CN221111892U

CN221111892U - Robot end driver and robot

Info

Publication number: CN221111892U
Application number: CN202322687685.9U
Authority: CN
Inventors: 何广峰
Original assignee: KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robotics Guangdong Co Ltd
Priority date: 2023-10-07
Filing date: 2023-10-07
Publication date: 2024-06-11
Anticipated expiration: 2033-10-07

Abstract

The application relates to the technical field of robots, in particular to a robot tail end driver and a robot. The robot end driver comprises a first spline screw, a second spline screw, a translation driving mechanism, a rotation driving mechanism and an output transmission mechanism. The second spline screw is arranged at intervals with the first spline screw in parallel. The translation driving mechanism is respectively connected with the first spline screw and the second spline screw in a transmission way and is used for driving the first spline screw and the second spline screw to move along a preset axial direction. The rotary driving mechanism is respectively connected with the first spline screw and the second spline screw in a transmission way and is used for driving the first spline screw and the second spline screw to respectively rotate. The output transmission mechanism is connected between the first spline screw and the second spline screw in a transmission way, and is provided with a mounting part for driving the execution end of the robot, and the mounting part is driven by the first spline screw and the second spline screw to move together. The robot end driver improves the bearing capacity of the robot.

Description

Robot end driver and robot

Technical Field

The application relates to the technical field of robots, in particular to a robot tail end driver and a robot.

Background

The SCARA robot (assembly robot) is a cylindrical coordinate type industrial robot, has the characteristics of high working efficiency and reliable operation, and is widely applied to the assembly industry. In the field of automation and intelligent equipment, occasions where the main shaft can rotate around the axial direction and can move along the axial direction in a linear manner are frequently used.

The tail end shaft of the existing horizontal multi-joint robot adopts a single composite ball screw spline, a spline raceway and a screw raceway are composited on the composite ball screw spline shaft, and the bearing capacity of the shaft is usually relatively small. The single combined type ball screw spline shaft can not bear the application under the heavy load and high speed, and as the load increases, the volume and the mass of the ball spline shaft required by the structure are larger and larger, the difficulty of processing and manufacturing is increased by times, and the manufacturing cost is higher.

Disclosure of utility model

The application provides a robot end driver and a robot with the robot end driver.

In a first aspect, the present application provides a robot end driver for use with a robot, the robot end driver comprising a first spline lead screw, a second spline lead screw, a translational drive mechanism, a rotational drive mechanism, and an output transmission mechanism. The second spline screw is arranged at intervals with the first spline screw in parallel. The translation driving mechanism is respectively connected with the first spline screw and the second spline screw in a transmission way and is used for driving the first spline screw and the second spline screw to move along a preset axial direction. The rotary driving mechanism is respectively connected with the first spline screw and the second spline screw in a transmission way and is used for driving the first spline screw and the second spline screw to respectively rotate. The output transmission mechanism is connected between the first spline screw and the second spline screw in a transmission way, and is provided with a mounting part for driving the execution end of the robot, and the mounting part is driven by the first spline screw and the second spline screw to move together.

In some alternative examples, the translational drive mechanism includes a screw drive assembly and two screw nuts, the screw nuts being for rotational connection to the joint body of the robot, the two screw nuts being connected to the first spline screw and the second spline screw respectively by a pair of threads; the screw rod driving assembly is connected to the screw rod nut in a transmission manner so as to drive the screw rod nut to rotate, and the screw rod nut drives the first spline screw rod and the second spline screw rod to move along a preset axial direction when rotating.

In some alternative examples, the rotary driving mechanism comprises a spline driving assembly and two spline nuts, wherein the two spline nuts are respectively sleeved outside the first spline screw and the second spline screw and are respectively connected with the first spline screw and the second spline screw; the spline driving assembly is connected with the spline nuts in a transmission manner so as to drive the spline nuts to rotate, and the two spline nuts respectively drive the first spline screw and the second spline screw to rotate when rotating.

In some alternative examples, the spline drive assembly includes a spline driver and two spline drivers, both spline drivers are connected to the spline driver, and one ends of the two spline drivers facing away from the spline driver are connected to the two spline nuts, respectively; the rotary driving mechanism further comprises a speed reducer, and the speed reducer is connected between the spline driving piece and the spline transmission piece.

In some alternative examples, the output transmission mechanism includes a connector connected between the first spline lead screw and the second spline lead screw, a transmission assembly disposed on the connector and connected between the first spline lead screw and the mounting portion, and between the second spline lead screw and the mounting portion.

In some alternative examples, the transmission assembly includes a first input member and a second input member, one end of the first spline lead screw rotatably passing through the connecting member and being connected to the first input member, one end of the second spline lead screw rotatably passing through the connecting member and being connected to the second input member; the first input piece and the second input piece are both in transmission connection with the mounting part.

In a second aspect, an embodiment of the present application further provides a robot, including a joint body and the above-mentioned robot end driver, where the robot end driver is connected to the joint body.

In some alternative examples, the robot further comprises a base, the joint body comprises a first joint arm rotatably connected to the base and a second joint arm rotatably connected to the first joint arm, and the robot end driver is connected to the second joint arm.

In some alternative examples, the first articulated arm is rotatable relative to the base about a first axis of rotation, and the second articulated arm is rotatable relative to the first articulated arm about a second axis of rotation; the first rotation axis and the second rotation axis are parallel to each other.

In some alternative examples, the second articulated arm is provided with a mounting cavity, and the translational drive mechanism and the rotational drive mechanism are both mounted in the mounting cavity; the translation driving mechanism comprises a screw rod driving piece and a screw rod transmission piece which is connected with the screw rod driving piece in a transmission way, the rotation driving mechanism comprises a spline driving piece and a spline transmission piece which is connected with the spline driving piece in a transmission way, and the screw rod driving piece and the spline driving piece are arranged at one end of the installation cavity, which is close to the first joint arm.

Compared with the prior art, when the robot tail end driver provided by the embodiment of the application is applied to a robot, the translation driving mechanism drives the first spline screw and the second spline screw to move along the preset axial direction, and the first spline screw and the second spline screw realize linear motion through the transmission output mechanism. The rotary driving mechanism drives the first spline screw and the second spline screw to rotate respectively, and the first spline screw and the second spline screw realize rotary motion through the transmission output mechanism. The rotary motion and the linear motion of the execution end of the robot are dispersed to the first spline screw and the second spline screw, and the first spline screw and the second spline screw can bear bending moment generated when the robot runs under a large load, so that the bearing capacity of the robot is improved, and meanwhile, the requirements on the size, the weight and the rigidity of the first spline screw and the second spline screw are reduced, so that the processing and manufacturing difficulty and the weight of the tail end of the robot are reduced.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a block diagram of a robot according to an embodiment of the present application.

Fig. 2 is a schematic structural view of a robot end driver and a joint body according to an embodiment of the present application.

Fig. 3 is a schematic view of a portion of the structure of the robot end driver and joint body shown in fig. 2.

Fig. 4 is a schematic view of the structure of the robot end driver shown in fig. 2.

Fig. 5 is a cross-sectional view of a first spline lead screw and lead screw nut of the robot end drive of fig. 4.

Fig. 6 is a cross-sectional view of a first spline lead screw and a spline master of the robotic end driver of fig. 4.

Fig. 7 is a schematic view of another embodiment of a rotary drive mechanism of the robot end driver shown in fig. 4.

Fig. 8 is a schematic plan view of an output transmission structure of the robot end driver shown in fig. 4.

Fig. 9 is a schematic view of another embodiment of an output transmission structure of the robot end driver shown in fig. 4.

Description of the reference numerals: 100. a robot end driver; 10. a first spline feed screw; 12. a thread groove; 14. ball sliding grooves; 30. a second spline lead screw; 50. a translational drive mechanism; 52. a screw drive assembly; 521. a screw rod driving member; 523. a screw rod transmission member; 54. a screw nut; 541. a first ball; 70. a rotary driving mechanism; 72. a spline drive assembly; 721. a spline driver; 723. a spline transmission member; 74. a spline master; 741. a mounting groove; 742. a ball passage; 743. a second ball; 76. a speed reducer; 90. an output transmission mechanism; 92. a connecting piece; 94. a transmission assembly; 941. a first input member; 9412. a first input gear; 9414. a first synchronous pulley; 943. a second input member; 9432. a second input gear; 9434. a second synchronous pulley; 945. an output gear; 947. a third synchronous pulley; 949. a synchronous belt; 96. a mounting part; 200. a robot; 20. a joint body; 21. a first articulated arm; 211. a first housing; 23. a second articulated arm; 231. a second housing; 232. a mounting cavity; 40. a base; 80. and the execution end.

Detailed Description

In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present application with reference to the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

As a particular component is referred to by some of the terms used in the description and claims, it should be understood by those skilled in the art that a hardware manufacturer may refer to the same component by different terms. The description and claims do not take the difference in name as a way of distinguishing between components, but rather take the difference in functionality of the components as a criterion for distinguishing. As used throughout the specification and claims, the word "comprise" and "comprises" are to be construed as "including, but not limited to"; by "substantially" is meant that a person skilled in the art can solve the technical problem within a certain error range, essentially achieving the technical effect.

Referring to fig. 1, an embodiment of the present application provides a robot end driver 100, and the robot end driver 100 can be applied to a robot 200.

The specific type of the robot 200 is not limited in this specification, and for example, the robot 200 may be an industrial robot arm robot or a cooperative robot, and in this embodiment, the robot 200 is a cylindrical coordinate type industrial robot. The robot 200 may include a joint body 20, a robot end driver 100, and an actuating end 80, the robot end driver 100 being connected between the joint body 20 and the actuating end 80 for driving the actuating end 80 to move relative to the joint body 20 under the driving of the joint body 20.

Referring to fig. 2, in the present embodiment, the robot 200 further includes a base 40, and the base 40 may be disposed on a workbench of an application environment of the robot 200, for mounting the joint main body 20. The joint body 20 is rotatably disposed on the base 40, and may include a first joint arm 21 and a second joint arm 23. The first joint arm 21 is rotatably connected between the second joint arm 23 and the base 40, and when the first joint arm 21 rotates relative to the base 40, the second joint arm 23 can be driven to rotate.

In the present application, the terms "mounted," "connected," "secured," and the like are to be construed broadly, unless otherwise specifically indicated or defined. For example, the connection can be fixed connection, detachable connection or integral connection; can be mechanically or electrically connected; the connection may be direct, indirect via an intermediate medium, or communication between two elements, or only surface contact. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In this embodiment, one end of the first joint arm 21 is rotatably connected to the base 40, and the first joint arm 21 can rotate about the first rotation axis A1 relative to the base 40. The extending direction of the first joint arm 21 is substantially perpendicular to the first rotation axis A1. The specific structure of the first joint arm 21 is not limited in this specification, and as an example, the first joint arm 21 may include a first housing 211, a first speed reducer, and a first driving member (not shown in the drawing), the first housing 211 is provided with an inner cavity, the first speed reducer is provided in the inner cavity, and the first driving member is provided in the base 40.

Wherein, the axis of the first speed reducer is coaxial with the first rotating shaft A1. The first driving member is in transmission connection with the first speed reducer, and the first driving member may be a driving source such as a rotating electric machine, a rotating cylinder, a motor, etc., and as an example, the first driving member adopts a motor. The first driving member is disposed on one side of the first shaft A1, and is located on one side of the first shaft A1 away from an end of the first joint arm 21 away from the base 40. The first speed reducer is in driving connection with the second joint arm 23 to drive the second joint arm 23 to rotate relative to the first joint arm 21.

In this embodiment, the second joint arm 23 is rotatably connected to an end of the first joint arm 21 remote from the base 40, and the second joint arm 23 can rotate about the second rotation axis A2 relative to the first joint arm 21. Wherein, the second rotation axis A2 and the first rotation axis A1 are parallel to each other, and the extending direction of the second joint arm 23 is also substantially perpendicular to the first rotation axis A1. As an example, the second joint arm 23 may include a second housing 231, a second speed reducer, and a second driving member (not shown in the drawing), referring to fig. 3, the second housing 231 is provided with a mounting cavity 232, and the second speed reducer and the second driving member are both disposed in the mounting cavity 232.

Wherein, the axis of the second speed reducer is coaxial with the second rotating shaft A2. The second driving member is drivingly connected to the second speed reducer, and the specific type of the second driving member is not limited in this specification, for example, the second driving member may be a driving source such as a rotating electric machine, a rotating cylinder, a motor, or the like, and as an example, the second driving member employs a motor. The second driving member is disposed on one side of the second rotating shaft A2, and is located on one side of the second rotating shaft A2 away from one end of the first joint arm 21 away from the base 40.

In the present disclosure, the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Referring to fig. 2 and 4, in the present embodiment, the robot end driver 100 is connected to an end of the second joint arm 23 remote from the first joint arm 21. The robot end driver 100 includes a first spline screw 10, a second spline screw 30, a translational drive mechanism 50, a rotational drive mechanism 70, and an output transmission mechanism 90. The first spline screw 10 and the second spline screw 30 are spaced apart in parallel and are both movably connected to the second housing 231. The translation driving mechanism 50 is in transmission connection with the first spline lead screw 10 and the second spline lead screw 30, respectively, and is used for driving the first spline lead screw 10 and the second spline lead screw 30 to move along a preset axial direction X. Wherein the predetermined axial direction X is parallel to the direction of the second axis A2. The rotation driving mechanism 70 is in transmission connection with the first spline screw 10 and the second spline screw 30 respectively, and is used for driving the first spline screw 10 and the second spline screw 30 to rotate respectively. The output transmission mechanism 90 is drivingly connected between the first spline lead screw 10 and the second spline lead screw 30, and the output transmission mechanism 90 has a mounting portion 96 for driving the actuating end 80 (shown in fig. 1), and the mounting portion 96 is driven to move by the first spline lead screw 10 and the second spline lead screw 30 together.

When in use, the translation driving mechanism 50 drives the first spline screw 10 and the second spline screw 30 to move along the preset axial direction X relative to the second joint arm 23, and the first spline screw 10 and the second spline screw 30 drive the execution end 80 to realize linear motion through the transmission output mechanism 90. The rotary driving mechanism 70 drives the first spline screw 10 and the second spline screw 30 to rotate relative to the second joint arm 23, and the first spline screw 10 and the second spline screw 30 drive the executing end 80 to realize rotary motion through the mounting part 96. The rotary motion and the linear motion of the execution end 80 of the robot 200 are dispersed to the first spline screw 10 and the second spline screw 30, and the first spline screw 10 and the second spline screw 30 can jointly bear bending moment generated when the robot 200 runs under a large load, so that the bearing capacity of the robot 200 is improved, and meanwhile, the requirements on the size, the weight and the rigidity of the first spline screw 10 and the second spline screw 30 are reduced, so that the processing and manufacturing difficulty and the weight of the tail end of the robot 200 are reduced.

In the present embodiment, the first spline lead screw 10 and the second spline lead screw 30 are movably disposed through the second housing 231, and the length directions of the first spline lead screw 10 and the second spline lead screw 30 are both in the same direction as the direction of the second axis A2, and both can rotate and move relative to the second housing 231. The first spline lead screw 10 and the second spline lead screw 30 are used to collectively drive the motion of the actuation end 80 (shown in fig. 1) of the robot 200. It should be understood that the foregoing "drive" should be understood that the direct drive connection between the two and the actuating end 80 may be a direct drive connection, where the first spline lead screw 10 and the second spline lead screw 30 drive the actuating end 80 of the robot 200 directly, or an indirect drive connection (e.g., where there is a centered drive element), where, for example, the first spline lead screw 10 and the second spline lead screw 30 are both drive connected to a drive element, where the actuating end 80 of the robot 200 is driven indirectly via the drive element. In the present embodiment, the first spline screw 10 and the second spline screw 30 indirectly drive the actuating end 80 through the output transmission mechanism 90.

The translational driving mechanism 50 is used for driving the first spline screw 10 and the second spline screw 30 to move along the predetermined axial direction X, and the specific structure of the translational driving mechanism 50 is not limited in this specification, for example, the translational driving mechanism 50 may include a rotating motor, a synchronous belt and synchronous pulley transmission group, a screw nut, and the like. As one example, the translational drive mechanism 50 may include a rotary cylinder, a gear, and a rack gear combination. Taking the first spline screw 10 as an example, a rack is connected to the first spline screw 10, a gear is meshed with the rack and is in transmission connection with a rotary cylinder, the rotary cylinder drives a gear to rotate, and the gear drives the first spline screw 10 to translate through the gear.

In this embodiment, the translation drive mechanism 50 may include a lead screw drive assembly 52 and two lead screw nuts 54. The screw nut 54 is rotatably connected to the second housing 231, and the two screw nuts 54 are respectively connected to the first spline screw 10 and the second spline screw 30 through screw pairs, and the two screw nuts 54 are arranged in parallel at intervals. The screw driving assembly 52 is in transmission connection with the screw nut 54 for driving the screw nut 54 to rotate, and the screw nut 54 drives the first spline screw 10 and the second spline screw 30 to move along the preset axial direction X when rotating.

Two lead screw nuts 54 are arranged in one-to-one correspondence with the first spline lead screw 10 and the second spline lead screw 30, and the two lead screw nuts 54 are respectively identical to the matching structures between the first spline lead screw 10 and the second spline lead screw 30, taking one lead screw nut 54 and the first spline lead screw 10 as an example, the lead screw nut 54 is arranged between the first spline lead screw 10 and the second joint arm 23, and the lead screw nut 54 is connected with the first spline lead screw 10 through a thread pair. Specifically, referring to fig. 5, a screw groove 12 is formed on the outer peripheral wall of the first spline screw 10, a first ball 541 is formed on the inner wall of the screw nut 54, and the first ball 541 is embedded in the screw groove 12. The screw nut 54 is rotatably disposed in the second articulated arm 23. The screw driving assembly 52 is disposed in the mounting cavity 232, and the screw driving assembly 52 is drivingly connected to the screw nut 54 for driving the screw nut 54 to rotate relative to the second joint arm 23.

In use, the screw drive assembly 52 drives the screw nut 54 to rotate, the screw nut 54 does not move linearly under the constraint of the second articulated arm 23, and the first balls 541 cooperate with the threaded grooves 12 to drive the first spline screw 10 to move in the predetermined axial direction X relative to the second articulated arm 23. Similarly, the fitting structure between the second spline screw 30 and the other screw nut 54 is the same as the fitting structure between the first spline screw 10 and the screw nut 54 described above, for example, the second spline screw 30 is provided with a screw groove for fitting with the first ball 541. The specific structure of the second spline screw 30 may refer to the description of the first spline screw 10, and will not be repeated here. The robot end driver 100 performs a linear motion through the first spline screw 10 and the second spline screw 30.

In the present embodiment, the screw driving assembly 52 includes a screw driving member 521 and a screw driving member 523, and the screw driving member 521 is connected to the screw nut 54 through the screw driving member 523. The specific type of the screw driver 521 is not limited in this specification, and for example, the screw driver 521 may be a driving source such as a rotary motor, a rotary cylinder, a motor, or the like, and in this embodiment, the screw driver 521 employs a rotary motor. The screw drive 521 is disposed at an end of the mounting cavity 232 proximate to the first articulated arm 21 to reduce the inertia of the robot 200 (shown in fig. 1) itself. The specific structure of the screw driver 523 is not limited in this specification, and for example, the screw driver 523 may include a gear, a rack, or the like, which are engaged with each other, or may include a timing belt and a timing pulley, which are engaged with each other. In this embodiment, the screw driving member 523 includes an input synchronous pulley, a synchronous belt, and an output synchronous pulley, the input synchronous pulley is connected to the output end of the screw driving member 521, the output synchronous pulley is fixedly connected to the screw nut 54, and the synchronous belt is wound around the input synchronous pulley and the output synchronous pulley.

In the present embodiment, two screw driving members 523 are provided, the two screw driving members 523 are provided in one-to-one correspondence with the two screw nuts 54, one screw driving member 523 is connected between the screw nut 54 corresponding to the first spline screw 10 and the screw driving member 521, the other screw driving member 523 is connected between the screw nut 54 corresponding to the second spline screw 30 and the screw driving member 521, and the two screw driving members 523 are arranged at intervals along the predetermined axial direction X. In some embodiments, to further simplify the structure and reduce cost, two lead screw drives 523 may share one input timing pulley. The robot end driver 100 can drive the first spline screw 10 and the second spline screw 30 to synchronously move only by using one screw rod driving piece 521, and has a simple structure and reduced cost.

In this embodiment, the rotation driving mechanism 70 is used to drive the first spline lead screw 10 and the second spline lead screw 30 to rotate respectively, and the specific structure of the rotation driving mechanism 70 is not limited in this specification, for example, the rotation driving mechanism 70 may include a rotating motor, a synchronous belt and synchronous pulley transmission set, a spline nut and other structures, taking the first spline lead screw 10 as an example, the spline nut is rotationally connected to the first spline lead screw 10, the synchronous belt and synchronous pulley transmission set are rotationally connected between the rotating motor and the spline nut, and the rotating motor drives the spline nut to rotate through the synchronous belt and the synchronous pulley transmission set, so as to drive the first spline lead screw 10 to rotate. As another example, the rotary drive mechanism 70 may include a driven combination of a cylinder, a gear, and a rack. Taking the first spline screw 10 as an example, a gear is connected to the first spline screw 10, a rack is connected to a cylinder in a transmission manner, the gear is meshed with the rack, the cylinder drives the rack to move, and the rack drives the first spline screw 10 to rotate through the gear.

In this embodiment, the rotary drive mechanism 70 may include a spline drive assembly 72 and two spline nuts 74. The spline nuts 74 are rotatably connected to the second housing 231, and the two spline nuts 74 are respectively sleeved outside the first spline screw 10 and the second spline screw 30 and are respectively connected with the first spline screw 10 and the second spline screw 30, and the two spline nuts 74 are arranged in parallel at intervals. The spline driving assembly 72 is in transmission connection with the spline nuts 74 for driving the spline nuts 74 to rotate, and when the two spline nuts 74 rotate, the first spline screw 10 and the second spline screw 30 are respectively driven to rotate.

Two spline nuts 74 and first spline lead screw 10, second spline lead screw 30 one-to-one set up, and two spline nuts 74 are the same with the cooperation structure between first spline lead screw 10, the second spline lead screw 30 respectively, take one of them spline nut 74 and first spline lead screw 10 as an example, spline nut 74 sets up between first spline lead screw 10 and second joint arm 23, spline nut 74 and lead screw female 54 all are located installation cavity 232, spline nut 74 and lead screw female 54 are arranged along predetermined axial X interval, in order to greatly utilize the space of installation cavity 232, reduce the volume of second joint arm 23.

The spline nut 74 is sleeved on the first spline screw 10 and is connected with the first spline screw 10. Specifically, referring to fig. 6, a ball chute 14 is provided on an outer peripheral wall of the first spline screw 10, a mounting groove 741 and a second ball 743 are provided on an inner wall of the spline nut 74, the spline nut 74 is sleeved on the first spline screw 10 such that the mounting groove 741 and the ball chute 14 together form a ball channel 742, and the ball channel 742 extends along a predetermined axial direction X. The second balls 743 are embedded in the ball channel 742. The spline 74 is rotatably disposed within the second articulated arm 23. The spline drive assembly 72 is disposed in the mounting cavity 232, and the spline drive assembly 72 is drivingly connected to the spline master 74 for driving rotation of the spline master 74 relative to the second articulated arm 23.

In use, the spline drive assembly 72 drives the spline master 74 to rotate, the spline master 74 drives the first spline screw 10 to rotate relative to the second articulated arm 23 via the second balls 743, and similarly the engagement structure between the second spline screw 30 and the other spline master 74 is the same as the engagement structure between the first spline screw 10 and the spline master 74 described above, for example, the second spline screw 30 is also provided with ball grooves for engaging with the second balls 743. The specific structure of the second spline screw 30 may refer to the description of the first spline screw 10, and will not be repeated here. The robot end driver 100 performs a rotational movement through the first spline screw 10 and the second spline screw 30.

In the present embodiment, the spline drive assembly 72 includes a spline driver 721 and a spline driver 723, the spline driver 721 being connected to the spline master 74 via the spline driver 723. The specific type of the spline driver 721 is not limited in this specification, and for example, the spline driver 721 may be a driving source of a rotary electric machine, a rotary cylinder, a motor, or the like, and in this embodiment, the spline driver 721 employs a rotary electric machine. A spline driver 721 is provided at an end of the mounting cavity 232 adjacent the first articulated arm 21 to further reduce the inertia of the robot 200 itself. The spline transmission member 723 and the lead screw transmission member 523 are arranged at intervals along the predetermined axial direction X, and the specific structure of the spline transmission member 723 is not limited in this specification, and for example, the spline transmission member 723 may include a structure of a gear, a rack, or the like that are engaged with each other, and may include a timing belt and a timing pulley that are engaged with each other. In the present embodiment, the spline driving member 723 also includes an input timing pulley connected to the output end of the spline driving member 721, a timing belt fixedly connected to the spline master 74, and an output timing pulley wound around the input timing pulley and the output timing pulley.

In the present embodiment, the number of spline drivers 723 is two, two spline drivers 723 are provided in one-to-one correspondence with two spline nuts 74, one spline driver 723 is connected between the spline nut 74 corresponding to the first spline screw 10 and the spline driver 721, the other spline driver 723 is connected between the spline nut 74 corresponding to the second spline screw 30 and the spline driver 721, and the two spline drivers 723 are arranged at intervals along the predetermined axial direction X. In some embodiments, two spline drives 723 may share an input synchronous pulley for further structural simplicity and cost reduction. The robot end driver 100 can drive the first spline screw 10 and the second spline screw 30 to rotate respectively only by one spline driving part 721, and has a simple structure and reduced cost.

Referring to fig. 7, in other embodiments, to meet the requirements of the rotation speed and power of the executing end 80 (as shown in fig. 1), the rotation driving mechanism 70 may further include a speed reducer 76, where the speed reducer 76 is connected between the spline driving member 721 and the spline driving member 723, for example, connected to the output end of the spline driving member 721, and the input synchronous pulley of the spline driving member 723 is connected to the speed reducer 76.

The present specification does not limit the specific movement state of the robot end driver 100, and it may be changed according to actual use requirements. For example, when the actuator end 80 only requires translational movement and no rotational movement, the screw driver 521 is activated and the spline driver 721 is not activated; if the actuating end 80 only needs to rotate and does not need to translate; both the screw driver 521 and the spline driver 721 are activated to compensate for the rise and fall caused by the rotation. In the practical application process, the lifting and rotating movement of the executing end 80 can be performed simultaneously or step by step.

Referring to fig. 8, in the present embodiment, an output transmission mechanism 90 is connected to the first spline lead screw 10 and the second spline lead screw 30, which are used to drive the execution end 80 (as shown in fig. 1). The output transmission mechanism 90 may include a connecting member 92, a transmission assembly 94, and the mounting portion 96, where the connecting member 92 is connected between the first spline screw 10 and the second spline screw 30, and the transmission assembly 94 is disposed on the connecting member 92 and connected between the first spline screw 10, the second spline screw 30, and the mounting portion 96 is used for driving the execution end 80. The first spline lead screw 10 and the second spline lead screw 30 drive the actuating end 80 through the mounting portion 96.

Referring to fig. 4 and 8, the connecting member 92 is substantially plate-shaped, and the connecting member 92 is sleeved on the first spline screw 10 and the second spline screw 30 and rotatably connected with the first spline screw 10 and the second spline screw 30. The connector 92 has two mounting through holes for the first spline screw 10 and the second spline screw 30 to pass through, respectively. The connector 92 is provided at the end portions of the first and second spline screws 10 and 30. The installation department 96 is connected to the connecting piece 92, and during the application, first spline lead screw 10, second spline lead screw 30 are along predetermined axial X removal under the drive of lead screw female 54, and first spline lead screw 10, second spline lead screw 30 drive first installation department 96 through connecting piece 92 along predetermined axial X removal, disperse the linear motion of actuating end 80 (as shown in fig. 1) respectively to first spline lead screw 10 and second spline lead screw 30, and first spline lead screw 10 and second spline lead screw 30 can bear the moment of flexure that produces when robot 200 is carried by a large load jointly, have improved the bearing capacity of robot 200.

In this embodiment, the transmission assembly 94 includes a first input member 941 and a second input member 943, each of the first input member 941 and the second input member 943 being movably coupled to a side of the connector 92 facing away from the spline housing 74. One end of the first spline screw 10 passes out of the connector 92 and is connected to the first input member 941, and one end of the second spline screw 30 passes out of the connector 92 and is connected to the second input member 943. The first input member 941 and the second input member 943 are both drivingly connected to the mounting portion 96. The first spline lead 10 and the second spline lead 30 are each rotated relative to the connector 92 to drive the first input 941 and the second input 943, respectively, to cooperatively drive the mounting portion 96 to effect rotational movement of the implement end 80. The rotation motion of the execution end 80 is respectively dispersed to the first spline screw 10 and the second spline screw 30, and the first spline screw 10 and the second spline screw 30 can jointly bear bending moment generated during the large-load running of the robot 200, so that the bearing capacity of the robot 200 is improved.

The specific transmission manner between the transmission assembly 94 and the mounting portion 96 is not limited in this specification, and the transmission assembly 94 may include a gear set structure, and then the first input member 941 is a first input gear 9412, the second input member 943 is a second input gear 9432, and the transmission assembly 94 may further include an output gear 945, where the output gear 945 may be fixedly connected to the mounting portion 96, and the output gear 945 is meshed with both the first input gear 9412 and the second input gear 9432. In the present embodiment, the mounting portion 96 is cylindrical, and the output gear 945 may be fixedly sleeved outside the mounting portion 96. The first spline lead screw 10 rotates to drive the first input gear 9412 to rotate, the second spline lead screw 30 rotates to drive the second input gear 9432 to rotate, and the first input gear 9412 and the second input gear 9432 jointly drive the output gear 945 to rotate, so that the mounting portion 96 rotates.

Referring to both fig. 4 and 9, in other embodiments, the drive assembly 94 may also include a timing belt, timing pulley arrangement. Specifically, the first input member 941 is a first pulley 9414, the second input member 943 is a second pulley 9434, and the transmission assembly 94 may further include a third pulley 947 and a timing belt 949, the third pulley 947 may be fixedly connected to the mounting portion 96, and the timing belt 949 is wound around the first pulley 9414, the second pulley 9434, and the third pulley 947. The first spline lead screw 10 rotates to drive the first synchronous pulley 9414 to rotate, the second spline lead screw 30 rotates to drive the second synchronous pulley 9434 to rotate, and the first synchronous pulley 9414 and the second synchronous pulley 9434 jointly drive the third synchronous pulley 947 to rotate through the synchronous belt 949, so that the rotation movement of the mounting portion 96 is achieved.

In summary, in the robot end driver 100 provided in the embodiment of the present application, the translation driving mechanism 50 drives the first spline lead 10 and the second spline lead 30 to move along the predetermined axial direction X relative to the second joint arm 23. The first spline screw 10 and the second spline screw 30 drive the first mounting portion 96 to move along the predetermined axial direction X through the connecting member 92. The rotary driving mechanism 70 drives the first spline screw 10 and the second spline screw 30 to rotate relative to the second joint arm 23, and the first spline screw 10 and the second spline screw 30 drive the executing end 80 to realize rotary motion through the mounting part 96.

The linear motion of the execution end 80 is respectively dispersed to the first spline screw 10 and the second spline screw 30, the rotational motion of the execution end 80 is respectively dispersed to the first spline screw 10 and the second spline screw 30, and the first spline screw 10 and the second spline screw 30 can jointly bear bending moment generated when the robot 200 runs under a large load, so that the bearing capacity of the robot 200 is improved.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting. Although the application has been described in detail with reference to the foregoing embodiments, it will be appreciated by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents. Such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot end effector for use with a robot, comprising:

A first spline feed screw;

the second spline lead screw is arranged at intervals in parallel with the first spline lead screw;

The translation driving mechanism is in transmission connection with the first spline lead screw and the second spline lead screw respectively and is used for driving the first spline lead screw and the second spline lead screw to move along a preset axial direction;

The rotary driving mechanism is in transmission connection with the first spline lead screw and the second spline lead screw respectively and is used for driving the first spline lead screw and the second spline lead screw to rotate respectively;

And the output transmission mechanism is in transmission connection between the first spline lead screw and the second spline lead screw, and is provided with a mounting part for driving the execution end of the robot, and the mounting part is driven by the first spline lead screw and the second spline lead screw to move together.

2. The robot end drive of claim 1, wherein the translational drive mechanism comprises a screw drive assembly and two screw nuts for rotational connection to the joint body of the robot, the two screw nuts being connected to the first spline screw and the second spline screw by a pair of threads, respectively; the screw rod driving assembly is in transmission connection with the screw rod nut so as to drive the screw rod nut to rotate, and the screw rod nut drives the first spline screw rod and the second spline screw rod to move along the preset axial direction when rotating.

3. The robot end driver of claim 1, wherein the rotary drive mechanism comprises a spline drive assembly and two spline nuts, the two spline nuts are respectively sleeved outside the first spline screw and the second spline screw and are respectively connected with the first spline screw and the second spline screw; the spline driving assembly is in transmission connection with the spline nuts, so that the spline nuts are driven to rotate, and the two spline nuts respectively drive the first spline screw and the second spline screw to rotate when rotating.

4. A robotic end drive as claimed in claim 3 wherein the spline drive assembly comprises a spline drive member and two spline drive members, both spline drive members being connected to the spline drive member, one end of each spline drive member facing away from the spline drive member being connected to each spline nut; the rotary driving mechanism further comprises a speed reducer, and the speed reducer is connected between the spline driving piece and the spline transmission piece.

5. The robotic end driver of any one of claims 1-4, wherein the output transmission mechanism comprises a connector connected between the first and second spline screws, a transmission assembly disposed on the connector and connected between the first and second spline screws and the mounting portion, and the mounting portion.

6. The robotic end drive according to claim 5, wherein the transmission assembly includes a first input member and a second input member, one end of the first spline shaft rotatably passing through the connector and connected to the first input member, one end of the second spline shaft rotatably passing through the connector and connected to the second input member; the first input piece and the second input piece are both in transmission connection with the mounting part.

7. A robot, comprising:

A joint body; and

The robot end effector as claimed in any one of claims 1 to 6, which is connected to the joint body.

8. The robot of claim 7, further comprising a base, wherein the joint body comprises a first joint arm rotatably coupled to the base and a second joint arm rotatably coupled to the first joint arm, and wherein the robot end driver is coupled to the second joint arm.

9. The robot of claim 8 wherein said first articulated arm is rotatable about a first axis of rotation relative to said base and said second articulated arm is rotatable about a second axis of rotation relative to said first articulated arm; the first rotation axis and the second rotation axis are parallel to each other.

10. The robot of claim 8 wherein said second articulated arm is provided with a mounting cavity, said translational drive mechanism and said rotational drive mechanism being mounted to said mounting cavity; the translation driving mechanism comprises a screw rod driving piece and a screw rod transmission piece in transmission connection with the screw rod driving piece, the rotation driving mechanism comprises a spline driving piece and a spline transmission piece in transmission connection with the spline driving piece, and the screw rod driving piece and the spline driving piece are both arranged at one end, close to the first joint arm, of the installation cavity.