Drive mechanism

Abstract

The invention discloses a driving mechanism which comprises a first motor, a second motor, a first transmission wheel assembly and a first flexible transmission piece, and the first transmission wheel assembly is connected to an output shaft of the first motor and an output shaft of the second motor and used for being connected with a first driving object, a first object and a second object; one first flexible transmission part is in transmission connection with the first transmission wheel assembly; the first motor and the second motor are used for jointly driving the first transmission wheel assembly in a matched mode to drive the first flexible transmission part to conduct transmission so as to drive the first driving object to rotate relative to the second object. The first motor and the second motor are further used for jointly working and cooperatively driving the first transmission wheel assembly to drive the first flexible transmission part to conduct transmission so as to drive the second object to do linear telescopic motion relative to the first object in the vertical direction, and the vertical direction is the extending direction of the first object.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a driving mechanism. Background Art

[0002] At present, the driving mechanism is the main functional component of the automation equipment, and the driving mechanism is used to provide driving force to drive the automation equipment to move.

[0003] The movement of automation equipment usually takes many forms, such as linear motion, rotational motion, etc. The existing driving method usually uses multiple driving mechanisms to independently control the various movements of the driving automation equipment. The required parameters are complex and prone to errors, which affects the operating speed and cost of the automation equipment. Summary of the invention

[0004] In view of this, the present application proposes a driving mechanism.

[0005] The present application proposes a driving mechanism, comprising:

[0006] First motor;

[0007] Second motor;

[0008] A first transmission wheel assembly, connected to the output shafts of the first motor and the second motor, and used to connect the first driven object, the first object, and the second object;

[0009] A first flexible transmission member, transmission-connected to the first transmission wheel assembly;

[0010] Among them, the first motor and the second motor are used to work together to drive the first transmission wheel assembly to drive the first flexible transmission member to drive the first drive object to rotate relative to the second object, and the first motor and the second motor are also used to work together to drive the first transmission wheel assembly to drive the first flexible transmission member to drive the second object to perform linear telescopic movement relative to the first object along the up and down direction, and the up and down direction is the extension direction of the first object.

[0011] The driving mechanism proposed in the present application includes a first motor and a second motor, which have a compact structure and reduced size. The two motors work together to drive the first transmission wheel assembly to drive the first drive object to rotate relative to the second object, while driving the second object to perform linear telescopic motion relative to the first object in the up and down directions. This can reduce the parameters required for motor driving, reduce errors, improve the operating speed of automation equipment, and reduce the cost of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying any creative work.

[0013] Figure 1 This is a schematic diagram of the structure of a driving mechanism proposed in an embodiment of the present application for a robot.

[0014] Figure 2 This is a schematic structural diagram of the driving mechanism proposed in an embodiment of the present application used for a robot from another perspective.

[0015] Figure 3 This is a schematic structural diagram of the driving mechanism proposed in an embodiment of the present application used for a robot from another perspective.

[0016] Figure 4 This is a schematic diagram of the structure of the driving mechanism proposed in an embodiment of the present application when used for the mechanical arm of a robot.

[0017] Figure 5 It is a schematic structural diagram of the driving mechanism and the first driving object, the first object, and the second object proposed in an embodiment of the present application.

[0018] Figure 6 This is a schematic structural diagram of the first object and the second object of the driving mechanism proposed in an embodiment of the present application.

[0019] Figure 7 This is a schematic diagram of the structure of the drive mechanism proposed in an embodiment of the present application for a robot mechanical leg.

[0020] Figure 8 This is a schematic exploded view of a portion of the structure of a driving mechanism proposed in an embodiment of the present application for a robot mechanical leg.

[0021] Fig. 9 This is a schematic diagram of the partial structure of the driving mechanism proposed in an embodiment of the present application for a robot mechanical leg.

[0022] Fig.10 This is a schematic structural diagram of the third motor, the fourth motor, and the second transmission wheel assembly of one embodiment of the driving mechanism proposed in the embodiments of the present application.

[0023] Fig.11 This is an exploded schematic diagram of the third motor, the fourth motor, and the second transmission wheel assembly of one embodiment of the driving mechanism proposed in the embodiments of the present application.

[0024] Fig.12This is an exploded schematic diagram from another perspective of the third motor, the fourth motor, and the second transmission wheel assembly of one embodiment of the driving mechanism proposed in the embodiments of the present application.

[0025] Fig.13 This is a schematic diagram of the structure of the support assembly proposed in an embodiment of the present application.

[0026] Fig.14 This is an exploded schematic diagram of the support assembly proposed in an embodiment of the present application.

[0027] 100, driving mechanism; 10, first motor; 20, second motor; 30, first transmission wheel assembly; 31, first driving wheel; 32, second driving wheel; 33, first transmission wheel; 34, second transmission wheel; 35, third transmission wheel; 36, first driven wheel; 37, first limiting member; 38, second limiting member; 40, first flexible transmission member; 50, second transmission wheel assembly; 51, third driving wheel; 52, second driven wheel; 53, fourth driving wheel; 54, third driven wheel; 6 0. The third motor; 70. The fourth motor; 80. The second flexible transmission member; 90. The support frame assembly; 91. The connecting frame; 911. The accommodating cavity; 9111. The fixing hole; 912. The penetration hole; 913. The limit block; 92. The pre-tightening shaft; 921. The threaded hole; 922. The fastening hole; 93. The pre-tightening screw; 96. The limit stopper; 97. The limit block; 200. The first driving object; 300. The first object; 400. The second object; 500. The fuselage; 1000. The robot. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0030] It should also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or it can be indirectly connected to the other element through an intermediate element.

[0031] The terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the descriptions of "first", "second", etc. in the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0032] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0033] See also Figure 1-Figure 14 As shown, the present application proposes a driving mechanism 100, including a first motor 10, a second motor 20, a first transmission wheel assembly 30 and a first flexible transmission member 40, the first transmission wheel assembly 30 is connected to the output shafts of the first motor 10 and the second motor 20, and is used to connect a first driving object 200, a first object 300 and a second object 400; the first flexible transmission member 40 is transmission-connected to the first transmission wheel assembly 30.

[0034] Among them, the first motor 10 and the second motor 20 are used to work together to drive the first transmission wheel assembly 30 to drive the first flexible transmission member 40 to drive the first drive object 200 to rotate relative to the second object 400, and the first motor 10 and the second motor 20 are also used to work together to drive the first transmission wheel assembly 30 to drive the first flexible transmission member 40 to drive the second object 400 to perform a linear telescopic movement relative to the first object 300 along the up and down direction, and the up and down direction is the extension direction of the first object 300.

[0035] The driving mechanism 100 proposed in the present application includes a first motor 10 and a second motor 20, which have a compact structure and a reduced size. The two motors work together to drive the first transmission wheel assembly 30 to drive the first drive object 200 to rotate relative to the second object 400, while driving the second object 400 to perform a linear telescopic movement relative to the first object 300 in the up and down directions, which can reduce the parameters required for motor driving, reduce errors, improve the operating speed of automation equipment, and reduce the cost of use.

[0036] Secondly, by providing a flexible transmission member, the rotation of the first driving object 200 and the extension and retraction of the second object 400 relative to the first object 300 can be achieved, the structure is simple and compact, and the control error is small.

[0037] Specifically, for example, with respect to multiple flexible transmission parts, the aging degree of each flexible transmission part is different, and each flexible transmission part is connected to the motor transmission. Since the aging degree of each flexible transmission part is different, when the motor has the same speed, the rotation speed of each flexible transmission part is different. Due to these errors, the control of the robot 1000 becomes complicated, which will affect the response speed of the robot 1000.

[0038] like Figures 1 to 4 As shown, in some usage scenarios, the first object 300 may be the first object 300 of the robot 1000's mechanical leg, the second object 400 may be the second object 400 of the mechanical leg, or the first object 300 may be the first arm of the robot 1000's mechanical arm, the second object 400 may be the second arm of the mechanical arm, or any other object that needs to achieve linear extension and retraction, and the first driving object 200 may be the wheel assembly or the rotating sole assembly of the robot 1000 or the rotating palm of the mechanical arm.

[0039] In some embodiments, the first motor 10 and the second motor 20 are connected to the upper end of the first object 300. The power source of the first motor 10 and the second motor 20 is connected to the upper end of the first object 300, which is conducive to improving the center of gravity of the first object 300 and reducing the rotational inertia of the first object 300, thereby helping to reduce the energy consumption of the device and improve the response speed of the device.

[0040] like Figures 5 and 6As shown, in some embodiments, the first transmission wheel assembly 30 includes a first driving wheel 31, a second driving wheel 32, at least one first transmission wheel 33, at least one second transmission wheel 34, at least one third transmission wheel 35, and a first driven wheel 36. The first driving wheel 31 and the second driving wheel 32 are respectively connected to the output shafts of the first motor 10 and the second motor 20; the first transmission wheel 33 is rotatably connected to the first object 300 and is arranged between the first driving wheel 31 and the first driven wheel 36; the third transmission wheel 35 is rotatably connected to the first object 300 and is arranged between the second driving wheel 32 and the first driven wheel 36; the second transmission wheel 34 is rotatably connected to the second object 400 and the second transmission wheel 34 is arranged between the first transmission wheel 33 and the third transmission wheel 35. When the second object 400 is extended to the longest relative to the first object 300 and the height of the first transmission wheel 33 is higher than the height of the third transmission wheel 35, the height of the highest point of the second transmission wheel 34 is not lower than the height of the lowest point of the first transmission wheel 33; when the second object 400 is extended to the longest relative to the first object 300 and the height of the first transmission wheel 33 is higher than the height of the third transmission wheel 35, the height of the highest point of the second transmission wheel 34 is not lower than the height of the lowest point of the first transmission wheel 33; When the third transmission wheel 35 is set at a height higher than the first transmission wheel 33, the height of the highest point of the second transmission wheel 34 is not lower than the height of the lowest point of the third transmission wheel 35; the first driven wheel 36 is rotatably connected to the second object 400 and connected to the first driving object 200 to drive the first driving object 200 to rotate relative to the second object 400; the first flexible transmission member 40 is transmission-connected to the first driving wheel 31, the first transmission wheel 33, the second transmission wheel 34, the third transmission wheel 35, the second driving wheel 32, and the first driven wheel 36 to form a closed loop; the first flexible transmission member 40 between the first transmission wheel 33 and the second transmission wheel 34 is at least partially configured to be parallel to the up-down direction; the first flexible transmission member 40 between the second transmission wheel 34 and the third transmission wheel 35 is at least partially configured to be parallel to the up-down direction; the first flexible transmission member 40 between the first driving wheel 31 and the first driven wheel 36 is at least partially configured to be parallel to the up-down direction; the first flexible transmission member 40 between the second driving wheel 32 and the first driven wheel 36 is at least partially configured to be parallel to the up-down direction.

[0041] In some embodiments, the first driven object 200 is a wheel assembly, which includes a wheel shaft, a wheel and a bearing, the driven wheel is fastened to the wheel shaft, the wheel shaft is fastened to the wheel, and the wheel shaft is rotatably connected to the second object 400 via a bearing.

[0042] Of course, in other embodiments, the first driving object 200 may also be a rotating sole assembly, which includes a rotating shaft and a sole, the sole is fixedly connected to the rotating shaft, and the rotating shaft is rotatably connected to the leg mechanism through a bearing to rotatably connect the sole and the leg mechanism.

[0043] In this embodiment, one first transmission wheel 33, one second transmission wheel 34, and one third transmission wheel 35 are provided. Of course, in other embodiments, in order to install other components, the transmission wheels may interfere with the first flexible transmission member 40. Multiple first transmission wheels 33, second transmission wheels 34, and third transmission wheels 35 may also be provided to facilitate the movement of the first flexible transmission member 40. The first transmission wheel 33 and the third transmission wheel 35 of this embodiment refer to the transmission wheels rotatably provided on the first object 300, and the second transmission wheel 34 refers to the transmission wheel rotatably provided on the second object 400, that is, the transmission wheels rotatably provided on the first object 300 and transmitting with the first flexible transmission member 40 can be referred to as the first transmission wheel 33 and the third transmission wheel 35; the transmission wheel rotatably provided on the second object 400 and transmitting with the first flexible transmission member 40 can be referred to as the second transmission wheel 34.

[0044] In this embodiment, at least part of the flexible transmission member between the first driving wheel 31 and the first driven wheel 36 is configured to be parallel to the up-down direction. Due to the spatial structure arrangement, the flexible transmission member between the first driving wheel 31 and the first driven wheel 36 may not be able to ensure that the entire section is parallel to the up-down direction, but it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first object 300 and the transmission wheel between the second object 400 remains parallel to the up-down direction.

[0045] In some embodiments, a rotating wheel is provided between the first driving wheel 31 and the first driven wheel 36, and is rotatably connected to the flexible transmission member. When the rotating wheel is rotatably set on the first object 300, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first driven wheel 36 remains parallel to the up-down direction; when the rotating wheel is rotatably set on the second object 400, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first driving wheel 31 remains parallel to the up-down direction; when the flexible transmission member between the first driving wheel 31 and the first driven wheel 36 is transmitted with two rotating wheels, the two rotating wheels are rotatably set on the first object 300 and the second object 400 respectively, so that it is sufficient to ensure that the flexible transmission member between the two rotating wheels remains parallel to the up-down direction, that is, to ensure that the flexible transmission member between the transmission wheel connected to the first object 300 and the transmission wheel connected to the second object 400 remains parallel to the up-down direction. It should be noted that the rotating wheel is also a kind of transmission wheel, and the wheels rotatably connected to the flexible transmission member can be called transmission wheels, that is, when the flexible transmission member is transmitted, the rotating wheel rotates.

[0046] At least part of the flexible transmission member between the second driving wheel 32 and the first driven wheel 36 is configured to be parallel to the up-down direction, similar to the above.

[0047] Similarly, due to the arrangement of the spatial structure, the flexible transmission member between the first transmission wheel 33 and the second transmission wheel 34 may not be able to ensure that the entire section is parallel to the up-down direction, but it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first object 300 and the transmission wheel connected to the second object 400 remains parallel to the up-down direction. In some embodiments, there may be multiple first transmission wheels 33 and second transmission wheels 34, and the first flexible transmission member 40 may be connected to several first transmission wheels 33 after being connected to the first driving wheel 31, and then connected to the second transmission wheel 34. At this time, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first object 300 and the transmission wheel between the second object 400 remains parallel to the up-down direction, that is, the first flexible transmission member 40 remains parallel to the up-down direction after passing through the last first transmission wheel 33 on the first object 300 and the first second transmission wheel 34 on the second object 400.

[0048] Alternatively, in order to ensure that the flexible transmission member between the first transmission wheel 33 and the second transmission wheel 34 at least partially remains parallel to the up-down direction, the flexible transmission member between the first transmission wheel 33 and the second transmission wheel 34 is rotatably connected to a rotating wheel. When the rotating wheel is rotatably set on the first object 300, it is necessary to ensure that the flexible transmission member between the rotating wheel and the second transmission wheel 34 on the second object 400 remains parallel to the up-down direction; when the rotating wheel is rotatably set on the second object 400, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first transmission wheel 33 on the first object 300 remains parallel to the up-down direction.

[0049] At least part of the flexible transmission member between the second transmission wheel 34 and the third transmission wheel 35 is configured to be parallel to the up-down direction, similar to the above.

[0050] In this embodiment, the entire section of the flexible transmission member between the first transmission wheel 33 and the second transmission wheel 34 is configured to be parallel to the up-down direction, and the flexible transmission member between the second transmission wheel 34 and the third transmission wheel 35 is configured to be parallel to the up-down direction.

[0051] When the second object 400 makes a linear extension motion relative to the first object 300, the first driven wheel 36 moves away from the first driving wheel 31 and the second driving wheel 32 as the second object 400 moves, the length of the first flexible transmission member 40 between the first driving wheel 31 and the first driven wheel 36, the length of the second driving wheel 32 and the first driven wheel 36 increases, and the length of the first flexible transmission member 40 between the first transmission wheel 33 and the second transmission wheel 34, and the length of the first flexible transmission member 40 between the second transmission wheel 34 and the third transmission wheel 35 decreases synchronously.

[0052] When the second object 400 performs a linear shortening motion relative to the first object 300, the first driven wheel 36 moves closer to the first driving wheel 31 as the second object 400 moves, the length of the first flexible transmission member 40 between the first driving wheel 31 and the first driven wheel 36, the length of the second driving wheel 32 and the first driven wheel 36 decreases, and the length of the first flexible transmission member 40 between the first transmission wheel 33 and the second transmission wheel 34, and the length of the first flexible transmission member 40 between the second transmission wheel 34 and the third transmission wheel 35 increases synchronously.

[0053] It should be noted that when the second object 400 makes a linear motion relative to the first object 300, since the first driving wheel 31, the second driving wheel 32, the first transmission wheel 33, and the third transmission wheel 35 are rotationally connected to the first object 300, the second transmission wheel 34 and the first driven wheel 36 are rotationally connected to the second object 400, the length of the first flexible transmission member 40 between the first driving wheel 31 and the first transmission wheel 33 remains unchanged, and the length of the first flexible transmission member 40 between the second driving wheel 32 and the first driven wheel 36 remains unchanged.

[0054] When the second object 400 makes a linear motion relative to the first object 300, only the first driving wheel 31, the first transmission wheel 33, the second driving wheel 32, and the third transmission wheel 35 rotate and transmit, while the first driven wheel 36 and the second transmission wheel 34 do not rotate.

[0055] But when the first driven object 200 rotates, the first driving wheel 31, the first transmission wheel 33, the second transmission wheel 34, the second driving wheel 32, the third transmission wheel 35, and the first driven wheel 36 all rotate and transmit. However, the length of the flexible transmission member between each transmission wheel is not limited.

[0056] It should be noted that when the second object 400 performs a linear elongation motion relative to the first object 300, the second transmission wheel 34 cannot continue to move downward at a certain position, otherwise, the first flexible transmission member 40 cannot drive the second object 400 to move downward relative to the first object 300 by applying a downward force to the second transmission wheel 34. For example, when the second object 400 is extended to the longest length relative to the first object 300, the lowest point height of the first transmission wheel 33 is A, the highest point height of the third transmission wheel 35 is B, and the highest point height of the second transmission wheel 34 is C, and C cannot be less than A and B. In this way, the first flexible transmission member 40 can drive the second object 400 to move downward relative to the first object 300 by applying a downward force to the second transmission wheel 34. That is, when the second transmission wheel 34 moves downward to be tangent to the first transmission wheel 33 and the third transmission wheel 35, the second transmission wheel 34 cannot continue to move. The second object 400 of the present application is provided with a first limiter, and the first object 300 is provided with a corresponding second limiter. When the second object 400 moves downward to a certain position, the first limiter abuts against the second limiter, and the second object 400 cannot move further downward to ensure that C cannot be lower than A and B.

[0057] In some embodiments, there are other ways to dispose the first transmission wheel assembly 30 and the second transmission wheel assembly 50, such as the motor is connected to a plurality of gear structures and then the gears are connected to the flexible transmission member.

[0058] In some embodiments, when the first motor 10 and the second motor 20 rotate in the same direction and the torque of the first motor 10 and the second motor 20 is the same, the first flexible transmission member 40 applies torque to the first driven wheel 36, and the first flexible transmission member 40 applies an upward force to the first driven wheel 36 and a downward force to the second transmission wheel 34 of the same magnitude, the first driving wheel 31, the first transmission wheel 33, the second transmission wheel 34, the third transmission wheel 35, the second driving wheel 32 and the first driven wheel 36 rotate and transmit, the second object 400 is stationary relative to the first object 300, and the first driven object 200 rotates.

[0059] When the first motor 10 and the second motor 20 rotate in opposite directions and the torques of the first motor 10 and the second motor 20 are the same, the first flexible transmission member 40 applies an upward force to the first driven wheel 36 or a downward force to the second transmission wheel 34, and the flexible transmission second object 400 moves linearly in the up and down directions relative to the first object 300, and the first driven object 200 does not rotate.

[0060] When the first motor 10 and the second motor 20 rotate in opposite directions and the torque of the first motor 10 and the second motor 20 is different, the first flexible transmission member 40 applies torque to the first driven wheel 36, the first flexible transmission member 40 applies an upward force to the first driven wheel 36 or applies a downward force to the second transmission wheel 34, the second object 400 moves linearly in the up and down directions relative to the first object 300, and the first driven object 200 rotates.

[0061] When the first motor 10 and the second motor 20 rotate in the same direction and the torque of the first motor 10 and the second motor 20 is different, the first flexible transmission member 40 applies torque to the first driven wheel 36, and the first flexible transmission member 40 applies an upward force on the first driven wheel 36 and a downward force on the second transmission wheel 34 of different magnitudes. The first driving wheel 31, the first transmission wheel 33, the second transmission wheel 34, the third transmission wheel 35, the second driving wheel 32 and the first driven wheel 36 rotate and transmit, the second object 400 moves linearly in the up and down directions relative to the first object 300, and the first driven object 200 rotates.

[0062] It should be noted that, when the second object 400 moves downward relative to the first object 300, the downward force applied by the first flexible transmission member 40 on the second transmission wheel 34 or the upward force applied by the first flexible transmission member 40 on the first driven wheel 36 is smaller than the downward force applied by the first flexible transmission member 40 on the second transmission wheel 34, so that the second object 400 as a whole is subjected to a resultant force downward that is greater than the force applied by the first flexible transmission member 40, and the second object 400 moves downward relative to the first object 300; when the second object 400 moves upward relative to the first object 300, the upward force applied by the first flexible transmission member 40 on the first driven wheel 36 or the upward force applied by the first flexible transmission member 40 on the first driven wheel 36 is greater than the downward force applied by the first flexible transmission member 40 on the second transmission wheel 34, so that the second object 400 as a whole is subjected to a resultant force upward that is greater than the force applied by the first flexible transmission member 40, and the second object 400 moves upward relative to the first object 300.

[0063] The first object 300 has a front-to-back direction and a left-to-right direction, and the front-to-back direction, the left-to-right direction and the up-to-down direction are perpendicular to each other.

[0064] The first motor 10 and the second motor 20 are spaced apart in the front-to-back direction and the rotation axes of the first motor 10 and the second motor 20 are parallel to the left-to-right direction; the first driving wheel 31 and the second driving wheel 32 are spaced apart in the front-to-back direction and have the same height, and the first transmission wheel 33 and the third transmission wheel 35 are spaced apart in the front-to-back direction and have the same height.

[0065] In this embodiment, the output shafts of the first motor and the second motor are oriented in the same direction.

[0066] Since the downward and upward moving distance of the second object 400 is limited not only by the distance between the first transmission wheel 33 and the second transmission wheel 34 but also by the distance between the second transmission wheel 34 and the third transmission wheel 35, for example, when the elongation of the second object 400 relative to the first object 300 is 0, the distance between the first transmission wheel 33 and the second transmission wheel 34 is E, and the distance between the second transmission wheel 34 and the third transmission wheel 35 is F, when E is less than F, the maximum moving distance of the second object 400 relative to the first object 300 is E, that is, the moving distance of the second object 400 is the smallest one between E and F.

[0067] By arranging the first driving wheel 31 and the second driving wheel 32 at intervals in the front-to-back direction and at the same height, and arranging the first transmission wheel 33 and the third transmission wheel 35 at intervals in the front-to-back direction and at the same height, the distances between E and F are consistent, making the structure compact, and maximizing the moving stroke of the second object 400 within a limited structural space.

[0068] In some embodiments, the first driving wheel 31, the second driving wheel 32, the second transmission wheel 34, and the first driven wheel 36 are synchronous pulleys, the first flexible transmission member 40 is a synchronous belt, and the first flexible transmission member 40 is meshed and transmitted with the first driving wheel 31, the second driving wheel 32, the third transmission wheel 35, and the first driven wheel 36; the first transmission wheel 33 and the third transmission wheel 35 are non-toothed rotating wheels, and the non-toothed surface of the first flexible transmission member 40 is wound and connected with the first transmission wheel 33 and the third transmission wheel 35.

[0069] Optionally, the first flexible transmission member 40 may be a rope or other flexible transmission member, thereby playing a buffering role, reducing the impact of the impact force directly acting on the motor, and increasing the durability and operational stability of the drive mechanism 100.

[0070] In some embodiments, the radius of the first driving wheel 31 and the second driving wheel 32 are consistent, and the radius of the first driving wheel 31 and the second driving wheel 32 is smaller than the radius of the first driven wheel 36. This is beneficial to increase the transmission ratio between the driving wheel and the transmission wheel, and increase the torque of the first driven wheel 36. For example, when the first driven object 200 is a mechanical leg of the robot 1000, the first driven object 200 is a wheel assembly of the robot 1000, and increasing the torque of the first driven wheel 36 is beneficial to adapt to harsh environments with rugged terrain or muddy terrain, and improve the obstacle crossing ability of the robot 1000.

[0071] In some embodiments, the first transmission wheel assembly 30 includes a first limiting member 37 and a second limiting member 38; the first limiting member 37 is rotatably disposed on the first object 300 and is disposed between the first driving wheel 31 and the first driven wheel 36 and is disposed on the outside of the first flexible transmission member 40, and the first limiting member 37 is used to keep the first flexible transmission member 40 between the first limiting member 37 and the first driven wheel 36 parallel to the up and down directions; the second limiting member 38 is rotatably disposed on the first object 300 and is disposed between the second driving wheel 32 and the first driven wheel 36 and is disposed on the outside of the first flexible transmission member 40, and the second limiting member 38 is used to keep the first flexible transmission member 40 between the second limiting member 38 and the first driven wheel 36 parallel to the up and down directions.

[0072] A first limiting member 37 and a second limiting member 38 are provided on the first object 300, and the first limiting member 37 is provided on the outside of the first flexible transmission member 40 and the second limiting member 38 is provided on the outside of the first flexible transmission member 40. This not only allows the first flexible transmission member 40 between the first limiting member 37 and the first driven wheel 36 and the first flexible transmission member 40 between the second limiting member 38 and the first driven wheel 36 to remain parallel to the up and down directions, but also allows the flexible transmission member to be retracted inward, thereby reducing the space occupied by the flexible transmission member.

[0073] In some embodiments, the first limiting member 37 and the second limiting member 38 are both non-toothed rollers; the first limiting member 37 and the second limiting member 38 are transmission-connected to the first flexible transmission member 40 .

[0074] like Figure 7 As shown, in some embodiments, the driving mechanism 100 further includes a third motor 60 , and the third motor 60 is connected to the first object and is used to drive the first object 300 and the second object 400 to rotate as a whole.

[0075] By providing the third motor 60 to drive the leg mechanism to rotate, the mechanical leg is made more flexible and can adapt to various gaits.

[0076] In some embodiments, the second driving mechanism 100 further includes a second transmission wheel assembly 50 and a second flexible transmission member 80, the second transmission wheel assembly 50 includes a third driving wheel 51 and a second driven wheel 52, the third driving wheel 51 is connected to the output shaft of the third motor 60, the second driven wheel 52 is connected to the first object 300, the second flexible transmission member 80 is in transmission connection with the third driving wheel 51 and the second driven wheel 52, and the radius of the third driving wheel 51 is smaller than that of the second driven wheel 52. This is conducive to increasing the transmission ratio of the driving wheel and the transmission wheel, increasing the torque of the second driven wheel 52, so that the mechanical leg 100 can adapt to harsh environments with rugged terrain or muddy terrain, and improving the obstacle crossing ability of the robot 1000.

[0077] like Figures 8 to 12 As shown, in some embodiments, the driving mechanism 100 further includes a third motor 60, a fourth motor 70, a second transmission wheel assembly 50 and a second flexible transmission member 80; the second transmission wheel assembly 50 is transmission-connected to the output shafts of the third motor 60 and the fourth motor 70 and is connected to the first object 300, and the second flexible transmission member 80 is transmission-connected to the second transmission wheel assembly 50; the third motor 60 and the fourth motor 70 are used to work together to drive the second transmission wheel assembly 50 to drive the first object 300 and the second object 400 to rotate around the first axis a as a whole, and are also used to work together to drive the first object 300 and the second object 400 to rotate around the second axis b as a whole. The first axis a and the second axis b are not parallel.

[0078] By only setting one flexible transmission member, two degrees of freedom can be achieved, the structure is simple, and the control error is greatly reduced. On the other hand, the third motor 60 and the fourth motor 70 work together to cooperate with the two degrees of freedom of the driving device, so that the third motor 60 and the fourth motor 70 are connected in parallel, which can reduce the parameters required for motor driving, reduce errors, increase the operating speed of the device, and reduce the cost of use.

[0079] By connecting the third motor 60 and the fourth motor 70 to the mounting base, which is in turn rotatably connected to the upper end of the first object 300, it is helpful to increase the center of gravity of the first object 300 and reduce the rotational inertia of the first object 300, which in turn helps to reduce the energy consumption of the device and improve the response speed of the device.

[0080] When the driving mechanism 100 is installed on the robot 1000, and when the first driving object 200 is the mechanical leg or mechanical arm of the robot 1000, the mounting base is installed on the body 500 of the robot 1000, the mechanical leg is rotatably connected to the body 500 of the robot 1000, and the first motor 10, the second motor 20, the third motor 60, and the fourth motor 70 are located at the upper end of the mechanical leg or mechanical arm of the robot 1000, which is beneficial to reduce the rotational inertia of the mechanical leg or mechanical arm, and further helps to reduce the energy consumption of the equipment and improve the response speed of the equipment.

[0081] In this embodiment, the first axis a is parallel to the front-rear direction, and the second axis b is parallel to the left-right direction.

[0082] In some embodiments, the third motor and the fourth motor are arranged relative to each other. When the third motor 60 and the fourth motor 70 rotate in the same direction and the torque of the third motor 60 and the fourth motor 70 is the same, the first object 300 and the second object 400 rotate around the first axis a as a whole, and the first object 300 and the second object 400 remain stationary in the second direction as a whole; when the third motor 60 and the fourth motor 70 rotate in opposite directions and the torque of the third motor 60 and the fourth motor 70 is the same, the first object 300 and the second object 400 rotate around the second axis b as a whole, and the first object 300 and the second object 400 remain stationary in the first direction as a whole; when the third motor 60 and the fourth motor 70 rotate in opposite or same directions and the torque of the third motor 60 and the fourth motor 70 is different, the first object 300 and the second object 400 rotate around the first axis a as a whole and around the second axis b at the same time.

[0083] It should be noted that the reference object for the rotation direction of the two motors here is the earth. The following are several situations of the two motor settings. When the two motors are set relative to each other, that is, mirrored, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; but if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates clockwise. When the two motors are set at intervals but not mirrored, that is, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise.

[0084] In some embodiments, the second transmission wheel assembly 50 includes a third driving wheel 51, a fourth driving wheel 53, a second driven wheel 52, a third driven wheel 54 and a second flexible transmission member 80; the output shaft of the third motor 60 is connected to the third driving wheel 51; the output shaft of the fourth motor 70 is connected to the fourth driving wheel 53; the second driven wheel 52 is tightly connected to the first object 300, and the second driven wheel 52 drives the first object 300 to rotate when it rotates; the rotation axes of the third driving wheel 51 and the fourth driving wheel 53 are coaxial, and the rotation axis of the second driven wheel 52 rotates coaxially with the second axis b; the first axis a and the second axis b are perpendicular to each other; the second flexible transmission member 80 is transmission-connected to the third driving wheel 51, the fourth driving wheel 53, the second driven wheel 52 and the third driven wheel 54.

[0085] This embodiment can achieve two degrees of freedom by setting a second flexible transmission member 80. It has a simple structure and greatly reduces the control error of the equipment. Specifically, for example, compared with multiple flexible transmission members, the aging degree of each flexible transmission member is different, and each flexible transmission member is connected to the motor transmission. Since the aging degree of each flexible transmission member is different, the rotation speed of each flexible transmission member is different when the motor has the same rotation speed. Due to these errors, the control of the equipment becomes complicated and the response speed of the equipment is affected.

[0086] In this embodiment, the third driving wheel 51 and the fourth driving wheel 53 rotate around the first axis a, and the second driven wheel 52 rotates around the second axis b.

[0087] Of course, in other embodiments, the third driving wheel 51 and the fourth driving wheel 53 may also rotate around the second axis b, and at this time, the second driven wheel 52 rotates around the first axis a.

[0088] In some embodiments, the third driving wheel 51 and the fourth driving wheel 53 have the same radius, the second driven wheel 52 and the third driven wheel 54 have the same radius, and the radius of the second driven wheel 52 is larger than the radius of the third driving wheel 51 and the fourth driving wheel 53. This is beneficial to increase the transmission ratio of the driving wheel and the transmission wheel, and increase the torque of the second driven wheel 52.

[0089] like Figure 13 to Figure 14As shown, in some embodiments, the driving mechanism 100 also includes a support frame assembly 90, which is rotatably connected to the third driving wheel 51 and the fourth driving wheel 53; the support frame assembly 90 is also rotatably connected to the second driven wheel 52 and the third driven wheel 54; when the first object 300 and the second object 400 rotate around the second axis b as a whole, the support frame assembly does not move; when the first object 300 and the second object 400 rotate around the second axis b as a whole, the support frame assembly 90 does not move, and when the first object 300 and the second object 400 rotate around the first axis a as a whole, the support frame assembly 90 and the first object 300 and the second object 400 rotate around the first axis a as a whole.

[0090] By providing the support frame assembly 90 , the support frame assembly 90 connects the second driven wheel 52 and the third driven wheel 54 , thereby supporting the second driven wheel 52 and the third driven wheel 54 and improving the stability of the structure.

[0091] In some embodiments, the support frame assembly 90 includes a connecting frame 91, a pre-tightening shaft 92, a pre-tightening screw 93, and a fixing screw; the connecting frame 91 is rotatably connected to the third driving wheel 51, the fourth driving wheel 53, and the second driven wheel 52, and the pre-tightening shaft 92 is rotatably connected to the third driven wheel 54; the connecting frame 91 is provided with a accommodating cavity 911, and a through hole 912 is provided on the outer wall of the connecting frame 91, and the pre-tightening shaft 92 is provided with a threaded hole 921 corresponding to the through hole 912, and the pre-tightening screw 93 passes through the through hole 912 and is threadedly connected with the threaded hole 921 so that the pre-tightening shaft 92 can move in the accommodating cavity 911, and a fixing hole 9111 is provided on the cavity wall of the accommodating cavity 911, and a fastening hole 922 is provided on the pre-tightening shaft 92 corresponding to the fixing hole 9111, and the pre-tightening shaft 92 is fastened to the fixing hole 9111 by a fixing screw passing through the fastening hole 922 to be arranged in the accommodating cavity 911.

[0092] The support frame assembly 90 includes a connecting frame 91, a pre-tightening shaft 92, a pre-tightening screw 93, and a fixing screw to connect the second driven wheel 52 and the third driven wheel 54 with the third driving wheel 51 and the fourth driving wheel 53, and play a supporting role for the second driven wheel 52 and the third driven wheel 54 to improve the structural stability of the structure. At the same time, the pre-tightening shaft 92 is provided to pre-tighten the flexible transmission member.

[0093] In some embodiments, the driving mechanism 100 further includes a limit stopper 96. The connecting frame 91 is provided with a limit block 913. The limit stopper 96 is provided in the rotation direction of the limit block 913. When the connecting frame 91 rotates to a certain position, the limit block 913 abuts against the limit stopper 96. By providing the limit stopper 96, the rotation angle of the motor is limited.

[0094] In some embodiments, the second flexible transmission member 80 is a synchronous belt, and the third driving wheel 51 , the fourth driving wheel 53 , the second driven wheel 52 , and the third driven wheel 54 are synchronous pulleys.

[0095] Optionally, the second flexible transmission member 80 may be a rope or other flexible transmission member, thereby playing a buffering role, alleviating the impact of the impact force directly acting on the motor, and increasing the durability and operational stability of the drive mechanism 100.

[0096] And the features of different embodiments or examples can be combined and combined.

[0097] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A driving mechanism, characterized in that: include: First motor; Second motor; A first transmission wheel assembly, connected to the output shafts of the first motor and the second motor, and used to connect the first driven object, the first object, and the second object; A first flexible transmission member, transmission-connected to the first transmission wheel assembly; Among them, the first motor and the second motor are used to work together to drive the first transmission wheel assembly to drive the first flexible transmission member to drive the first drive object to rotate relative to the second object, and the first motor and the second motor are also used to work together to drive the first transmission wheel assembly to drive the first flexible transmission member to drive the second object to perform linear telescopic movement relative to the first object along the up and down direction, and the up and down direction is the extension direction of the first object.

2. The driving mechanism according to claim 1, characterized in that: The first motor and the second motor are connected to the upper end of the first object.

3. The driving mechanism according to claim 1, characterized in that: The first transmission wheel assembly includes a first driving wheel, a second driving wheel, at least one first transmission wheel, at least one second transmission wheel, at least one third transmission wheel, and a first driven wheel; The first driving wheel and the second driving wheel are connected to the first motor and the second motor output shaft respectively; The first transmission wheel is rotatably connected to the first object and is disposed between the first driving wheel and the first driven wheel; The third transmission wheel is rotatably connected to the first object and is disposed between the second driving wheel and the first driven wheel; The second transmission wheel is rotatably connected to the second object and is disposed between the first transmission wheel and the third transmission wheel. When the second object is longest relative to the first object and the first transmission wheel is disposed at a higher height than the third transmission wheel, the height of the highest point of the second transmission wheel is not lower than the height of the lowest point of the first transmission wheel. When the second object is the longest relative to the first object and the third transmission wheel is set at a higher height than the first transmission wheel, the height of the highest point of the second transmission wheel is not lower than the height of the lowest point of the third transmission wheel; The first driven wheel is rotatably connected to the second object and connected to the first driving object to drive the first driving object to rotate relative to the second object; The first flexible transmission member is transmission-connected with the first driving wheel, the first transmission wheel, the second transmission wheel, the third transmission wheel, the second driving wheel, and the first driven wheel to form a closed loop; The first flexible transmission member between the first transmission wheel and the second transmission wheel is at least partially configured to be parallel to the up-down direction; The first flexible transmission member between the second transmission wheel and the third transmission wheel is at least partially configured to be parallel to the up-down direction; The first flexible transmission member between the first driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; At least a portion of the first flexible transmission member between the second driving wheel and the first driven wheel is configured to be parallel to the up-down direction.

4. The driving mechanism according to claim 3, characterized in that: The entire section of the first flexible transmission member between the first transmission wheel and the second transmission wheel is configured to be parallel to the up-down direction; The entire section of the first flexible transmission member between the second transmission wheel and the third transmission wheel is configured to be parallel to the up-down direction.

5. The driving mechanism according to claim 4, characterized in that: When the second object is extended to its longest length relative to the first object, the lowest point height of the first transmission wheel is A, the lowest point height of the third transmission wheel is B, and the highest point height of the second transmission wheel is C. C cannot be less than A and B.

6. The driving mechanism according to claim 5, characterized in that: When the first motor and the second motor rotate in the same direction and the output torques of the first motor and the second motor are the same, the first flexible transmission member applies torque to the first driven wheel, and the first flexible transmission member applies an upward force to the first driven wheel and a downward force to the second transmission wheel of the same magnitude, the first driving wheel, the first transmission wheel, the second transmission wheel, the third transmission wheel, the second driving wheel and the first driven wheel are rotated and transmitted, the second object is stationary relative to the first object, and the first driving object rotates; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are the same, the first flexible transmission member applies an upward force to the first driven wheel or a downward force to the second transmission wheel, the second object moves linearly along the up and down directions relative to the first object, and the first driven object does not rotate; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are different in magnitude, the first flexible transmission member applies torque to the first driven wheel, the first flexible transmission member applies an upward force to the first driven wheel or a downward force to the second transmission wheel, the second object moves linearly along the up and down directions relative to the first object, and the first driven object rotates; When the first motor and the second motor rotate in the same direction and the output torque of the first motor and the second motor are different in magnitude, the first flexible transmission member applies torque to the first driven wheel, and the first flexible transmission member applies an upward force to the first driven wheel and a downward force to the second transmission wheel of different magnitudes, the first driving wheel, the first transmission wheel, the second transmission wheel, the third transmission wheel, the second driving wheel and the first driven wheel are rotated and transmitted, the second object moves linearly along the up and down directions relative to the first object, and the first driven object rotates.

7. The driving mechanism according to claim 5, characterized in that: The first object has a front-to-back direction and a left-to-right direction, and the front-to-back direction, the left-to-right direction and the up-to-down direction are perpendicular to each other; The first motor and the second motor are spaced apart in the front-to-rear direction, and the rotation axes of the first motor and the second motor are parallel to the left-to-right direction; The first driving wheel and the second driving wheel are arranged at intervals in the front-rear direction and at the same height; The first transmission wheel and the third transmission wheel are arranged at intervals in the front-to-back direction and have the same height.

8. The driving mechanism according to claim 5, characterized in that: The first driving wheel, the second driving wheel, the second transmission wheel and the first driven wheel are synchronous pulleys, the first flexible transmission member is a synchronous belt, and the first flexible transmission member is meshed and transmitted with the first driving wheel, the second driving wheel, the third transmission wheel and the first driven wheel; The first transmission wheel and the third transmission wheel are non-toothed rotating wheels, and the non-toothed surface of the first flexible transmission member is wound and connected with the first transmission wheel and the third transmission wheel.

9. The driving mechanism according to claim 5, characterized in that: The radius of the first driving wheel is consistent with that of the second driving wheel, and the radius of the first driving wheel and the second driving wheel is smaller than that of the first driven wheel.

10. The driving mechanism according to claim 9, characterized in that: The first transmission wheel assembly includes a first limiting member and a second limiting member; The first limiting member is rotatably disposed on the first object and is disposed between the first driving wheel and the first driven wheel and is disposed outside the first flexible transmission member, and the first limiting member is used to keep the first flexible transmission member between the first limiting member and the first driven wheel parallel to the up-down direction; The second limiting member is rotatably arranged on the first object and is arranged between the second driving wheel and the first driven wheel and is arranged on the outside of the first flexible transmission member. The second limiting member is used to make the first flexible transmission member between the second limiting member and the first driven wheel remain parallel to the up and down direction.

11. The driving mechanism according to claim 10, characterized in that: The first limiting member and the second limiting member are both non-toothed rollers; The first limiting member and the second limiting member are in transmission connection with the first flexible transmission member.

12. The driving mechanism according to any one of claims 1 to 11, characterized in that: The driving mechanism further includes a third motor, which is connected to the first object and is used to drive the first object and the second object to rotate as a whole.

13. The driving mechanism according to claim 12, characterized in that: The driving mechanism also includes a second transmission wheel assembly and a second flexible transmission member, the second transmission wheel assembly includes a third driving wheel and a second driven wheel, the third driving wheel is connected to the output shaft of the third motor, the second driven wheel is connected to the first object, the second flexible transmission member is transmission-connected to the third driving wheel and the second driven wheel, and the radius of the third driving wheel is smaller than that of the second driven wheel.

14. The driving mechanism according to claim 12, characterized in that: The driving mechanism also includes a fourth motor, a second transmission wheel assembly and a second flexible transmission member; The second transmission wheel assembly is transmission-connected to the output shafts of the third motor and the fourth motor and is connected to the first object, and the second flexible transmission member is transmission-connected to the second transmission wheel assembly; The third motor and the fourth motor rotate coaxially; The third motor and the fourth motor are used to work together to drive the second transmission wheel assembly to drive the first object and the second object to rotate around the first axis as a whole, and are also used to work together to drive the first object and the second object to rotate around the second axis as a whole; The first axis and the second axis are non-parallel.

15. The driving mechanism according to claim 14, characterized in that: The driving mechanism comprises a mounting seat, the upper end of the first object is rotatably connected to the mounting seat, and the third motor and the fourth motor are connected to the mounting seat.

16. The driving mechanism according to claim 15, characterized in that: The second transmission wheel assembly includes a third driving wheel, a fourth driving wheel, a second driven wheel, and a third driven wheel; The third motor output shaft is connected to the third driving wheel; The fourth motor output shaft is connected to the fourth driving wheel; The second driven wheel is tightly connected to the first object, and when the second driven wheel rotates, the first object is driven to rotate; The rotation axes of the third driving wheel and the fourth driving wheel are coaxial, the rotation axes of the third driving wheel and the fourth driving wheel rotate coaxially with the first axis, and the rotation axis of the second driven wheel rotates coaxially with the second axis; The first axis and the second axis are perpendicular to each other; The second flexible transmission member is in transmission connection with the third driving wheel, the fourth driving wheel, the second driven wheel, and the third driven wheel.

17. The driving mechanism according to claim 16, characterized in that: The third motor and the fourth motor are arranged opposite to each other, and when the third motor and the fourth motor rotate in the same direction and the torque of the third motor and the fourth motor is the same, the first object and the second object rotate around the first axis as a whole, and the first object and the second object remain stationary in the second direction as a whole; When the third motor and the fourth motor rotate in opposite directions and the torques of the third motor and the fourth motor are the same, the first object and the second object rotate around the second axis as a whole, and the first object and the second object remain stationary in the first direction as a whole; When the third motor and the fourth motor rotate in opposite or same directions and the torques of the third motor and the fourth motor are different, the first object and the second object rotate as a whole around the first axis and around the second axis at the same time.

18. The driving mechanism according to claim 16, characterized in that: The third driving wheel and the fourth driving wheel have the same radius, the second driven wheel and the third driven wheel have the same radius, and the radius of the second driven wheel is larger than the radius of the third driving wheel and the fourth driving wheel.

19. The driving mechanism according to claim 16, characterized in that: The driving mechanism further comprises a support frame assembly, and the support frame assembly is rotatably connected to the third driving wheel and the fourth driving wheel; The support frame assembly is also rotatably connected to the second driven wheel and the third driven wheel; When the first object and the second object rotate as a whole around the second axis, the support frame assembly does not move; When the first object and the second object rotate around the first axis as a whole, the support frame assembly and the first object and the second object rotate around the first axis as a whole.

20. The driving mechanism according to claim 19, characterized in that: The support frame assembly includes a connecting frame, a pre-tightening shaft, a pre-tightening screw, and a fixing screw; The connecting frame is rotatably connected to the third driving wheel, the fourth driving wheel, and the second driven wheel; The preload shaft is rotatably connected to the third driven wheel; The connecting frame is provided with a accommodating cavity, a through hole is provided on the outer wall of the connecting frame, a threaded hole is provided on the outer wall of the preload shaft corresponding to the through hole, the preload screw passes through the through hole and is threadedly connected with the threaded hole so that the preload shaft can move in the accommodating cavity, a fixing hole is provided on the cavity wall of the accommodating cavity, a fastening hole is provided on the preload shaft corresponding to the fixing hole, and the preload shaft is fastened to the fixing hole by a fixing screw passing through the fastening hole so as to be arranged in the accommodating cavity.

21. The driving mechanism according to claim 20, characterized in that: The second driving mechanism further includes a limit stopper. The connecting frame is provided with a limit block. The limit stopper is provided in a rotation direction of the limit block. When the connecting frame rotates to a certain position, the limit block abuts against the limit stopper.

22. The driving mechanism according to claim 21, characterized in that: The second flexible transmission member is a synchronous belt, and the third driving wheel, the fourth driving wheel, the second driven wheel and the third driven wheel are synchronous belt wheels.

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