Transmission device and robot power mechanism

Abstract

The application discloses a transmission device and a robot power mechanism. The transmission device comprises a first-stage transmission mechanism, a second-stage transmission mechanism and a third-stage transmission mechanism, the first-stage transmission mechanism is in transmission connection with an output shaft of a motor, the second-stage transmission mechanism is arranged on the same side of the motor as the first-stage transmission mechanism, the second-stage transmission mechanism is in transmission connection with the first-stage transmission mechanism, the third-stage transmission mechanism is arranged on the same side of the motor as the first-stage transmission mechanism, the third-stage transmission mechanism is in transmission connection with the second-stage transmission mechanism, the first-stage transmission mechanism and the second-stage transmission mechanism are arranged along a first direction, the second-stage transmission mechanism and the third-stage transmission mechanism are arranged along a second direction, and the second direction is arranged crosswise to the first direction. Through the above manner, the three-stage transmission mechanisms of the transmission device are arranged on the same side of the motor, the function of a harmonic speed reducer is replaced, a larger reduction ratio can be realized, and positioning accuracy and transmission rigidity in the transmission process are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine transmission, in particular to a transmission device and a robot power mechanism. BACKGROUND

[0002] The existing robot power mechanism all adopts a harmonic reducer as the main core component, but in the prior art, the corresponding problem is that the harmonic reducer has low efficiency and generates a lot of heat, and the meshing of the flexible tooth and the steel wheel tooth of the harmonic reducer needs lubricating grease, and the sealing needs to be sealed by friction rubber, which further causes energy loss in the form of friction, resulting in low efficiency of the whole machine.

[0003] Under the condition of ensuring the same load level, the transmission efficiency of the harmonic reducer is low, which causes the power unit part to generate a lot of heat, seriously affecting the service life of the whole machine, and the corresponding harmonic reduction needs lubrication or chamber sealing, which also causes the load of the whole system; in addition, the transmission characteristics of the harmonic are relatively complex, and the force control of the collaborative machine needs to be additionally increased to measure the basic strain mode, which not only increases the complexity of the power mechanism, but also reduces the high precision of the harmonic, therefore, a transmission device is needed to replace the harmonic reducer to improve the positioning accuracy and transmission rigidity in the transmission process. SUMMARY

[0004] The technical problem solved by the present application is to provide a transmission device and a robot power mechanism to replace the function of the harmonic reducer, which can realize a large reduction ratio while ensuring the positioning accuracy and transmission rigidity in the transmission process.

[0005] To solve the above technical problems, one technical solution adopted by the present application is to provide a transmission device, which comprises a first-stage transmission mechanism, a second-stage transmission mechanism and a third-stage transmission mechanism, the first-stage transmission mechanism is in transmission connection with the output shaft of the motor; the second-stage transmission mechanism is arranged on the same side of the motor as the first-stage transmission mechanism, and the second-stage transmission mechanism is in transmission connection with the first-stage transmission mechanism; the third-stage transmission mechanism is arranged on the same side of the motor as the first-stage transmission mechanism, and the third-stage transmission mechanism is in transmission connection with the second-stage transmission mechanism; wherein the first-stage transmission mechanism and the second-stage transmission mechanism are arranged along a first direction, the second-stage transmission mechanism and the third-stage transmission mechanism are arranged along a second direction, and the second direction is arranged transversely to the first direction.

[0006] The transmission device further comprises a first flexible transmission member, a second flexible transmission member and a third flexible transmission member, the first flexible transmission member is used to connect the output shaft of the motor and the first-stage transmission mechanism; the second flexible transmission member is used to connect the first-stage transmission mechanism and the second-stage transmission mechanism; and the third flexible transmission member is used to connect the second-stage transmission mechanism and the third-stage transmission mechanism.

[0007] The rigidity of the first flexible transmission member, the second flexible transmission member and the third flexible transmission member is different.

[0008] The first-stage transmission mechanism comprises a first driving wheel and a first driven wheel.

[0009] The transmission device further comprises a first support member and a first connecting shaft.

[0010] The other end of the first connecting shaft is provided with an adjusting portion.

[0011] The second-stage transmission mechanism comprises a second driving wheel and a second driven wheel.

[0012] The third-stage transmission mechanism comprises a first rotating wheel and a second rotating wheel, a third connecting shaft and a fourth connecting shaft.

[0013] The second support member is provided on one side close to the second driving wheel with a limiting post and a second limiting portion.

[0014] The first input winding column is fixedly connected with the first rotating wheel and rotates synchronously, and the second input winding column is fixedly connected with the second rotating wheel and rotates synchronously.

[0015] The first flexible transmission member, the second flexible transmission member, the third flexible transmission member and the fourth flexible transmission member include a flexible synchronous belt, a steel wire rope or a synchronous chain.

[0016] The first driving wheel is coaxially arranged with the first driven wheel, and the second driving wheel is coaxially arranged with the second driven wheel; in the rotating surface, the output shaft of the motor is arranged along a first direction with the first driving wheel, and the second driven wheel is arranged along a second direction with the first rotating wheel and the second rotating wheel.

[0017] To solve the above technical problems, one technical scheme adopted by the present application is to provide a robot power mechanism, which comprises a motor and the transmission device of any one of the above.

[0018] Different from the prior art, the transmission device of the present application comprises a first-stage transmission mechanism, a second-stage transmission mechanism and a third-stage transmission mechanism, and the first-stage transmission mechanism, the second-stage transmission mechanism and the third-stage transmission mechanism are all arranged on the same side of the output shaft of the motor, the first-stage transmission mechanism is in transmission connection with the second-stage transmission mechanism, and the second-stage transmission mechanism is in transmission connection with the third-stage transmission mechanism. By using the multi-stage transmission mode, a large reduction ratio can be achieved, while the positioning accuracy and transmission rigidity in the transmission process are ensured, and reverse transmission can also be realized. In addition, the first-stage transmission mechanism and the second-stage transmission mechanism of the transmission device of the present application are arranged along a first direction, and the second-stage transmission mechanism and the third-stage transmission mechanism are arranged along a second direction, which is arranged transversely to the first direction, so that the transmission device occupies less space, the space utilization is improved, and the transmission device does not need to be lubricated or sealed, which can reduce the complexity of the transmission device, thereby ensuring lower heat generation or a large proportion of torque output. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a structural schematic view of the first embodiment of the transmission device provided by the present application;

[0021] Figure 2 is a structural schematic diagram of a first embodiment of a transmission device provided by the present application;

[0022] Figure 3 is a structural schematic diagram of a second embodiment of a transmission device provided by the present application;

[0023] Figure 4 is a structural schematic diagram of a third embodiment of a transmission device provided by the present application;

[0024] Figure 5 is an exploded view of the second embodiment of the transmission device provided by the present application;

[0025] Figure 6 is a schematic diagram of an embodiment of a second support and a motor provided by the present application;

[0026] Figure 7 is a structural schematic diagram of another view of the third embodiment of the transmission device provided by the present application;

[0027] Figure 8 is a structural schematic diagram of an embodiment of a robot power mechanism provided by the present application;

[0028] Figure 9 is a cross-sectional schematic diagram of an embodiment of the robot power mechanism provided by the present application. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without any creative effort fall within the scope of protection of the present application.

[0030] Reference to“an embodiment” in this text means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor does it necessarily exclude other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0031] In the prior art, the existing robot transmission mechanism adopts the existing harmonic reducer as the main core component, but in the current robot power transmission mechanism, the harmonic reducer has low transmission efficiency, and the biggest problem is that the joint module formed by the harmonic reducer generates serious heat, and the meshing part of the harmonic reducer with flexible teeth or steel wheel teeth needs lubricating grease, and the joint module using the harmonic reducer needs to be sealed with friction rubber, which further causes the kinetic energy to be lost in the form of friction, resulting in a decrease in overall efficiency.

[0032] To solve the above problems, the application first proposes a transmission device which can be applied to the above-mentioned joint module, thereby replacing the function of the harmonic reducer, achieving a large reduction ratio while ensuring positioning accuracy and transmission rigidity during transmission, and solving the problem of serious heat generation. In addition, the transmission device provided by the application can also be applied to other transmission fields, such as the variable stiffness mechanical arm research direction, realizing the rigid and flexible transmission of the mechanical arm, and providing an effective solution for innovative mechanical arms and even humanoid and animal robots.

[0033] Please refer to Figure 1 , Figure 1 is a structural schematic diagram of the first embodiment of the transmission device provided by the application. As Figure 1 shown, the transmission device 100 of the embodiment includes a first-stage transmission mechanism 10, a second-stage transmission mechanism 20, and a third-stage transmission mechanism 30.

[0034] As Figure 1 shown, the first-stage transmission mechanism 10 is in transmission connection with the output shaft 120 of the motor; the second-stage transmission mechanism 20 is arranged on the same side of the motor as the first-stage transmission mechanism 10, and the second-stage transmission mechanism 20 is in transmission connection with the first-stage transmission mechanism 10; the third-stage transmission mechanism 30 is arranged on the same side of the motor as the first-stage transmission mechanism 10, and the third-stage transmission mechanism 30 is in transmission connection with the second-stage transmission mechanism 20; the first-stage transmission mechanism 10 and the second-stage transmission mechanism 20 are arranged along a first direction, the second-stage transmission mechanism 20 and the third-stage transmission mechanism 30 are arranged along a second direction, and the second direction is arranged transversely to the first direction.

[0035] As Figure 1 shown, the transmission device 100 further includes a first flexible transmission member 40, a second flexible transmission member 50, and a third flexible transmission member 60; the first flexible transmission member 40 is used to connect the output shaft 120 of the motor and the first-stage transmission mechanism 10; the second flexible transmission member 50 is used to connect the first-stage transmission mechanism 10 and the second-stage transmission mechanism 20; and the third flexible transmission member 60 is used to connect the second-stage transmission mechanism 20 and the third-stage transmission mechanism 30.

[0036] In this embodiment, the first-stage transmission mechanism 10, the second-stage transmission mechanism 20, and the third-stage transmission mechanism 30 are all located on one side of the motor's output shaft 120, such as... Figure 1 As shown, on the plane of rotation, the output shaft 120 of the motor and the first-stage transmission mechanism 10 are connected by a first flexible transmission member 40. The output shaft 120 of the motor and the first-stage transmission mechanism 10 are arranged along a first direction. A device such as... can be sleeved on the output shaft 120 of the motor. Figure 1 The synchronous pulley 110 shown rotates synchronously with the motor output shaft. The synchronous pulley 110 is connected to the first-stage transmission mechanism 10 through the first flexible transmission member 40. The rotation of the motor output shaft 120 drives the synchronous pulley 110 to rotate synchronously. The synchronous pulley 110 drives the first-stage transmission mechanism 10 to rotate through the first flexible transmission member 40.

[0037] The first-stage transmission mechanism 10 and the second-stage transmission mechanism 20 are connected by a second flexible transmission member 50 and are also arranged along the first direction. In this embodiment, the tension of the first flexible transmission member 40 and the second flexible transmission member 50 can be adjusted by adjusting the position of the first-stage transmission mechanism 10.

[0038] Furthermore, the third-stage transmission mechanism 30 and the second-stage transmission mechanism 20 are arranged along the second direction, and the third-stage transmission mechanism 30 and the second-stage transmission mechanism 20 are connected by a third flexible transmission member 60.

[0039] The first flexible conveyor 40 and the second flexible conveyor 50 are both arranged along the first direction, and the third flexible conveyor 60 is arranged along the second direction.

[0040] Unlike existing technologies, the transmission device 100 of this application includes a first-stage transmission mechanism 10, a second-stage transmission mechanism 20, and a third-stage transmission mechanism 30. All three mechanisms are located on the same side of the motor's output shaft 120. The first-stage transmission mechanism 10 is connected to the second-stage transmission mechanism 20, and the second-stage transmission mechanism 20 is connected to the third-stage transmission mechanism 30. By utilizing a multi-stage transmission method, this application can achieve a larger reduction ratio while ensuring positioning accuracy and transmission rigidity during transmission. It can also achieve reverse transmission. Furthermore, the first-stage transmission mechanism 10 and the second-stage transmission mechanism 20 are arranged along a first direction, while the second-stage transmission mechanism 20 and the third-stage transmission mechanism 30 are arranged along a second direction. This intersecting arrangement of the second and first directions reduces the space occupied by the entire transmission device 100, improving space utilization. Moreover, the entire transmission device 100 requires no lubrication or sealing, reducing its complexity and ensuring lower heat generation or a higher torque output.

[0041] In other embodiments, in order to effectively improve the transmission efficiency of the multi-stage transmission mechanism of the transmission device 100, effectively reduce the heat generation, and improve the service life of the entire transmission device 100, the stiffness of the first flexible transmission member 40, the second flexible transmission member 50, and the third flexible transmission member 60 in the above embodiments is different.

[0042] For example, the flexibility of the first flexible transmission member 40 that transmits and connects the output shaft 120 of the motor and the first-stage transmission mechanism 10 can be set to be larger, and the stiffness of the second flexible transmission member 50 and the third flexible transmission member 60 can be set to be larger. In other embodiments, the stiffness of the first flexible transmission member 40, the second flexible transmission member 50, and the third flexible transmission member 60 can be set based on actual needs, which is not limited herein.

[0043] Optionally, referring to Figure 1 and Figure 2 , Figure 2 is a structural schematic diagram of an embodiment of the first-stage transmission mechanism provided by the present application. As shown in Figure 2 , in the embodiment, the first-stage transmission mechanism 10 includes a first driving wheel 11 and a first driven wheel 12. The first driving wheel 11 is in transmission connection with the output shaft 120 of the motor through the first flexible transmission member 40. The first driven wheel 12 is fixedly connected with the first driving wheel 11 and rotates synchronously with the first driving wheel 11.

[0044] As shown in Figure 1 and Figure 2 , the first driving wheel 11 and the synchronous pulley 110 in the above embodiment are arranged in the same rotation plane and along the first direction. The first driving wheel 11 is in transmission connection with the synchronous pulley 110 through the first flexible transmission member 40. The output shaft 120 of the motor drives the synchronous pulley 110 to rotate synchronously, and the synchronous pulley 110 drives the first driving wheel 11 to rotate synchronously through the first flexible transmission member 40. The first driven wheel 12 is arranged on the side of the first driving wheel 11 away from the output shaft 120 of the motor, is fixedly connected with the first driving wheel 11, and rotates synchronously with the first driving wheel 11.

[0045] Optionally, referring to Figures 2-3 , Figure 3 is a structural schematic diagram of the second embodiment of the transmission device provided by the present application. As shown in Figure 2 and Figure 3As shown, the transmission device 100 also includes a first support member 70 and a first connecting shaft 13. The first support member 70 is fixedly connected to the housing of the motor and is provided with a first limiting part 71. Along the extension direction of the output shaft 120, the first driving wheel 11 is disposed close to the output shaft 120, and the first support member 70 is disposed on the side of the first driven wheel 12 away from the first driving wheel 11. One end of the first connecting shaft 13 is limited within the first limiting part 71 and can move within the first limiting part 71 in a first direction to at least adjust the tension of the first flexible transmission member 40. The first driving wheel 11 and the first driven wheel 12 are rotatably connected to the first connecting shaft 13.

[0046] In this embodiment, the first driving wheel 11 is fixedly connected to the first driven wheel 12 and rotatably connected to the first connecting shaft 13, such as... Figure 2 and Figure 3 As shown, the first driving wheel 11 and the first driven wheel 12 can be coaxially arranged, and a through hole is provided at the center position. The first connecting shaft 13 passes through the through hole and is rotatably connected to the first driving wheel 11 and the first driven wheel 12.

[0047] In this embodiment, the first support member 70 is as follows: Figure 3 As shown, a first limiting part 71 is provided on the side of the first driven wheel 12 away from the first driving wheel 11, and the first support member 70 is provided with a first limiting part 71, as shown. Figure 3 As shown, the first limiting part 71 can be configured as a notch, one end of the first connecting shaft 13 is limited within the first limiting part 71, and can move within the first limiting part 71 in a first direction to at least adjust the tension of the first flexible conveyor 40.

[0048] In other embodiments, the first limiting part 71 may also be configured as a groove, and one end of the first connecting shaft 13 is provided with a snap-fit ​​part and is limited in the groove, wherein the length of the groove in the first direction is greater than the snap-fit ​​part of the first connecting shaft 13, so that the first connecting shaft 13 can move in the first direction when it is limited in the groove, thereby adjusting the tension of the first flexible conveyor 40.

[0049] Please see Figure 4 , Figure 4 This is a structural schematic diagram of the third embodiment of the transmission device provided in this application. Figure 4 As shown, in this embodiment, an adjustment part 14 is provided on the other end of the first connecting shaft 13 near the output shaft 120 of the motor.

[0050] In this embodiment, the adjustment unit 14 can be configured as follows: Figure 4 The shape shown can also be set to other shapes, which are not limited here. If you want to adjust the position of the first connecting shaft 13 in the first limiting part 71, you can adjust it through the adjusting part 14, thereby adjusting the tension of the first flexible transmission member 40.

[0051] Optionally, referring to Figure 1 and Figure 4 , the second-stage transmission mechanism 20 comprises a second driving wheel 21 and a second driven wheel 22, the second driving wheel 21 is in transmission connection with the first driven wheel 12 through a second flexible transmission member 50; the second driven wheel 22 is fixedly connected with the second driving wheel 21 and rotates synchronously with the second driving wheel 21.

[0052] As shown in Figure 1 and Figure 4 , in the embodiment, the second driving wheel 21 and the first driven wheel 12 are in the same rotation plane, and the second driving wheel 21 and the first driven wheel 12 are arranged along the first direction and are in transmission connection through the second flexible transmission member 50, and the first driven wheel 12 drives the second driving wheel 21 to rotate.

[0053] The second driven wheel 22 is coaxially arranged with the second driving wheel 21 and is fixedly connected, and the second driven wheel 22 is arranged on the side close to the third-stage transmission mechanism 30, i.e. on the side close to the output shaft 120 of the motor. The second driven wheel 22 rotates synchronously with the second driving wheel 21.

[0054] Based on the above embodiment, the second driving wheel 21 and the first driven wheel 22 are in the same rotation plane, and the second driving wheel 21 and the first driven wheel 12 are arranged along the first direction and are in transmission connection through the second flexible transmission member 50, when the tension of the first flexible transmission member 40 is adjusted by adjusting the position of the first connecting shaft 13 in the first limiting portion 71 in the above embodiment, the position of the first-stage transmission mechanism 10 is adjusted, thereby indirectly adjusting the relative position between the first driven wheel 12 and the second driving wheel 21, and thus indirectly adjusting the tension of the second flexible transmission member 50. That is, the transmission device 100 of the present application can synchronously adjust the tension of the first flexible transmission member 40 and the second flexible transmission member 50.

[0055] Referring to Figure 5 , Figure 5 is an exploded view of the second embodiment of the transmission device provided by the present application. As shown in Figure 5 , the transmission device 100 further comprises a second support member 80 and a second connecting shaft 81, the second support member 80 is fixedly connected with the shell of the external motor, and the second support member 80 is arranged on the side of the second driven wheel 22 away from the second driving wheel 21; the second connecting shaft 81 is fixedly connected with the second support member 80, and the second driving wheel 21 and the second driven wheel 22 are rotationally connected with the second connecting shaft 81.

[0056] As shown in Figure 5 , the second connecting shaft 81 can be arranged as shown in Figure 5The convex wall shown can also be provided as a cylinder in other embodiments, which is not limited herein. The second driving wheel 22 and the second driven wheel 21 can be coaxially provided with a through hole in the center position, and are sleeved on the second connecting shaft 81 and rotationally connected with the second connecting shaft 81.

[0057] Optionally, referring to Figure 1 and Figure 5 , the third-stage transmission mechanism 30 includes a first rotating wheel 31 and a second rotating wheel 32, a third connecting shaft 82 and a fourth connecting shaft 83. The first rotating wheel 31 and the second rotating wheel 32 are in transmission connection with the second driven wheel 22 through the third flexible transmission member 60. The third connecting shaft 82 is fixedly connected with the second support 80, and the first rotating wheel 31 is rotationally connected with the third connecting shaft 82. The fourth connecting shaft 83 is fixedly connected with the second support 80, and the second rotating wheel 32 is rotationally connected with the fourth connecting shaft 83.

[0058] In the embodiment, the second driven wheel 22, the first rotating wheel 31 and the second rotating wheel 32 of the third-stage transmission mechanism 30 are arranged in the same rotation plane along the second direction and are in transmission connection through the third flexible transmission member 60. The first rotating wheel 31 and the second rotating wheel 32 are respectively arranged on the two sides of the synchronous belt wheel 110.

[0059] As shown in Figure 5 , in order to stabilize the first rotating wheel 31 and the second rotating wheel 32, the third connecting shaft 82 and the fourth connecting shaft 83 are respectively arranged on the second support. The third connecting shaft 82 and the fourth connecting shaft 83 can be provided as a ring-shaped convex wall as shown in Figure 5 . The first rotating wheel 31 is provided with a through hole in the center position, is sleeved on the third connecting shaft 82, and is rotationally connected with the third connecting shaft 82. Similarly, the second rotating wheel 32 can also be provided with a through hole in the center position, is sleeved on the fourth connecting shaft 83, and is rotationally connected with the fourth connecting shaft 83.

[0060] Optionally, referring to Figures 4-6 , Figure 6 is a schematic view of an embodiment of the second support and the motor provided in the application. The second support 80 is provided with a limiting column 84 and a second limiting part 85 on one side close to the second driven wheel 22. The limiting column 84 is fixedly connected with the second support 80. The second support 80 further includes an adjusting column 86, which can move in the second limiting part 85. The third flexible transmission member 60 is further arranged around the adjusting column 86 and the limiting column 84, so as to adjust the tension of the third flexible transmission member 60 by adjusting the position of the adjusting column 86 in the second limiting part 85.

[0061] In the embodiment, as shown in Figure 6As shown, the second support 80 is provided with a limiting post 84 and an adjusting post 86 on the side close to the second driven wheel 22, i.e. the limiting post 84 and the adjusting post 86 are respectively arranged on the two sides of the second connecting shaft 81.

[0062] As shown, the second support 80 is provided with a limiting post 84 and an adjusting post 86 on the side close to the second driven wheel 22, i.e. the limiting post 84 and the adjusting post 86 are respectively arranged on the two sides of the second connecting shaft 81. Figure 6 As shown, the second support 80 is provided with a limiting post 84 and an adjusting post 86 on the side close to the second driven wheel 22, i.e. the limiting post 84 and the adjusting post 86 are respectively arranged on the two sides of the second connecting shaft 81.

[0063] As shown, the second support 80 is provided with a limiting post 84 and an adjusting post 86 on the side close to the second driven wheel 22, i.e. the limiting post 84 and the adjusting post 86 are respectively arranged on the two sides of the second connecting shaft 81.

[0064] As shown, the second support 80 is provided with a limiting post 84 and an adjusting post 86 on the side close to the second driven wheel 22, i.e. the limiting post 84 and the adjusting post 86 are respectively arranged on the two sides of the second connecting shaft 81. Figure 7 Figure 7 As shown, the second support 80 is provided with a limiting post 84 and an adjusting post 86 on the side close to the second driven wheel 22, i.e. the limiting post 84 and the adjusting post 86 are respectively arranged on the two sides of the second connecting shaft 81. Figure 7 As shown, the second support 80 is provided with a limiting post 84 and an adjusting post 86 on the side close to the second driven wheel 22, i.e. the limiting post 84 and the adjusting post 86 are respectively arranged on the two sides of the second connecting shaft 81.

[0065] As shown, the second support 80 is provided with a limiting post 84 and an adjusting post 86 on the side close to the second driven wheel 22, i.e. the limiting post 84 and the adjusting post 86 are respectively arranged on the two sides of the second connecting shaft 81.

[0066] ​In any of the above embodiments of the present application, the first flexible transmission member 40, the second flexible transmission member 50, the third flexible transmission member 60 and the fourth flexible transmission member can be provided as a flexible synchronous belt, a steel wire rope or a synchronous chain. In principle, the transmission of the flexible synchronous belt and the rigid rope is driven by tension, and the synchronous chain is driven by thrust. In the present embodiment, the first flexible transmission member 40, the second flexible transmission member 50 and the third flexible transmission member 60 are preferably flexible transmission belts, and the fourth flexible transmission member is preferably a steel wire rope.

[0067] Optionally, referring to Figures 1-7 , the first driving wheel 11 and the first driven wheel 12 are coaxially arranged, and the second driving wheel 21 and the second driven wheel 22 are coaxially arranged; in the rotation plane, the output shaft 120 of the motor and the first driving wheel 11 are arranged in the first direction, and the second driven wheel 22 and the first runner 31 and the second runner 32 are arranged in the second direction.

[0068] That is, in the present embodiment, the synchronous pulley 110 sleeved on the motor output shaft 120 and the first driving wheel 11 are arranged in the same rotation plane, and the synchronous pulley 110 and the first driving wheel 11 are arranged in the first direction, the first driven wheel 12 is coaxially arranged with the first driving wheel 11, and the first driven wheel 12 is arranged away from the side of the motor output shaft 120, the first driven wheel 12 and the second driving wheel 21 are arranged in the second rotation plane, and are also arranged in the first direction.

[0069] The second driven wheel 22, the first runner 31 and the second runner 32 are also arranged in the same rotation plane with the synchronous pulley 110 and the first driving wheel 11, but differently, the second driven wheel 22, the first runner 31 and the second runner 32 are arranged in the second direction.

[0070] Different from the prior art, the transmission device 100 of the present application adopts a multi-stage flexible transmission mode, which can realize a large reduction ratio while ensuring the positioning accuracy and transmission rigidity in the transmission process, and the transmission device 100 of the present application includes three-stage transmission. In a large transmission system, the transmission of the low-torque part corresponding to the high speed is driven by the flexible transmission member, and as the transmission speed ratio increases, the subsequent rotation speed decreases and the torque increases. The multi-stage flexible transmission member is used for bidirectional tension transmission. The rigidity of the entire transmission device 100 is considered comprehensively, and the transmission transfer rigidity is optimized in stages.

[0071] Further, the present application adopts a multi-stage transmission mechanism for flexible transmission, which can balance the rigidity of each stage of transmission and realize reverse driving; and the transmission device 100 of the present application does not require lubrication or sealing during the entire transmission, which reduces the complexity of the transmission device and ensures low heat generation or large proportion of torque output.

[0072] In summary, the transmission device 100 of the present application adopts multi-stage transmission mechanism for flexible transmission, which not only ensures the transmission accuracy, but also fully utilizes the characteristics of flexible transmission without lubrication and sealing, and innovatively arranges the space, improves the transmission efficiency, effectively transmits the heat of the transmission device 100, and improves the service life of the entire transmission device 100.

[0073] Optionally, referring to Figure 8 , Figure 8 is a structural schematic diagram of an embodiment of the robot power mechanism provided by the present application. As shown in Figure 8 , the robot power mechanism 200 of the present embodiment comprises a motor 210 and the transmission device 100 of any one of the above embodiments.

[0074] Optionally, referring to Figure 9 , Figure 9 is a cross-sectional schematic diagram of an embodiment of the robot power mechanism provided by the present application. As shown in Figure 9 , the coil 203 and the rotor 204 in the motor 210 are arranged around the output shaft 120 of the motor, the synchronous pulley is fixedly connected with the output shaft of the motor and rotates synchronously. The motor shaft support bearing 202A and the motor shaft support bearing 202B are also arranged around the output shaft 120 of the motor, and are used to support the output shaft 120 of the motor.

[0075] The above is only an embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation using the content of the specification and the drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A transmission apparatus, characterized by, The transmission device comprises: a first transmission mechanism in transmission connection with an output shaft of a motor; a second transmission mechanism arranged on the same side of the motor as the first transmission mechanism, in transmission connection with the first transmission mechanism; a third transmission mechanism arranged on the same side of the motor as the first transmission mechanism, in transmission connection with the second transmission mechanism; wherein the first transmission mechanism and the second transmission mechanism are arranged along a first direction, and the second transmission mechanism and the third transmission mechanism are arranged along a second direction intersecting the first direction; a first flexible transmission member for connecting the output shaft of the motor and the first transmission mechanism; a second flexible transmission member for connecting the first transmission mechanism and the second transmission mechanism; a third flexible transmission member for connecting the second transmission mechanism and the third transmission mechanism; wherein the first transmission mechanism comprises a first driving wheel and a first driven wheel, the first driving wheel is in transmission connection with the output shaft of the motor through the first flexible transmission member, and the first driven wheel is fixedly connected with the first driving wheel and rotates synchronously with the first driving wheel; the second transmission mechanism comprises a second driving wheel and a second driven wheel, the second driving wheel is in transmission connection with the first driven wheel through the second flexible transmission member, and the second driven wheel is fixedly connected with the second driving wheel and rotates synchronously with the second driving wheel; the transmission device further comprises a second support member and a second connecting shaft, which are fixedly connected with the housing of the motor, and the second support member is arranged on the side of the second driven wheel away from the second driving wheel; the second connecting shaft is fixedly connected with the second support member, and the second driving wheel and the second driven wheel are in rotational connection with the second connecting shaft; the third transmission mechanism comprises a first rotating wheel, a second rotating wheel, a third connecting shaft and a fourth connecting shaft, the first rotating wheel and the second rotating wheel are in transmission connection with the second driven wheel through the third flexible transmission member, the third connecting shaft is fixedly connected with the second support member, the first rotating wheel is in rotational connection with the third connecting shaft, the fourth connecting shaft is fixedly connected with the second support member, and the second rotating wheel is in rotational connection with the fourth connecting shaft; wherein the first rotating wheel and the second rotating wheel are respectively located on the two sides of the second driven wheel along the first direction.

2. The transmission device according to claim 1, characterized in that The first flexible transmission member, the second flexible transmission member and the third flexible transmission member have different rigidities.

3. The transmission device according to claim 1, characterized in that, The transmission device further comprises: a first support member fixedly connected with the housing of the motor, and provided with a first limiting portion; along the extension direction of the output shaft, the first driving wheel is arranged close to the output shaft, and the first support member is arranged on the side of the first driven wheel away from the first driving wheel; a first connecting shaft, one end of which is limited in the first limiting portion and can move in the first limiting portion along the first direction to adjust the tension of the first flexible transmission member. The first driving wheel and the first driven wheel are rotationally connected with the first connecting shaft.

4. A transmission device according to claim 3, characterised in that The other end of the first connecting shaft is provided with an adjusting part.

5. The transmission device according to claim 1, characterized in that, The second support is provided with a limiting post and a second limiting part on the side close to the second driving wheel, and the limiting post is fixedly connected with the second support. The second support further comprises: An adjusting post, which is movable in the second limiting part, and the third flexible transmission member is further arranged around the adjusting post and the limiting post, so as to adjust the tension of the third flexible transmission member by adjusting the position of the adjusting post in the second limiting part.

6. The transmission device according to claim 1, wherein, The first rotating wheel is provided with a first input winding post, and the second rotating wheel is provided with a second input winding post; The first input winding post is fixedly connected with the first rotating wheel and rotates synchronously, and the second input winding post is fixedly connected with the second rotating wheel and rotates synchronously; The transmission device further comprises a winding ring mechanism, which is transmissionally connected with the first input winding post and the second input winding post through a fourth flexible transmission member.

7. A transmission device according to claim 6, characterised in that, The first flexible transmission member, the second flexible transmission member, the third flexible transmission member and the fourth flexible transmission member comprise a flexible synchronous belt, a steel wire rope or a synchronous chain.

8. The transmission device according to claim 6, wherein, The first driving wheel and the first driven wheel are coaxially arranged, and the second driving wheel and the second driven wheel are coaxially arranged; In the rotating plane, the output shaft of the motor and the first driving wheel are arranged in the first direction, and the second driven wheel, the first rotating wheel and the second rotating wheel are arranged in the second direction.

9. A robot power mechanism characterized by, The transmission device comprises a motor and any one of the transmission devices according to claims 1-8.

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