Transmission mechanism and robot

Abstract

The application discloses a transmission mechanism and a robot, wherein the transmission mechanism comprises: a synchronous pulley, comprising coaxially arranged at least one first sub-pulley and at least one second sub-pulley, the first sub-pulley and the second sub-pulley having the same number of teeth and the same tooth shape, and the teeth of the first sub-pulley and the second sub-pulley being arranged in a staggered manner; a synchronous belt, engaged with the synchronous pulley, and one side of the belt teeth of the synchronous belt being in contact with the teeth of the first sub-pulley, and the other side of the belt teeth of the synchronous belt being in contact with the teeth of the second sub-pulley. By arranging the synchronous pulley as the coaxially arranged first sub-pulley and second sub-pulley, and the teeth of the first sub-pulley and the second sub-pulley being arranged in a staggered manner, when the synchronous pulley is reversed, the teeth of the synchronous pulley and the belt teeth of the synchronous belt are engaged without clearance. The synchronous belt transmission mechanism of the embodiment of the application can effectively eliminate the engagement clearance in the transmission process, improve the transmission precision, and thus improve the overall precision of the robot applying the transmission mechanism.

Description

Technical Field

[0001] This application belongs to the field of transmission device technology, specifically relating to transmission mechanisms and robots. Background Technology

[0002] Currently, conventional SCARA robots typically use a combination of motors and reducers as the drive system for the first and second axes. This method usually employs harmonic reducers or RV reducers, which are costly and have limited precision. Furthermore, the conventional layout directly connects the second-axis drive unit to the forearm, resulting in a high torque requirement for the first axis and necessitating the use of a larger motor or reducer. This leads to excessive size and weight, negatively impacting overall performance. Therefore, a solution has emerged: moving the second-axis drive unit to the rear and using a synchronous belt drive to move the forearm. This method reduces overall weight and size. However, the transmission precision of synchronous belt drives is currently insufficient, affecting overall robot performance. Summary of the Invention

[0003] This application provides a transmission mechanism and a robot to solve the technical problem of insufficient transmission accuracy in existing transmission mechanisms.

[0004] To solve the above-mentioned technical problems, one technical solution adopted in this application is: a transmission mechanism, comprising: a synchronous pulley, including at least one first sub-pulley and at least one second sub-pulley coaxially arranged, wherein the first sub-pulley and the second sub-pulley have the same number of teeth and tooth profile, and the teeth of the first sub-pulley and the second sub-pulley are staggered; a synchronous belt, meshing with the synchronous pulley, wherein one side of the teeth of the synchronous belt is in contact with the teeth of the first sub-pulley, and the other side of the teeth of the synchronous belt is in contact with the teeth of the second sub-pulley.

[0005] According to one embodiment of this application, the sum of the widths of the first sub-pulleys along their axial direction is equal to the sum of the widths of the second sub-pulleys along their axial direction.

[0006] According to one embodiment of this application, there are two first sub-pulleys and one second sub-pulley, with the two first sub-pulleys located on both sides of the second sub-pulley.

[0007] To solve the above-mentioned technical problems, another technical solution adopted in this application is: a robot, comprising: a main drive arm; a secondary drive arm rotatably connected to the main drive arm; a transmission mechanism disposed within the main drive arm, as described above; the transmission mechanism includes a first synchronous pulley and a second synchronous pulley, the synchronous belt connecting the first synchronous pulley and the second synchronous pulley, the secondary drive arm being coaxially fixed to the first synchronous pulley; and a drive mechanism coaxially fixed to the second synchronous pulley to drive the second synchronous pulley to rotate.

[0008] According to one embodiment of this application, it includes: a first bearing housing, fixedly disposed on the main drive arm; a first wheel axle, rotatably disposed on the main drive arm and coaxially fixed with the auxiliary drive arm; a first bearing, wherein the inner ring cover of the first bearing is connected to the first wheel axle, and the outer ring cover is connected to the first bearing housing.

[0009] According to one embodiment of this application, it includes: a second bearing housing, fixedly disposed on the main drive arm; a second wheel axle, rotatably disposed on the main drive arm and coaxially fixed with the second synchronous pulley; a second bearing, wherein the inner ring cover of the second bearing is connected to the second wheel axle, and the outer ring cover is connected to the second bearing housing.

[0010] According to one embodiment of this application, it includes: an encoder disposed on the auxiliary transmission arm and coaxially arranged with the first synchronous pulley to sense the rotation of the first synchronous pulley.

[0011] According to one embodiment of this application, the encoder includes: an encoder transmission shaft, fixedly disposed on the main transmission arm and coaxially disposed with the first synchronous pulley; an encoder stator, fixedly disposed on the auxiliary transmission arm and coaxially disposed with the encoder transmission shaft; and an encoder rotor, fixedly disposed on the encoder transmission shaft to rotate around the encoder stator.

[0012] According to one embodiment of this application, it includes: a support bearing, wherein the inner ring of the support bearing is connected to the encoder transmission shaft, and the outer ring is connected to the first wheel axle.

[0013] According to one embodiment of this application, the first bearing housing is provided with a strip-shaped hole arranged along the length direction of the synchronous belt, and the first bearing housing is fixed to the main drive arm by a fastening screw, the fastening screw passing through the strip-shaped hole and threadedly connected to the main drive arm.

[0014] According to one embodiment of this application, the end of the first bearing housing is provided with a tension adjusting screw hole, and the first bearing housing is connected to the main drive arm through the tension adjusting screw to adjust the tension of the synchronous belt.

[0015] The beneficial effects of this application are: by setting the synchronous belt pulleys as a first sub-pulley and a second sub-pulley coaxially, and with the teeth of the first sub-pulley and the second sub-pulley being staggered, the teeth of the synchronous belt pulleys and the teeth of the synchronous belt mesh without any clearance when the synchronous belt pulleys rotate in both directions. The synchronous belt transmission mechanism of this application embodiment can effectively eliminate meshing clearance during the transmission process, improve transmission accuracy, and thus improve the overall accuracy of the robot using this transmission mechanism. Furthermore, the transmission mechanism of this application embodiment has a simple structure, is easy to process and install, and has low cost. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0017] Figure 1 This is a cross-sectional structural schematic diagram of an embodiment of the transmission mechanism of this application;

[0018] Figure 2 This is a three-dimensional structural schematic diagram of a synchronous belt pulley according to an embodiment of the transmission mechanism of this application;

[0019] Figure 3 yes Figure 2 A magnified structural diagram of part A in the middle;

[0020] Figure 4 This is a three-dimensional structural schematic diagram of the synchronous belt pulley according to another embodiment of the transmission mechanism of this application;

[0021] Figure 5 This is a three-dimensional structural schematic diagram of an embodiment of the robot of this application;

[0022] Figure 6 This is a cross-sectional structural schematic diagram of an embodiment of the robot of this application;

[0023] Figure 7 yes Figure 6 A magnified structural diagram of part B in the middle section;

[0024] Figure 8 yes Figure 6 A magnified structural diagram of section C;

[0025] Figure 9 This is a partial cross-sectional structural diagram of the main drive arm of an embodiment of the robot of this application;

[0026] Figure 10 This is a schematic diagram of the structure of the auxiliary transmission arm of an embodiment of the robot of this application;

[0027] Figure 11 This is a schematic diagram of the main drive arm of an embodiment of the robot of this application. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] like Figures 1 to 4 As shown, Figure 1 This is a cross-sectional structural schematic diagram of an embodiment of the transmission mechanism of this application; Figure 2 This is a three-dimensional structural schematic diagram of a synchronous belt pulley according to an embodiment of the transmission mechanism of this application; Figure 3 yes Figure 2 A magnified structural diagram of part A in the middle; Figure 4 This is a three-dimensional structural schematic diagram of the synchronous belt pulley of another embodiment of the transmission mechanism of this application.

[0031] One embodiment of this application provides a transmission mechanism 100, such as... Figures 1 to 3 As shown, the device includes a synchronous pulley 110 and a synchronous belt 120. The synchronous pulley 110 includes at least one first sub-pulley 111 and at least one second sub-pulley 112 coaxially arranged. The first sub-pulley 111 and the second sub-pulley 112 have the same number of teeth and tooth profile, and their teeth are staggered. The synchronous belt 120 meshes with the synchronous pulley 110, with one toothed side of the synchronous belt 120 engaging with the teeth of the first sub-pulley 111, and the other toothed side of the synchronous belt 120 engaging with the teeth of the second sub-pulley 112.

[0032] Because the synchronous belt 120 is flexible and has certain manufacturing errors, it cannot mesh seamlessly with the traditional synchronous pulley 110, resulting in poor transmission accuracy. This application addresses this by configuring the synchronous pulley 110 as a first sub-pulley 111 and a second sub-pulley 112 coaxially, with the teeth of the first sub-pulley 111 and the second sub-pulley 112 staggered. When the synchronous pulley 110 rotates in the first direction, one side of the synchronous belt 120 engages with the teeth of the first sub-pulley 111; when the synchronous pulley 110 rotates in the opposite direction, the other side of the synchronous belt 120 engages with the teeth of the second sub-pulley 112. That is, when the synchronous pulley 110 rotates in both directions, the teeth of the synchronous pulley 110 mesh seamlessly with the teeth of the synchronous belt 120, eliminating transmission errors during forward and reverse rotation, improving transmission accuracy. Robots 200 using this transmission mechanism 100 are not limited by the transmission accuracy of traditional synchronous belt transmission mechanisms 100, resulting in significantly improved overall performance.

[0033] It should be noted that the tooth misalignment angle between the first sub-pulley 111 and the second sub-pulley 112 can be set in advance according to the design load and operating conditions. Of course, the tooth misalignment angle between the first sub-pulley 111 and the second sub-pulley 112 can also be adjusted during the actual assembly process to eliminate transmission errors, and the teeth on both sides of the synchronous belt 120 can mesh with the first sub-pulley 111 and the second sub-pulley 112 respectively.

[0034] In some embodiments, adjacent sub-pulleys are fixed together by screws. Of course, in other embodiments, adjacent sub-pulleys can also be connected and fixed together by welding, gluing, pressing, or other methods, which are not limited here.

[0035] It is important to note that, such as Figure 2 and Figure 4 As shown, the sum of the widths of all first sub-pulleys 111 along their axial direction is equal to the sum of the widths of all second sub-pulleys 112 along their axial direction. Therefore, when the synchronous pulley 110 rotates forward or backward, the axial widths of the teeth of the synchronous pulleys 110 in contact with the synchronous belt 120 are the same, the synchronous pulleys 110 are subjected to balanced forces, and the uniformity of the transmitted torque is guaranteed.

[0036] To further ensure the uniformity of transmitted torque, such as Figure 2 As shown, the first sub-pulley 111 and the second sub-pulley 112 can be symmetrically distributed. Specifically, there are two first sub-pulleys 111 and one second sub-pulley 112. The two first sub-pulleys 111 are positioned on opposite sides of the second sub-pulley 112, with the radial teeth of the two first sub-pulleys 111 in the same position. There is a certain tooth misalignment between the two first sub-pulleys 111 and the second sub-pulley 112, i.e., they are staggered. Regardless of whether the synchronous pulley 110 rotates forward or backward, the teeth of the synchronous pulley 110 in contact with the synchronous belt 120 are symmetrically distributed, ensuring balanced force on the synchronous pulley 110, guaranteeing the stability of the transmitted torque, and preventing uneven wear between the synchronous pulley 110 and the synchronous belt 120 due to uneven force distribution, thus maintaining transmission accuracy. Of course, there can also be three first sub-pulleys 111 and two second sub-pulleys 112, with the first sub-pulleys 111 and the second sub-pulleys 112 alternating between each other.

[0037] Of course, it can also be like Figure 4 As shown, there is one first sub-pulley 111 and one second sub-pulley 112; there is no restriction here.

[0038] In this embodiment, the synchronous pulley 110 is configured as a first sub-pulley 111 and a second sub-pulley 112 coaxially arranged, with the teeth of the first sub-pulley 111 and the second sub-pulley 112 staggered. When the synchronous pulley 110 rotates in both directions, the teeth of the synchronous pulley 110 and the teeth of the synchronous belt 120 mesh without any clearance. The transmission mechanism 100 of this embodiment can effectively eliminate meshing clearance during the transmission process, improve transmission accuracy, and thus improve the overall accuracy of the robot 200 using this transmission mechanism 100. Furthermore, the transmission mechanism 100 of this embodiment has a simple structure, is easy to process and install, and has low cost.

[0039] Please see Figures 5 to 11 , Figure 5 This is a three-dimensional structural schematic diagram of an embodiment of the robot of this application; Figure 6 This is a cross-sectional structural schematic diagram of an embodiment of the robot of this application; Figure 7 yes Figure 6 A magnified structural diagram of part B in the middle section; Figure 8 yes Figure 6 A magnified structural diagram of section C;

[0040] Figure 9 This is a partial cross-sectional structural diagram of the main drive arm of an embodiment of the robot of this application; Figure 10 This is a schematic diagram of the structure of the auxiliary transmission arm of an embodiment of the robot of this application; Figure 11 This is a schematic diagram of the main drive arm of an embodiment of the robot of this application.

[0041] One embodiment of this application provides a robot 200, such as... Figure 5 and Figure 6 As shown, the system includes a main drive arm 230, a secondary drive arm 210, a transmission mechanism 100, and a drive mechanism 280. The secondary drive arm 210 is rotatably connected to the main drive arm 230. The transmission mechanism 100 is disposed within the main drive arm 230 and adopts the transmission mechanism 100 described in any of the above embodiments. Specifically, the transmission mechanism 100 includes a first synchronous pulley 221 and a second synchronous pulley 222, with a synchronous belt 120 connecting the first and second synchronous pulleys 221 and 222. The secondary drive arm 210 is coaxially fixed to the first synchronous pulley 221. The drive mechanism 280 is coaxially fixed to the second synchronous pulley 222 to drive the second synchronous pulley 222 to rotate. The specific process of robot 200 is as follows: transmission mechanism 100 is set in main transmission arm 230, drive mechanism 280 drives second synchronous pulley 222 to rotate, second synchronous pulley 222 drives synchronous belt 120 to drive, thereby driving first synchronous pulley 221 to rotate, thus the auxiliary transmission arm 210, which is coaxially fixed with first synchronous pulley 221, rotates, and thus the auxiliary transmission arm 210 rotates relative to main transmission arm 230.

[0042] In this embodiment, the synchronous pulley 110 of the transmission mechanism 100 is configured as a first sub-pulley 111 and a second sub-pulley 112 coaxially arranged, with the teeth of the first sub-pulley 111 and the second sub-pulley 112 staggered. When the synchronous pulley 110 rotates forward and backward, the teeth of the synchronous pulley 110 and the teeth of the synchronous belt 120 mesh without any clearance. The transmission mechanism 100 of this embodiment can effectively eliminate meshing clearance during transmission, eliminate transmission errors during forward and reverse rotation, and improve transmission accuracy. Furthermore, the transmission mechanism 100 of this embodiment has a simple structure, is easy to process and install, and has low cost. Therefore, the robot 200 of this application has high overall precision, a simple structure, is easy to process and install, and has low cost.

[0043] It should be noted that at least one of the first synchronous pulley 221 and the second synchronous pulley 222 adopts the synchronous pulley 110 in any of the above embodiments. Preferably, both the first synchronous pulley 221 and the second synchronous pulley 222 adopt the synchronous pulley 110 in any of the above embodiments.

[0044] See Figures 1 to 4 The specific structure of the synchronous pulley 110 is as follows:

[0045] The synchronous pulley 110 includes at least one first sub-pulley 111 and at least one second sub-pulley 112 coaxially arranged. The first sub-pulley 111 and the second sub-pulley 112 have the same number of teeth and tooth profile, and the teeth of the first sub-pulley 111 and the second sub-pulley 112 are staggered. The synchronous belt 120 meshes with the synchronous pulley 110, and one side of the synchronous belt 120 with teeth engages with the teeth of the first sub-pulley 111, while the other side of the synchronous belt 120 with teeth engages with the teeth of the second sub-pulley 112.

[0046] Because the synchronous belt 120 is flexible and has certain manufacturing errors, it cannot mesh seamlessly with the traditional synchronous pulley 110, resulting in poor transmission accuracy. This application addresses this by configuring the synchronous pulley 110 as a first sub-pulley 111 and a second sub-pulley 112 coaxially, with the teeth of the first sub-pulley 111 and the second sub-pulley 112 staggered. When the synchronous pulley 110 rotates in the first direction, one side of the synchronous belt 120 engages with the teeth of the first sub-pulley 111; when the synchronous pulley 110 rotates in the opposite direction, the other side of the synchronous belt 120 engages with the teeth of the second sub-pulley 112. That is, when the synchronous pulley 110 rotates in both directions, the teeth of the synchronous pulley 110 mesh seamlessly with the teeth of the synchronous belt 120, eliminating transmission errors during forward and reverse rotation, improving transmission accuracy. Robots 200 using this transmission mechanism 100 are not limited by the transmission accuracy of traditional synchronous belt transmission mechanisms 100, resulting in a significant improvement in overall machine performance.

[0047] It should be noted that the tooth misalignment angle of the first sub-pulley 111 and the second sub-pulley 112 can be set in advance according to the design load and operating conditions. Of course, the tooth misalignment angle of the first sub-pulley 111 and the second sub-pulley 112 can also be adjusted during the actual assembly process to eliminate transmission errors. The teeth on both sides of the synchronous belt 120 can then mesh with the first sub-pulley 111 and the second sub-pulley 112 respectively.

[0048] In some embodiments, adjacent sub-pulleys are fixed together by screws. Of course, in other embodiments, adjacent sub-pulleys can also be connected and fixed together by welding, gluing, pressing, or other methods, which are not limited here.

[0049] It is important to note that the sum of the axial widths of all the first sub-pulleys 111 is equal to the sum of the axial widths of all the second sub-pulleys 112. Therefore, when the synchronous pulley 110 rotates forward or backward, the axial widths of the teeth of the synchronous pulleys 110 in contact with the synchronous belt 120 are the same, ensuring balanced force distribution on the synchronous pulleys 110 and guaranteeing uniform torque transmission.

[0050] To further ensure the uniformity of transmitted torque, the first sub-pulley 111 and the second sub-pulley 112 can be symmetrically distributed. Specifically, there are two first sub-pulleys 111 and one second sub-pulley 112. The two first sub-pulleys 111 are positioned on opposite sides of the second sub-pulley 112, with the radial teeth of the two first sub-pulleys 111 in the same position. There is a certain tooth misalignment between the two first sub-pulleys 111 and the second sub-pulley 112, i.e., they are staggered. Regardless of whether the synchronous pulley 110 rotates forward or backward, the teeth of the synchronous pulley 110 in contact with the synchronous belt 120 are symmetrically distributed, ensuring balanced force on the synchronous pulley 110, guaranteeing the stability of the transmitted torque, and preventing uneven wear between the synchronous pulley 110 and the synchronous belt 120 due to uneven force distribution, thus maintaining transmission accuracy. Of course, there can also be three first sub-pulleys 111 and two second sub-pulleys 112, with the first sub-pulleys 111 and the second sub-pulleys 112 alternating between each other.

[0051] In some embodiments, such as Figure 5 As shown, the drive mechanism 280 can use a direct drive motor. The robot 200 of this application does not have a speed reducer, therefore it has lower cost, a simpler structure, and higher precision when using a direct drive motor.

[0052] The following is a detailed description of the assembly structure of the transmission mechanism 100 with the main transmission arm 230 and the auxiliary transmission arm 210:

[0053] In some embodiments, such as Figure 6 and Figure 7As shown, the robot 200 includes a first bearing housing 241, a first axle 242, and a first bearing 243. The first bearing housing 241 is fixedly mounted on the main drive arm 230. The first axle 242 is rotatably mounted on the main drive arm 230 and coaxially fixed with the auxiliary drive arm 210. The first bearing 243 is mounted on the main drive arm 230. The inner ring cap 2431 of the first bearing 243 is connected to the first axle 242, and the outer ring cap 2432 of the first bearing 243 is connected to the first bearing housing 241. Thus, the first axle 242 and the first bearing housing 241 are rotatably connected via the first bearing 243, meaning the auxiliary drive arm 210 is rotatably mounted on the main drive arm 230.

[0054] Specifically, the auxiliary drive arm 210 and the first wheel axle 242 can be fastened together by screws, the first bearing housing 241 can be fastened together to the main drive arm 230 by screws, the first bearing 243 is fixedly installed on the first bearing housing 241 by its outer ring cover 2432, and the first bearing 243 is fixedly installed on the first wheel axle 242 by its inner ring cover 2431.

[0055] Furthermore, such as Figure 7 As shown, the first synchronous pulley 221 is coaxially fixed to the first shaft 242, and the auxiliary transmission arm 210, which is coaxially fixed to the first shaft 242, is also coaxially fixed to the first synchronous pulley 221. Specifically, the first synchronous pulley 221 can be fixed to the first shaft 242 by a pulley tensioning sleeve 244. Of course, the first synchronous pulley 221 can also be fixed to the first shaft 242 by welding or other methods.

[0056] In some embodiments, such as Figure 6 and Figure 8 As shown, the robot 200 also includes a second bearing housing 251, a second wheel axle 252, and a second bearing 253. The second bearing housing 251 is fixedly mounted on the main drive arm 230, and the second wheel axle 252 is rotatably mounted on the main drive arm 230 and coaxially fixed with the second synchronous pulley 222. The second bearing 253 is disposed between the second wheel axle 252 and the second bearing housing 251; that is, the inner ring cap of the second bearing 253 is connected to the second wheel axle 252, and the outer ring cap of the second bearing 253 is connected to the second bearing housing 251. Thus, the second wheel axle 252 and the second bearing housing 251 are rotatably connected through the second bearing 253, meaning the second synchronous pulley 222 is rotatably connected to the main drive arm 230.

[0057] One end of the second wheel shaft 252 is fixedly connected to the output rotor of the drive mechanism 280, and the other end is fixedly connected to the second synchronous pulley 222. Therefore, when the drive mechanism 280 drives the second synchronous pulley 222 to rotate, the main drive arm 230 remains fixed. The second synchronous pulley 222 drives the synchronous belt 120, which in turn drives the first synchronous pulley 221 to rotate. This causes the auxiliary drive arm 210, which is coaxially fixed with the first synchronous pulley 221, to rotate, thus rotating relative to the main drive arm 230. The transmission mechanism 100 precisely transmits the motion of the drive mechanism 280 to the first wheel shaft 242 and the auxiliary drive arm 210.

[0058] Specifically, the second synchronous pulley 222 can be fixed to the second shaft 252 by the pulley tensioning sleeve 244. Of course, the second synchronous pulley 222 can also be fixed to the second shaft 252 by welding or other methods. The second bearing housing 251 can be fastened to the main drive arm 230 by screws, or it can be fixed to the main drive arm 230 by welding or other methods.

[0059] In some embodiments, such as Figure 7 and Figure 9 As shown, the robot 200 also includes an encoder 260, which is disposed on the secondary drive arm 210 and coaxially arranged with the first synchronous pulley 221 to sense the rotation of the first synchronous pulley 221. In the prior art, the encoder 260 is usually disposed at the input end of the transmission mechanism 100, that is, at the drive mechanism 280, and coaxially arranged with the second synchronous pulley 222. In this case, when the transmission mechanism 100 transmits the motion of the drive mechanism 280 to the first synchronous pulley 221, a certain change occurs, making it impossible to accurately sense and control the motion of the secondary drive arm 210. In the robot 200 of this application embodiment, the encoder 260 is disposed at the output end of the transmission mechanism 100, that is, coaxially arranged with the first synchronous pulley 221, so as to directly detect the signal at the output end to form position control and accurately control the motion of the secondary drive arm 210, thereby improving the transmission and control accuracy.

[0060] When the drive mechanism 280 is a direct drive motor, the encoder 260 is used to implement the position loop control of the direct drive motor. Since the signal at the output end is read directly, there is no influence from the intermediate transmission mechanism 100, which improves the overall transmission mechanism 100.

[0061] Furthermore, the encoder 260 includes an encoder transmission shaft 261, an encoder stator, and an encoder rotor. One end of the encoder transmission shaft 261 is fixedly mounted to the main drive arm 230 and passes through the first wheel axle 242; the other end passes through the first wheel axle 242 and is rotatably mounted within the auxiliary drive arm 210. The encoder transmission shaft 261 is also coaxially mounted with the first synchronous pulley 221. The encoder stator is fixedly mounted to the auxiliary drive arm 210 and coaxially mounted with the encoder transmission shaft 261, while the encoder rotor is fixedly mounted to the other end of the encoder transmission shaft 261. Because the encoder stator is fixedly mounted to the auxiliary drive arm 210, and the encoder transmission shaft 261 is rotatably mounted on the auxiliary drive arm, the encoder rotor rotates around the encoder stator.

[0062] Thus, the encoder stator, encoder rotor, and first synchronous pulley 221 are coaxially arranged. The encoder stator rotates with the auxiliary drive arm 210, and the encoder rotor is relatively fixed with the main drive arm 230. The encoder rotor and encoder stator cooperate to sense the rotation of the first synchronous pulley 221 and the relative movement of the main drive arm 230 and the auxiliary drive arm 210, thereby improving the transmission and control accuracy.

[0063] In other embodiments, the encoder rotor may rotate with the auxiliary drive arm 210, and the encoder stator may be fixed relative to the main drive arm 230 to sense the relative movement of the main drive arm 230 and the auxiliary drive arm 210, thereby improving the transmission and control accuracy.

[0064] Specifically, such as Figure 10 As shown, the encoder stator can be connected and fixed to the auxiliary drive arm 210 via a connecting piece 262. The connecting piece 262 extends outward from the outer periphery of the encoder stator. A mounting platform 211 is provided inside the auxiliary drive arm 210. Screws pass through the connecting piece 262 and are threadedly connected to the mounting platform 211, thereby fixing the connecting piece 262 to the mounting platform 211, and thus fixing the encoder stator to the auxiliary drive arm 210. Two or more connecting pieces 262 can be provided to firmly fix the encoder stator to the auxiliary drive arm 210. The connecting piece 262 is an elastic connecting piece 262. Of course, the encoder stator and the auxiliary drive arm 210 can also be fixed by screws, welding, or other methods.

[0065] In addition, the encoder rotor and encoder transmission shaft 261 are connected and positioned by fastening screws. Of course, the encoder rotor and encoder transmission shaft 261 can also be fixed by welding or other methods. The encoder transmission shaft 261 and main drive arm 230 are fixedly connected by screws passing through the oblong hole 231. Of course, the transmission shaft and main drive arm 230 can also be fixedly connected by other methods.

[0066] Furthermore, such as Figure 7As shown, the robot 200 also includes a support bearing 270. Since the encoder transmission shaft 261 is disposed inside the first wheel shaft 242, the inner ring of the support bearing 270 is connected to the encoder transmission shaft 261, and the outer ring of the support bearing 270 is connected to the first wheel shaft 242, so that the first wheel shaft 242 rotates around the encoder transmission shaft 261.

[0067] Specifically, two support bearings 270 may be provided to stably support the rotational motion of the first wheel shaft 242 and the encoder transmission shaft 261.

[0068] In some embodiments, such as Figure 11 As shown, the first bearing housing 241 has a strip-shaped hole 2411 arranged along the length of the synchronous belt 120. The first bearing housing 241 is fixed to the main drive arm 230 by fastening screws. Specifically, the fastening screws pass through the strip-shaped hole 2411 and are threadedly connected to the main drive arm 230. The fastening screws are pressed against the strip-shaped hole 2411, thereby fixing the first bearing housing 241 to the main drive arm 230. Since the strip-shaped hole 2411 is arranged along the length of the synchronous belt 120, the first bearing housing 241 has a certain degree of freedom for fine adjustment along the length of the synchronous belt 120 to change the tension of the synchronous belt 120.

[0069] Furthermore, the first bearing housing 241 is provided with an adjusting screw hole at its end. The first bearing housing 241 is connected to the main drive arm 230 via a tension adjusting screw 2412 to adjust the tension of the synchronous belt 120. The tension of the synchronous belt 120 can be adjusted by threading the tension adjusting screw 2412 through the adjusting screw hole to the main drive arm 230.

[0070] In addition to the relative rotation between the secondary drive arm 210 and the main drive arm 230, the main drive arm 230 can also rotate. In some embodiments, the robot 200 further includes a base 290, with the end of the main drive arm 230 away from the secondary drive arm 210 rotatably mounted on the base 290. The robot 200 also includes a second drive mechanism 291, which is located at the end of the main drive arm 230 away from the secondary drive arm 210. The second drive mechanism 291 drives the main drive arm 230 to rotate relative to the base 290. Thus, by driving the main drive arm 230 to rotate through the second drive mechanism 291 and driving the secondary drive arm 210 to rotate through the drive mechanism 280, the free end of the secondary drive arm 210 can move within a wider range.

[0071] Specifically, such as Figure 6 As shown, the base 290 is a shell, which serves to support the drive mechanism 280 on one hand, and to house the robot's electrical components on the other.

[0072] In summary, the robot 200 of this application sets the synchronous pulley 110 of the transmission mechanism 100 as a first sub-pulley 111 and a second sub-pulley 112 coaxially arranged, with the teeth of the first sub-pulley 111 and the second sub-pulley 112 staggered. When the synchronous pulley 110 rotates forward and backward, the teeth of the synchronous pulley 110 and the teeth of the synchronous belt 120 mesh without gap. The transmission mechanism 100 of this application embodiment can effectively eliminate meshing gaps during transmission, eliminate transmission errors during forward and reverse rotation, and improve transmission accuracy. Furthermore, the transmission mechanism 100 of this application embodiment has a simple structure, is easy to process and install, and has low cost. Therefore, the robot 200 of this application has high overall precision, a simple structure, is easy to process and install, and has low cost. In addition, the encoder 260 is set at the output end of the transmission mechanism 100, that is, coaxially arranged with the first synchronous pulley 221, to directly detect the signal at the output end to form position control, accurately regulate the movement of the auxiliary transmission arm 210, thereby improving transmission and control accuracy. The robot 200 in this application does not have a speed reducer, so it has a lower cost and a simpler structure. The robot 280 uses a direct drive motor as the drive mechanism, which has higher precision.

[0073] The terms "first," "second," and "third" in this application are for descriptive purposes only and should not be construed as indicating the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of those features. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movements between components in a specific orientation (as shown in the figures). If the specific orientation changes, the directional indications will change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. A process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0074] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A transmission mechanism, characterized in that, include: A synchronous belt pulley includes at least one first sub-pulley and at least one second sub-pulley, which are coaxially fixedly arranged. The first sub-pulley and the second sub-pulley have the same number of teeth and tooth profile, and the teeth of the first sub-pulley and the second sub-pulley are staggered. A timing belt meshes with the timing pulley, and one side of the teeth of the timing belt is in contact with the teeth of the first sub-pulley, while the other side of the teeth of the timing belt is in contact with the teeth of the second sub-pulley. The sum of the widths of the first sub-pulley along its axial direction is equal to the sum of the widths of the second sub-pulley along its axial direction; There are two first sub-pulleys and one second sub-pulley, with the two first sub-pulleys located on either side of the second sub-pulley.

2. A robot, characterized in that, include: Main drive arm; The auxiliary drive arm is rotatably connected to the main drive arm; A transmission mechanism is disposed within the main transmission arm, as described in claim 1; The transmission mechanism includes a first synchronous pulley and a second synchronous pulley, the synchronous belt connects the first synchronous pulley and the second synchronous pulley, and the auxiliary transmission arm is coaxially fixed with the first synchronous pulley; The drive mechanism is coaxially fixed with the second synchronous pulley to drive the second synchronous pulley to rotate.

3. The robot according to claim 2, characterized in that, include: The first bearing housing is fixedly mounted on the main drive arm; The first wheel axle is rotatably mounted on the main drive arm and is coaxially fixed with the auxiliary drive arm; The first bearing has an inner ring cap connected to the first axle and an outer ring cap connected to the first bearing housing.

4. The robot according to claim 2, characterized in that, include: The second bearing housing is fixedly mounted on the main drive arm; The second wheel shaft is rotatably mounted on the main drive arm and is fixed coaxially with the second synchronous belt pulley; The second bearing has an inner ring cap connected to the second axle and an outer ring cap connected to the second bearing housing.

5. The robot according to claim 3, characterized in that, include: An encoder is located on the secondary transmission arm and is coaxially arranged with the first synchronous pulley to sense the rotation of the first synchronous pulley.

6. The robot according to claim 5, characterized in that, The encoder includes: The encoder transmission shaft is fixedly mounted on the main drive arm and coaxially mounted with the first synchronous belt pulley. The encoder stator is fixedly mounted on the auxiliary transmission arm and is coaxially mounted with the encoder transmission shaft. The encoder rotor is fixedly mounted on the encoder transmission shaft to rotate around the encoder stator.

7. The robot according to claim 6, characterized in that, include: A support bearing is provided, wherein the inner ring of the support bearing is connected to the encoder transmission shaft, and the outer ring is connected to the first wheel axle.

8. The robot according to claim 5, characterized in that, The first bearing housing is provided with a strip-shaped hole along the length of the synchronous belt. The first bearing housing is fixed to the main drive arm by a fastening screw, which passes through the strip-shaped hole and is threaded to the main drive arm.

9. The robot according to claim 8, characterized in that, The first bearing housing has an adjusting screw hole at its end. The first bearing housing is connected to the main drive arm via a tension adjusting screw to adjust the tension of the synchronous belt.

Images