft 12 and the transmission member 21 due to the small mating area can be avoided; furthermore, the edge of the protrusion is arc-shaped, and the cross-section of the groove is arc-shaped, which can reduce the wear between the protrusion and the groove.

[0038] like Figure 6As shown, in an optional embodiment, the diameter d of the drive shaft 12 and the diameter D of the protrusion are both d and D, and the value of d / D ranges from 2 to 5. Specifically, the value of d / D ranges from 2 to 5, including values ​​between 2 and 5 and values ​​between 2 and 5. In this embodiment, the ratio of the diameter of the drive shaft 12 to the diameter of the protrusion is set between 2 and 5 to ensure the structural strength of the drive shaft 12.

[0039] Preferably, D is an integer; d is an integer; that is, the diameter of the drive shaft 12 is usually an integer, and the diameter of the protrusion is an integer, so as to facilitate processing.

[0040] In specific implementations, for example, if d is 6mm, D is 2mm; if d is 10mm, then D can be 3mm or 4mm; if d is 12mm, then D is 4mm; if d is 13mm-17mm, then D is 5mm; if d is 18mm-22mm, then D is 6mm; if d is 23mm-30mm, then D is 8mm; if d is 31mm-38mm, then D is 10mm; if d is 39mm-44mm, then D is 12mm; if d is 45mm-50mm, then D is 14mm. The above values ​​are merely illustrative examples, and other parameters may also be used.

[0041] like Figure 4 and Figure 5 As shown, in an optional embodiment, a second mounting hole 122 is provided at the end of the drive shaft 12; specifically, the axial direction of the second mounting hole 122 is the same as the axial direction of the drive shaft 12, and the second mounting hole 122 is located at the end of the drive shaft 12 away from the drive member 11. It can also be understood that the second mounting hole 122 is close to the drive member 21, and the second mounting hole 122 is opened at the center of the drive shaft 12.

[0042] like Figure 4 and Figure 5As shown, the drive mechanism 100 further includes a limiting component 3, which includes a connecting member 32 and a limiting member 31. The limiting member 31 abuts against one end of the transmission member 21, and the connecting member 32 passes through the limiting member 31 and connects to the second mounting hole 122 to restrict the axial movement of the transmission member 21 along the transmission shaft 12. Specifically, the limiting component 3 includes a connecting member 32 and a limiting member 31, wherein the limiting member 31 is located at the end of the transmission member 21 away from the drive member 11, and the limiting member 31 abuts against one end of the transmission member 21. The end face of the transmission component 21 abuts against the limit component 31, which has a third mounting hole 311. The third mounting hole 311 and the second mounting hole 122 are arranged concentrically. The connecting component 32 passes through the third mounting hole 311 and connects with the second mounting hole 122, thereby restricting the axial sliding or movement of the transmission component 21 along the transmission shaft 12, so as to improve the installation stability of the transmission component 21 and improve the stability of the transmission component 21 when rotating. In this embodiment, the axial movement of the transmission component 21 is restricted by the limit component 3, which is simple in structure and easy to install and maintain.

[0043] In one specific embodiment, the connector 32 is a screw, which is screwed into the limiting member 31 and the second mounting hole 122. In this embodiment, the connector 32 is made of a screw, which allows for the opening of second mounting holes 122 of different diameters according to the diameter of the drive shaft 12, so that different types of screws can be used as needed. On the other hand, the use of screws makes disassembly more convenient, thus facilitating inspection and maintenance.

[0044] In another specific embodiment, the connector 32 is a pin, which is embedded in the second mounting hole 122 to restrict the axial movement of the transmission member 21 along the transmission shaft 12.

[0045] In one optional embodiment, a plurality of first mounting portions 13 are formed on the outer surface 121 of the drive shaft 12, and the plurality of first mounting portions 13 are arranged at intervals along the circumference of the drive shaft 12; specifically, a plurality of first mounting portions 13 are formed on the outer surface 121 of the drive shaft 12, and the plurality of first mounting portions 13 are arranged at intervals along the circumference of the drive shaft 12, and the plurality of first mounting portions 13 can be evenly distributed; wherein, the number of first mounting portions 13 can be two, three, four or more.

[0046] To further explain, a plurality of second mounting portions 212 are formed inside the first mounting hole 211. The plurality of second mounting portions 212 are arranged at intervals along the circumference of the first mounting hole 211, and the plurality of second mounting portions 212 can be evenly distributed; wherein, the number of second mounting portions 212 can be two, three, four or more.

[0047] The number of first mounting parts 13 and the number of second mounting parts 212 are the same, with one first mounting part 13 cooperating with one second mounting part 212. In this embodiment, different numbers of first mounting parts 13 can be selected according to the diameter of the drive shaft 12 to ensure the structural strength between the drive shaft 12 and the transmission component 21.

[0048] like Figure 1 As shown, in an optional embodiment, the transmission component 21 is a gear; the transmission assembly 2 further includes a first rack 22 and a second rack 23, the first rack 22 and the second rack 23 being arranged radially apart along the gear, the first rack 22 meshing with the gear, and the second rack 23 meshing with the gear; specifically, when the driving component 11 drives the transmission shaft 12 to rotate around its own axis, it can drive the gear to rotate, thereby driving the first rack 22 and the second rack 23, which are arranged radially relative to the gear, to move towards or away from each other; in this embodiment, the driving mechanism 100 is suitable for driving components that need to move towards or away from each other.

[0049] like Figure 1 As shown, in an optional embodiment, the drive mechanism 100 further includes a housing 4, a first guide 5, and a second guide 6. The housing 4 is disposed on the drive assembly 1. The first guide 5 and the second guide 6 are spaced apart. The first rack 22 is connected to the first guide 5, and the second rack 23 is connected to the second guide 6. In this embodiment, the first guide 5 and the second guide 6 provide mounting support and guidance for the movement of the first rack 22 and the second rack 23, preventing the first rack 22 and the second rack 23 from deviating during movement.

[0050] The first guide member 5 includes a first guide rail (not shown in the figure, but refer to the second guide rail 61) and a first slider (not shown in the figure, but refer to the second slider 62). The first guide rail is disposed on the housing 4, and the first rack 22 is disposed on the first slider. The first slider is slidably connected to the first guide rail. The second guide member 6 includes a second guide rail 61 and a second slider 62. The second guide rail 61 is disposed on the housing 4, and the second rack 23 is disposed on the second slider 62. The second slider 62 is slidably connected to the second guide rail 61.

[0051] According to a second aspect of the embodiments of this application, a clamping device is provided, including a drive mechanism 100, a first clamping part, and a second clamping part. The first clamping part is disposed on the first rack 22 of the transmission assembly 2, and the second clamping part is disposed on the second rack 23 of the transmission assembly 2. The drive mechanism 100 is capable of driving the first clamping part and the second clamping part to move towards or away from each other. Specifically, when the drive member 11 drives the transmission member 21 to rotate clockwise around its own axis, it can drive the gear to rotate, and the gear can drive the first... The rack 22 and the second rack 23 move toward each other, thereby enabling the first clamping part and the second clamping part to move toward each other so that the first clamping part and the second clamping part close together, with a closing force of up to 120N, to clamp the item; when the driving member 11 drives the transmission member 21 to rotate counterclockwise around its own axis, it can drive the gear to rotate, and through the gear, it can drive the first rack 22 and the second rack 23 to move in opposite directions, thereby enabling the first clamping part and the second clamping part to move in opposite directions so that the first clamping part and the second clamping part open to place the item.

[0052] According to a third aspect of the embodiments of this application, a robot is provided, including the drive mechanism 100 described above; or the gripping device described above.

[0053] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A driving mechanism, characterized in that, include: A drive assembly, the drive assembly including a drive shaft, on the outer surface of which at least one first mounting portion is formed; A transmission assembly includes a transmission member, the transmission member having a first mounting hole, at least one second mounting portion being formed on the inner wall of the first mounting hole, the transmission shaft being fitted into the first mounting hole, and the first mounting portion cooperating with the second mounting portion.

2. The driving mechanism according to claim 1, characterized in that, The first mounting part is a protrusion that protrudes from the outer surface of the drive shaft, and the second mounting part is a groove that is recessed into the inner wall of the first mounting hole, with the protrusion embedded in the groove.

3. The driving mechanism according to claim 2, characterized in that, Along the radial direction of the drive shaft, the cross-section of the protrusion is bow-shaped; The groove has an arc-shaped cross-section along the radial direction of the transmission component.

4. The driving mechanism according to claim 3, characterized in that, The diameter d of the drive shaft and the diameter D of the protrusion are given, and the value of d / D ranges from 2 to 5.

5. The driving mechanism according to claim 1, characterized in that, The end of the drive shaft is provided with a second mounting hole; The drive mechanism further includes a limiting component, which includes a connector and a limiting member. The limiting member abuts against one end of the transmission member, and the connector passes through the limiting member and connects to the second mounting hole to restrict the axial movement of the transmission member along the transmission shaft.

6. The driving mechanism according to claim 5, characterized in that, The connector is a screw, which is screwed into the limiting member and the second mounting hole.

7. The driving mechanism according to claim 1, characterized in that, The outer surface of the drive shaft is provided with a plurality of first mounting portions, which are arranged at intervals along the circumference of the drive shaft. The first mounting hole has a plurality of second mounting portions formed inside it, and the plurality of second mounting portions are arranged at intervals along the circumference of the first mounting hole; A first mounting part cooperates with a second mounting part.

8. The driving mechanism according to claim 1, characterized in that, The transmission component is a gear; The transmission assembly further includes a first rack and a second rack, which are arranged radially apart along the gear. The first rack meshes with the gear, and the second rack meshes with the gear.

9. A clamping device, characterized in that, include: The drive mechanism as described in any one of claims 1-8; A first clamping part and a second clamping part are provided, the first clamping part is provided on the first rack of the transmission assembly, and the second clamping part is provided on the second rack of the transmission assembly. The driving mechanism can drive the first clamping part and the second clamping part to move towards or away from each other.

10. A robot, characterized in that, include: The drive mechanism as described in any one of claims 1-8; or The clamping device as described in claim 9.

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