Robot and transmission mechanism thereof

Abstract

The application discloses a robot and a transmission mechanism thereof. The transmission mechanism comprises two transmission members capable of rotating around their own axes, each comprising a pulley segment and an eccentric shaft segment eccentrically arranged relative to the pulley segment, the eccentric shaft segment being connected to the pulley segment, and the two transmission members being arranged at intervals; a synchronizing member connected to the two pulley segments; and a connecting rod rotatably connected to the two eccentric shaft segments. When one of the two transmission members rotates, the two pulley segments are driven by the synchronizing member, and the two eccentric shaft segments are driven by the connecting rod, thereby driving the other transmission member to rotate. In this way, the transmission mechanism provided by the application can transmit greater torque, has higher rigidity, and has improved transmission precision.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot and its transmission mechanism. 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, thus increasing the overall size and weight of the robot and impacting its 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 the overall weight and size. However, currently, synchronous belt drives lack sufficient transmission precision, transmit low torque, and have insufficient rigidity, further affecting overall robot performance. Summary of the Invention

[0003] This application mainly provides a robot and its transmission mechanism to solve the problems of insufficient transmission accuracy, small torque, and low stiffness of existing transmission mechanisms.

[0004] To solve the above-mentioned technical problems, this application adopts the following technical solution: providing a transmission mechanism. The transmission mechanism includes: two transmission components, each rotatable about its own axis, each comprising a pulley segment and an eccentric shaft segment eccentrically disposed relative to the pulley segment, the eccentric shaft segment connecting to the pulley segment, the two transmission components being spaced apart; a synchronizing element connected to the two pulley segments; and a connecting rod rotatably connected to the two eccentric shaft segments; wherein, when one of the two transmission components rotates, the two pulley segments are driven by the synchronizing element, and the two eccentric shaft segments are driven by the connecting rod, thereby driving the other transmission component to rotate.

[0005] In some embodiments, the transmission component further includes a bearing connecting section, which is coaxially arranged with the pulley section, and the bearing connecting section and the eccentric shaft section are respectively located on both sides of the pulley section; or

[0006] The pulley section and the eccentric shaft section are located on both sides of the bearing connection section, respectively.

[0007] In some embodiments, the connecting rod includes a first sub-rod and a second sub-rod, with the opposite ends of the first sub-rod and the second sub-rod connected by fasteners, and the opposite ends of the first sub-rod and the second sub-rod respectively rotatably connected to an eccentric shaft segment.

[0008] 4. The transmission mechanism according to claim 3, characterized in that, each of the opposite ends of the first sub-rod and the second sub-rod is provided with a stop, the stop being sleeved on the eccentric shaft section, a bearing is also provided between the inner wall of the stop and the eccentric shaft section, a bearing retaining ring is connected to the eccentric shaft section, the bearing retaining ring is located on the side of the connecting rod away from the pulley section, and the bearing retaining ring also presses against the inner ring of the bearing, so that the outer ring of the bearing abuts against the inner wall of the stop, thereby axially fixing the connecting rod.

[0009] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a robot. The robot includes: a main drive arm; a secondary drive arm rotatably connected to the main drive arm; a transmission mechanism as described above disposed within the main drive arm; the secondary drive arm being coaxially fixed to one of the transmission components; and a secondary drive mechanism being coaxially fixed to another transmission component to drive the other transmission component to rotate.

[0010] In some embodiments, the robot further includes a main drive mechanism connected to the main drive arm for driving the main drive arm to rotate; wherein the main drive mechanism and the auxiliary drive mechanism are both located at the end of the main drive arm away from the auxiliary drive arm, and are respectively located on two opposite sides of the main drive arm.

[0011] In some embodiments, both the main drive mechanism and the auxiliary drive mechanism are direct drive motors, and the shafts of the two direct drive motors are arranged along the same axis.

[0012] In some embodiments, the robot further includes an electrical box and a base, the base being connected to one side of the electrical box and forming an assembly space between the base and the electrical box, the assembly space being located outside the electrical box, and the main drive mechanism and the auxiliary drive mechanism being mounted in the assembly space.

[0013] In some embodiments, the electrical box includes a first box body and a second box body that are detachably connected. A cantilever is provided on one side of the first box body, and the base is connected to the side of the second box body opposite to the first box body, forming the assembly space between the base and the cantilever.

[0014] The stator of the main drive mechanism is fixedly connected to the base, and the rotor of the main drive mechanism is fixedly connected to the main transmission arm; the stator of the auxiliary drive mechanism is fixedly connected to the cantilever, and the rotor of the auxiliary drive mechanism is coaxially fixed to another transmission component.

[0015] In some embodiments, the distance between the base and the cantilever is adjustable.

[0016] In some embodiments, the first box body is provided with a sliding groove at one end facing the second box body, and the second box body is provided with a guide block at one end facing the first box body, the guide block being slidably assembled with the sliding groove;

[0017] The guide block and the bottom wall of the chute are connected by fasteners.

[0018] The beneficial effects of this application are as follows: Unlike existing technologies, this application discloses a robot and its transmission mechanism. By defining two eccentric shaft segments that are rotatably connected to the two ends of a connecting rod, a parallelogram linkage mechanism is formed. A synchronizing element is connected to two pulley segments, allowing the parallelogram linkage mechanism to smoothly pass through dead points during operation. This enables continuous transmission, and since the two transmission components have identical structures and dimensions, a one-to-one transmission with the synchronizing element can be achieved. This further ensures the smooth and consistent transmission of the synchronizing element and the connecting rod. Furthermore, the combination of the synchronizing element and the connecting rod transmission method results in a larger transmitted torque, higher rigidity, and higher transmission accuracy, which is beneficial for improving the rigidity of the robot joints and the entire robot, thereby improving the robot's performance. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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:

[0020] Figure 1 This is a structural schematic diagram of an embodiment of the robot provided in this application;

[0021] Figure 2 yes Figure 1 The diagram shows the structure of the transmission mechanism in the robot.

[0022] Figure 3 yes Figure 2 A schematic diagram of the transmission components in the transmission mechanism shown.

[0023] Figure 4 yes Figure 2 A schematic diagram of the parallelogram linkage mechanism formed by the transmission mechanism shown.

[0024] Figure 5 yes Figure 2 A cross-sectional view of the transmission mechanism shown.

[0025] Figure 6 This is another cross-sectional structural schematic diagram of the transmission mechanism provided in this application;

[0026] Figure 7 yes Figure 2 A schematic diagram of the structure of the first sub-rod in the connecting rod shown;

[0027] Figure 8 yes Figure 2 A schematic diagram of the structure of the second sub-rod in the connecting rod shown;

[0028] Figure 9 yes Figure 1 A schematic diagram of the assembly structure of the main drive arm and the transmission mechanism in the robot shown.

[0029] Figure 10 yes Figure 9 The diagram shows a cross-sectional view of the main drive arm and the transmission mechanism.

[0030] Figure 11 yes Figure 1 A schematic diagram of the cross-sectional structure of the robot shown;

[0031] Figure 12 yes Figure 1 A schematic diagram of the assembly structure of the electrical box and the base in the robot shown.

[0032] Figure 13 yes Figure 12 A schematic diagram of the structure of the first box in the electrical box shown;

[0033] Figure 14 yes Figure 12 A schematic diagram of the structure of the second box in the electrical box shown. Detailed Implementation

[0034] 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.

[0035] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, 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.

[0036] 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 mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0037] This application provides a robot 100, see reference. Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the axonal structure of an embodiment of the robot provided in this application. Figure 2 yes Figure 1 The diagram shows the structure of the transmission mechanism in the robot.

[0038] The robot 100 includes a main drive mechanism 10, a secondary drive mechanism 20, a secondary transmission arm 30, a main transmission arm 40, and a transmission mechanism 50. The transmission mechanism 50 is disposed inside the main transmission arm 40. The secondary transmission arm 30 is rotatably connected to the main transmission arm 40, and one end of the secondary transmission arm 30 is connected to the transmission mechanism 50. The secondary drive mechanism 20 is connected to the other end of the transmission mechanism 50, and the secondary drive mechanism 20 drives the secondary transmission arm 30 to rotate through the transmission mechanism 50. The main drive mechanism 10 is connected to the end of the main transmission arm 40 away from the secondary transmission arm 30, and the main drive mechanism 10 drives the main transmission arm 40 to rotate.

[0039] The transmission mechanism 50 includes two transmission components 51, a synchronizing component 52, and a connecting rod 53. Both transmission components 51 can rotate around their own axes. The synchronizing component 52 and the connecting rod 53 are connected to the two transmission components 51. Power is transmitted between the two transmission components 51 through the synchronizing component 52 and the connecting rod 53.

[0040] Please see Figure 3 , Figure 3 yes Figure 2 The diagram shows the structure of the transmission component in the transmission mechanism.

[0041] Specifically, each of the two transmission components 51 includes a pulley section 510 and an eccentric shaft section 512 eccentrically positioned relative to the pulley section 510. The eccentric shaft section 512 is connected to the pulley section 510, and the two transmission components 51 are spaced apart. A synchronizing element 52 is connected to the two pulley sections 510. A connecting rod 53 is rotatably connected to the two eccentric shaft sections 512. When one of the two transmission components 51 rotates, the two pulley sections 510 are driven by the synchronizing element 52, and the two eccentric shaft sections 512 are driven by the connecting rod 53, thereby driving the other transmission component 51 to rotate.

[0042] In this embodiment, the synchronizing element 52 is a synchronizing belt, the surface of the pulley segment 510 may be provided with teeth, and the synchronizing element 52 may be provided with corresponding meshing teeth. The synchronizing element 52 meshes with the pulley segment 510, thereby preventing slippage between the synchronizing element 52 and the pulley segment 510; or, the pulley segment 510 is a pulley without teeth on its surface, and the synchronizing element 52 is a belt without teeth on its surface.

[0043] Alternatively, the synchronizing element 52 can also be a wire rope or chain, etc.

[0044] See Figures 2 to 4 ,in Figure 4 yes Figure 2 The diagram shows the structure of the parallelogram linkage mechanism formed by the transmission mechanism shown.

[0045] The eccentric shaft segment 512 is eccentrically positioned relative to the pulley segment 510, meaning the axis of the eccentric shaft segment 512 and the axis of the pulley segment 510 are not collinear. The two ends of the connecting rod 53 are connected to the two eccentric shaft segments 512 respectively, forming a parallelogram linkage mechanism. This allows power from one transmission component 51 to be transmitted to another transmission component 51 via the connecting rod 53. The centers of the two pulley segments 510 and the two eccentric shaft segments 512 form the four vertices A, B, C, and D of the parallelogram linkage mechanism. A and D are the centers of the two pulley segments 510, and B and C are the centers of the two eccentric shaft segments 512. Point B rotates around point A, and point C rotates around point D. Power input to any transmission component 51 can be transmitted to the other transmission component 51 through this parallelogram linkage mechanism. Furthermore, by setting a synchronizing element 52, the parallelogram linkage mechanism can smoothly pass through dead points during movement, thereby enabling continuous transmission of the transmission mechanism 50. The two transmission components 51 have the same structure and dimensions, thus enabling a one-to-one transmission of the synchronizing component 52, which further ensures the smooth and consistent transmission between the synchronizing component 52 and the connecting rod 53.

[0046] The combined transmission of the synchronizing element 52 and the connecting rod 53 proposed in this application, compared with the transmission of the synchronizing element 52 alone, has a larger transmitted torque and higher rigidity, which can significantly improve the rigidity of the joints and the whole machine of the robot 100, thereby helping to improve the overall load and key performance of the robot 100 such as maximum speed and accuracy.

[0047] Moreover, the combined transmission form of the synchronizing element 52 and the connecting rod 53 proposed in this application is simpler than the structure of the double linkage mechanism. Only one connecting rod 53 needs to be processed, so the processing cost is also lower and it is easier to install.

[0048] The transmission component 51 can be an integral structural component, that is, the eccentric shaft section 512 and the pulley section 510 are integrally formed; the transmission component 51 can also be a split structure, with the eccentric shaft section 512 and the pulley section 510 being detachably connected, which can significantly reduce the manufacturing cost and difficulty of the transmission component 51.

[0049] like Figure 3 As shown, the transmission component 51 also includes a bearing connecting section 514, which is coaxially arranged with the pulley section 510. The bearing connecting section 514 is used to mount the transmission component 51. The bearing connecting section 514 and the eccentric shaft section 512 can be located on opposite sides of the pulley section 510, and the pulley section 510 and the eccentric shaft section 512 can also be located on opposite sides of the bearing connecting section 514.

[0050] See also Figure 3 and Figure 5 ,in Figure 5 yes Figure 2 The diagram shows a cross-sectional view of the transmission mechanism. The moving part 51 is an integral structural component. The bearing connecting section 514 and the eccentric shaft section 512 can be located on both sides of the pulley section 510, respectively. The radial dimension of the bearing connecting section 514 is smaller than that of the pulley section 510. The bearing connecting section 514 is also provided with a shoulder to isolate the pulley section 510 and the bearing mounted on the bearing connecting section 514, so as to avoid friction between the pulley section 510 and the synchronizing member 52 and the bearing. The bearing connecting section 514 is also used to be coaxially fixedly connected with the auxiliary transmission arm 30.

[0051] See Figure 6 , Figure 6 This is another cross-sectional structural schematic diagram of the transmission mechanism provided in this application. The transmission component 51 is a split structure, in which the pulley section 510 is an independent component, and the bearing connecting section 514 and the eccentric shaft section 512 are an integral structure. The pulley section 510 is located on the side of the bearing connecting section 514 away from the eccentric shaft section 512. The side of the pulley section 510 away from the eccentric shaft section 512 is also used to be coaxially and fixedly connected with the auxiliary transmission arm 30.

[0052] The distance between the two transmission components 51 is adjustable to adjust the tension of the synchronizing component 52, and consequently the length of the connecting rod 53 is also adjustable.

[0053] See Figures 2 to 5 and Figure 7 , Figure 8 ,in Figure 7 yes Figure 2 A schematic diagram of the structure of the first sub-rod in the connecting rod shown. Figure 8 yes Figure 2 A schematic diagram of the structure of the second sub-rod in the connecting rod shown.

[0054] In this embodiment, the connecting rod 53 includes a first sub-rod 531 and a second sub-rod 533. The opposite ends of the first sub-rod 531 and the second sub-rod 533 are connected by fasteners, and the opposite ends of the first sub-rod 531 and the second sub-rod 532 are respectively rotatably connected to an eccentric shaft segment 512. The fasteners can be screws or pins, etc.

[0055] Specifically, one end of the first sub-rod 531 is rotatably connected to an eccentric shaft segment 512, and the other end of the first sub-rod 531 is provided with a first threaded hole 532. One end of the second sub-rod 533 is rotatably connected to another eccentric shaft segment 512, and the other end of the second sub-rod 533 is provided with an elongated hole 534. The elongated hole 534 is provided along the length direction of the connecting rod 53. The first threaded hole 532 and the elongated hole 534 are connected by a fastener, which can be a screw or bolt, etc.

[0056] The length of the connecting rod 53 can be adjusted by adjusting the position of the fastener connected to the first threaded hole 532 relative to the elongated hole 534. For example, if the fastener is located at the end or middle of the elongated hole 534, the connection can have different lengths to facilitate tensioning of the synchronizing member 52.

[0057] like Figure 7 As shown, the end of the first sub-rod 531 is provided with a first connecting platform 535, and the first connecting platform 535 is provided with multiple rows of first threaded holes 532. The thickness of the first connecting platform 535 is less than the thickness of the first sub-rod 531 at other locations; as shown Figure 7 As shown, the end of the second sub-rod 533 is provided with a second connecting platform 536, and the second connecting platform 536 is provided with multiple parallel elongated holes 534. The thickness of the second connecting platform 536 is less than the thickness of the other parts of the second sub-rod 533. After the first connecting platform 535 and the second connecting platform 536 are stacked, the multiple rows of first threaded holes 532 and the multiple rows of elongated holes 534 correspond to each other and are respectively equipped with fasteners to enhance the connection strength and connection reliability of the first sub-rod 531 and the second sub-rod 533. The thickness of the first connecting platform 535 and the second connecting platform 536 after stacking is equal to the thickness of the connecting rod 53.

[0058] Optionally, a connecting rod may be provided between the first sub-rod 531 and the second sub-rod 533, wherein the first sub-rod 531 and the second sub-rod 533 are provided with a first threaded hole 532, and both ends of the connecting rod are provided with elongated holes 534. The length of the connecting rod 53 can be adjusted by adjusting the connection position between the elongated holes 534 of the connecting rod and the first threaded holes 532 on the first sub-rod 531 and the second sub-rod 533.

[0059] Optionally, the first sub-rod 531 and the second sub-rod 533 are provided with multiple rows of threaded holes or positioning holes at their opposite ends. A row of threaded holes or positioning holes is selected on each of them and overlaps and corresponds to each other, and they are connected by fasteners. The length of the connecting rod 53 can also be adjusted.

[0060] like Figure 5 , Figure 7 and Figure 8 As shown, both the first sub-rod 531 and the second sub-rod 533 have a stop 537 at their opposite ends. The stop 537 is fitted onto the corresponding eccentric shaft section 512, and a bearing is provided between the inner wall of the stop 537 and the eccentric shaft section 512. A bearing retainer ring 513 is connected to the eccentric shaft section 512. The bearing retainer ring 513 is located on the side of the connecting rod 53 away from the pulley section 510. The bearing retainer ring 513 also presses against the inner ring of the bearing to achieve axial fixation of the bearing, and also makes the outer ring of the bearing abut against the inner wall of the stop 537, thereby achieving axial fixation of the connecting rod 53.

[0061] Optionally, the bearing retaining ring can simultaneously axially stop the bearing and the end of the connecting rod 53, thereby achieving axial fixation of the bearing and the connecting rod 53.

[0062] Optionally, one end of the first sub-rod 531 and the second sub-rod 533 is provided with a shaft hole, which is rotatably assembled with the corresponding eccentric shaft segment 512.

[0063] See Figure 9 and Figure 10 , Figure 9 yes Figure 1 The diagram shows the assembly structure of the main drive arm and the transmission mechanism in the robot. Figure 10 yes Figure 9 The diagram shows a cross-sectional view of the main drive arm and the transmission mechanism.

[0064] The transmission mechanism 50 is located inside the main transmission arm 40. The main transmission arm 40 includes a main arm housing 41, a first bearing seat 42, a second bearing seat 43, and a cover plate 44. The first bearing seat 42 and the second bearing seat 43 are respectively located at both ends of the main arm housing 41. Two transmission components 51 are rotatably mounted on the first bearing seat 42 and the second bearing seat 43, respectively. The position of the first bearing seat 42 can be adjusted along the extension direction of the main transmission arm 40, thereby adjusting the distance between the two transmission components 51 to appropriately tension the synchronizing components 52 on the two transmission components 51. The length of the connecting rod 53 is also adjusted accordingly. After the position is determined, the first bearing seat 42 is fixed on the main arm housing 41.

[0065] Specifically, the second bearing seat 43 is fixed to one end of the main boom housing 41, and the first bearing seat 42 is provided with an adjustment hole, which can be a U-shaped hole or an elongated hole. Fasteners pass through the adjustment hole and connect to the main boom housing 41 to fix the first bearing seat 42 to the main boom housing 41. By adjusting the position of the fasteners relative to the adjustment hole, the distance between the first bearing seat 42 and the second bearing seat 43 can be adjusted to tension the synchronizing element 52.

[0066] The main drive arm 40 also includes an adjusting screw 45, which passes through a light hole on the main arm housing 41 and is connected to a threaded hole in the first bearing seat 42, so that the user can adjust the position of the first bearing seat 42 by pushing and pulling the adjusting screw 45.

[0067] With the first bearing housing 42 in an adjustable state, push and pull the adjusting screw 45 to adjust the position of the first bearing housing 42, and after determining that the tension of the synchronizing member 52 is appropriate, tighten the fastener passing through the adjusting hole to fix the first bearing housing 42.

[0068] The bearing connecting section 514 is rotatably connected to the corresponding first bearing housing 42 or second bearing housing 43. For example, a bearing is provided between the bearing connecting section 514 and the first bearing housing 42, and the bearing is axially fixed by a bearing pressure plate.

[0069] The cover plate 44 is detachably connected to the main boom housing 41. After the main boom housing 41 is removed, the connection between the first sub-rod 531 and the second sub-rod 533 can be exposed, so that the user can easily tighten or loosen the fasteners connecting the first sub-rod 531 and the second sub-rod 533 during the tension adjustment of the synchronizing component 52. After the tension adjustment of the synchronizing component 52 is completed, the cover plate 44 and the main boom housing 41 seal the connecting rod 53.

[0070] See also Figure 1 and Figure 11 , Figure 11 yes Figure 1 The diagram shows a cross-sectional view of the robot.

[0071] In this embodiment, the secondary transmission arm 30 is coaxially fixed with a transmission component 51; the secondary drive mechanism 20 is coaxially fixed with another transmission component 51 to drive the other transmission component 51 to rotate, and then drives the secondary transmission arm 30 to rotate through the transmission mechanism 50.

[0072] Specifically, the auxiliary transmission arm 30 is coaxially and fixedly connected to the corresponding bearing connecting section 514, and the auxiliary drive mechanism 20 is coaxially and fixedly connected to the bearing connecting section 514 on another transmission component 51. The two transmission components 51 are transmitted through a connecting rod 53 and a synchronizing component 52.

[0073] The main drive mechanism 10 is connected to the main drive arm 40 and is used to drive the main drive arm 40 to rotate; wherein, the main drive mechanism 10 and the auxiliary drive mechanism 20 are both located at the end of the main drive arm 40 away from the auxiliary drive arm 30, and are respectively located on two opposite sides of the main drive arm 40.

[0074] In existing robots, it is common to find that the main drive mechanism 10 and the auxiliary drive mechanism 20 are connected to the two ends of the main drive arm 40 respectively, and there is no need to set any type of transmission mechanism 50 inside the main drive arm 40. The auxiliary drive mechanism 20 is set relatively close to the auxiliary drive arm 30 and can directly drive the auxiliary drive arm 30 to rotate.

[0075] Compared to the above embodiment where the secondary drive mechanism 20 is positioned relatively close to the secondary transmission arm 30, this embodiment limits both the main drive mechanism 10 and the secondary drive mechanism 20 to be located at the end of the main transmission arm 40 away from the secondary transmission arm 30, and respectively on two opposite sides of the main transmission arm 40. By placing the secondary drive mechanism 20 at the rear, the rotational inertia on one side of the secondary transmission arm 30 can be effectively reduced. Consequently, the torque required by the main drive mechanism 10 can also be significantly reduced, which is beneficial for using a low-power main drive mechanism 10 to drive the main transmission arm 40, and can effectively reduce the cost of the robot 100.

[0076] In other words, compared to the existing series structure of the main drive mechanism 10 and the auxiliary drive mechanism 20, in this embodiment, the main drive mechanism 10 and the auxiliary drive mechanism 20 adopt a parallel structure, which effectively reduces the mutual influence between the main drive mechanism 10 and the auxiliary drive mechanism 20, further reduces the torque required by the main drive mechanism 10, and also helps to reduce the volume of the main drive mechanism 10.

[0077] In this embodiment, both the main drive mechanism 10 and the auxiliary drive mechanism 20 are direct drive motors, and the shafts of the two direct drive motors are coaxially arranged. That is, the main drive mechanism 10 can be directly connected to the main transmission arm 40, and no reduction mechanism is required between the main drive mechanism 10 and the main transmission arm 40. The auxiliary drive mechanism 20 can be directly connected to the transmission component 51 of the transmission mechanism 50, and no reduction mechanism is required between the auxiliary drive mechanism 20 and the transmission component 51. The coaxial arrangement of the shafts of the two direct drive motors can further reduce the influence on each other during operation and ensure the smoothness of rotation.

[0078] The robot 100 provided in this embodiment is driven by a direct drive motor, which eliminates the need for a reduction mechanism, thus effectively reducing the cost of the robot 100. In addition, the main drive mechanism 10 and the auxiliary drive mechanism 20 are smaller in size, which helps to reduce the size of the robot 100 and make the robot 100 more concise.

[0079] Optionally, the main drive mechanism 10 and the auxiliary drive mechanism 20 may also include a motor and a reduction mechanism. The motor is connected to the transmission component 51 or the main drive arm 40 through the reduction mechanism, which will not be described in detail here.

[0080] See also Figure 1 , Figures 11 to 14 ,in Figure 12 yes Figure 1 The diagram shows the assembly structure of the electrical box and the base in the robot. Figure 13 yes Figure 12 The diagram shows the structure of the first box in the electrical box shown. Figure 14 yes Figure 12 A schematic diagram of the structure of the second box in the electrical box shown.

[0081] like Figure 11 and Figure 12 As shown, the robot 100 also includes an electrical box 60 and a base 70. The base 70 is connected to one side of the electrical box 60 and forms an assembly space 61 between the base 70 and the electrical box 60. The assembly space 61 is located outside the electrical box 60. The main drive mechanism 10 and the auxiliary drive mechanism 20 are installed in the assembly space 61. One end of the main drive arm 40 is located between the main drive mechanism 10 and the auxiliary drive mechanism 20.

[0082] The electrical box 60 has a accommodating space for installing electrical components 80, which may include control devices and power supply devices, etc. The assembly space 61 and the accommodating space are separated by space.

[0083] In this embodiment, the electrical box 60 simultaneously serves to house the electrical components 80 and to install and fix the main drive mechanism 10 and the auxiliary drive mechanism 20. The functions of the electrical box 60 are relatively increased, which can further simplify the structure of the robot 100 and help reduce the size of the robot 100.

[0084] like Figures 12 to 14 As shown, the electrical box 60 includes a first box body 63 and a second box body 64 that can be detachably connected. A cantilever 65 is provided on one side of the first box body 63. A base 70 is connected to the side of the second box body 64 away from the first box body 63 and forms an assembly space 64 between the base 70 and the cantilever 65. The cantilever 65 and the base 70 are arranged in a roughly parallel and spaced manner.

[0085] like Figure 11 As shown, the stator 11 of the main drive mechanism 10 is fixedly connected to the base 70, and the rotor 12 of the main drive mechanism 10 is fixedly connected to the main transmission arm 40; the stator 21 of the auxiliary drive mechanism 20 is fixedly connected to the cantilever 65, and the rotor 22 of the auxiliary drive mechanism 20 is coaxially fixed with another transmission component 51.

[0086] One end of the rotor 22 is provided with a connecting flange 23, which is coaxially fixed with another transmission component 51.

[0087] Furthermore, the distance between the base 70 and the cantilever 65 is adjustable.

[0088] In this embodiment, as Figure 13 and Figure 14 As shown, the first box 63 is provided with a sliding groove 632 at one end facing the second box 64, and the second box 64 is provided with a guide block 642 at one end facing the first box 63. The guide block 642 is slidably assembled with the sliding groove 632, wherein the bottom wall of the guide block 642 and the sliding groove 632 are connected by fasteners.

[0089] In this embodiment, the guide block 642 is provided with a second threaded hole 644, and the bottom wall of the slide groove 632 is provided with a light hole 634. The diameter of the light hole 634 is larger than the diameter of the second threaded hole 644, and the light hole 634 and the second threaded hole 644 are connected by fasteners, such as screws or bolts, so that the assembly position of the guide block 642 and the slide groove 632 can be finely adjusted to change the distance between the base 70 and the cantilever 65, thereby eliminating the processing error or installation error of each component, so that the main drive mechanism 10 and the auxiliary drive mechanism 20 are more reliably installed between the base 70 and the cantilever 65.

[0090] Optionally, the bottom walls of both the guide block 642 and the slide 632 may be provided with multiple rows of positioning holes or multiple rows of threaded holes, so that the bottom walls of the guide block 642 and the slide 632 can be connected by corresponding positioning pins or screws.

[0091] In other embodiments, the connection position of the base 70 and the second box 64 is adjustable to adjust the distance between the base 70 and the cantilever 65, which will not be described in detail here.

[0092] Unlike existing technologies, this application discloses a robot and its transmission mechanism. By defining two eccentric shaft segments that are rotatably connected to the two ends of a connecting rod, a parallelogram linkage mechanism is formed. Synchronizing elements are connected to two pulley segments, allowing the parallelogram linkage mechanism to smoothly pass through dead points during operation. This enables continuous transmission. Since the two transmission components have identical structures and dimensions, a one-to-one transmission ratio with the synchronizing element is achieved, further ensuring the smooth and consistent transmission of the synchronizing element and the connecting rod. Combining the transmission methods of the synchronizing element and the connecting rod results in a larger transmitted torque, higher rigidity, and higher transmission accuracy. This improves the rigidity of the robot joints and the overall robot, thereby enhancing robot performance. Furthermore, the transmission mechanism provided in this application has a simple structure, is easy to manufacture and install, and has low cost.

[0093] 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, The transmission mechanism is used in a robot, which includes a main transmission arm, a secondary transmission arm, a transmission mechanism, and a secondary drive mechanism. The secondary transmission arm is rotatably connected to the main transmission arm. The transmission mechanism is disposed within the main transmission arm. The transmission mechanism includes: Two transmission components, each capable of rotating around their own axis, include a pulley section and an eccentric shaft section eccentrically disposed relative to the pulley section. The eccentric shaft section is connected to the pulley section, and the two transmission components are spaced apart. A synchronizing element is connected to the two pulley segments; The connecting rod is rotatably connected to the two eccentric shaft segments; One of the transmission components is configured to be coaxially fixed with the secondary transmission arm, and the other transmission component is configured to be coaxially fixed with the secondary drive mechanism; when one of the two transmission components rotates, the two pulley segments are driven by the synchronizing member, and the two eccentric shaft segments are driven by the connecting rod, thereby driving the other transmission component to rotate.

2. The transmission mechanism according to claim 1, characterized in that, The transmission component further includes a bearing connecting section, which is coaxially arranged with the pulley section. The bearing connecting section and the eccentric shaft section are located on opposite sides of the pulley section, respectively. The pulley section and the eccentric shaft section are located on both sides of the bearing connection section, respectively.

3. The transmission mechanism according to claim 1, characterized in that, The connecting rod includes a first sub-rod and a second sub-rod. The opposite ends of the first sub-rod and the second sub-rod are connected by fasteners, and the opposite ends of the first sub-rod and the second sub-rod are respectively rotatably connected to an eccentric shaft segment.

4. The transmission mechanism according to claim 3, characterized in that, Both the first and second sub-rods have a stop at opposite ends. The stop is used to fit onto the eccentric shaft section. A bearing is also provided between the inner wall of the stop and the eccentric shaft section. A bearing retainer is connected to the eccentric shaft section. The bearing retainer is located on the side of the connecting rod away from the pulley section. The bearing retainer also presses against the inner ring of the bearing, so that the outer ring of the bearing abuts against the inner wall of the stop, thereby axially fixing the connecting rod.

5. A robot, characterized in that, The robot includes: 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 any one of claims 1-4; the secondary transmission arm is coaxially fixed with one of the transmission components. The secondary drive mechanism is coaxially fixed with the other transmission component to drive the other transmission component to rotate.

6. The robot according to claim 5, characterized in that, The robot also includes a main drive mechanism connected to the main drive arm for driving the main drive arm to rotate; wherein the main drive mechanism and the auxiliary drive mechanism are both located at the end of the main drive arm away from the auxiliary drive arm, and are respectively located on two opposite sides of the main drive arm.

7. The robot according to claim 6, characterized in that, Both the main drive mechanism and the auxiliary drive mechanism are direct drive motors, and the shafts of the two direct drive motors are arranged along the same axis.

8. The robot according to claim 6, characterized in that, The robot also includes an electrical box and a base. The base is connected to one side of the electrical box and forms an assembly space with the electrical box. The assembly space is located outside the electrical box, and the main drive mechanism and the auxiliary drive mechanism are installed in the assembly space.

9. The robot according to claim 8, characterized in that, The electrical box includes a first box body and a second box body that can be detachably connected. A cantilever is provided on one side of the first box body. The base is connected to the side of the second box body opposite to the first box body and forms the assembly space between the base and the cantilever. The stator of the main drive mechanism is fixedly connected to the base, and the rotor of the main drive mechanism is fixedly connected to the main transmission arm; the stator of the auxiliary drive mechanism is fixedly connected to the cantilever, and the rotor of the auxiliary drive mechanism is coaxially fixed to another transmission component.

10. The robot according to claim 9, characterized in that, The distance between the base and the cantilever is adjustable.

11. The robot according to claim 10, characterized in that, The first box body has a sliding groove at one end facing the second box body, and the second box body has a guide block at one end facing the first box body, and the guide block is slidably assembled with the sliding groove; The guide block and the bottom wall of the chute are connected by fasteners.

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