Transmission mechanism and robot arm structure

Abstract

This application provides a transmission mechanism and a robotic arm structure. The transmission mechanism includes a driving actuator, a driven actuator, and a flexible component. One end of the driving actuator has a first conical surface, and one end of the driven actuator has a second conical surface. The first and second conical surfaces are tangent to each other. One end of the flexible component is fixed to the first conical surface, and the other end extends to the tangent position between the first and second conical surfaces and continues to extend along the second conical surface, where it is also fixed. This transmission mechanism provides axial and radial support for both the driving and driven actuators, preventing transmission vibration and improving accuracy. Furthermore, the conical surface mating solves the problem of flexible component steering, eliminating the need for an additional steering structure. Moreover, the tangential compression of the conical surfaces prevents the flexible component from detaching from the rope groove and effectively avoids wear between the driving and driven actuators.

Description

Technical Field

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

[0002] With the development of science and technology, particularly medical technology, doctors demand greater precision, efficiency, and comfort in surgical procedures. Robotic surgical aids and systems are increasingly used in minimally invasive surgery. These devices and systems typically employ a master-slave remote control structure, where the surgeon operates the master unit and controls the slave unit's movement via remote communication and computer to complete the surgery.

[0003] Currently, bevel gear transmission is generally used between the joints of robotic arms to achieve 90° turning and transmission. For example... Figure 1 The diagram shows a cross-sectional view of a gear-operated robotic arm transmission mechanism. The main bevel gear 50 is housed horizontally within the robotic arm housing and connected to a motor. The end of the main bevel gear 50 furthest from the motor is connected to a driven bevel gear 60, which is housed vertically within the robotic arm housing. Thus, the main bevel gear 50, under the power input of the motor, can drive the driven bevel gear 60 to rotate, enabling relative rotation between different robotic arm joints.

[0004] During long-term transmission, wear will occur between two adjacent bevel teeth in the main bevel gear 50 and the driven bevel gear 60 due to long-term meshing, resulting in poor meshing between the main bevel gear 50 and the driven bevel gear 60, which will eventually cause the mechanical arm joint where the driven bevel gear 60 is located to vibrate and become unstable.

[0005] Furthermore, the bevel gear engagement method introduces manufacturing and assembly gaps during transmission, which cannot be fundamentally eliminated. This leads to backlash issues when switching from forward to reverse transmission. Moreover, the discontinuous gear drive during this transition can cause jitter in the control of the slave mechanism from the master operating end, resulting in master-slave operation jitter, which severely impacts the robotic arm's control precision. Summary of the Invention

[0006] This application provides a transmission mechanism and a robotic arm structure to solve the problem of low control precision of robotic arms caused by gear meshing transmission in the prior art.

[0007] The first aspect of this application provides a transmission mechanism, comprising:

[0008] The active actuator has a first conical surface at one end and is used to obtain power at the other end to make the active actuator rotate about the axis of the first conical surface.

[0009] The driven actuator has a second conical surface tangent to the first conical surface at one end, and the other end is used to transmit power to the load;

[0010] The flexible component has one end fixed to the first conical surface and the other end extending around the axis of the first conical surface to the position where the first conical surface is tangent to the second conical surface, and then extending around the axis of the second conical surface, and finally fixed to the second conical surface.

[0011] The axis of the first cone and the axis of the second cone are in the same plane.

[0012] Optional, the flexible element includes:

[0013] The first flexible element has one end fixed to the first conical surface, and the other end extends along the first direction to the position where the first conical surface and the second conical surface are tangent, and then extends along the second direction and is finally fixed to the second conical surface.

[0014] The second flexible element has one end fixed to the first conical surface, and the other end extends along a third direction to the position where the first and second conical surfaces are tangent, and then extends along a fourth direction and is finally fixed to the second conical surface.

[0015] The first direction is opposite to the third direction, and the second direction is opposite to the fourth direction;

[0016] When the driving actuator moves in a third direction, it pulls the driven actuator to rotate in a fourth direction through the first flexible member; when the driving actuator moves in a first direction, it pulls the driven actuator to rotate in a second direction through the second flexible member, thereby realizing bidirectional transmission of the transmission mechanism.

[0017] The second aspect of this application provides a robotic arm structure, including the transmission mechanism provided in the first aspect above.

[0018] Optionally, the robotic arm structure also includes a first robotic arm and a second robotic arm. The first robotic arm is equipped with a drive motor, and the output end of the drive motor is connected to the active actuator; the second robotic arm is connected to the driven actuator.

[0019] This application provides a transmission mechanism and a robotic arm structure. The transmission mechanism includes a driving actuator, a driven actuator, and a flexible element. One end of the driving actuator has a first conical surface, and one end of the driven actuator has a second conical surface. The first conical surface of the driving actuator and the second conical surface of the driven actuator are tangentially engaged, and transmission is achieved through the flexible element. On one hand, the driving actuator and the driven actuator mutually support each other in the axial and radial directions, avoiding transmission vibration and improving accuracy; moreover, the transmission process is continuous and there is no backlash. On the other hand, the conical surface engagement solves the problem of flexible element steering, eliminating the need for an additional steering structure. Furthermore, the tangential compression of the conical surfaces prevents the flexible element from detaching from the rope groove and effectively avoids wear between the driving actuator and the driven actuator. Attached Figure Description

[0020] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a cross-sectional view of a bevel gear meshing connection in the prior art;

[0022] Figure 2 This is a schematic diagram of the transmission mechanism in an embodiment of this application;

[0023] Figure 3 This is a front view of the transmission mechanism in an embodiment of this application;

[0024] Figure 4 for Figure 3 Sectional view along the AA direction;

[0025] Figure 5 This is a schematic diagram of the structure of the first transmission device in the embodiments of this application;

[0026] Figure 6 This is a schematic diagram of the structure of the second transmission device in the embodiments of this application;

[0027] Figure 7 This is a schematic diagram of the robotic arm structure in the embodiments of this application;

[0028] Figure 8 This is a partial cross-sectional view of the robotic arm structure in an embodiment of this application.

[0029] Illustration:

[0030] Wherein, 1-drive actuator; 10-first conical surface;

[0031] 11-First transmission device; 111-First connecting part; 112-First conical part; 113-First sub-conical surface; 114-First annular groove; 115-Irregular groove; 116-Fixing part; 117-Deformation part; 118-Threaded part;

[0032] 12-Second transmission device; 121-Second connecting part; 122-Second conical part; 123-Second sub-conical surface; 124-Second annular groove;

[0033] 2-Driven drive; 21-Third conical part; 211-Second conical surface; 212-Third annular groove; 213-Fourth annular groove; 22-Third connecting part;

[0034] 31-First flexible component, 32-Second flexible component;

[0035] 41-First locking groove, 42-Second locking groove; 43-First locking block, 44-Second locking block, 50-Main bevel gear, 60-Driven bevel gear;

[0036] 210 - First robotic arm, 220 - Second robotic arm. Detailed Implementation

[0037] The embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described below do not represent all embodiments consistent with this application. They are merely examples of systems and methods consistent with some aspects of this application as detailed in the claims.

[0038] This application provides a transmission mechanism and a robotic arm structure. The transmission mechanism can be applied to robotic arm structures, such as the robotic arm structure of a surgical robot, or other robotic arm structures. The robotic arm structure may include at least one transmission mechanism, and each transmission mechanism can connect at least two robotic arms within the robotic arm structure. The robotic arms may be straight arms, L-shaped curved arms, or other shapes; this application does not limit the specific shapes.

[0039] The transmission mechanism provided in this application embodiment can achieve stable rotational transmission of two robotic arms in the 90° direction of two rotation axes, avoiding problems such as shaking that affect the control accuracy of the robotic arms.

[0040] like Figure 2 and Figure 3 As shown, the transmission mechanism provided in this embodiment includes: a driving actuator 1, a driven actuator 2, and a flexible component. Wherein:

[0041] One end of the drive actuator 1 forms a first conical surface 10. The end of the drive actuator 1 away from the first conical surface 10 is connected to the power component to obtain the power transmitted by the power component, so that the drive actuator 1 can rotate circumferentially around the axis L1 of the first conical surface 10. For example, the power component can drive the drive actuator 1 to rotate clockwise around the axis L1 of the first conical surface 10, or it can drive the drive actuator 1 to rotate counterclockwise around the axis L1 of the first conical surface 10.

[0042] The driven actuator 1 is connected to a driven actuator 2 at the end furthest from the power source. One end of the driven actuator 2 has a second conical surface 211, which is tangent to the first conical surface 10. The first end of the driven actuator 2 furthest from the second conical surface 211 is connected to a load. When the driven actuator 1 rotates circumferentially around the axis L1 of the first conical surface 10, it transmits power to the driven actuator 2, causing the driven actuator 2 to rotate and drive the load.

[0043] The driving actuator 1 drives the driven actuator 2 to rotate via a flexible element. One end of the flexible element can be fixed to the first conical surface 10, and the other end can be wound around the first conical surface 10 around its axis L1, extending to the tangent position between the first conical surface 10 and the second conical surface 211, and then wound around the second conical surface 211 around its axis L2, with its end fixed to the second conical surface 211. When the driving actuator 1 is driven to rotate by the power element, the driving actuator 1 rotates around its own axis L1 and pulls the flexible element to increase the amount of winding of the flexible element on the first conical surface 10. During the pulling process, a tension is generated at the other end of the flexible element located on the second conical surface 211, which pulls the driven actuator 2 to rotate around its own axis L2 and decreases the amount of winding of the flexible element on the second conical surface 211. The change in the amount of winding of the flexible element on the driving actuator 1 is the same as the change in the amount of winding of the flexible element on the driven actuator 2. The power element can be a drive motor. Flexible components can be made of rope-like or strip-like materials that mainly bear tensile force along their own length and have a certain degree of flexibility to achieve bending deformation but are not easy to undergo elastic deformation along their own length, such as steel rope.

[0044] In traditional equipment using bevel gear meshing transmissions, the bevel gears will wear down during long-term meshing. If the bevel teeth wear down, the entire gear set usually needs to be replaced. Figure 1 For example, it requires replacing the main bevel gear 50 and the driven bevel gear 60, which is not only cumbersome to operate, but also has a high operating cost.

[0045] The transmission mechanism provided in this embodiment uses a flexible component to provide the power required for the rotation of the driven actuator 2. Power is not directly transmitted between the driving actuator 1 and the driven actuator 2. Therefore, during transmission, the driving actuator 1 and the driven actuator 2 roll together at the tangent position of their conical surfaces, preventing friction and wear and improving the reliability of the robotic arm. Furthermore, even if wear occurs in the flexible component during long-term use, only the flexible component needs to be replaced; the driving actuator 1 and the driven actuator 2 do not need to be replaced, effectively reducing operating costs.

[0046] Furthermore, to avoid gear interference and due to machining and assembly factors, traditional bevel gears typically have a non-working surface clearance between adjacent bevel teeth. Moreover, this working clearance increases over long-term use due to tooth wear. Therefore, when the motor drives the main bevel gear 50 to switch from forward to reverse transmission, causing the driven bevel gear 60 to rotate in the opposite direction, the driven bevel gear 60 will exhibit a lag in rotation angle; this phenomenon is called backlash. Backlash prevents the driven bevel gear 60 from immediately changing its rotation direction when the main bevel gear 50 changes direction, leading to discontinuity in the transmission process and tooth impact, directly affecting the accuracy of the gear transmission. In contrast, the transmission mechanism provided in this embodiment has a tangential fit between the first conical surface 10 and the second conical surface 211, with no non-working surface clearance between them, thus improving the transmission accuracy of the transmission mechanism. Simultaneously, the improved axial and radial support performance of the active actuator 1 and the driven actuator 2 avoids transmission vibration issues and further enhances transmission accuracy. Furthermore, by using flexible components to achieve transmission between the active and driven actuators, there is no need to consider installation or movement clearances to avoid interference, resulting in a continuous transmission process without backlash. Additionally, utilizing flexible components to transmit power between the active actuator 1 and the driven actuator 2, which employ a conical fit, not only solves the problem of flexible component steering, eliminating the need for additional steering structures, but also avoids wear on the active actuator 1 and the driven actuator 2, improving the reliability of the robotic arm.

[0047] In one embodiment, the axis L1 of the first conical surface 10 and the axis L2 of the second conical surface 211 are in the same plane. That is, the axes L1 and L2 intersect to form an angle, including the intersection of their extensions. Specifically, the angle ranges from 0 to 180°. In this embodiment, the angle of intersection is described as 90°, which allows the active actuator 1 to drive the driven actuator 2, which is perpendicularly connected to it, to rotate. This is also the most common application scenario in practice. Of course, the two can also be parallel to each other. Here, it is required that the first conical surface 10 and the second conical surface 211 are linearly tangent, rather than point-tangent.

[0048] It should be noted that the same plane here should not be understood as being absolutely in the same plane in a mathematical or geometric sense. Factors such as manufacturing errors, installation errors, and the thickness of each installed component should be taken into account.

[0049] To achieve 90° transmission of the robotic arm, such as Figure 2As shown, the axis L1 of the first conical surface 10 is perpendicular to the axis L2 of the second conical surface 211. That is, the axis L1 of the driving actuator 1 is perpendicular to the axis L2 of the driven actuator 2. At this time, the product of the tapers of the first conical surface 10 and the second conical surface 211 is 1, so that the driving actuator 1 drives the driven actuator 2, which is perpendicularly connected to it, to move through the flexible element.

[0050] Combination Figures 2 to 4 As shown, the flexible member includes a first flexible member 31 and a second flexible member 32. One end of the first flexible member 31 is fixed to the first conical surface 10, and the other end extends along a first direction to the tangent position between the first conical surface 10 and the second conical surface 211, then extends along a second direction to the second conical surface 211 and is fixed thereon. One end of the second flexible member 32 is fixed to the first conical surface 10, and the other end extends along a third direction to the tangent position between the first conical surface 10 and the second conical surface 211, then extends along a fourth direction to the second conical surface 211 and is fixed thereon. Furthermore, the first direction is opposite to the third direction, and the second direction is opposite to the fourth direction.

[0051] For example, with Figure 2 In the diagram, a solid single-arrow arrow indicates the first direction, and a solid double-arrow arrow indicates the second direction. Figure 2 In the diagram, a single dashed arrow indicates a third direction, and a double dashed arrow indicates a fourth direction. When observing from the large end of the first conical surface 10 along its own axis towards the small end, the first direction is clockwise, and the third direction is counterclockwise. When observing from the large end of the second conical surface 211 along its own axis towards the small end, the second direction is counterclockwise, and the fourth direction is clockwise. The first flexible element 31 is wound counterclockwise around the first conical surface 10 until it reaches the position where the first conical surface 10 and the second conical surface 211 are tangent. Then, the winding direction is changed, and it is wound clockwise around the second conical surface 211. The second flexible element 32 is wound clockwise around the first conical surface 10 until it reaches the position where the first conical surface 10 and the second conical surface 211 are tangent. Then, the winding direction is changed, and it is wound counterclockwise around the second conical surface 211.

[0052] Therefore, whether the driving actuator 1 rotates clockwise or counterclockwise, it can ensure that a flexible element is in a stretched state, thereby pulling the driven actuator 2 to rotate. In this way, when the driving actuator 1 changes the direction of rotation, the tension on the driven actuator is continuous, without hysteresis or jitter, thus improving the stability of the transmission process.

[0053] like Figure 4As shown, in one embodiment, the first conical surface 10 and the second conical surface 211 are respectively provided with annular grooves for accommodating the flexible element, and the annular grooves on the first conical surface 10 and the second conical surface 211 intersect at the position where the first conical surface 10 and the second conical surface 211 are tangent.

[0054] Specifically, the annular grooves formed on the first conical surface 10 may include a first annular groove 114 and a second annular groove 124, and the annular grooves formed on the second conical surface 211 may include a third annular groove 212 and a fourth annular groove 213. The first annular groove 114 and the third annular groove 212 are used to accommodate the first flexible member 31, and the second annular groove 124 and the fourth annular groove 213 are used to accommodate the second flexible member 32. This ensures that the first flexible member 31 and the second flexible member 32 are positioned within their respective annular grooves, preventing interference during transmission.

[0055] In a preferred implementation, the distance between the first annular groove 114 and the second annular groove 124 on the first conical surface 10 is the same as the distance between the third annular groove 212 and the fourth annular groove 213 on the second conical surface 211, so that the first annular groove 114 and the third annular groove 212 are correspondingly arranged. The second annular groove 124 and the fourth annular groove 213 are correspondingly arranged. The corresponding arrangement of the first annular groove 114 and the third annular groove 212 means that the first annular groove 114 and the third annular groove 212 intersect at the tangential position of the first conical surface 10 and the second conical surface 211. This allows the first flexible member 31 to wrap around the first annular groove 114 and extend to the intersection of the first conical surface 10 and the second conical surface 211, and then directly extend in the opposite direction from the intersection into the third annular groove 212, ultimately fixing itself within the third annular groove 212, thus preventing the first flexible member 31 from detaching. In practical applications, the total length of the first flexible member 31 is no greater than the circumference of the first annular groove 114 and the circumference of the third annular groove 212, which also refers to the circumference of the annular path corresponding to the extension of the first conical surface 10 and the second conical surface 211 of the first flexible member 31. Generally, the end of the first flexible member 31 needs to be reserved for fixing. The total length of the first flexible member 31 mentioned above refers to the total length of the working part of the first flexible member 31.

[0056] Furthermore, the corresponding arrangement of the second annular groove 124 and the fourth annular groove 213 means that the second annular groove 124 and the fourth annular groove 213 intersect at the tangential position of the first conical surface 10 and the second conical surface 211. This allows the second flexible member 32 to wrap around the second annular groove 124 and extend to the intersection of the first conical surface 10 and the second conical surface 211. From there, it can directly extend in the opposite direction into the fourth annular groove 213 and ultimately be fixed within it, preventing the second flexible member 32 from detaching. Similarly, the total length of the second flexible member 32 is no greater than the circumference of the second annular groove 124 and the fourth annular groove 213, which also refers to the circumference of the annular path corresponding to the extension of the second flexible member 32 at the first conical surface 10 and the second conical surface 211. In practical applications, the end of the second flexible member 32 needs to be reserved for fixing. The total length of the second flexible member 32 mentioned above refers to the total length of the working part of the second flexible member 32.

[0057] like Figure 2 and Figure 3 As shown, in one embodiment, the annular groove is formed tangentially with a locking groove whose width is greater than that of the annular groove, and the end of the flexible member is provided with a locking block that is adapted to the locking groove.

[0058] Specifically, locking blocks are provided at both ends of the flexible member, and the locking blocks are movably disposed within the locking groove. Moreover, the width of the annular groove is smaller than the width of the locking groove, so that the locking blocks can be locked within the locking groove and will not move into the annular groove.

[0059] In this embodiment, the movement position of the flexible component can be restricted by the locking block. On the one hand, the locking block, in conjunction with the locking groove, can prevent the flexible component from coming out. On the other hand, when the locking block is engaged in the stepped position formed by the locking groove and the annular groove, one end of the flexible component is fixed inside the locking groove to provide a point of application of force, thereby pulling the driven actuator 2 to rotate around its own axis L2.

[0060] In this way, both ends of the first flexible member 31 and the second flexible member 32 are effectively restricted by the first conical surface 10 and the second conical surface 211, so that they can be better pulled by the active drive 1, and then pull the driven drive 2.

[0061] In one implementation, the locking block includes two first locking blocks 43 and two second locking blocks 44, and the locking groove includes two first locking grooves 41 and two second locking grooves 42. Wherein:

[0062] Two first locking blocks 43 are disposed at both ends of the first flexible member 31, and two first locking grooves 41 are disposed on the first annular groove 114 and the third annular groove 212, with the two first locking blocks 43 respectively located within the two first locking grooves 41. Two second locking blocks 44 are disposed at both ends of the second flexible member 32, and two second locking grooves 42 are disposed on the second annular groove 124 and the fourth annular groove 213, with the two second locking blocks 44 respectively located within the two second locking grooves 42.

[0063] Specifically, when the first flexible member 31 pulls the driven actuator 2 in a third direction, the first locking block 43 at the end of the first flexible member 31 is restricted at the step formed by the first locking groove 41 and the first annular groove 114, providing tension to the first flexible member 31. When the second flexible member 32 pulls the driven actuator 2 in a first direction, the second locking block 44 at the end of the second flexible member 32 is restricted at the connection between the second locking groove 42 and the second annular groove 124, providing tension to the second flexible member 32.

[0064] like Figure 5 and Figure 6 As shown, in one embodiment, the active actuator 1 may include a first actuator 11 and a second actuator 12. The first actuator 11 includes a first conical portion 112 and a first connecting portion 111. The first conical portion 112 has a frustum-shaped structure, and a first annular groove 114 is formed along its conical surface. A first flexible element 31 is wound within the first annular groove 114. The first connecting portion 111 is connected to the end of the first conical portion 112 with the larger diameter, and the diameter of the first connecting portion 111 is smaller than the diameter of the first conical portion 112 to which it is connected. The second actuator 12 includes a second conical portion 122 and a second connecting portion 121. The second conical portion 122 also has a frustum-shaped structure, and a second annular groove 124 is formed along its conical surface. A second flexible element 32 is wound within the second annular groove 124. The second connecting portion 121 is connected to the end of the second tapered portion 122 with the larger diameter, and the diameter of the second connecting portion 121 is smaller than the diameter of the second tapered portion 122 to which it is connected. The larger diameter of the second tapered portion 122 is the same as the smaller diameter of the first tapered portion 112. A drive motor is connected to the end of the second connecting portion 121 away from the second tapered portion 122.

[0065] The first connecting portion 111 is detachably fixed to the second connecting portion 121 so that the conical surface of the first conical portion 112 coincides with the conical surface of the second conical portion 122. That is, the taper of the first conical portion 112 is the same as the taper of the second conical portion 122, forming a complete first conical surface 10. This conical surface coincidence includes not only the solid conical surfaces of the first conical portion 112 and the solid conical surfaces of the second conical portion 122, but also the spatial coincidence of the delay surfaces of these two conical surfaces. Of course, this coincidence should allow for reasonable error and does not require perfect coincidence.

[0066] Specifically, the first conical surface 10 includes a first sub-conical surface 113 and a second sub-conical surface 123. The first sub-conical surface 113 is formed in the first conical portion 112, and the second sub-conical surface 123 is formed in the second conical portion 122. A first annular groove 114 is provided on the first sub-conical surface 113, and a second annular groove 124 is provided on the second sub-conical surface 123. The taper of the first sub-conical surface 113 is the same as the taper of the second sub-conical surface 123. Furthermore, the smaller diameter end of the first sub-conical surface 113 has the same dimension as the larger diameter end of the second sub-conical surface 123.

[0067] The first transmission device 11 may have a through hole along the axis L1 of the first tapered portion 112, penetrating both the first tapered portion 112 and the first connecting portion 111. This allows the second connecting portion 121 to be inserted into the through hole, enabling a detachable relationship between the first transmission device 11 and the second transmission device 12. When the first connecting portion 111 and the second connecting portion 121 can rotate relative to each other, they are in a non-fixed state. At this time, the winding state of the first flexible member 31 can be adjusted by rotating the first connecting portion 111, and the winding state of the second flexible member 32 can be adjusted by rotating the second connecting portion 121. The winding state includes a relaxed state and a taut state. Rotating the first connecting portion 111 or the second connecting portion 121 also facilitates the disassembly of the first flexible member 31 or the second flexible member 32, allowing for quick replacement of either the first flexible member 31 or the second flexible member 32.

[0068] When the first connecting part 111 and the second connecting part 121 cannot rotate relative to each other, they are in a fixed state. At this time, the driven rotating part can be driven to rotate around its own axis L2 in different directions via the active transmission 1. The first connecting part 111 may also be provided with a threaded hole, allowing adjustment of the fastening relationship between the first connecting part 111 and the second connecting part 121 via a threaded component 118. When the threaded component 118 is tightened in the threaded hole, the first connecting part 111 and the second connecting part 121 are in a fixed state. When the threaded component 118 is not inserted into the threaded hole or is not tightened within the threaded hole, the first connecting part 111 and the second connecting part 121 are in a non-fixed state. Therefore, the fastening state between the first connecting part 111 and the second connecting part 121 can be adjusted via the threaded component 118 to adjust the first flexible component 31 or the second flexible component 32.

[0069] like Figure 5 As shown, in one embodiment, a shaped groove 115 may be formed on the first connecting portion 111. The shaped groove 115 includes a first part and a second part. The first part is formed axially from the end of the first connecting portion 111 away from the first conical portion 112 towards the side closer to the first conical portion 112. The second part is formed circumferentially from the inner end of the first part near the first conical portion 112 of the first part, so that the shaped groove 115 is an L-shaped groove. The depth of the shaped groove 115 is the same as the radial thickness of the first connecting portion 111; that is, the shaped groove 115 is a groove structure that penetrates the first connecting portion 111. Thus, the shaped groove 115 divides the first connecting portion 111 into a fixed part 116 and a deformable part 117. The fixed part 116 is connected to the first conical portion 112, and the deformable part 117 is connected to the fixed part 116. Furthermore, the first part is located between the fixed part 116 and the deformable part 117, and the second part is located between the deformable part 117 and the first conical part 112.

[0070] Threaded holes are provided at opposite positions on the fixed part 116 and the deformable part 117. The threaded part 118 can be screwed into the threaded hole, and the gap distance between the fixed part 116 and the deformable part 117 at the first part of the irregular groove can be adjusted by the tightness of the threaded part 118.

[0071] Specifically, when the threaded component 118 is tightened into the threaded hole, the gap of the first part along the circumference of the first connecting part 111 gradually decreases to a preset value. The first connecting part 111 and the second connecting part 121 are in a fixed state. However, when the threaded component 118 is not inserted into the threaded hole or is not tightened in the threaded hole, the circumferential distance of the first part along the first connecting part 111 is greater than the preset value, and the first connecting part 111 and the second connecting part 121 are in a non-fixed state. In this embodiment, the fastening relationship between the first connecting part 111 and the second connecting part 121 is adjusted by the threaded component 118, which is simple and convenient to operate. While fixing the first connecting part 111 and the second connecting part 121, it can make the deformed part of the first connecting part 111 cover the outer circumferential surface of the second connecting part 121 as much as possible, increasing the contact surface between the two; at the same time, it can improve the coaxiality of the first connecting part 111 and the second connecting part 121, ensuring stability during rotation.

[0072] like Figure 4 As shown, in one embodiment, the driven actuator 2 may include a third conical portion 21 and a third connecting portion 22 fixedly connected to the large end of the third conical portion 21. The diameter of the third connecting portion 22 is smaller than the diameter of the large end of the third conical portion 21, thereby forming a step at the connection between the two. The third conical portion 21 has a second conical surface 211 tangent to the first sub-conical surface 113 and the second sub-conical surface 123. The product of the tapers of the second conical surface 211 and the first sub-conical surface 113 is 1, and the product of the tapers of the second conical surface 211 and the second sub-conical surface 123 is 1, that is, the axis L1 of the driving actuator 1 intersects the axis L2 of the driven actuator 2 perpendicularly. A third annular groove 212 and a fourth annular groove 213 are formed on the second conical surface 211. The first annular groove 114 and the third annular groove 212 intersect at the position where the first sub-conical surface 113 and the second conical surface 211 are tangent; the second annular groove 124 and the fourth annular groove 213 intersect at the position where the second sub-conical surface 123 and the second conical surface 211 are tangent.

[0073] like Figure 7 and Figure 8 As shown in the figure, this application embodiment also provides a robotic arm structure that employs the aforementioned transmission mechanism. Therefore, all the beneficial technical effects of the aforementioned transmission mechanism will not be elaborated further here.

[0074] The specific robotic arm structure includes a first robotic arm 210 and a second robotic arm 220. The first robotic arm 210 is equipped with a drive motor, and the output end of the drive motor is connected to the active transmission device 1. The second robotic arm 220 is connected to the driven transmission device 2, so that the drive motor drives the active transmission device 1 to rotate the driven transmission device 2.

[0075] A drive motor is fixed inside the first robotic arm 210. The drive motor is connected to the end of the second connecting part of the active actuator 1 away from the second conical part, thereby driving the active actuator 1 to rotate. This, in turn, causes the active actuator 1 to drive the driven actuator 2 to rotate via a flexible element, converting the axial rotation of the active actuator 1 into axial rotation about the driven actuator 2. The third connecting part 22 of the driven actuator 2 is connected to the second robotic arm 220 to drive the second robotic arm 220 to rotate. Furthermore, a bearing is fitted around the outer periphery of the third connecting part 22. The outer ring of the bearing is connected to the joint housing at the end of the first robotic arm 210 to provide radial support force to the driven actuator 2, reducing radial vibration of the driven actuator 2 and ensuring stability during transmission.

[0076] Similar parts between the embodiments provided in this application can be referred to mutually. The specific implementation methods provided above are only a few examples under the overall concept of this application and do not constitute a limitation on the scope of protection of this application. For those skilled in the art, any other implementation methods extended from the solution of this application without creative effort shall fall within the scope of protection of this application.

Claims

1. A transmission mechanism, characterized in that, include: An active actuator has a first conical surface formed at one end and is used to obtain power at the other end to make the active actuator rotate about the axis of the first conical surface. The driven actuator has a second conical surface tangent to the first conical surface at one end, and the other end is used to transmit power to the load; A flexible element, one end of which is fixed to the first conical surface, and the other end extends around the axis of the first conical surface to the position where the first conical surface is tangent to the second conical surface, and then extends around the axis of the second conical surface, and is finally fixed to the second conical surface. The axis of the first conical surface and the axis of the second conical surface are in the same plane; The active actuator includes: The first transmission device includes a first tapered portion and a first connecting portion; The second transmission device includes a second tapered portion and a second connecting portion; The first connecting part is detachably fixed to the second connecting part so that the conical surface of the first tapered part coincides with the conical surface of the second tapered part; when the fixed state of the first connecting part and the second connecting part is eliminated, the first tapered part and the second tapered part can rotate relative to each other.

2. The transmission mechanism according to claim 1, characterized in that, The axis of the first conical surface is perpendicular to the axis of the second conical surface.

3. The transmission mechanism according to claim 1, characterized in that, The flexible element includes: The first flexible member has one end fixed to the first conical surface, and the other end extends along the first direction to the position where the first conical surface and the second conical surface are tangent, and then extends along the second direction and is finally fixed to the second conical surface. The second flexible member has one end fixed to the first conical surface, and the other end extends along a third direction to the position where the first conical surface and the second conical surface are tangent, and then extends along a fourth direction and is finally fixed to the second conical surface. The first direction is opposite to the third direction, and the second direction is opposite to the fourth direction.

4. The transmission mechanism according to claim 1, characterized in that, Annular grooves for accommodating the flexible element are formed on the first conical surface and the second conical surface, respectively. The annular grooves on the first conical surface and the second conical surface intersect at the position where the first conical surface and the second conical surface are tangent.

5. The transmission mechanism according to claim 4, characterized in that, The annular groove is formed tangentially with a locking groove whose width is greater than that of the annular groove, and the end of the flexible member is provided with a locking block that is adapted to the locking groove.

6. The transmission mechanism according to claim 1, characterized in that, The first conical part has a first annular groove along its own conical surface, and the first connecting part is fixedly connected to the large end of the first conical part; The second conical part has a second annular groove along its own conical surface, and the second connecting part is fixedly connected to the large end of the second conical part.

7. The transmission mechanism according to claim 6, characterized in that, The first transmission device has a through hole along the axial direction of the first tapered portion, penetrating the first tapered portion and the first connecting portion; the second connecting portion is inserted into the through hole of the first connecting portion; the first connecting portion and the second connecting portion are fastened by a threaded component.

8. The transmission mechanism according to claim 7, characterized in that, The first connecting part has a slot to form a fixed part that connects to the first tapered part and a deformable part that connects to the fixed part. The fixed part and the deformable part have threaded holes opposite to each other. The gap between the deformable part and the fixed part at the slot is adjusted by setting a threaded part that matches the threaded hole.

9. A robotic arm structure, characterized in that, The transmission mechanism includes any one of claims 1-8.

10. The robotic arm structure according to claim 9, characterized in that, include: The first robotic arm has a drive motor inside, and the output end of the drive motor is connected to the active transmission device. The second robotic arm is connected to the driven actuator.

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