Transmission components and robots

Abstract

The present invention discloses a transmission assembly and a robot, and belongs to the field of robot technology. The transmission assembly includes a first gear ring and a transmission device. The transmission device is configured to rotate around the first gear ring, and includes a rotating part, a driving part and an adjusting part. The rotating part includes a first gear and a second gear, and the first gear and the second gear are meshed at different parts of the first gear ring; the driving part is connected to both the first gear and the second gear, and is used to drive the first gear and the second gear to rotate; the adjusting part connects the driving part and the first gear, and connects the driving part and the second gear, and the adjusting part is used to adjust the reduction ratio between the first gear and the driving part, and is used to adjust the reduction ratio between the second gear and the driving part. Driven by the same driving part, the first gear and the second gear can form a differential transmission to reduce the phase difference between the first gear and the second gear, thereby reducing the transmission friction of the transmission assembly and improving the transmission efficiency of the transmission assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a transmission component and a robot. Background Art

[0002] Gear transmission is widely used in various industries. When using the same driving component to drive multiple gears to mesh with the gear ring, there will be errors in the processing and assembly of the gears or gear rings, so there will be phase differences between the multiple gears, which will cause meshing interference between the multiple gears and the gear ring, thereby increasing the transmission friction of the transmission component and reducing the transmission efficiency of the transmission component. Summary of the invention

[0003] The present invention provides a transmission assembly and a robot to solve at least one of the above-mentioned technical problems.

[0004] The transmission assembly of the embodiment of the present invention includes a first ring gear and a transmission device. The transmission device is configured to rotate around the first ring gear, and the transmission device includes a rotating component, a driving component and an adjusting component. The rotating component includes a first gear and a second gear, and the first gear and the second gear are meshed at different positions of the first ring gear; the driving component is connected to both the first gear and the second gear, and the driving component is used to drive the first gear and the second gear to rotate; the adjusting component connects the driving component and the first gear, and connects the driving component and the second gear, and the adjusting component is used to adjust the reduction ratio between the first gear and the driving component, and is used to adjust the reduction ratio between the second gear and the driving component.

[0005] In the transmission assembly of the embodiment of the present invention, by setting an adjusting component, the reduction ratio between the first gear and the driving component, and the reduction ratio between the second gear and the driving component can be independently adjusted. In this way, under the drive of the same driving component, the first gear and the second gear can form a differential transmission. Specifically, the adjusting component can fine-tune the rotation speed of the first gear and the second gear according to the actual meshing condition between the first gear and the second gear and the first gear ring, so that the phase difference between the first gear and the second gear can be eliminated or greatly reduced. In this way, the meshing interference between the first gear and the first gear ring, and the meshing interference between the second gear and the first gear ring, can be effectively reduced, so that the phase difference between the first gear and the second gear driven by the same driving component can be eliminated, thereby reducing the transmission friction of the transmission assembly and improving the transmission efficiency of the transmission assembly.

[0006] Furthermore, by means of differential transmission, the meshing interference between the first gear and the second gear and the first ring gear is reduced, which reduces the precision requirements of the first gear, the second gear and the first ring gear, thereby reducing the manufacturing cost.

[0007] In some embodiments, a plurality of first gear teeth are disposed on an outer circumference of the first gear ring. The plurality of first gear teeth are spaced apart along the circumference of the first gear ring. The plurality of first gear teeth are used to mesh with the first gear and the second gear.

[0008] In certain embodiments, the first gear ring is formed with a mounting hole, and the transmission assembly further includes a connecting bearing, the connecting bearing is mounted in the mounting hole, and the connecting bearing is provided with a through hole.

[0009] In some embodiments, the adjusting component includes a reducer, a second ring gear and a third ring gear, the reducer is connected to the driving component, the second ring gear is meshed with the reducer and the third ring gear, the number of teeth of the second ring gear is different from the number of teeth of the third ring gear, the second ring gear rotates to drive the third ring gear to rotate, the reducer is connected to the first gear, and the third ring gear is connected to the second gear.

[0010] In some embodiments, the reducer includes a plurality of third gears, the second gear ring includes second gear teeth and third gear teeth, the second gear teeth are arranged on the inner side of the second gear ring, the third gear teeth are arranged on the outer periphery of the second gear ring, the second gear teeth are meshed with the plurality of third gears, and the third gear teeth are meshed with the third gear ring.

[0011] In some embodiments, the second ring gear and the reducer are an integrally formed structure.

[0012] In some embodiments, the transmission device also includes a fixing component, which is provided with a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion are arranged at an interval, the second ring gear and the first gear are installed on opposite sides of the first mounting portion, and the third ring gear and the second gear are installed on opposite sides of the second mounting portion.

[0013] In some embodiments, the transmission device also includes a mounting shell, one end of the mounting shell is connected to the fixed component, and one end of the mounting shell away from the fixed component is connected to the driving component, and the mounting shell forms an installation space, and the reducer, the second ring gear and the third ring gear are accommodated in the installation space.

[0014] In certain embodiments, the transmission device further includes a first bearing and a second bearing, the second ring gear is connected to the first gear via the first bearing, and the third ring gear is connected to the second gear via the second bearing.

[0015] In some embodiments, the transmission device also includes a third bearing, the first gear includes a first hub and fourth gear teeth arranged at circumferential intervals along the first hub, the first bearing is provided between the fourth gear teeth and one end of the first hub, and the third bearing is provided between the fourth gear teeth and the other end of the first hub.

[0016] In some embodiments, the transmission device also includes a fixing component and a first fixing frame, the fixing component is used to install the first gear, the second gear, the second gear ring and the third gear ring, the two ends of the first fixing frame are fixedly connected to the fixing component, a first matching portion is provided between the two ends of the first fixing frame, and the first matching portion is connected to the inner ring of the third bearing.

[0017] In some embodiments, the transmission device also includes a fourth bearing, the second gear includes a second hub and fifth gear teeth arranged at circumferential intervals along the second hub, the second bearing is provided between the fifth gear tooth and one end of the second hub, and the fourth bearing is provided between the fifth gear tooth and the other end of the second hub.

[0018] In some embodiments, the transmission device also includes a fixing component and a second fixing frame, the fixing component is used to install the first gear, the second gear, the second gear ring and the third gear ring, the two ends of the second fixing frame are fixedly connected to the fixing component, a second matching portion is provided between the two ends of the second fixing frame, and the second matching portion is connected to the inner ring of the fourth bearing.

[0019] In some embodiments, the axis of the second gear ring and the axis of the first gear coincide with the axis of the output shaft of the reducer, the axis of the third gear ring and the axis of the second gear coincide with each other, and the axis of the third gear ring and the axis of the second gear are parallel to and spaced from each other with the axis of the output shaft of the reducer.

[0020] In some embodiments, there are multiple transmission devices, and the multiple transmission devices are arranged at intervals along the circumference of the first ring gear.

[0021] A transmission assembly according to another embodiment of the present invention comprises a first ring gear, a fourth gear and a plurality of transmission devices. The fourth gear meshes with the first ring gear. A plurality of transmission devices are used to mesh with the first ring gear, and the transmission device comprises a rotating part, a driving part and an adjusting part. The rotating part comprises a first gear and a second gear, and the first gear and the second gear mesh at different positions of the first ring gear; the driving part is connected to both the first gear and the second gear, and the driving part is used to drive the first gear and the second gear to rotate; the adjusting part connects the driving part and the first gear, and connects the driving part and the second gear, and the adjusting part is used to adjust the reduction ratio between the first gear and the driving part, and is used to adjust the reduction ratio between the second gear and the driving part. The fourth gear meshes with the second gears of two adjacent transmission devices.

[0022] The robot of the embodiment of the present invention comprises a base, a turntable and a transmission assembly as described in any of the above embodiments. The turntable is rotatably connected to the base; the first gear ring is fixed on the base, the transmission device is fixed on the turntable, and the transmission device is configured to rotate around the first gear ring and drive the turntable to rotate relative to the first gear ring.

[0023] In some embodiments, the adjusting component includes a reducer, a first ring gear and a second ring gear, the reducer is connected to the driving component, the first ring gear is meshed with the reducer and the second ring gear, the first ring gear is connected to the first gear, and the second ring gear is connected to the second gear, the transmission device also includes a fixing component, the fixing component is provided with a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion are spaced apart, the first ring gear and the first gear are mounted on opposite sides of the first mounting portion, the second ring gear and the second gear are mounted on opposite sides of the second mounting portion, and the fixing component is detachably connected to the turntable.

[0024] In some embodiments, the robot further includes a dust cover, wherein the dust cover is connected to the base, and the dust cover is disposed between the transmission assembly and the base.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1is a schematic structural diagram of a robot according to an embodiment of the present invention; Figure 2 is a structural schematic diagram of a transmission assembly according to an embodiment of the present invention; Figure 3 is a transmission principle diagram of a transmission device according to an embodiment of the present invention; Figure 4 is a structural schematic diagram of a transmission device according to an embodiment of the present invention; Figure 5 yes Figure 4 A partial structural schematic diagram of a transmission device; Figure 6 is another schematic structural diagram of a transmission device according to an embodiment of the present invention; Figure 7 yes Figure 6 Another structural schematic diagram of a transmission device; Figure 8 is another structural schematic diagram of a transmission device according to an embodiment of the present invention; Fig. 9 is another structural schematic diagram of a transmission device according to an embodiment of the present invention; Fig.10 is another structural schematic diagram of a robot according to an embodiment of the present invention; Fig.11 is another structural schematic diagram of a transmission assembly according to an embodiment of the present invention; Fig.12 yes Fig.11 A partial structural schematic diagram of a transmission assembly; Fig.13 is another structural schematic diagram of a transmission assembly according to an embodiment of the present invention; Fig.14 is another structural schematic diagram of a transmission assembly according to an embodiment of the present invention; Fig.15 is another structural schematic diagram of a robot according to an embodiment of the present invention; Fig.16 yes Fig.15 Schematic diagram of the partial structure of the robot.

[0027] Description of reference numerals: Transmission assembly 100; first gear ring 10; transmission device 20; rotating part 21; first gear 210; second gear 211; driving part 22; adjusting part 23; first gear tooth 11; mounting hole 12; connecting bearing 30; through hole 31; reducer 230; second gear ring 231; third gear ring 232; third gear 2300; second gear tooth 2310; third gear tooth 2311; fixing part 24; first mounting portion 240; second mounting portion 241; mounting shell 25; first bearing 26; second bearing 27; third bearing 28; first hub 2100; fourth gear tooth 2101; first fixing frame 29; first matching portion 290; fourth bearing 101; second hub 2110; fifth gear tooth 2111; second fixing frame 102; fourth gear 40; robot 1000; base 200; turntable 300; dust cover 400. DETAILED DESCRIPTION

[0028] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0029] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0032] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can appreciate the application of other processes and / or the use of other materials.

[0033] Please refer to Figure 1 , Figure 2 and Figure 3. The transmission assembly 100 of the embodiment of the present invention includes a first ring gear 10 and a transmission device 20. The transmission device 20 is configured to rotate around the first ring gear 10, and the transmission device 20 includes a rotating component 21, a driving component 22 and an adjusting component 23. The rotating component 21 includes a first gear 210 and a second gear 211, and the first gear 210 and the second gear 211 are meshed at different parts of the first ring gear 10; the driving component 22 is connected to both the first gear 210 and the second gear 211, and the driving component 22 is used to drive the first gear 210 and the second gear 211 to rotate; the adjusting component 23 connects the driving component 22 and the first gear 210, and connects the driving component 22 and the second gear 211, and the adjusting component 23 is used to adjust the reduction ratio between the first gear 210 and the driving component 22, and is used to adjust the reduction ratio between the second gear 211 and the driving component 22.

[0034] In the transmission assembly 100 of the embodiment of the present invention, by setting the adjustment component 23, the reduction ratio between the first gear 210 and the driving component 22, and the reduction ratio between the second gear 211 and the driving component 22 can be independently adjusted. In this way, under the drive of the same driving component 22, the first gear 210 and the second gear 211 can form a differential transmission. Specifically, the adjustment component 23 can fine-tune the rotation speed of the first gear 210 and the second gear 211 according to the actual meshing condition between the first gear 210 and the second gear 211 and the first gear ring 10, so that the phase difference between the first gear 210 and the second gear 211 can be eliminated or greatly reduced. In this way, the meshing interference between the first gear 210 and the first gear ring 10, and the meshing interference between the second gear 211 and the first gear ring 10, can be effectively reduced, so that the phase difference between the first gear 210 and the second gear 211 driven by the same driving component 22 can be eliminated, so that the transmission friction of the transmission assembly 100 can be reduced, and the transmission efficiency of the transmission assembly 100 can be improved.

[0035] Furthermore, through differential transmission, the meshing interference between the first gear 210 and the second gear 211 and the first ring gear 10 is reduced, which reduces the precision requirements of the first gear 210, the second gear 211 and the first ring gear 10, thereby reducing the manufacturing cost.

[0036] Specifically, the first gear ring 10 is used to support and constrain the movement of the transmission device 20. The first gear ring 10 is provided with a tooth shape matching the first gear 210 and the second gear 211, so that the first gear 210 and the second gear 211 can stably mesh and rotate on the first gear ring 10. The first gear ring 10 can be made of high-strength steel or cast iron to ensure the stability and durability of the first gear ring 10 under high load.

[0037] The transmission device 20 rotates around the first gear ring 10, and the transmission ratio is adjusted and the power is effectively transmitted through the coordinated work of various components in the transmission device 20. The transmission device 20 can rotate around the first gear ring 10 as a whole through the first gear 210 and the second gear 211 in the rotating component 21. The transmission device 20 can rotate around the first gear ring 10 clockwise or counterclockwise.

[0038] The first gear 210 and the second gear 211 can be made of high-strength alloy steel or other materials to ensure the wear resistance and load-bearing capacity of the first gear 210 and the second gear 211 under high load. The first gear 210 and the second gear 211 can be two equal gears, or two gears with almost the same parameters such as the number of teeth and pitch.

[0039] The driving component 22 may be a motor, a hydraulic motor, etc. For example, the driving component 22 may be a servo motor. The connection between the driving component 22 and the first gear 210 and the second gear 211 may be a linear connection or an indirect connection. The driving component 22 may drive the first gear 210 and the second gear 211 to rotate by a coupling connection, a gear transmission, etc. Figure 3 As shown, in the transmission device 20, the driving component 22 can realize one input and two outputs, namely output 1 and output 2. The driving component 22 can correspond to Figure 3 The second gear 211 can correspond to the input Figure 3 The output 1 of the first gear 210 may correspond to Figure 3 Output 2 in .

[0040] The adjusting component 23 can adjust the reduction ratio by changing the meshing relationship between gears or adjusting the relative positions of gears, etc. For example, the adjusting component 23 can be an adjustable gear transmission mechanism, and the reduction ratio can be adjusted by changing the meshing teeth of the gears.

[0041] Since the first gear ring 10, the first gear 210 and the second gear 211 may have processing errors or assembly errors, the first gear ring 10 has poor cross-tooth accuracy during processing, or the first gear ring 10 has different tooth pitches, and during the operation of the transmission assembly 100, different parts of the first gear ring 10 are in different meshing conditions with the first gear 210 or the second gear 211.

[0042] It can be understood that at the first moment, if interference occurs between the first gear 210 and the first gear ring 10, the resistance of the first gear 210 is greater than the resistance of the second gear 211, and the speed of the first gear 210 is reduced or does not rotate. At this time, the adjustment component 23 can fine-tune the rotation speed of the first gear 210 and the second gear 211, so that the resistance of the first gear 210 and the second gear 211 at the second moment is the same, so that the first gear 210 and the second gear 211 will rotate together, realizing the differential transmission of the first gear 210 and the second gear 211, so that the phase difference between the first gear 210 and the second gear 211 can be eliminated or greatly reduced, thereby reducing the transmission friction of the transmission assembly 100 and improving the transmission efficiency of the transmission assembly 100.

[0043] Please refer to Figure 2 In some embodiments, a plurality of first gear teeth 11 are disposed on the outer circumference of the first gear ring 10 . The plurality of first gear teeth 11 are spaced apart along the circumference of the first gear ring 10 . The plurality of first gear teeth 11 are used to mesh with the first gear 210 and the second gear 211 .

[0044] Thus, a plurality of first gear teeth 11 are disposed on the outer periphery of the first gear ring 10, and the first gear teeth 11 are arranged at intervals along the circumference of the gear ring. This design enables the first gear 210 and the second gear 211 to form continuous meshing contact with the plurality of first gear teeth 11 when meshing with the first gear ring 10, so that the transmission device 20 can achieve continuous transmission.

[0045] Specifically, the outer periphery of the first gear ring 10 refers to the outer edge portion of the first gear ring 10, which is the area that directly contacts and meshes with the first gear 210 and the second gear 211. The first gear teeth 11 may be a toothed structure disposed on the outer periphery of the first gear ring 10, and is used to mesh with the first gear 210 and the second gear 211. The tooth shape of the first gear teeth 11 may match the first gear 210 and the second gear 211 to meet different transmission requirements. For example, the first gear teeth 11 may be straight teeth, helical teeth, or curved teeth, etc.

[0046] Please refer to Figure 2 In some embodiments, the first gear ring 10 is formed with a mounting hole 12 , and the transmission assembly 100 further includes a connecting bearing 30 , which is mounted in the mounting hole 12 and has a through hole 31 .

[0047] The first ring gear 10 is formed with a mounting hole 12, and the transmission assembly 100 further includes a connecting bearing 30, which is mounted in the mounting hole 12. The use of the connecting bearing 30 can provide stable support and guidance for the transmission assembly 100. During the transmission process, the connecting bearing 30 can effectively reduce the friction between the ring gear and the transmission device 20, reduce vibration and noise, and thus improve the transmission stability.

[0048] In addition, the via 31 provides a convenient wiring channel for the transmission component 100, so that the wires, signal lines, etc. can be arranged in an orderly manner inside the transmission component 100, without bypassing the transmission component 100 or performing complicated wiring outside. This simplifies the wiring layout, makes the structure of the transmission component 100 more compact, and reduces the external space occupied.

[0049] Specifically, the mounting hole 12 may be a through hole. The mounting hole 12 may be a circular hole to facilitate the installation of the connecting bearing 30. The connecting bearing 30 may be a deep groove ball bearing, a tapered roller bearing, etc. to meet different load-bearing capacity and application scenario requirements.

[0050] The via hole 31 may be a through hole. The via hole 31 may be used for passing or installing wires, signal lines, etc. The shape of the via hole 31 may be circular, square, or other shapes.

[0051] Please refer to Figure 2 In some embodiments, the adjusting component 23 includes a reducer 230, a second gear ring 231, and a third gear ring 232. The reducer 230 is connected to the driving component 22. The second gear ring 231 is meshed with both the reducer 230 and the third gear ring 232. The number of teeth of the second gear ring 231 is different from the number of teeth of the third gear ring 232. The second gear ring 231 rotates to drive the third gear ring 232 to rotate. The reducer 230 is connected to the first gear 210, and the third gear ring 232 is connected to the second gear 211.

[0052] In this way, by providing the second gear ring 231 and the third gear ring 232 with different numbers of teeth, and rotating the second gear ring 231 to drive the third gear ring 232 to rotate, the first gear 210 and the second gear 211 are connected in parallel, and the power of the driving component 22 can be output in a differential manner in two ways, one of which is output to the first gear 210 through the reducer 230, and the other is output to the second gear 211 through the reducer 230, the second gear ring 231 and the third gear ring 232.

[0053] This differential transmission method can fine-tune the rotation speed of the first gear 210 and the second gear 211, so that the phase difference between the first gear 210 and the second gear 211 can be eliminated or greatly reduced. In this way, the meshing interference between the first gear 210 and the first gear ring 10, and the meshing interference between the second gear 211 and the first gear ring 10 can be effectively reduced, thereby eliminating the phase difference between the first gear 210 and the second gear 211 driven by the same driving component 22.

[0054] Specifically, the reducer 230 is a mechanical device for reducing the rotation speed and increasing the torque. The reducer 230 is connected to the driving component 22, receives the power of the driving component 22, and reduces the rotation speed to a desired level through internal gear transmission or other transmission methods. The type of the reducer 230 can be a gear reducer 230, a planetary reducer 230, etc. The output shaft of the reducer 230 can be directly connected to the first gear 210.

[0055] The second gear ring 231 is connected to the reducer 230 and the third gear ring 232 through meshing action to achieve power transmission and speed regulation. When the second gear ring 231 rotates, it will drive the third gear ring 232 to rotate, thereby driving the second gear 211 to rotate, thereby achieving differential transmission. It can be understood that the rotating second gear ring 231 can achieve the distribution of the reduction ratio coefficient. When the resistance of the first gear 210 is greater than the resistance of the second gear 211, the reduction ratio coefficient allocated to the second gear 211 will be greater than the reduction ratio coefficient allocated to the first gear 210.

[0056] Please refer to Figure 2 , Figure 4 and Figure 5 In some embodiments, the reducer 230 includes a plurality of third gears 2300 , the second gear ring 231 includes second gear teeth 2310 and third gear teeth 2311 , the second gear teeth 2310 are arranged on the inner side of the second gear ring 231 , the third gear teeth 2311 are arranged on the outer periphery of the second gear ring 231 , the second gear teeth 2310 are meshed with the plurality of third gears 2300 , and the third gear teeth 2311 are meshed with the third gear ring 232 .

[0057] In this way, by providing a plurality of third gears 2300 , the rotation speed output by the driving component 22 can be adjusted, so that the second ring gear 231 rotates at a required rotation speed, thereby driving the third ring gear 232 to rotate at a required rotation speed.

[0058] Specifically, the second gear teeth 2310 may be a toothed structure disposed inside the second gear ring 231, and is used to mesh with the third gear 2300 in the reducer 230, thereby realizing transmission between the reducer 230 and the second gear ring 231. The shape, size, and distribution of the second gear teeth 2310 should match the third gear 2300 to achieve a stable transmission relationship. For example, the second gear teeth 2310 may be straight teeth, helical teeth, or curved teeth.

[0059] The third gear teeth 2311 may be a toothed structure disposed on the outer periphery of the second gear ring 231, and is used to mesh with the third gear ring 232, thereby realizing transmission between the second gear ring 231 and the third gear ring 232. The shape, size and distribution of the third gear teeth 2311 should match the third gear ring 232 to achieve a stable transmission relationship. For example, the third gear teeth 2311 may be straight teeth, helical teeth or curved teeth.

[0060] Please refer to Figure 4 In some embodiments, the second gear ring 231 and the reducer 230 are integrally formed.

[0061] In this way, the second gear ring 231 and the reducer 230 are integrally formed to form a whole, which has higher structural strength and rigidity. During the transmission process, this integral structure can better withstand various loads and stresses, and reduce transmission failures caused by structural deformation or looseness. In addition, since the second gear ring 231 and the reducer 230 are integrally formed, there is no need to connect and adjust the two components separately during assembly. This greatly simplifies the assembly process, reduces assembly time, and reduces assembly costs.

[0062] Specifically, the second gear ring 231 can be integrally formed with the housing of the reducer 230, or the second gear ring 231 can serve as a part of the housing of the reducer 230. The second gear ring 231 and the reducer 230 can be integrally formed by casting or forging.

[0063] Please refer to Figure 6 , Figure 7 and Figure 8 In some embodiments, the transmission device 20 further includes a fixing member 24, which includes a first mounting portion 240 and a second mounting portion 241, the first mounting portion 240 and the second mounting portion 241 are arranged at intervals, the second gear ring 231 and the first gear 210 are mounted on opposite sides of the first mounting portion 240, and the third gear ring 232 and the second gear 211 are mounted on opposite sides of the second mounting portion 241.

[0064] In this way, the fixing member 24 provides a stable support for the second gear ring 231, the third gear ring 232, the first gear 210 and the second gear 211, ensuring the stability and reliability during the transmission process, so that the second gear ring 231, the third gear ring 232, the first gear 210 and the second gear 211 can maintain stable transmission performance under various working conditions. At the same time, by installing the second gear ring 231, the first gear 210, the third gear ring 232 and the second gear 211 on both sides of the corresponding mounting portion, the structural layout of the transmission assembly 100 is more compact and reasonable, thereby reducing the space occupied by the transmission device 20.

[0065] Specifically, the fixing component 24 can be used to support and position various components in the transmission device 20, so that the relative positions and motion relationships of these components during the working process are accurate. For example, the fixing component 24 can achieve the precise positioning of the second gear ring 231, the third gear ring 232, the first gear 210 and the second gear 211 by processing vacancies, bearings, etc. The structure and material of the fixing component 24 should have sufficient strength and rigidity to withstand various loads and moments during the transmission process. For example, the fixing component 24 can be made of high-strength steel or cast iron.

[0066] The first mounting portion 240 may be a portion on the fixing member 24 for mounting the second gear ring 231 and the first gear 210. The first mounting portion 240 may be provided with a through hole, a slot, or other structure for mounting the second gear ring 231 and the first gear 210. The second mounting portion 241 may be a portion on the fixing member 24 for mounting the third gear ring 232 and the second gear 211. The second mounting portion 241 may be provided with a through hole, a slot, or other structure for mounting the third gear ring 232 and the second gear 211.

[0067] Please refer to Fig. 9 In some embodiments, the transmission device 20 further includes a mounting shell 25, one end of the mounting shell 25 is connected to the fixing member 24, and one end of the mounting shell 25 away from the fixing member 24 is connected to the driving member 22, and the mounting shell 25 forms an installation space (not shown), and the reducer 230, the second gear ring 231 and the third gear ring 232 are accommodated in the installation space.

[0068] In this way, the mounting shell 25 can not only be used to support the driving component 22, but also provide a sealing effect, effectively protecting the reducer 230, the second gear ring 231 and the third gear ring 232 from the influence of the external environment, such as dust, oil, moisture, etc., and preventing these impurities from causing wear, corrosion or jamming of the transmission components, thereby improving the protection performance and reliability of the transmission device 20 and extending the service life of the transmission device 20. In addition, the setting of the mounting shell 25 can isolate the first gear ring 10 and the transmission device 20, so as to meet the different lubrication and sealing requirements of the first gear ring 10 and the transmission device 20, thereby improving the service life and stability of the transmission assembly 100.

[0069] Specifically, the mounting shell 25 is used to accommodate and protect various components in the transmission assembly 100, such as the reducer 230, the second gear ring 231, and the third gear ring 232. The mounting shell 25 can be made of a material with sufficient strength and rigidity to withstand various loads and moments during the transmission process. For example, the mounting shell 25 can be made of materials such as aluminum alloy or cast iron. The installation space refers to the accommodating space inside the mounting shell 25, which is used to place components such as the reducer 230, the second gear ring 231, and the third gear ring 232.

[0070] The connection between the mounting shell 25 and the fixing component 24 may be threaded or welded, etc. The connection between the mounting shell 25 and the driving component 22 may be threaded or welded, etc. In the case where the driving component 22 is a motor, the mounting shell 25 may be connected to the housing of the motor to form a motor frame.

[0071] Please refer to Fig.10 and Fig.11 In some embodiments, the transmission device 20 further includes a first bearing 26 and a second bearing 27 , the second gear ring 231 is connected to the first gear 210 via the first bearing 26 , and the third gear ring 232 is connected to the second gear 211 via the second bearing 27 .

[0072] In this way, the use of the first bearing 26 and the second bearing 27 can provide stable support and guidance for the transmission between the second gear ring 231 and the first gear 210, and between the third gear ring 232 and the second gear 211. During the transmission process, the first bearing 26 and the second bearing 27 can effectively reduce the friction between the second gear ring 231 and the first gear 210, and between the third gear ring 232 and the second gear 211, reduce vibration and noise, and thus improve transmission stability.

[0073] Specifically, the first bearing 26 is a mechanical element for connecting the second gear ring 231 and the first gear 210, and can provide stable support and constraint, so that the relative movement between the second gear ring 231 and the first gear 210 is more stable and accurate. The type of the first bearing 26 can be a deep groove ball bearing, a tapered roller bearing, etc.

[0074] The second bearing 27 is a mechanical element used to connect the third gear ring 232 and the second gear 211, and can provide stable support and constraint, so that the relative movement between the third gear ring 232 and the second gear 211 is more stable and accurate. The type of the second bearing 27 can be a deep groove ball bearing, a tapered roller bearing, etc.

[0075] Please refer to Figure 8 , Fig.11 and Fig.12 In some embodiments, the transmission device 20 further includes a third bearing 28, the first gear 210 includes a first hub 2100 and fourth gear teeth 2101 arranged at intervals along the circumference of the first hub 2100, a first bearing 26 is provided between the fourth gear teeth 2101 and one end of the first hub 2100, and a third bearing 28 is provided between the fourth gear teeth 2101 and the other end of the first hub 2100.

[0076] Thus, the third bearing 28 is mainly used to constrain the first hub 2100 at the other end of the first hub 2100, and together with the first bearing 26, is respectively disposed between the two ends of the first hub 2100 and the fourth gear teeth 2101. This design of constraining at both ends can effectively limit the radial and axial displacements of the first gear 210, and improve the stability of the first gear 210. During the transmission process, the rotation speed and position of the first gear 210 are more stable, thereby improving the transmission accuracy.

[0077] Specifically, the third bearing 28 is a mechanical element for supporting and restraining the first gear 210. The third bearing 28 may be a deep groove ball bearing, a tapered roller bearing, or the like.

[0078] The first hub 2100 is the central part of the first gear 210, and is used to mount and support the fourth gear teeth 2101. The shape of the first hub 2100 can be cylindrical or conical, etc., to meet different usage requirements.

[0079] The fourth gear teeth 2101 are tooth-shaped structures arranged in the circumferential direction of the first hub 2100, and are used to mesh with the first gear ring 10. The shape, size and distribution of the fourth gear teeth 2101 should match the first gear ring 10 to achieve a stable transmission relationship. For example, the fourth gear teeth 2101 can be straight teeth, helical teeth or curved teeth.

[0080] Please refer to Figure 4 and Figure 8 In some embodiments, the transmission device 20 further includes a fixing component 24 and a first fixing frame 29 . The fixing component 24 is used to install the first gear 210 , the second gear 211 , the second gear ring 231 , and the third gear ring 232 . Both ends of the first fixing frame 29 are fixedly connected to the fixing component 24 . A first matching portion 290 is provided between the two ends of the first fixing frame 29 . The first matching portion 290 is connected to the inner ring of the third bearing 28 .

[0081] In this way, by providing the first fixing frame 29 fixedly connected to the fixing member 24, the third bearing 28 can be stably fixed in the transmission device 20, further enhancing the restraining effect of the first gear 210. During the transmission process, the stable fixation of the third bearing 28 can effectively reduce the vibration and swing of the first gear 210, improve the stability of the transmission, and ensure the smoothness and continuity of the transmission process.

[0082] Furthermore, since the first gear 210, the second gear 211, the second gear ring 231 and the third gear ring 232 are mounted on the fixed component 24, the third bearing 28 can be integrated with the first gear 210, the second gear 211, the second gear ring 231 and the third gear ring 232 by providing the first fixed frame 29 without adding additional structures for fixing, thereby making the structure of the transmission device 20 compact.

[0083] Specifically, the first fixing frame 29 is a structural component used to connect and support the fixing component 24 and the third bearing 28. Both ends of the first fixing frame 29 can be fixedly connected to the fixing component 24 by threaded connection, welding, etc., and a first matching portion 290 is provided between the two ends to connect with the inner ring of the third bearing 28, which can provide stable support and positioning for the third bearing 28 to constrain the third bearing 28.

[0084] Please refer to Figure 8 , Fig.11 and Fig.12 In some embodiments, the transmission device 20 further includes a fourth bearing 101, the second gear 211 includes a second hub 2110 and fifth gear teeth 2111 arranged at intervals along the circumference of the second hub 2110, a second bearing 27 is provided between the fifth gear teeth 2111 and one end of the second hub 2110, and a fourth bearing 101 is provided between the fifth gear teeth 2111 and the other end of the second hub 2110.

[0085] Thus, the fourth bearing 101 is mainly used to constrain the second hub 2110 at the other end of the first hub 2100, and together with the second bearing 27, is respectively disposed between the two ends of the second hub 2110 and the fifth gear 2111. This design of constraint at both ends can effectively limit the radial and axial displacement of the second gear 211, and improve the stability of the second gear 211. During the transmission process, the rotation speed and position of the second gear 211 are more stable, thereby improving the transmission accuracy.

[0086] Specifically, the fourth bearing 101 is a mechanical element for supporting and constraining the first gear 210. The fourth bearing 101 may be a deep groove ball bearing, a tapered roller bearing, or the like.

[0087] The second hub 2110 is the central part of the second gear 211, and is used to mount and support the fifth gear tooth 2111. The shape of the second hub 2110 can be cylindrical or conical, etc., to meet different usage requirements.

[0088] The fifth gear teeth 2111 are tooth-shaped structures arranged on the circumference of the second hub 2110, and are used to mesh with the first gear ring 10. The shape, size and distribution of the fifth gear teeth 2111 should match the first gear ring 10 to achieve a stable transmission relationship. For example, the fifth gear teeth 2111 can be straight teeth, helical teeth or curved teeth.

[0089] Please refer to Figure 8 and Fig. 9In some embodiments, the transmission device 20 further includes a fixing component 24 and a second fixing frame 102 . The fixing component 24 is used to mount the first gear 210 , the second gear 211 , the second gear ring 231 , and the third gear ring 232 . Both ends of the second fixing frame 102 are fixedly connected to the fixing component 24 . A second matching portion (not shown) is provided between the two ends of the second fixing frame 102 . The second matching portion is connected to the inner ring of the fourth bearing 101 .

[0090] In this way, the fourth bearing 101 can be stably fixed in the transmission device 20, further enhancing the restraining effect of the second gear 211. During the transmission process, the stable fixation of the fourth bearing 101 can effectively reduce the vibration and swing of the second gear 211, improve the stability of the transmission, and ensure the smoothness and continuity of the transmission process.

[0091] Furthermore, since the first gear 210, the second gear 211, the second gear ring 231 and the third gear ring 232 are mounted on the fixed component 24, the fourth bearing 101 can be integrated with the first gear 210, the second gear 211, the second gear ring 231 and the third gear ring 232 by providing the second fixed frame 102 without adding additional structures for fixing, thereby making the structure of the transmission device 20 compact.

[0092] Specifically, the second fixing frame 102 is a structural component used to connect and support the fixing component 24 and the fourth bearing 101. Both ends of the second fixing frame 102 can be fixedly connected to the fixing component 24 by threaded connection, welding, etc., and a second matching portion is provided between the two ends to connect with the inner ring of the fourth bearing 101, which can provide stable support and positioning for the fourth bearing 101 to constrain the fourth bearing 101.

[0093] Please refer to Figure 6 In some embodiments, the axis of the second gear ring 231 and the axis of the first gear 210 coincide with the axis of the output shaft of the reducer 230, the axis of the third gear ring 232 coincides with the axis of the second gear 211, and the axis of the third gear ring 232 and the axis of the second gear 211 are parallel to and spaced from the axis of the output shaft of the reducer 230.

[0094] In this way, the transmission path of the transmission device 20 is compact, which reduces energy loss and friction loss during the transmission process, thereby improving the transmission efficiency.

[0095] Please refer to Fig.13 In some embodiments, there are multiple transmission devices 20 , and the multiple transmission devices 20 are arranged at intervals along the circumference of the first ring gear 10 .

[0096] In this way, the multiple transmission devices 20 can not only improve the output force of the transmission assembly 100, but also improve the transmission stiffness of the transmission assembly 100. The first gear 210 and the second gear 211 of the multiple transmission devices 20 have multiple meshing points with the first gear ring 10. The increase in meshing points can increase the contact area between the transmission device 20 and the first gear ring 10. For gears of the same material, the larger the contact area, the greater the stiffness. Therefore, the multiple transmission devices 20 can improve the transmission stiffness of the transmission assembly 100.

[0097] However, since the meshing points are increased in the multiple transmission devices 20, the risk of interference or even jamming between the first gear 210 and the second gear 211 in the multiple transmission devices 20 and the first gear ring 10 is increased. In the embodiment of the present invention, since the adjustment component 23 in the transmission device 20 can fine-tune the rotation speed of the first gear 210 and the second gear 211 according to the actual meshing conditions between the first gear 210 and the second gear 211 and the first gear ring 10, the phase difference between the first gear 210 and the second gear 211 can be eliminated or greatly reduced, thereby reducing the risk of interference or even jamming between the first gear 210 and the second gear 211 in the multiple transmission devices 20 and the first gear ring 10.

[0098] Furthermore, the phase difference between the first gear 210 and the second gear 211 among the plurality of transmission devices 20 can also be eliminated or greatly reduced, thereby satisfying the precision requirement when the first gear 210 and the second gear 211 in the plurality of transmission devices 20 are meshed with the first gear ring 10, reducing the transmission friction of the transmission assembly 100, and improving the transmission efficiency of the transmission assembly 100. In addition, the plurality of transmission devices 20 can realize that a plurality of smaller power units drive a larger load. Since a larger power unit is usually larger in size and manufacturing cost, by providing a plurality of transmission devices 20, not only the transmission requirements of the transmission assembly 100 can be met, but also the manufacturing cost can be reduced.

[0099] Specifically, the number of transmission devices 20 can be two, three, four or even more. The driving components 22 in the multiple transmission devices 20 can be controlled by an algorithm, so that the motion stiffness can be controlled, the motion precision can be adjusted, and the power and motion performance required by the load can be met.

[0100] Please refer to Fig.14. A transmission assembly 100 according to another embodiment of the present invention includes a first gear ring 10, a fourth gear 40 and a plurality of transmission devices 20. The fourth gear 40 is meshed with the first gear ring 10. The plurality of transmission devices 20 are used to mesh with the first gear ring 10, and the transmission device 20 includes a rotating component 21, a driving component 22 and an adjusting component 23. The rotating component 21 includes a first gear 210 and a second gear 211, and the first gear 210 and the second gear 211 are meshed at different positions of the first gear ring 10; the driving component 22 is connected to both the first gear 210 and the second gear 211, and the driving component 22 is used to drive the first gear 210 and the second gear 211 to rotate; the adjusting component 23 connects the driving component 22 and the first gear 210, and connects the driving component 22 and the second gear 211, and the adjusting component 23 is used to adjust the reduction ratio between the first gear 210 and the driving component 22, and is used to adjust the reduction ratio between the second gear 211 and the driving component 22. The fourth gear 40 is meshed with the second gears 211 of two adjacent transmission devices 20.

[0101] In this way, the fourth gear 40 can be connected in series with two adjacent transmission devices 20, so that the first gear 210, the second gear 211 and the fourth gear 40 are meshed with the first ring gear 10. This transmission mode can meet the smaller torque requirement and the greater transmission stiffness requirement of the transmission assembly 100. In addition, since the adjustment component 23 can eliminate or greatly reduce the phase difference between the first gear 210 and the second gear 211, the transmission friction is reduced and the transmission efficiency is improved when the two transmission devices 20 are transmitted together.

[0102] Specifically, the fourth gear 40 is a gear meshed with the first gear ring 10 and meshed with the second gear 211 of the adjacent transmission device 20. The fourth gear 40 can be made of materials such as high-strength alloy steel to ensure the wear resistance and load-bearing capacity of the fourth gear 40 under high load. The fourth gear 40 can be three gears of equal position with the first gear 210 and the second gear 211, or three gears with almost the same parameters such as the number of teeth and the pitch.

[0103] Please refer to Fig.15 The robot 1000 of the embodiment of the present invention comprises a base 200, a turntable 300 and a transmission assembly 100 of any of the above embodiments. The turntable 300 is rotatably connected to the base 200; the first gear ring 10 is fixed on the base 200, the transmission device 20 is fixed on the turntable 300, and the transmission device 20 is configured to rotate around the first gear ring 10 and drive the turntable 300 to rotate relative to the first gear ring 10.

[0104] In this way, the transmission device 20 is configured to rotate around the first gear ring 10 and drive the turntable 300 to rotate relative to the first gear ring 10, so that the transmission reduction ratio can be improved, thereby improving the transmission stiffness of the entire robot 1000 when the stiffness of a single transmission device 20 is low. In addition, the first gear ring 10 is fixed on the base 200, and the transmission device 20 is fixed on the turntable 300, so that the transmission device 20 and the turntable 300 can rotate together, which can improve the transmission accuracy of the transmission assembly 100 while reducing the weight of the robot 1000, thereby improving the transmission stability and transmission accuracy of the robot 1000 during the transmission process.

[0105] Specifically, compared with the way the first gear ring 10 rotates, the reduction ratio of the turntable 300 relative to the way the first gear ring 10 rotates is greater than 1. Transmission stiffness includes output end stiffness and input end stiffness, and the output end stiffness is the product of the "input end stiffness" and the square of the "reduction ratio". Therefore, by setting the turntable 300 to rotate relative to the first gear ring 10, the transmission stiffness of the entire robot 1000 can be improved.

[0106] The base 200 is used to support and fix other components. The structure and material of the base 200 should have sufficient strength and stability to withstand various loads and moments generated during the movement of the robot 1000. For example, the base 200 can be made of materials such as a metal frame or a composite material structure.

[0107] The turntable 300 is used to realize the rotational motion of the robot 1000. The rotatable connection between the turntable 300 and the base 200 can be realized by a bearing, a hinge or other mechanical connection structure. The first ring gear 10 can be fixed on the base 200 by means of threaded connection, welding, etc. The transmission device 20 can be fixed on the turntable 300 by means of threaded connection, welding, etc., and the transmission device 20 can drive the turntable 300 to rotate. The transmission device 20 and the first ring gear 10 can be installed at the joint of the robot 1000.

[0108] Since the transmission device 20 has a relatively low rotation speed relative to the first gear ring 10, for example, less than 180° / s (60 rpm), the overall lubrication condition of the transmission device 20 and the first gear ring 10 is relatively easy to handle, and the sealing tightness is relatively low, so the transmission device 20 is fixed on the turntable 300 to achieve an integrated layout, which can meet the requirements of use and life at the same time.

[0109] Please refer to Fig.15 and Fig.16In some embodiments, the adjusting component 23 includes a reducer 230, a first gear ring 10, and a second gear ring 231. The reducer 230 is connected to the driving component 22. The first gear ring 10 is meshed with the reducer 230 and the second gear ring 231. The first gear ring 10 is connected to the first gear 210, and the second gear ring 231 is connected to the second gear 211. The transmission device 20 also includes a fixing component 24. The fixing component 24 is provided with a first mounting portion 240 and a second mounting portion 241. The first mounting portion 240 and the second mounting portion 241 are arranged at intervals. The first gear ring 10 and the first gear 210 are mounted on opposite sides of the first mounting portion 240, and the second gear ring 231 and the second gear 211 are mounted on opposite sides of the second mounting portion 241. The fixing component 24 is detachably connected to the turntable 300.

[0110] In this way, by fixing the fixing member 24 on the turntable 300, the movement process of the driving member 22, the reducer 230, the first gear ring 10, the second gear ring 231, the first gear 210 and the second gear 211 can maintain stable transmission performance under various working conditions. In addition, the fixing member 24 can realize the rapid disassembly and assembly of the entire transmission device 20. After the fixing member 24 is removed from the transmission device 20, the driving member 22, the reducer 230, the first gear ring 10, the second gear ring 231, the first gear 210 and the second gear 211 can all be removed.

[0111] Specifically, the fixing member 24 can be detachably mounted on the turntable 300 by means of threaded connection, pin connection, etc. For example, a plurality of threaded holes are correspondingly provided on the fixing member 24 and the turntable 300, and the fixing member 24 and the turntable 300 are detachably connected by fasteners such as screws or bolts.

[0112] Please refer to Figure 1 and Fig.16 In some embodiments, the robot 1000 further includes a dust cover 400 , which is connected to the base 200 , and is disposed between the transmission assembly 100 and the base 200 .

[0113] In this way, the dust cover 400 can effectively protect the transmission assembly 100 from the influence of the external environment, such as dust, oil, moisture, etc., and prevent these impurities from causing wear, corrosion or jamming of the transmission components in the transmission assembly 100, thereby improving the protection performance and reliability of the transmission assembly 100 and extending the service life of the transmission assembly 100. In addition, the dust cover 400 can also be used to store lubricating grease to improve the transmission performance of the transmission assembly 100.

[0114] Specifically, the dust cover 400 can be fixed to the base 200 by threading, snap-fitting or welding to ensure its stability and sealing. For example, multiple bolts can be used to fix the edge of the dust cover 400 to the base 200, or a snap-fit ​​structure can be used to achieve quick installation and removal.

[0115] In the description of this specification, the description with reference to the terms "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0116] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A transmission assembly, characterized in that: The transmission assembly comprises: First ring gear; A transmission device, the transmission device is configured to rotate around the first gear ring, the transmission device comprising: A rotating component, the rotating component comprising a first gear and a second gear, the first gear and the second gear being meshed at different positions of the first gear ring; A driving component, the driving component is connected to both the first gear and the second gear, and the driving component is used to drive the first gear and the second gear to rotate; An adjusting component is connected to the driving component and the first gear, and to the driving component and the second gear, and is used to adjust the reduction ratio between the first gear and the driving component, and is used to adjust the reduction ratio between the second gear and the driving component.

2. The transmission assembly according to claim 1, characterized in that: A plurality of first gear teeth are disposed on the outer circumference of the first gear ring. The plurality of first gear teeth are arranged at intervals along the circumference of the first gear ring. The plurality of first gear teeth are used to mesh with the first gear and the second gear.

3. The transmission assembly according to claim 2, characterized in that: The first gear ring is formed with a mounting hole, and the transmission assembly further includes a connecting bearing, the connecting bearing is mounted in the mounting hole, and the connecting bearing is provided with a through hole.

4. The transmission assembly according to claim 1, characterized in that: The adjusting component includes a reducer, a second ring gear and a third ring gear, the reducer is connected to the driving component, the second ring gear is meshed with the reducer and the third ring gear, the number of teeth of the second ring gear is different from the number of teeth of the third ring gear, the second ring gear rotates to drive the third ring gear to rotate, the reducer is connected to the first gear, and the third ring gear is connected to the second gear.

5. The transmission assembly according to claim 4, characterized in that: The reducer includes a plurality of third gears, the second gear ring includes second gear teeth and third gear teeth, the second gear teeth are arranged on the inner side of the second gear ring, the third gear teeth are arranged on the outer periphery of the second gear ring, the second gear teeth are meshed with the plurality of third gears, and the third gear teeth are meshed with the third gear ring.

6. The transmission assembly according to claim 4, characterized in that: The second gear ring and the reducer are an integrally formed structure.

7. The transmission assembly according to claim 4, characterized in that: The transmission device also includes a fixing component, which is provided with a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion are arranged at an interval, the second ring gear and the first gear are installed on opposite sides of the first mounting portion, and the third ring gear and the second gear are installed on opposite sides of the second mounting portion.

8. The transmission assembly according to claim 7, characterized in that: The transmission device also includes a mounting shell, one end of which is connected to the fixed component, and one end of which is away from the fixed component is connected to the driving component. The mounting shell forms an installation space, and the reducer, the second ring gear and the third ring gear are accommodated in the installation space.

9. The transmission assembly according to claim 4, characterized in that: The transmission device further comprises a first bearing and a second bearing, the second gear ring is connected to the first gear via the first bearing, and the third gear ring is connected to the second gear via the second bearing.

10. The transmission assembly according to claim 9, characterized in that: The transmission device also includes a third bearing, the first gear includes a first hub and fourth gear teeth arranged at intervals along the circumference of the first hub, the first bearing is arranged between the fourth gear teeth and one end of the first hub, and the third bearing is arranged between the fourth gear teeth and the other end of the first hub.

11. The transmission assembly according to claim 10, characterized in that: The transmission device also includes a fixing component and a first fixing frame, the fixing component is used to install the first gear, the second gear, the second gear ring and the third gear ring, the two ends of the first fixing frame are fixedly connected to the fixing component, a first matching portion is provided between the two ends of the first fixing frame, and the first matching portion is connected to the inner ring of the third bearing.

12. The transmission assembly according to claim 9, characterized in that: The transmission device also includes a fourth bearing, the second gear includes a second hub and fifth gear teeth arranged at intervals along the circumference of the second hub, the second bearing is arranged between the fifth gear tooth and one end of the second hub, and the fourth bearing is arranged between the fifth gear tooth and the other end of the second hub.

13. The transmission assembly according to claim 12, characterized in that: The transmission device also includes a fixing component and a second fixing frame, the fixing component is used to install the first gear, the second gear, the second gear ring and the third gear ring, the two ends of the second fixing frame are fixedly connected to the fixing component, a second matching portion is provided between the two ends of the second fixing frame, and the second matching portion is connected to the inner ring of the fourth bearing.

14. The transmission assembly according to claim 4, characterized in that: The axis of the second gear ring and the axis of the first gear both coincide with the axis of the output shaft of the reducer, the axis of the third gear ring and the axis of the second gear both coincide with the axis of the output shaft of the reducer, and the axis of the third gear ring and the axis of the second gear both are parallel to and spaced from each other.

15. The transmission assembly according to claim 1, characterized in that: There are multiple transmission devices, and the multiple transmission devices are arranged at intervals along the circumference of the first gear ring.

16. A transmission assembly, characterized in that: The transmission assembly comprises: First ring gear; a fourth gear, the fourth gear meshing with the first ring gear; A plurality of transmission devices, the plurality of transmission devices being used to mesh with the first gear ring, the transmission devices comprising: A rotating component, the rotating component comprising a first gear and a second gear, the first gear and the second gear being meshed at different positions of the first gear ring; A driving component, the driving component is connected to both the first gear and the second gear, and the driving component is used to drive the first gear and the second gear to rotate; an adjusting component, the adjusting component connecting the driving component and the first gear, and connecting the driving component and the second gear, the adjusting component being used to adjust the reduction ratio between the first gear and the driving component, and being used to adjust the reduction ratio between the second gear and the driving component; The fourth gear meshes with the second gears of two adjacent transmission devices.

17. A robot, characterized in that: The robot comprises: Pedestal; A turntable, the turntable is rotatably connected to the base; The transmission assembly according to any one of claims 1 to 16, wherein the first ring gear is fixed on the base, the transmission device is fixed on the turntable, and the transmission device is configured to rotate around the first ring gear and drive the turntable to rotate relative to the first ring gear.

18. The robot according to claim 17, characterized in that: The adjusting component includes a reducer, a first gear ring and a second gear ring, the reducer is connected to the driving component, the first gear ring is meshed with the reducer and the second gear ring, the first gear ring is connected to the first gear, and the second gear ring is connected to the second gear, the transmission device also includes a fixing component, the fixing component is provided with a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion are arranged at intervals, the first gear ring and the first gear are mounted on opposite sides of the first mounting portion, the second gear ring and the second gear are mounted on opposite sides of the second mounting portion, and the fixing component is detachably connected to the turntable.

19. The robot according to claim 18, characterized in that The robot further comprises a dust cover, wherein the dust cover is connected to the base and is arranged between the transmission assembly and the base.

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