Kinetic energy distribution transmission mechanism with double-drive control double joints

Abstract

A kinetic energy distribution transmission mechanism with double-drive control and double joints comprises a first drive device, a second drive device, a first joint arm, a second joint arm and a third joint arm, and a first idle wheel structure and a second idle wheel structure are rotationally arranged on a second joint shaft structure. A first driving wheel structure and a second driving wheel structure are arranged on the first joint shaft structure and are fixedly connected with the first joint arm; the first driving device is in transmission connection with the first idle wheel structure and the first driving wheel structure in sequence through a first rotary transmission pair, the second driving device is in transmission connection with the second idle wheel structure and the second driving wheel structure in sequence through a second rotary transmission pair, and the rotating directions of the second idle wheel structure and the second driving wheel structure are different. According to the utility model, sufficient kinetic energy can be provided, higher peak torque can be realized, the energy consumption in the overall movement process is lower, the manufacturing cost is lower, and the occupied overall space and mass are lower.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of transmission control, and specifically relates to a kinetic energy distribution transmission mechanism of double drive control double joints. BACKGROUND

[0002] In the modern industrial field, the mechanical transmission system is an indispensable core component of many mechanical equipment, and its performance directly affects the operation efficiency, precision and reliability of the whole equipment. The general mechanical transmission control mode is based on electrical control elements combined with traditional mechanical transmission structure, which realizes the control of one joint or device that needs to control its movement by one drive, for example, using gears, belts, chains and other mechanical parts to directly transmit power, which is the simplest and most common transmission control mode. There is also a parallel or series transmission structure mode to realize the control of multiple joints or devices by one drive, but this mode requires higher output power of the drive equipment, and the energy consumption and occupied space of the power-rich drive equipment are also larger. This mode can be fully applied in cars and various large machine tools.

[0003] However, for most precise transmission structures, such as emerging precision technology industries such as robots and exoskeleton wearable devices, and external load mechanical arms of aerospace vehicles, etc., larger power driving devices need to be placed in a small space, but the current driving device technology update cannot meet the power demand of its technology. Therefore, in practical applications, it is usually necessary to sacrifice power or space for more power, of course, there is also an extreme use of space to control one joint or device by multiple drives, but this way is to use the advantage of clever design to make the appearance or external performance more delicate, so as to cover up the essence of still being a double drive combined large driving device to control one joint. Double drive plus double transmission structure to control one joint may make the device quality higher and the energy consumption higher. CONTENT OF THE UTILITY MODEL

[0004] The utility model makes up for the deficiency of the existing transmission control technology, and provides a kinetic energy distribution transmission mechanism of double drive control double joints, which has simple structure, can provide sufficient kinetic energy, can realize higher peak torque, has lower overall energy consumption, lower manufacturing cost, lower overall space and mass, and better stability.

[0005] The specific technical scheme is as follows:

[0006] A kind of kinetic energy distribution transmission mechanism of double-drive control double joint, including first driving device, second driving device, first joint arm, second joint arm and third joint arm, the first joint arm is rotatably installed in the one end of second joint arm by first joint shaft structure, the third joint arm is rotatably installed in the other end of second joint arm by second joint shaft structure;

[0007] First idler structure and second idler structure are rotatably arranged on the second joint shaft structure, the first idler structure and second idler structure are side by side and independently arranged, first driving wheel structure and second driving wheel structure are arranged on the first joint shaft structure, and the first driving wheel structure and second driving wheel structure are both fixedly connected with the first joint arm;

[0008] The first driving device is in turn connected with first idler structure and first driving wheel structure by first revolute transmission pair, the second driving device is in turn connected with second idler structure and second driving wheel structure by second revolute transmission pair, and the rotation direction of the second idler structure and second driving wheel structure is different, according to the description of the above transmission relationship: the second idler structure and second driving wheel structure are driven in the same direction by the second driving device, and the rotation direction is opposite;And here described " first " and " second " have no specific direction, it is just a kind of distinguishing description, so the rotation direction of the first idler structure and first driving wheel structure is opposite under the driving of the first driving device, that is, the rotation direction of the first idler structure, second idler structure, first driving wheel structure and second driving wheel structure is different from that of the other three wheels under the driving of one wheel in the same driving direction, because only one set of idler structure and driving wheel structure rotation direction is opposite, the rotation direction of the other set of idler structure and driving wheel structure is same, and it is inevitable that the rotation direction of one of the idler structure and driving wheel structure is same.

[0009] As preferred: the transmission ratio between the first driving device, first idler structure and first driving wheel structure and the transmission ratio between the second driving device, second idler structure and second driving wheel structure are same, so that the structure design is more regular, and it is more convenient for subsequent combined driving to calculate the motion control mode accurately.

[0010] As preferred: the first driving device and the second driving device are motor module, hydraulic motor or pneumatic motor, at present, motor module is mostly selected, but as long as it is rotary drive or rotary drive mode changed by transmission group.

[0011] As preferred: the first driving device and the second driving device are both installed on the first joint arm, the first driving device and the second driving device are oppositely arranged, and the power parameters are same, which is also convenient for structure design to be more regular, and it is more convenient for subsequent combined driving to calculate the motion control mode accurately.

[0012] As preferred: the first joint shaft structure is rotatably installed on the second joint arm end through a bearing structure, the first joint arm is fixedly installed on the first joint shaft structure, and the first driving wheel structure, the second driving wheel structure, the first joint shaft structure, and the first joint arm are fixedly connected.

[0013] As preferred: a joint frame mounting support seat is fixedly installed on the first joint shaft structure for detachably mounting the first joint arm, the first driving wheel structure and the second driving wheel structure are respectively arranged on the two side portions of the joint frame mounting support seat, and the first driving wheel structure, the joint frame mounting support seat, and the second driving wheel structure are integrally formed, which facilitates more stable transmission of the end portion and facilitates dismounting of the first joint arm.

[0014] As preferred: the first and second rotary transmission pairs are non-elastic rope winding structures, the output ends of the first and second driving devices are respectively provided with first and second driving winding wheels, and the first idler wheel structure, the first driving wheel structure, the second idler wheel structure, and the second driving wheel structure are all independent winding wheel structures.

[0015] The first rotary transmission pair is sleeved between the first driving winding wheel and the first driving wheel structure through the first idler wheel structure to form a tight rotary transmission system, the non-elastic rope of at least one side of the first rotary transmission pair is wound on the first idler wheel structure, and the first rotary transmission pair is wound at least one turn on the first idler wheel structure.

[0016] The second rotary transmission pair is sleeved between the second driving winding wheel and the second driving wheel structure through the second idler wheel structure to form a tight rotary transmission system, the non-elastic rope of at least one side of the second rotary transmission pair is wound on the second idler wheel structure, and the second rotary transmission pair is wound at least one turn on the second idler wheel structure, and the non-elastic ropes of the two sides between the second idler wheel structure and the second driving wheel structure are arranged in a cross manner.

[0017] As preferred: the output ends of the first and second driving devices are respectively provided with chain wheels or synchronous pulleys, the first idler wheel structure, the first driving wheel structure, the second idler wheel structure, and the second driving wheel structure are winding wheels, the first and second rotary transmission pairs are all composed of chains or synchronous belts and non-elastic ropes connected at the two ends of the chains or synchronous belts, the chains or synchronous belts are matched with the chain wheels or synchronous pulleys, and the non-elastic ropes are sleeved on the corresponding winding wheels to form rotary transmission systems.

[0018] As preferred: the output ends of the first driving device and the second driving device are respectively provided with a first sprocket and a second sprocket, the first rotary transmission pair is composed of a first chain and a first metal cable A and a first metal cable B connected at both ends of the first chain respectively, the first chain is matched with the first sprocket, the first metal cable A and the first metal cable B are wound through a first idler structure and then are sleeved on a first driving wheel structure to form a tight rotary transmission system;

[0019] The second rotary transmission pair is composed of a second chain and a second metal cable A and a second metal cable B connected at both ends of the second chain respectively, the second sprocket is matched with the second chain, the second metal cable A and the second metal cable B are wound through a second idler structure and then are sleeved on a second driving wheel structure to form a tight rotary transmission system, and the second metal cable A and the second metal cable B are cross cable arranged between the second idler structure and the second driving wheel structure.

[0020] As preferred: first gear transmission mechanism A and first gear transmission mechanism B are respectively arranged at one side of the second joint arm and the third joint arm, the first gear transmission mechanism A and the first gear transmission mechanism B constitute the first rotary transmission pair, a first driving gear is arranged at the output end of the first driving device, the first idler structure and the first driving wheel structure are gear structures, and the first driving gear, the first gear transmission mechanism B, the first idler structure, the first gear transmission mechanism A and the first driving wheel structure are sequentially meshed and transmitted.

[0021] Second gear transmission mechanism A and second gear transmission mechanism B are respectively arranged at the other side of the second joint arm and the third joint arm, the second gear transmission mechanism A and the second gear transmission mechanism B constitute the second rotary transmission pair, the number of gears of the second gear transmission mechanism A is even, a second driving gear is arranged at the output end of the second driving device, the second idler structure and the second driving wheel structure are gear structures, and the second driving gear, the second gear transmission mechanism B, the second idler structure, the second gear transmission mechanism A and the second driving wheel structure are sequentially meshed and transmitted.

[0022] The beneficial effects of the utility model are that: coupling driving is carried out through the transmission mechanism connected with the double driving devices, so that the mode of kinetic energy distribution and combination is realized, the double driving devices can control double joint independent motion or joint motion in different rotating combination states, that is, the same effect of two single driving independent control of two joints can be achieved, specifically, two joints can independently move, two joints can simultaneously move jointly, and the same or different motion speeds of each other can be realized.

[0023] In the state that the transmission combination control motion combination does not have a blind area, because the scheme can control a single joint to move alone through the combination of the two driving devices, sufficient kinetic energy can be provided, higher peak torque can be realized, the power parameters of the two driving devices required are relatively small, the volume and mass are generally smaller, and in the case that full kinetic energy is generally not required, kinetic energy distribution can be equivalent to independent control of two independent joints by two small power driving devices, which is more energy-saving, because two independent joints themselves need two driving devices to drive, to achieve higher peak kinetic energy and torque, generally larger driving devices are required, and the transmission scheme overcomes this problem, and theoretically does not require larger power driving devices under the requirement of doubling the peak torque and kinetic energy, thereby achieving lower manufacturing cost, lower overall space and mass;

[0024] Moreover, the transmission mechanisms connected by the two driving devices independently restrict the motion of the two joints, in the case of failure of one driving device or transmission mechanism, the other set of driving device and transmission mechanism can still maintain the stability of the two joints, thereby being more secure for maintenance, and having better structural stability. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0026] Figure 2 It is a sectional structure schematic diagram of the second joint shaft structure part in the utility model.

[0027] Figure 3 It is a sectional structure schematic diagram of the first joint shaft structure part in the utility model.

[0028] Figure 4 It is a schematic diagram of the first and second rotary transmission pairs in the utility model.

[0029] Figure 5 It is a schematic diagram of the first and second rotary transmission pairs in the embodiment two of the utility model.

[0030] Figure 6 It is a schematic diagram of the first and second rotary transmission pairs in the embodiment three of the utility model.

[0031] BRIEF DESCRIPTION OF DRAWINGS

[0032] The first driving device 1; the second driving device 2; the first joint arm 3; the second joint arm 4; the third joint arm 5; the first joint shaft structure 6; the second joint shaft structure 7; the first rotary transmission pair 8; the second rotary transmission pair 9;

[0033] First driving wheel structure 61;Second driving wheel structure 62;Joint frame mounting support seat 63;

[0034] First idler structure 71;Second idler structure 72;

[0035] First sprocket 101;First driving winding wheel 102;First driving gear 103;

[0036] Second sprocket 201;Second driving winding wheel 202;Second driving gear 203;

[0037] First chain 801;First metal cable A 802;First metal cable B 803;First gear transmission mechanism A 804;First gear transmission mechanism B 805;

[0038] Second chain 901;Second metal cable A 902;Second metal cable B 903;Second gear transmission mechanism A 904;Second gear transmission mechanism B 905. DETAILED DESCRIPTION

[0039] The preferred embodiments of the present application are described in detail below with reference to the accompanying drawings, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and the scope of protection of the present application is more clearly defined.

[0040] In the description of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0041] In the description of the present application, it should also be noted that unless otherwise specified and limited, the terms "provided", "mounted", "connected", "connected" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected, it can be directly connected, or it can be connected through an intermediate medium, it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] Example one:

[0043] As Figure 1 , Figure 2 , Figure 3 and Figure 4As shown: a double drive control double joint kinetic energy distribution transmission mechanism, comprising a first drive device 1, a second drive device 2, a first joint arm 3, a second joint arm 4 and a third joint arm 5, the first joint arm 3 is rotatably installed at one end of the second joint arm 4 through a first joint shaft structure 6, and the third joint arm 5 is rotatably installed at the other end of the second joint arm 4 through a second joint shaft structure 7;

[0044] A first idler structure 71 and a second idler structure 72 are rotatably arranged on the second joint shaft structure 7, the first idler structure 71 and the second idler structure 72 are arranged side by side and independently, a first drive wheel structure 61 and a second drive wheel structure 62 are arranged on the first joint shaft structure 6, and the first drive wheel structure 61 and the second drive wheel structure 62 are both fixedly connected with the first joint arm 3;

[0045] The first drive device 1 is in transmission connection with the first idler structure 71 and the first drive wheel structure 61 in sequence through a first rotary transmission pair 8, and the rotation directions of the first idler structure 71 and the first drive wheel structure 61 are the same; the second drive device 2 is in transmission connection with the second idler structure 72 and the second drive wheel structure 62 in sequence through a second rotary transmission pair 9, and the rotation directions of the second idler structure 72 and the second drive wheel structure 62 are different, i.e. opposite; according to the description of the above transmission relationship, it can be known that the second idler structure 72 and the second drive wheel structure 62 are driven in the same direction by the same second drive device 2, and the rotation directions are opposite; and the "first" and "second" described here have no specific direction, and are only a kind of distinguishing description, so the rotation directions of the first idler structure 71 and the first drive wheel structure 61 are opposite under the driving of the first drive device 1, i.e. the rotation directions of one of the first idler structure 71, the second idler structure 72, the first drive wheel structure 61 and the second drive wheel structure 62 are different from those of the other three wheels under the driving of the same drive direction, because only one group of idler structure and drive wheel structure have opposite rotation directions, and the rotation direction of the other group of idler structure and drive wheel structure is the same as that of one of the idler structure and drive wheel structure with opposite rotation directions.

[0046] Among them, the first drive device 1 and the second drive device 2 are motor modules, hydraulic motors or pneumatic motors, and at present, motor modules are mostly selected, but as long as they are rotary drives or rotary drives converted by transmission groups.

[0047] The transmission ratio between the first driving device 1, the first idler structure 71 and the first driving wheel structure 61 and the transmission ratio between the second driving device 2, the second idler structure 72 and the second driving wheel structure 62 are the same; and the first driving device 1 and the second driving device 2 are both mounted on the first joint arm 3, the first driving device 1 and the second driving device 2 are oppositely arranged, and the power parameters are the same; in this way, the structure design is more regular, and it is more convenient for subsequent combined driving to accurately calculate the motion control mode.

[0048] Then, under the condition that the transmission ratio and the parameters are the same, the rotation directions of the first idler structure 71 and the first driving wheel structure 61 are the same as that of the second idler structure 72, and the rotation directions of the second idler structure 72 and the second driving wheel structure 62 are different, which is the key point of the transmission mechanism of the present scheme to distribute kinetic energy and control the independent motion of the double joints, and since the first idler structure 71 and the second idler structure 72 are free to rotate, the specific motion control scheme and principle are as follows:

[0049] (1) Only the first joint shaft structure 6 rotates: the first driving device 1 and the second driving device 2 rotate in opposite directions and at the same speed to achieve this, at this time the first driving wheel structure 61 and the second driving wheel structure 62 at the first joint shaft structure 6 get two transmission forces in the same direction and at the same speed (at this time the transmission force torque is also the same, when the transmission ratio or the power parameter of the driving motor is different, the torque is different, so it is more complex to superimpose the same speed, and since the first driving wheel structure 61 and the second driving wheel structure 62 do not overlap in position, it may cause more complex conditions such as deflection force, so generally not used), two torques with the same speed act on the first joint shaft structure 6 at the same time, so only the first joint shaft structure 6 rotates to output the kinetic energy combined by the first driving device 1 and the second driving device 2; while the first idler structure 71 and the second idler structure 72 at the second joint shaft structure 7 only act as intermediate transmission structures and freely rotate, and the first idler structure 71 and the second idler structure 72 rotate in opposite directions at the same speed at this time.

[0050] (II) Only the second joint shaft structure 7 rotates: the same direction and the same speed of the first driving device 1 and the second driving device 2 are realized, and at this time the first driving wheel structure 61 and the second driving wheel structure 62 at the first joint shaft structure 6 respectively get two mutually offset antagonistic transmission forces, that is, the same direction and the same speed (at this time the transmission force torque size is also the same, although it is not necessarily required to be the same, but if the torque difference is too large, in addition to the above problems, the first joint shaft structure 6 may also appear torque antagonistic jitter, so that the movement cannot be accurate, and unnecessary energy consumption is generated, and the transmission force inside the whole system is opposite and offset, so it will not do work and will not consume energy), so the first joint shaft structure 6 cannot move, and under this premise, the first idler structure 71 and the second idler structure 72 cannot play the role of intermediate transmission free wheel, so the first idler structure 71 and the second idler structure 72 cannot rotate relative to the fixed mounting part of the second joint shaft structure 7 (because the second joint shaft structure 7 includes two relatively rotating parts, the first idler structure 71 and the second idler structure 72 are installed on one of the parts, whether one shaft includes two rotating parts, or the shaft rotates with the second joint arm 4 or the third joint arm 5 end, and then rotates with the other joint frame, the joint shaft structure is generally referred to as the whole joint that can rotate, and is not limited to a certain shaft), and the driving stroke of the first driving device 1 and the second driving device 2 is the same direction and the same speed at the second joint shaft structure 7 (if the transmission ratio and the driving parameter are not the same, the speed of the driving also needs to be adjusted to be the same direction and the same speed here), so only the second joint shaft structure 7 can rotate to output the kinetic energy combined by the first driving device 1 and the second driving device 2.

[0051] (III) The first joint shaft structure 6 and the second joint shaft structure 7 rotate simultaneously: the speed of the first driving device 1 and the second driving device 2 is realized, and the same direction or opposite direction and the speed of the first driving device 1 and the second driving device 2 is higher, which determines the rotation direction combination of the first joint shaft structure 6 and the second joint shaft structure 7.

[0052] Generally, the rotation speed calculation method of the first joint shaft structure 6 and the second joint shaft structure 7 is as follows:

[0053] Suppose the rotation speeds of the first driving device 1 and the second driving device 2 are and ;

[0054] The transmission ratio between the first driving device 1 and the second driving device 2 and the first idler structure 71 and the second idler structure 72 is ;

[0055] The transmission ratio between the first driving device 1 and the second driving device 2 and the first driving wheel structure 61 and the second driving wheel structure 62 is Therefore, it can be concluded that

[0056] The rotation speed of the first joint shaft structure 6 When the first driving device 1 and the second driving device 2 rotate in the same direction and at the same speed, then Therefore ;

[0057] The rotation speed of the second joint shaft structure 7 When the first driving device 1 and the second driving device 2 rotate in opposite directions and at the same speed, then Therefore .

[0058] The performance effect is that the transmission mechanism connected by the double driving devices is coupled to distribute and combine kinetic energy, realizing independent motion of the two joints in different states, that is, the same effect as two single driving devices independently controlling two joints, specifically, the two joints can move independently, the two joints can move simultaneously, and the same or different motion speeds can be realized.

[0059] In the state that the transmission combination control motion combination does not have a blind area, because the scheme can control a single joint to move independently by the combination of the double driving devices, sufficient kinetic energy can be provided to realize higher peak torque; and the power parameters of the two driving devices required are relatively small, the volume and mass are generally smaller, and in the case that the kinetic energy is not required, the kinetic energy distribution can be equivalent to two small driving devices independently controlling two independent joints, which is more energy-saving; because two independent joints themselves require two driving devices for driving, to achieve higher peak kinetic energy and torque, the driving device usually needs to be larger, and the transmission scheme overcomes this problem, and theoretically does not need to use a larger power driving device under the requirement of doubling the peak torque and kinetic energy, thereby achieving lower manufacturing cost and lower overall space and mass.

[0060] Moreover, the transmission mechanism connected by the double driving devices independently restricts the motion of the two joints, and in the case of failure of one driving device or transmission mechanism, the other set of driving device and transmission mechanism can still maintain the stability of the two joints, thereby being more secure for repair and maintenance, and having better structural stability.

[0061] Furthermore, the first joint shaft structure 6 is rotatably mounted on the end of the second joint arm 4 via a bearing structure, and the first joint arm 3 is fixedly mounted on the first joint shaft structure 6. The first drive wheel structure 61, the second drive wheel structure 62, the first joint shaft structure 6, and the first joint arm 3 are all fixedly connected. In this way, the joint of the first joint shaft structure 6 is more stable and less prone to vibration and loosening. The same principle applies to the second joint shaft structure 7.

[0062] Furthermore, a joint frame mounting support 63 is fixedly installed on the first joint shaft structure 6 for detachably installing the first joint arm 3. The first drive wheel structure 61 and the second drive wheel structure 62 are respectively located on both sides of the joint frame mounting support 63. The first drive wheel structure 61, the joint frame mounting support 63 and the second drive wheel structure 62 are integrally formed structures, which facilitates more stable transmission end and also facilitates the disassembly and assembly of the first joint arm.

[0063] Specifically: such as Figure 4 As shown, the output ends of the first drive device 1 and the second drive device 2 are respectively provided with a first sprocket 101 and a second sprocket 201, or the output ends of the first drive device 1 and the second drive device 2 are respectively provided with synchronous belt pulleys or other structures that can be easily bent and accurately transmit power. The first idler wheel structure 71, the first drive wheel structure 61, the second idler wheel structure 72 and the second drive wheel structure 62 are winding wheels. The first rotary transmission pair 8 is composed of a first chain 801 and a first metal cable A802 and a first metal cable B803 connected to both ends of the first chain 801, or the first rotary transmission pair 8 and the second rotary transmission pair 9 are both composed of a chain or synchronous belt and non-elastic ropes connected to both ends of the chain or synchronous belt. The non-elastic ropes include non-metallic ropes and metal cables. In fact, any rope with high enough load-bearing capacity and not easily deformed can be used, but a general metal cable that meets the requirements and has a low cost is preferred, more specifically a steel cable. The chain or synchronous belt cooperates with the sprocket or synchronous belt pulley, and the non-elastic rope is sleeved on the corresponding winding wheel to form a rotary transmission system.

[0064] Specifically, the first chain 801 cooperates with the first sprocket 101, and the first metal cable A802 and the first metal cable B803 are wound around the first idler wheel structure 71 and then sleeved on the first drive wheel structure 61 to form a tight rotary transmission system.

[0065] The second rotary transmission pair 9 is composed of a second chain 901 and a second metal cable A 902 and a second metal cable B 903 connected at both ends of the second chain 901 respectively. The second sprocket 201 cooperates with the second chain 901. The second metal cable A 902 and the second metal cable B 903 are wound through the second idler structure 72 and then sleeved on the second drive wheel structure 62 to form a tight rotary transmission system. The second metal cable A 902 and the second metal cable B 903 are cross-cable arranged between the second idler structure 72 and the second drive wheel structure 62, which is to meet the requirement that the rotation directions of the second idler structure 72 and the second drive wheel structure 62 are opposite. The whole is a representative of the rigid-flexible transmission scheme, which has the characteristics of precise rigid transmission and easy maintenance, installation, small space occupation and small quality, and is widely used in robot leg or arm and other use scenarios.

[0066] Embodiment two:

[0067] As shown in Figure 5 : As an improved scheme, in the case that other structures and embodiment one are the same, the first rotary transmission pair 8 and the second rotary transmission pair 9 are non-elastic rope winding structures. The output ends of the first driving device 1 and the second driving device 2 are respectively provided with a first active winding wheel 102 and a second active winding wheel 202. The first idler structure 71, the first drive wheel structure 61, the second idler structure 72 and the second drive wheel structure 62 are all independent winding wheel structures.

[0068] The first rotary transmission pair 8 is sleeved between the first active winding wheel 102 and the first drive wheel structure 61 through the first idler structure 71 to form a tight rotary transmission system. The non-elastic ropes on both sides of the first rotary transmission pair 8 are wound on the first idler structure 71. The first rotary transmission pair 8 is wound on the first idler structure 71 for one turn.

[0069] The second rotary transmission pair 9 is sleeved between the second active winding wheel 202 and the second drive wheel structure 62 through the second idler structure 72 to form a tight rotary transmission system. The non-elastic ropes on at least one side of the second rotary transmission pair 9 are wound on the second idler structure 72. The second rotary transmission pair 9 is wound on the second idler structure 72 for at least one turn. The non-elastic ropes on both sides between the second idler structure 72 and the second drive wheel structure 62 are cross-arranged, which is to meet the requirement that the rotation directions of the second idler structure 72 and the second drive wheel structure 62 are opposite. The whole is a representative of the flexible transmission scheme, which has the characteristics of easy maintenance, installation, small space occupation and small quality, but is easy to slip and cause inaccurate transmission.

[0070] Embodiment three:

[0071] As shown in Figure 6As shown: as an improved scheme, in the same case as embodiment one, first gear transmission mechanism A804 and first gear transmission mechanism B805 are respectively arranged on one side of the second joint arm 4 and the third joint arm 5, the first gear transmission mechanism A804 and the first gear transmission mechanism B805 constitute the first rotation transmission pair 8, and the first driving device 1 output end is provided with a first driving gear 103, the first idle gear structure 71 and the first driving wheel structure 61 are both gear structures, the first driving gear 103, the first gear transmission mechanism B805, the first idle gear structure 71, the first gear transmission mechanism A804 and the first driving wheel structure 61 are sequentially meshed and transmitted;

[0072] The second gear transmission mechanism A904 and the second gear transmission mechanism B905 are respectively arranged on the other side of the second joint arm 4 and the third joint arm 5, the second gear transmission mechanism A904 and the second gear transmission mechanism B905 constitute the second rotation transmission pair 9, the gear number of the second gear transmission mechanism A904 is even, and the gear number of the first gear transmission mechanism A804 is odd, which is to meet the requirement that the second idle gear structure 72 and the second driving wheel structure 62 rotate in opposite directions, and the gear number of the other first gear transmission mechanism B805 and the second gear transmission mechanism B905 can be odd or even;

[0073] The second driving device 2 output end is provided with a second driving gear 203, the second idle gear structure 72 and the second driving wheel structure 62 are both gear structures, the second driving gear 203, the second gear transmission mechanism B905, the second idle gear structure 72, the second gear transmission mechanism A904 and the second driving wheel structure 62 are sequentially meshed and transmitted, and the whole is a representative of the rigid transmission scheme, has the characteristics of high precision, but the occupied space and the quality are relatively large.

[0074] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, the scope of the utility model is defined by the appended claims.

Claims

1. A dual drive control dual joint kinetic energy distribution transmission mechanism, characterized by: It includes first driving device (1), second driving device (2), first joint arm (3), second joint arm (4) and third joint arm (5), the first joint arm (3) is rotatably installed in the one end of second joint arm (4) through first joint shaft structure (6), the third joint arm (5) is rotatably installed in the other end of second joint arm (4) through second joint shaft structure (7); First idler structure (71) and second idler structure (72) are rotatably arranged on the second joint shaft structure (7), the first idler structure (71) and second idler structure (72) are side by side and independently arranged, first driving wheel structure (61) and second driving wheel structure (62) are arranged on the first joint shaft structure (6), and the first driving wheel structure (61) and second driving wheel structure (62) are both fixedly connected with the first joint arm (3); The first driving device (1) is sequentially connected with the first idler structure (71) and the first driving wheel structure (61) through the first rotary transmission pair (8), the second driving device (2) is sequentially connected with the second idler structure (72) and the second driving wheel structure (62) through the second rotary transmission pair (9), and the rotation directions of the second idler structure (72) and the second driving wheel structure (62) are different.

2. The dual drive control dual-joint kinetic split transmission of claim 1, wherein: The transmission ratio between the first driving device (1), the first idler structure (71) and the first driving wheel structure (61) and the transmission ratio between the second driving device (2), the second idler structure (72) and the second driving wheel structure (62) are the same.

3. The dual drive control dual-joint kinetic split transmission of claim 1, wherein: The first driving device (1) and the second driving device (2) are motor modules, hydraulic motors or pneumatic motors.

4. The dual drive control dual-joint kinetic split transmission of claim 1, wherein: The first driving device (1) and the second driving device (2) are both mounted on the first joint arm (3), and the first driving device (1) and the second driving device (2) are oppositely arranged.

5. A dual drive controlled dual-joint kinetic split transmission according to any one of claims 1-4, characterized in that: The first joint shaft structure (6) is rotatably mounted on the end of the second joint arm (4) through a bearing structure, the first joint arm (3) is fixedly mounted on the first joint shaft structure (6), and the first driving wheel structure (61), the second driving wheel structure (62), the first joint shaft structure (6) and the first joint arm (3) are all fixedly connected.

6. The dual drive control dual-joint kinetic split transmission of claim 4, wherein: A joint frame mounting support seat (63) is fixedly mounted on the first joint shaft structure (6) for detachably mounting the first joint arm (3), the first driving wheel structure (61) and the second driving wheel structure (62) are respectively arranged on the two side portions of the joint frame mounting support seat (63), and the first driving wheel structure (61), the joint frame mounting support seat (63) and the second driving wheel structure (62) are integrally formed.

7. A dual drive control dual-joint kinetic split transmission according to any of claims 1-4 or 6, characterized in that: The first and second rotary transmission pairs (8, 9) are non-elastic rope winding structures, the output ends of the first and second driving devices (1, 2) are respectively provided with first and second active winding wheels (102, 202), and the first idler wheel structure (71), the first driving wheel structure (61), the second idler wheel structure (72) and the second driving wheel structure (62) are all independent winding wheel structures; The first rotary transmission pair (8) is sleeved between the first active winding wheel (102) and the first driving wheel structure (61) through the first idler wheel structure (71) to form a tight rotary transmission system, at least one side of the non-elastic rope of the first rotary transmission pair (8) is wound on the first idler wheel structure (71), and the first rotary transmission pair (8) is wound at least one turn on the first idler wheel structure (71); The second rotary transmission pair (9) is sleeved between the second active winding wheel (202) and the second driving wheel structure (62) through the second idler wheel structure (72) to form a tight rotary transmission system, at least one side of the non-elastic rope of the second rotary transmission pair (9) is wound on the second idler wheel structure (72), and the second rotary transmission pair (9) is wound at least one turn on the second idler wheel structure (72), and the non-elastic ropes between the second idler wheel structure (72) and the second driving wheel structure (62) are cross arranged.

8. A dual drive control dual-joint kinetic split transmission according to any of claims 1-4 or 6, characterized in that: The output ends of the first and second driving devices (1, 2) are respectively provided with sprockets or synchronous pulleys, the first idler wheel structure (71), the first driving wheel structure (61), the second idler wheel structure (72) and the second driving wheel structure (62) are winding wheels, the first and second rotary transmission pairs (8, 9) are all composed of chains or synchronous belts and non-elastic ropes connected at both ends of the chains or synchronous belts, the chains or synchronous belts are matched with the sprockets or synchronous pulleys, and the non-elastic ropes are sleeved on the corresponding winding wheels to form rotary transmission systems.

9. A dual drive control dual joint kinetic split transmission mechanism according to claim 8, characterized in that: The output ends of the first and second driving devices (1, 2) are respectively provided with first and second sprockets (101, 201), the first rotary transmission pair (8) is composed of a first chain (801) and first and second metal cables A (802, 803) connected at both ends of the first chain (801), the first chain (801) is matched with the first sprocket (101), and the first and second metal cables A (802, 803) are sleeved on the first driving wheel structure (61) after being wound through the first idler wheel structure (71) to form a tight rotary transmission system; The second rotary transmission pair (9) is composed of a second chain (901) and a second metal cable A (902) and a second metal cable B (903) connected at both ends of the second chain (901) respectively, the second sprocket (201) cooperates with the second chain (901), the second metal cable A (902) and the second metal cable B (903) are wound through the second idler structure (72) and then sleeved on the second drive wheel structure (62) to form a tight rotary transmission system, and the second metal cable A (902) and the second metal cable B (903) are cross cable arranged between the second idler structure (72) and the second drive wheel structure (62).

10. A dual drive control dual-joint kinetic split transmission according to any one of claims 1-4 or 6, characterized in that: The first gear transmission mechanism A (804) and the first gear transmission mechanism B (805) are respectively arranged on one side of the second joint arm (4) and the third joint arm (5), the first gear transmission mechanism A (804) and the first gear transmission mechanism B (805) constitute the first rotary transmission pair (8), and the first driving device (1) is provided with a first driving gear (103) at the output end, the first idler structure (71) and the first drive wheel structure (61) are both gear structures, the first driving gear (103), the first gear transmission mechanism B (805), the first idler structure (71), the first gear transmission mechanism A (804) and the first drive wheel structure (61) are sequentially meshed and transmitted; The second gear transmission mechanism A (904) and the second gear transmission mechanism B (905) are respectively arranged on the other side of the second joint arm (4) and the third joint arm (5), the second gear transmission mechanism A (904) and the second gear transmission mechanism B (905) constitute the second rotary transmission pair (9), the number of gears of the second gear transmission mechanism A (904) is even, and the second driving device (2) is provided with a second driving gear (203) at the output end, the second idler structure (72) and the second drive wheel structure (62) are both gear structures, the second driving gear (203), the second gear transmission mechanism B (905), the second idler structure (72), the second gear transmission mechanism A (904) and the second drive wheel structure (62) are sequentially meshed and transmitted.

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