Rope-driven transmission mechanism and robot

Abstract

The invention provides a rope-driven transmission mechanism and a robot. The rope-driven transmission mechanism comprises a driven rope wheel, at least two first transmission ropes, at least two second transmission ropes, a first input rope wheel and a second input rope wheel, wherein the first input rope wheel and the second input rope wheel are vertically arranged on the two sides of the driven rope wheel; one part of the third step of the driven rope wheel and the first step of the first input rope wheel are enclosed to form a first channel, and the other part of the third step of the driven rope wheel and the second step of the second input rope wheel are enclosed to form a second channel; third grooves are formed in the third steps at the first channel and the second channel, a first groove is formed in the first step at the first channel, and a second groove is formed in the second step at the second channel; the part, penetrating through the first channel, of the first transmission rope is located in the first groove and is partially located in one part of the third groove, and the part, penetrating through the second channel, of the second transmission rope is located in the second groove and is partially located in the other part of the third groove. And the first transmission rope and the second transmission rope can be prevented from slipping off.

Description

Technical Field

[0001] This application relates to the field of transmission technology, and more specifically, to a rope-driven transmission mechanism and a robot. Background Technology

[0002] In existing rope-driven transmission mechanisms, the first and second input rope pulleys are vertically positioned on either side of the driven rope pulley. Each of the first, second, and driven pulleys includes multiple steps, with multiple transmission ropes wound around different steps. These ropes pass through a first channel formed by the steps of the first input rope pulley and a portion of the driven pulley, and a second channel formed by the steps of the second input rope pulley and another portion of the driven pulley. In the vertical plane, both the first and second channels are rectangular. When the rope-driven transmission mechanism is subjected to impact or instantaneous overload vibration, the transmission ropes become slack due to a rapid change in internal tension. At this point, the transmission ropes are prone to sliding and detaching along the axial directions of the first, second, and driven pulleys, causing transmission failure. Alternatively, the transmission ropes may slide into adjacent first or second channels, resulting in compression, wear, or breakage within those channels. Summary of the Invention

[0003] This application addresses the shortcomings of existing methods by proposing a rope-driven transmission mechanism and robot to solve the technical problems in related technologies where, when the rope-driven transmission mechanism is subjected to impact or instantaneous overload vibration, the transmission rope is prone to slipping and falling off, causing transmission failure, or the transmission rope slips into the adjacent first or second channel, resulting in being squeezed, worn, and broken in the adjacent first or second channel.

[0004] In a first aspect, embodiments of this application provide a rope-driven transmission mechanism, comprising: The first input pulley has at least two annular first steps with first grooves around its periphery; The second input pulley includes at least two annular second steps with second grooves around its periphery; The driven pulley includes at least four annular third steps with a third groove; The first input rope wheel and the second input rope wheel are vertically arranged on both sides of the driven rope wheel; a portion of the third step and each of the adjacent first steps enclose at least two first channels; another portion of the third step and each of the adjacent second steps enclose at least two second channels. There are at least two first transmission ropes, which are sequentially wound around the first step, pass through the first channel, and are wound around a portion of the third step; the first groove and the third groove at the first channel are configured to limit the first transmission ropes. There are at least two second drive ropes, which are sequentially wound around the second step, pass through the second channel, and are wound around another part of the third step; the second groove and the third groove at the second channel are configured to limit the second drive ropes. Optionally, the rope drive mechanism further includes at least one of the following: The first step includes a first tread surface and a first riser surface, and the first groove is disposed on the first riser surface; The second step includes a second tread surface and a second riser surface, and the second groove is disposed on the second riser surface; The third step includes a third tread surface and a third kick surface, and the third groove is disposed on the third kick surface.

[0005] Optionally, the first groove covers a portion of the circumference of the first transmission rope, and a portion of the third groove covers a portion of the circumference of the first transmission rope; The second groove covers a portion of the circumference of the second transmission rope, and another portion of the third groove covers a portion of the circumference of the second transmission rope. Optionally, in the axial plane of the driven sheave, the first groove, the second groove, and the third groove are all arc-shaped.

[0006] Optionally, the rotation axis of the first input rope wheel coincides with the rotation axis of the second input rope wheel; The rotation axis of the first input rope pulley is perpendicular to the rotation axis of the driven rope pulley; The revolution axis of the driven rope wheel coincides with the rotation axis of the first input rope wheel, and the revolution axis of the driven rope wheel and the rotation axis of the driven rope wheel are coplanar.

[0007] Optionally, at least two of the first drive ropes and at least two of the second drive ropes are alternately arranged on different third steps.

[0008] Optionally, the two adjacent first drive ropes are wound in opposite directions on the first input pulley, and the two adjacent first drive ropes are wound in opposite directions on the driven pulley.

[0009] Optionally, two adjacent first transmission ropes form a group, and a group of first transmission ropes includes three fixed rope ends and one tension rope end, with the three fixed rope ends and the tension rope end respectively disposed at both ends of the two first transmission ropes.

[0010] Optionally, two of the fixed rope ends of a set of first transmission ropes are fixed on different third steps, a third fixed rope end is fixed on the first step, and a tension rope end is movably disposed on the first step, with the third fixed rope end and the tension rope end respectively disposed on different first steps.

[0011] Secondly, embodiments of this application provide a robot, including: a rope-driven transmission mechanism as described in any of the first aspects above.

[0012] The beneficial technical effects of the technical solutions provided in this application include: In this embodiment, the first input rope wheel and the second input rope wheel are vertically disposed on both sides of the driven rope wheel. A portion of the third step of the driven rope wheel and the first step of the first input rope wheel enclose at least two first channels, and another portion of the third step of the driven rope wheel and the second step of the second input rope wheel enclose at least two second channels. A third groove is provided on the third step at both the first and second channels. A first groove is provided on the first step at the first channel, and a second groove is provided on the second step at the second channel. A portion of the first transmission rope passing through the first channel is located in the first groove and a portion is located in a portion of the third groove. A portion of the second transmission rope passing through the second channel is located in the second groove and a portion is located in another portion of the third groove.

[0013] When the rope drive system is subjected to impact or instantaneous overload vibration, the internal tension of the first and second drive ropes changes drastically, causing them to slacken. This makes the first drive rope tend to slip out of the first groove and part of the third groove, and the second drive rope tend to slip out of the second groove and another part of the third groove. The first groove and part of the third groove will generate a reaction force to resist and support the first drive rope, preventing it from slipping out. The second groove and another part of the third groove will generate a reaction force to resist and support the second drive rope, preventing it from slipping out. This avoids the first and second drive ropes from falling off and causing transmission failure, or prevents the first drive rope from slipping into the adjacent second channel and the second drive rope from slipping into the adjacent first channel. This also prevents the first and second drive ropes from being squeezed, worn, or broken. Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0014] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a front view schematic diagram of a rope-driven transmission mechanism provided in an embodiment of this application; Figure 2 A top view of a rope-driven transmission mechanism provided in an embodiment of this application; Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure along the middle AA; Figure 4 for Figure 3 A magnified view of a portion of point A in the middle; Figure 5 This is a structural schematic diagram of the position and connection relationship between the driven wheel and the first transmission rope in an embodiment of this application from one angle; Figure 6 This is a structural schematic diagram of the position and connection relationship between the driven wheel and the first transmission rope in an embodiment of this application from another angle; Figure 7 for Figure 3 A schematic diagram of the structure of the first input rope pulley; Figure 8 for Figure 3 A schematic diagram of the structure of the second input rope pulley; Figure 9 for Figure 3 Schematic diagram of the driven wheel; Figure 10 A side view of the structure of a partial first input rope sheave or a partial second input rope sheave; Figure 11 for Figure 10 Schematic diagram of the cross-sectional structure along the middle BB; Figure 12 This is a schematic cross-sectional view of the first, second, or third groove in the embodiments of this application; Figure 13 This is a cross-sectional structural diagram of the second type of first groove, second groove, or third groove in the embodiments of this application. Figure label: 1-First input pulley; 11-First step; 111-First tread; 112-First riser; 113-First groove; 2-Second input pulley; 21-Second step; 211-Second tread; 212-Second riser; 213-Second groove; 3-Driven pulley; 31-Third step; 311-Third tread; 312-Third riser; 313-Third groove; 314-Fourth groove; 4-First transmission rope; 41-Fixed rope end of the first transmission rope; 42-Tension rope end of the first transmission rope; 5-Second transmission rope; 51-Fixed rope end of the second transmission rope; 52-Tension rope end of the second transmission rope; 6-First channel; 7-Second channel. Detailed Implementation

[0015] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0016] Those skilled in the art will understand that, unless specifically stated otherwise, the terms "described" and "the" as used herein may also include plural forms. It should be further understood that the term "comprising" as used in the specification of this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the art. The term "and / or" as used herein refers to at least one of the items defined by the term; for example, "A and / or B" can be implemented as "A," or as "B," or as "A and B."

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0018] In existing rope-driven transmission mechanisms, the first and second input rope pulleys are vertically positioned on either side of the driven rope pulley. Each of the first, second, and driven pulleys includes multiple steps, with multiple transmission ropes wound around different steps. These ropes pass through a first channel formed by the steps of the first input rope pulley and a portion of the driven pulley, and a second channel formed by the steps of the second input rope pulley and another portion of the driven pulley. In the vertical plane, both the first and second channels are rectangular. When the rope-driven transmission mechanism is subjected to impact or instantaneous overload vibration, the transmission ropes become slack due to a rapid change in internal tension. At this point, the transmission ropes are prone to sliding and detaching along the axial directions of the first, second, and driven pulleys, causing transmission failure. Alternatively, the transmission ropes may slide into adjacent first or second channels, resulting in compression, wear, or breakage within those channels.

[0019] The technical solution of this application and how it solves the above-mentioned technical problems are described in detail below with specific embodiments. It should be noted that the following embodiments can be referenced, borrowed, or combined with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be described again.

[0020] This application provides a rope-driven transmission mechanism, such as... Figure 1-13 As shown, the rope drive mechanism includes: a first input rope wheel 1, a second input rope wheel 2, a driven rope wheel 3, a first drive rope 4, and a second drive rope 5.

[0021] The first input pulley 1 has at least two annular first steps 11 with first grooves 113 around its periphery.

[0022] The second input pulley 2 has a periphery including at least two annular second steps 21 with second grooves 213.

[0023] The driven pulley 3 includes at least four annular third steps 31 with third grooves 313.

[0024] The first input rope wheel 1 and the second input rope wheel 2 are vertically arranged on both sides of the driven rope wheel 3; a portion of the third step 31 and the adjacent first steps 11 enclose each other to form at least two first channels 6; another portion of the third step 31 and the adjacent second steps 21 enclose each other to form at least two second channels 7.

[0025] There are at least two first transmission ropes 1. The first transmission ropes 1 are wound around the first step 11, pass through the first channel 6, and are wound around a portion of the third step 31 in sequence. The first groove 113 and the third groove 313 at the first channel 6 are configured to limit the first transmission ropes 1.

[0026] There are at least two second transmission ropes 5. The second transmission ropes 5 are wound around the second step 21, pass through the second channel 7, and are wound around another part of the third step 31. The second groove 213 and the third groove 313 at the second channel 7 are configured to limit the second transmission ropes 5. In this embodiment, the first input pulley 1 and the second input pulley 2 are vertically disposed on both sides of the driven pulley 3, and a portion of the driven pulley 3 (e.g.) Figure 3 The left part of the third step 31 and the first step 11 of the first input rope pulley 1 enclose at least two first channels 6, and the other part of the driven rope pulley 3 (e.g. Figure 3 The third step 31 (right side of the middle) and the second step 21 of the second input rope wheel 2 enclose each other to form at least two second channels 7; a third groove 313 is provided on the third step 31 at both the first channel 6 and the second channel 7, a first groove 113 is provided on the first step 11 at the first channel 6, and a second groove 213 is provided on the second step 21 at the second channel 7; the first transmission rope 4 passing through the first channel 6 is partially located in the first groove 113 and partially located in a portion of the third groove 313, and the second transmission rope 5 passing through the second channel 7 is partially located in the second groove 213 and partially located in another portion of the third groove 313.

[0027] When the rope drive system is subjected to impact or instantaneous overload vibration, the internal tension of the first drive rope 4 and the second drive rope 5 changes drastically, causing the first drive rope 4 and the second drive rope 5 to slacken. This results in the first drive rope 4 having a tendency to slip out of the first groove 113 and a portion of the third groove 313, and the second drive rope 5 having a tendency to slip out of the second groove 213 and another portion of the third groove 313. The first groove 113 and a portion (e.g.) Figure 3 The third groove 313 (left side) generates a reaction force to abut and support the first transmission rope 4, preventing the first transmission rope 4 from slipping out; the second groove 213 and another part (e.g. Figure 3 The third groove 313 (right side of the middle) will generate a reaction force to abut and support the second transmission rope 5, preventing the second transmission rope 5 from slipping out, thereby avoiding the first transmission rope 4 and the second transmission rope 5 from falling off and causing transmission failure, or preventing the first transmission rope 4 from sliding into the adjacent second channel 7 and the second transmission rope 5 from sliding into the adjacent first channel 6, thereby preventing the first transmission rope 4 and the second transmission rope 5 from being squeezed, worn and broken. Optionally, in one embodiment of this application, such as Figure 1-4 and Figure 7-9 As shown, the rope drive mechanism also includes at least one of the following: The first step 11 includes a first tread surface 111 and a first riser surface 112, and a first groove 113 is disposed on the first riser surface 112. The second step 21 includes a second tread surface 211 and a second kick surface 212, and a second groove 213 is disposed on the second kick surface 212.

[0028] The third step 31 includes a third tread surface 311 and a third riser surface 312, and a third groove 313 is disposed on the third riser surface 312.

[0029] In this embodiment, at least a portion of the first kick surface 112 is in contact with or close to a portion of the third kick surface 312, and a first groove 113 is disposed at one end of the first kick surface 112 close to the third kick surface 312, and a portion of the third groove 313 is disposed at one end of the third kick surface 312 close to the first kick surface 112; at least a portion of the second kick surface 212 is in contact with or close to another portion of the third kick surface 312, and a second groove 213 is disposed at one end of the second kick surface 212 close to the third kick surface 312, and another portion of the third groove 313 is disposed at one end of the third kick surface 312 close to the second kick surface 212.

[0030] In this embodiment, the first kick surface 112 of the first step 11 is in contact with or close to the third kick surface 312 of a portion of the third step 31. In the first channel 6 formed by the first step 11 and a portion of the third step 31, the first groove 113 is in contact with or close to a portion of the third groove 313. The first transmission rope 4 passing through the first channel 6 is in contact with the sidewalls of the first groove 113 and a portion of the third groove 313, thereby forming a double-sided limit in the radial direction of the first transmission rope 4, effectively suppressing the swing and deviation of the first transmission rope 4 during the movement. When the rope drive transmission system is subjected to impact or instantaneous overload vibration, the first transmission rope 4 has a tendency to slide out along the contact or close point between the first kick surface 112 and the third kick surface 312. At this time, the sidewalls of the first groove 113 and the sidewalls of a portion of the third groove 313 will both apply a radial reaction force to the first transmission rope 4. This reaction force is opposite to the deformation trend of the first transmission rope 4, preventing the first transmission rope 4 from deviating or jumping off, thereby improving the transmission stability and reliability.

[0031] In this embodiment, the second kick surface 212 of the second step 21 is in contact with or close to the third kick surface 312 of the other part of the third step 31. In the second channel 7 formed by the second step 21 and the other part of the third step 31, the second groove 213 is in contact with or close to the other part of the third groove 313. The second transmission rope 5 passing through the second channel 7 is in contact with the sidewalls of the second groove 213 and the other part of the third groove 313, thereby forming a double-sided limit in the radial direction of the second transmission rope 5, effectively suppressing the swing and deviation of the second transmission rope 5 during the movement. When the rope drive transmission system is subjected to impact or instantaneous overload, the second transmission rope 5 has a tendency to slide out along the contact or close point between the second kick surface 212 and the third kick surface 312. At this time, the sidewalls of the second groove 213 and the other part of the third groove 313 will both apply a radial reaction force to the second transmission rope 5. This reaction force is opposite to the deformation trend of the second transmission rope 5, preventing the second transmission rope 5 from deviating or jumping off, thereby improving the transmission stability and reliability.

[0032] In this embodiment, the third tread surface 311 can serve as a bearing surface to abut against the external drive component to transmit axial force, while the first tread surface 111 and the second tread surface 211 maintain a clearance fit with adjacent structures to avoid interference. The above layout achieves a compact spatial integration of each step, while ensuring uniform stress on the transmission rope in the curved section, reducing the risk of localized stress concentration.

[0033] Optionally, in one embodiment of this application, such as Figure 1-6 As shown, the first groove 113 covers part of the circumference of the first transmission rope 4, and a portion of the third groove 313 covers part of the circumference of the first transmission rope 4.

[0034] The second groove 213 covers part of the circumference of the second transmission rope 5, and the third groove 313 covers part of the circumference of the second transmission rope 5. In this embodiment, the first channel 6 is enclosed by a first step 11 and an adjacent portion of a third step 31; the first transmission rope 4 transitions from being wound around the first step 11 to being wound around a portion of the third step 31 at the first channel 6; in the first channel 6, a portion of the circumferential surface of the first transmission rope 4 is wrapped by a first groove 113 on the first kick surface 112, and a portion of the circumferential surface of the first transmission rope 4 is wrapped by a portion of the third groove 313. The sum of the area of ​​the circumferential surface of the first transmission rope 4 wrapped by the first groove 112 and the area of ​​the circumferential surface of the first transmission rope 4 wrapped by the third groove 313 is greater than half of the total surface area of ​​the first transmission rope 4, ensuring that an effective radial constraint is formed on the first transmission rope 4 during transmission, further improving transmission reliability.

[0035] In this embodiment, the second channel 7 is enclosed by the second step 21 and the adjacent third step 31. The second transmission rope 5 transitions from being wound on the second step 21 to being wound on the third step 31 at the second channel 7. In the second channel 7, part of the circumferential surface of the second transmission rope 4 is wrapped by the second groove 213 on the second kick surface 212, and part of the circumferential surface of the second transmission rope 5 is wrapped by the third groove 313. The sum of the area of ​​the circumferential surface of the second transmission rope 5 wrapped by the second groove 212 and the area of ​​the circumferential surface of the second transmission rope 5 wrapped by the third groove 313 is greater than half of the total surface area of ​​the second transmission rope 5, ensuring that an effective radial constraint is formed on the second transmission rope 5 during transmission, further improving the transmission reliability.

[0036] Optionally, in one embodiment of this application, such as Figure 1-4 , Figure 7-9 and Figure 12-13 As shown, in the axial plane of the driven sheave 3, the first groove 113, the second groove 213 and the third groove 313 are all arc-shaped.

[0037] In this embodiment, the first groove 113, the second groove 213 and the third groove 313 are all arc-shaped in the axial plane of the driven sheave 3, and the arc-shaped inner walls of the first groove 113, the second groove 213 and the third groove 313 are smooth curves.

[0038] Optionally, in some embodiments, such as Figure 13 As shown, at least one of the first groove 113, the second groove 213, and the third groove 313 has a protrusion on its inner wall. The protrusion is located on the arc-shaped inner wall of the first groove 113, the second groove 213, or the third groove 313, and is used to enhance the locking stability. The surface of the protrusion is a smooth arc surface to reduce frictional damage during movement. It should be noted that... Figure 12-13The first groove 113, the second groove 213, or the third groove 313 in the middle are rotated by a certain angle. Figure 12-13 This is simply to demonstrate the shapes of the first groove 113, the second groove 213, and the third groove 313.

[0039] Optionally, in one embodiment of this application, such as Figure 1-3 and Figure 7-9 As shown, the rotation axis of the first input rope wheel 1 coincides with the rotation axis of the second input rope wheel 2.

[0040] The rotation axis of the first input sheave 1 is perpendicular to the rotation axis of the driven sheave 3.

[0041] The revolution axis of the driven rope wheel 3 coincides with the rotation axis of the first input rope wheel 1, and the revolution axis of the driven rope wheel 3 and the rotation axis of the driven rope wheel 3 are coplanar.

[0042] In this embodiment, the axis of each pulley is its rotation axis. The axis of the first input pulley 1 is collinear with the axis of the second input pulley 2, and the rotation axes of the first input pulley 1 and the second input pulley 2 coincide. The first input pulley 1 and the second input pulley 2 rotate synchronously. The rotation axis of the first input pulley 1 is perpendicular to the rotation axis of the driven pulley 3. The rotation axis of the driven pulley 3 is perpendicular to the rotation axis of the second input pulley 2, and the revolution axis of the driven pulley 3 coincides with the rotation axes of both the first input pulley 1 and the second input pulley 2. Thus, the first input pulley 1, the second input pulley 2, and the driven pulley 3 constitute an orthogonal transmission system, realizing efficient power transmission between spatially intersecting axes. This orthogonal transmission system, through the precise arrangement of the axes of the first input pulley 1, the second input pulley 2, and the driven pulley 3, enables smooth conversion of input and output power in space, effectively reducing energy loss during transmission, while improving the stability and response accuracy of the mechanism.

[0043] In this embodiment, the first input pulley 1 and the second input pulley 2 independently drive the driven pulley 3. The driven pulley 3 can rotate around its own axis, rotate around its own axis, or rotate and revolve simultaneously, thereby achieving multi-degree-of-freedom motion output.

[0044] Optionally, in one embodiment of this application, such as Figure 1-9 As shown, at least two first transmission ropes 4 and at least two second transmission ropes 5 are alternately arranged on different third steps 31.

[0045] In this embodiment, multiple first transmission ropes 4 and multiple second transmission ropes 5 are alternately arranged on the third step 31. That is, the third step 31 adjacent to the third step 31 on which the first transmission rope 4 is wound is wound with a second transmission rope 5, thereby avoiding self-interference between two adjacent first transmission ropes 4 or two adjacent second transmission ropes 5, and ensuring that the movement paths of each first transmission rope 4 and each second transmission rope 5 are clear and do not interfere with each other during the transmission process.

[0046] Optionally, in one embodiment of this application, such as Figure 1-6 As shown, the winding directions of two adjacent first transmission ropes 4 on the first input rope wheel 1 are opposite, and the winding directions of two adjacent first transmission ropes 4 on the driven rope wheel 3 are opposite.

[0047] In this embodiment, two adjacent first transmission ropes 1 form a group. The two first transmission ropes 4 in each group have opposite winding directions on the first input rope wheel 1 and also opposite winding directions on the driven rope wheel 3. This is used to drive the driven rope wheel 3 to rotate forward and backward, thereby achieving bidirectional precise control of the driven rope wheel 3 in space.

[0048] In this embodiment, two adjacent second transmission ropes 5 form a group. The two second transmission ropes 5 in each group have opposite winding directions on the second input rope wheel 2 and also opposite winding directions on the driven rope wheel 3. This is used to drive the driven rope wheel 3 to rotate in both directions, thereby achieving bidirectional precise control of the driven rope wheel 3 in space.

[0049] Optionally, in one specific embodiment of this application, a set of first transmission ropes 4 includes two first transmission ropes 4, such as... Figure 3 As shown, the two fixed rope ends 41 of the two first transmission ropes 4 are both fixed to the driven rope pulley 3 on the side near the second input rope pulley 2. Figure 2 As shown, from a top-down perspective, the fixed rope end 41 of the upper first transmission rope 4 is fixed to a third step 31 of the driven rope wheel 3. Then, the upper first transmission rope 4 is wound counterclockwise around a step 31 of the driven rope wheel 3. Next, the upper first transmission rope 4 passes through the first channel 6 and is wound clockwise around a first step 11 of the first input rope wheel 1. Finally, the end of the upper first transmission rope 4 is connected to the tension rope end 42. Similarly, the fixed rope end 41 of the lower first transmission rope 4 is fixed to another third step 31 of the driven rope wheel 3. Then, the lower first transmission rope 4 is wound clockwise around another step 31 of the driven rope wheel 3. Next, the lower first transmission rope 4 passes through the first channel 6 and is wound counterclockwise around another first step 11 of the first input rope wheel 1. Finally, the end of the lower first transmission rope 4 is connected to the fixed rope end 41. It should be noted that "the first transmission rope 4 is above or below" refers to... Figure 2From a visual perspective, the upper half of the driven sheave 3 is considered "above," and the lower half of the driven sheave 3 is considered "below."

[0050] Optionally, in one embodiment of this application, such as Figure 1-6 and Figure 10-11 As shown, two adjacent first transmission ropes 4 form a group. Each group of first transmission ropes 4 includes three fixed rope ends 41 and one tensioning rope end 42. The three fixed rope ends 41 and one tensioning rope end 42 are respectively set at both ends of the two first transmission ropes 4.

[0051] In this embodiment of the application, two adjacent second transmission ropes 5 form a group, and a group of second transmission ropes 5 includes three fixed rope ends 51 and one tensioning rope end 52, which are respectively disposed at both ends of the two second transmission ropes 5.

[0052] In this embodiment, the two fixed rope ends 41 of the two first transmission ropes 4 in the same group are fixed to the driven rope wheel 3 on the side near the second input rope wheel 2; the two fixed rope ends 51 of the two second transmission ropes 5 in the same group are fixed to the driven rope wheel 3 on the side near the first input rope wheel 1. The fixed rope ends 41 of the first transmission rope 4 are used to fix the end of the first transmission rope 4, and the fixed rope ends 52 of the second transmission rope 5 are used to fix the end of the second transmission rope 5; the tensioning rope ends 42 of the first transmission rope 4 are used to tension the end of the first transmission rope 4, and the tensioning rope ends 52 of the second transmission rope 5 are used to tension the end of the second transmission rope 5.

[0053] Optionally, in one embodiment of this application, such as Figure 1-6 and Figure 10-11 As shown, two fixed rope ends 41 of a set of first transmission ropes 4 are fixed on different third steps 31, the third fixed rope end 41 is fixed on the first step 11, and a tension rope end 42 is movably set on the first step 11. The third fixed rope end 41 and the tension rope end 42 are respectively set on different first steps 11.

[0054] In this embodiment of the application, two fixed rope heads 51 of a set of second transmission rope wheels 5 are respectively fixed on different third steps 31, a third fixed rope head 51 is fixed on a second step 21, and a tension rope head 52 is movably disposed on the second step 21, and the third fixed rope head 51 and the tension rope head 52 are respectively disposed on different second steps 21.

[0055] In this embodiment, the radial dimension of the fixed rope head 41 of the first transmission rope 4 is greater than the diameter of the first transmission rope 4, and the radial dimension of the fixed rope head 51 of the second transmission rope 5 is greater than the diameter of the second transmission rope 5. A fourth groove 314 is provided on the third kick surface 312 of the third step 31. Vertically, the fourth groove 314 is located at the end furthest from the third groove 313, and its extension direction is tangent to the third step 31. The interior of the fourth groove 314 is stepped, with the fixing head 41 of the first transmission rope 4 and the fixing head 51 of the second transmission rope 5 located in the larger area of ​​the fourth groove 314. The first transmission rope 4 or the second transmission rope 5 connected to the fixing head 41 of the first transmission rope 4 or the fixing head 51 of the second transmission rope 5 is located in the smaller area of ​​the fourth groove 314. Thus, the fixing heads 41 of the first transmission rope 4 and the second transmission rope 5 are engaged within the fourth groove 314, ensuring that the ends of the first transmission rope 4 and the second transmission rope 5 on the third step 31 are stably limited and prevented from loosening.

[0056] In this embodiment, the fourth grooves 314 on two adjacent third steps 31 are symmetrically arranged along the axial direction of the driven rope wheel 3, so that the two first transmission ropes 4 in a group are wound in opposite directions on the third step 31, and the two second transmission ropes 5 in a group are wound in opposite directions on the third step 31.

[0057] In this embodiment, the tensioning head 42 of the first transmission rope 4 is tensioned to the first step 11 by a screw. Adjusting the screw's screw depth can change the tension of the tensioning head 42 on the first transmission rope 4, thereby achieving precise control of the preload of the first transmission rope 4. When the rope drive system is working, the tensioning head 42 of the first transmission rope 4 works in concert with the fixed head 41 to effectively prevent the first transmission rope 4 from slackening due to vibration or load changes, ensuring stable and reliable power transmission.

[0058] The tensioning head 52 of the second transmission rope 5 is tensioned to the second step 21 by a screw. Adjusting the screw's screw depth can change the tension of the tensioning head 52 on the second transmission rope 5, thereby achieving precise control of the preload of the second transmission rope 5. When the rope drive system is working, the tensioning head 52 of the second transmission rope 5 works in conjunction with the fixed head 51 to effectively prevent the second transmission rope 5 from slackening due to vibration or load changes, ensuring stable and reliable power transmission.

[0059] Based on the same inventive concept, this application provides a robot, which includes a rope drive mechanism as described in any of the above embodiments.

[0060] It should be noted that since the robot in this application embodiment includes the rope drive mechanism of this application embodiment, the robot in this application embodiment also has the above-mentioned beneficial effects of the rope drive mechanism of this application embodiment, which will not be repeated here.

[0061] By applying the embodiments of this application, at least the following beneficial effects can be achieved: 1. In the embodiments of this application, the first input rope wheel 1 and the second input rope wheel 2 are vertically arranged on both sides of the driven rope wheel 3. A portion of the third step 31 of the driven rope wheel 3 and the first step 11 of the first input rope wheel 1 enclose at least two first channels 6, and another portion of the third step 31 of the driven rope wheel 3 and the second step 21 of the second input rope wheel 2 enclose at least two second channels 7. A third groove 313 is provided on the third step 31 at the first channel 6 and the second step 21 at the second channel 7. A first groove 113 is provided on the first step 11 at the first channel 6, and a second groove 213 is provided on the second step 21 at the second channel 7. A portion of the first transmission rope 4 passing through the first channel 6 is located in the first groove 113 and a portion is located in a portion of the third groove 313. A portion of the second transmission rope 5 passing through the second channel 7 is located in the second groove 213 and a portion is located in another portion of the third groove 313.

[0062] When the rope drive system is subjected to impact or instantaneous overload vibration, the internal tension of the first drive rope 4 and the second drive rope 5 changes drastically, causing the first drive rope 4 and the second drive rope 5 to loosen. This makes the first drive rope 4 tend to slip out of the first groove 113 and part of the third groove 313, and the second drive rope 5 tend to slip out of the second groove 213 and another part of the third groove 313. The first groove 113 and part of the third groove 313 will generate a reaction force to resist and support the first drive rope 4, preventing the first drive rope 4 from slipping out. The second groove 213 and another part of the third groove 313 will generate a reaction force to resist and support the second drive rope 5, preventing the second drive rope 5 from slipping out. This avoids the first drive rope 4 and the second drive rope 5 from falling off and causing transmission failure, or prevents the first drive rope 4 from slipping into the adjacent second channel 7 and the second drive rope 5 from slipping into the adjacent first channel 6, thereby preventing the first drive rope 4 and the second drive rope 5 from being squeezed, worn, or broken.

[0063] Those skilled in the art will understand that in the description of this application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate directional or positional relationships based on the exemplary directional or positional relationships shown in the accompanying drawings. They are used to facilitate the description or simplification of the embodiments of this application, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0064] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0065] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0066] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0067] The above description is only a partial implementation of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.

Claims

1. A rope-driven transmission mechanism, characterized in that, include: The first input pulley has at least two annular first steps with first grooves around its periphery; The second input pulley includes at least two annular second steps with second grooves around its periphery; The driven pulley includes at least four annular third steps with a third groove; The first input rope wheel and the second input rope wheel are vertically arranged on both sides of the driven rope wheel; a portion of the third step and each of the adjacent first steps enclose at least two first channels; another portion of the third step and each of the adjacent second steps enclose at least two second channels. There are at least two first transmission ropes, which are sequentially wound around the first step, pass through the first channel, and are wound around a portion of the third step; the first groove and the third groove at the first channel are configured to limit the first transmission ropes. There are at least two second drive ropes, which are sequentially wound around the second step, pass through the second channel, and are wound around another part of the third step; the second groove and the third groove at the second channel are configured to limit the second drive ropes.

2. The rope-driven transmission mechanism according to claim 1, characterized in that, It also includes at least one of the following: The first step includes a first tread surface and a first riser surface, and the first groove is disposed on the first riser surface; The second step includes a second tread surface and a second riser surface, and the second groove is disposed on the second riser surface; The third step includes a third tread surface and a third kick surface, and the third groove is disposed on the third kick surface.

3. The rope-driven transmission mechanism according to claim 1, characterized in that, The first groove covers a portion of the circumference of the first transmission rope, and a portion of the third groove covers a portion of the circumference of the first transmission rope; The second groove covers a portion of the circumference of the second transmission rope, and another portion of the third groove covers a portion of the circumference of the second transmission rope.

4. The rope-driven transmission mechanism according to claim 3, characterized in that, Within the axial plane of the driven sheave, the first groove, the second groove, and the third groove are all arc-shaped.

5. The rope-driven transmission mechanism according to claim 1, characterized in that, The rotation axis of the first input rope wheel coincides with the rotation axis of the second input rope wheel; The rotation axis of the first input rope pulley is perpendicular to the rotation axis of the driven rope pulley; The revolution axis of the driven rope wheel coincides with the rotation axis of the first input rope wheel, and the revolution axis of the driven rope wheel and the rotation axis of the driven rope wheel are coplanar.

6. The rope-driven transmission mechanism according to claim 1, characterized in that, At least two of the first drive ropes and at least two of the second drive ropes are alternately arranged on different third steps.

7. The rope-driven transmission mechanism according to any one of claims 1-6, characterized in that, The two adjacent first drive ropes are wound in opposite directions on the first input rope pulley, and the two adjacent first drive ropes are wound in opposite directions on the driven rope pulley.

8. The rope-driven transmission mechanism according to claim 7, characterized in that, Two adjacent first transmission ropes form a group, and a group of first transmission ropes includes three fixed rope ends and one tension rope end. The three fixed rope ends and the tension rope end are respectively located at both ends of the two first transmission ropes.

9. The rope-driven transmission mechanism according to claim 8, characterized in that, Two of the fixed rope ends of the first transmission rope are fixed on different third steps, a third fixed rope end is fixed on the first step, and a tension rope end is movably disposed on the first step. The third fixed rope end and the tension rope end are respectively disposed on different first steps.

10. A robot, characterized in that, include: The rope drive mechanism as described in any one of claims 1 to 9.

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