Transmission mechanism and robot

Abstract

The invention provides a transmission mechanism and a robot. The transmission mechanism comprises a first transmission wheel and a second transmission wheel, wherein the rotating axes of the first transmission wheel and the second transmission wheel are parallel; the first ends of the first flexible transmission part and the second flexible transmission part are fixedly connected with the first transmission wheel, and the second ends of the first flexible transmission part and the second flexible transmission part are fixedly connected with the second transmission wheel; a winding groove is formed in the peripheral face of at least one of the first transmission wheel and the second transmission wheel, and the winding groove is in a spiral shape which rotates around the rotating axis and extends in the axial direction. At least one of the first flexible transmission part and the second flexible transmission part is wound in the winding groove. The flexible transmission part is enabled to wrap the peripheral surface of the transmission wheel for multiple circles along the spiral winding groove in the axial direction, and the rotation angle can be increased.

Description

TECHNICAL FIELD

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

[0002] In the current rope drive, the transmission rope cannot be wrapped around the transmission wheel for multiple turns, and motion interference easily occurs between the transmission ropes, resulting in the inability to achieve large-angle transmission of the output end, and causing the design of the entire transmission system to be limited. SUMMARY

[0003] In view of the shortcomings of the prior art, the present application provides a transmission mechanism and a robot to solve the technical problem of the inability of rope drive to achieve large-angle transmission in the related art.

[0004] In a first aspect, an embodiment of the present application provides a transmission mechanism, comprising: a first transmission wheel and a second transmission wheel, each having a parallel rotation axis; a first flexible transmission member and a second flexible transmission member, each having a first end fixedly connected to the first transmission wheel and a second end fixedly connected to the second transmission wheel; an outer circumferential surface of at least one of the first transmission wheel and the second transmission wheel is provided with a winding groove, the winding groove being helical and extending along the axial direction; at least one of the first flexible transmission member and the second flexible transmission member is wound in the winding groove.

[0005] Optionally, at least one of the following is included: a helix angle of a helix corresponding to a rope path on the first transmission wheel on which the first flexible transmission member is wound is the same as a helix angle of a helix corresponding to a rope path on the second transmission wheel on which the first flexible transmission member is wound; a helix angle of a helix corresponding to a rope path on the first transmission wheel on which the second flexible transmission member is wound is the same as a helix angle of a helix corresponding to a rope path on the second transmission wheel on which the second flexible transmission member is wound.

[0006] Optionally, a value of a sine function of the helix angle is proportional to a lead of the helix and inversely proportional to a radius of the helix.

[0007] Optionally, the transmission mechanism includes at least one of the following: at a position where the first flexible transmission member enters at least one of the winding groove of the first transmission wheel and the winding groove of the second transmission wheel, an extension direction of the first flexible transmission member is tangent to a thread line of the winding groove at the position; at a position where the second flexible transmission member enters at least one of the winding groove of the first transmission wheel and the winding groove of the second transmission wheel, an extension direction of the second flexible transmission member is tangent to a thread line of the winding groove at the position.

[0008] Optionally, the transmission mechanism comprises at least one of the following: The total winding amount of the first flexible transmission member and the second flexible transmission member on the first transmission wheel is constant during transmission; The total winding amount of the first flexible transmission member and the second flexible transmission member on the second transmission wheel is constant during transmission.

[0009] Optionally, at least part of the winding groove on the first transmission wheel is configured to allow the first flexible transmission member and the second flexible transmission member to be wound at different times; The winding groove on the first transmission wheel is configured to allow any groove segment of the winding groove to accommodate one of the first flexible transmission member and the second flexible transmission member at any time.

[0010] Optionally, at least part of the winding groove on the second transmission wheel is configured to allow the first flexible transmission member and the second flexible transmission member to be wound at different times; The winding groove on the second transmission wheel is configured to allow any groove segment of the winding groove to accommodate one of the first flexible transmission member and the second flexible transmission member at any time.

[0011] Optionally, the transmission mechanism comprises at least one of the following: The first end of the first flexible transmission member and the first end of the second flexible transmission member are respectively fixed at the two ends of the winding groove on the first transmission wheel in the axial direction; the first flexible transmission member and the second flexible transmission member are respectively wound from the end to the middle along the winding groove or unwound from the middle to the end along the winding groove; The second end of the first flexible transmission member and the second end of the second flexible transmission member are respectively fixed at the two ends of the winding groove on the second transmission wheel in the axial direction; the first flexible transmission member and the second flexible transmission member are respectively wound from the end to the middle along the winding groove or unwound from the middle to the end along the winding groove.

[0012] Optionally, one of the first transmission wheel and the second transmission wheel is a driving wheel, and the other is a driven wheel; The radial dimension of the driving wheel is smaller than the radial dimension of the driven wheel.

[0013] In a second aspect, the embodiments of the present application provide a robot, comprising the transmission mechanism as described above.

[0014] The technical scheme provided by the embodiments of the present application has the beneficial technical effects including: In the embodiments of the present application, the rotation axis of the first transmission wheel is parallel to the rotation axis of the second transmission wheel. One of the first transmission wheel and the second transmission wheel can be driven to rotate by the first flexible transmission member and the second flexible transmission member, so as to realize transmission. By using the parallel shaft flexible transmission method, the occupied space of the device can be significantly reduced, the inertia of the end load and the weight of the whole machine can be effectively reduced, and the maintenance is convenient.

[0015] The outer circumferential surface of at least one of the first transmission wheel and the second transmission wheel is provided with a winding groove, the winding groove is configured to wind the first flexible transmission member and the second flexible transmission member, the winding groove rotates around the rotation axis and extends in the axial direction, so that the winding groove is in a spiral shape, and the first flexible transmission member and the second flexible transmission member can be regularly wound on the transmission wheel along the spiral winding groove.

[0016] In the embodiments of the present application, the outer circumferential surface of at least one of the first transmission wheel and the second transmission wheel is provided with a spiral winding groove, which is beneficial to keep the stable spatial position of the flexible transmission member during transmission, and can avoid friction between adjacent flexible transmission members. Based on the principle of rope drive, the spiral winding groove is used to realize that the flexible transmission member is wrapped around the outer circumferential surface of the transmission wheel in multiple turns in the axial direction of the transmission wheel, so as to increase the rotation angle, realize large-angle transmission, and reduce the design difficulty.

[0017] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter in the description of the application. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description of embodiments, taken in conjunction with the accompanying drawings. Figure 1 A perspective view of a transmission mechanism (for example, a bottom view) is provided for the embodiments of the present application; Figure 2 A perspective view of a transmission mechanism (for example, a bottom view) is provided for the embodiments of the present application; Figure 3 A perspective view of a transmission mechanism (for example, a bottom view) is provided for the embodiments of the present application; Figure 4 A perspective view of a transmission mechanism (for example, a bottom view) is provided for the embodiments of the present application; Figure 5 A perspective view of a transmission mechanism (for example, a bottom view) is provided for the embodiments of the present application.

[0019] Reference signs: 100 - transmission mechanism; 10 - first transmission wheel; 20 - second transmission wheel; 30 - first flexible transmission member; 40 - second flexible transmission member; 50 - winding groove; 61 - first fixed groove; 62 - second fixed groove. DETAILED DESCRIPTION

[0020] Embodiments of the present application will be 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 of the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0021] Those skilled in the art can understand that, unless specifically stated, "said" and "the" used herein can also include plural forms. It should be further understood that the phrase "comprising" used in the specification of the present application means that the features, integers and / or components exist, but does not exclude other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the present technical field. The term "and / or" used herein means 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".

[0022] In order to make the purposes, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0023] The transmission mechanism and robot provided by the present application are intended to solve the technical problem of the inability of the rope drive transmission to achieve large-angle transmission in the related art.

[0024] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. It should be pointed out that the following embodiments can be mutually referenced, borrowed or combined, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0025] The present application provides a transmission mechanism 100, a structural schematic diagram of which is shown in Figures 1 to 5 The transmission mechanism 100 comprises: a first transmission wheel 10 and a second transmission wheel 20, each of which has a parallel rotation axis; a first flexible transmission member 30 and a second flexible transmission member 40, each of which has a first end fixedly connected to the first transmission wheel 10 and a second end fixedly connected to the second transmission wheel 20.

[0026] The outer circumferential surface of at least one of the first transmission wheel 10 and the second transmission wheel 20 is provided with a winding groove 50, which is helical around the rotation axis and extends in the axial direction. At least one of the first flexible transmission member 30 and the second flexible transmission member 40 is wound in the winding groove 50.

[0027] In the embodiment of the present application, the rotation axis of the first transmission wheel 10 and the rotation axis of the second transmission wheel 20 are parallel. By parallel arrangement, one of the first transmission wheel 10 and the second transmission wheel 20 can drive the other to rotate, thereby realizing power transmission. By using the parallel shaft system flexible (for example, rope drive) transmission method, the occupied space of the equipment can be significantly reduced.

[0028] The first end of the first flexible transmission member 30 is fixedly connected with the first transmission wheel 10, and the second end is fixedly connected with the second transmission wheel 20. The first end of the second flexible transmission member 40 is fixedly connected with the first transmission wheel 10, and the second end is fixedly connected with the second transmission wheel 20. One of the first transmission wheel 10 and the second transmission wheel 20 can drive the other to rotate through the first flexible transmission member 30 and the second flexible transmission member 40, thereby realizing transmission. By using the flexible (for example, rope drive) transmission method, the inertia of the end load and the weight of the whole machine can be effectively reduced, and the maintenance is convenient.

[0029] In the embodiment of the present application, the outer circumferential surface of at least one of the first transmission wheel 10 and the second transmission wheel 20 is provided with a winding groove 50, which is configured to be wound by the first flexible transmission member 30 and the second flexible transmission member 40, so that the first flexible transmission member 30 and the second flexible transmission member 40 can be regularly wound on the transmission wheel (the first transmission wheel 10 or the second transmission wheel 20) where the winding groove 50 is located. The winding groove 50 rotates around the rotation axis (i.e., the rotation axis of the transmission wheel where the winding groove 50 is located) and extends in the axial direction (i.e., the extension direction of the rotation axis of the transmission wheel where the winding groove 50 is located), so that the winding groove 50 is helical. The first flexible transmission member 30 and the second flexible transmission member 40 can be regularly wound on the transmission wheel along the helical winding groove 50.

[0030] In the embodiment of the present application, the outer circumferential surface of at least one of the first transmission wheel 10 and the second transmission wheel 20 is provided with a helical winding groove 50, which is beneficial to maintaining the stable spatial position of the flexible transmission member during transmission, and can avoid friction between adjacent flexible transmission members. Based on the principle of rope drive transmission, the helical winding groove 50 is used to realize the multiple turns of the flexible transmission member around the outer circumferential surface of the transmission wheel in the axial direction of the transmission wheel, which can increase the rotation angle, realize large-angle transmission, and reduce the design difficulty.

[0031] It should be noted that in the embodiment of the present application, the outer circumferential surface of at least one of the first transmission wheel 10 and the second transmission wheel 20 is provided with the winding groove 50, including: the outer circumferential surface of the first transmission wheel 10 is provided with the winding groove 50, or the outer circumferential surface of the second transmission wheel 20 is provided with the winding groove 50, or the outer circumferential surface of each of the first transmission wheel 10 and the second transmission wheel 20 is provided with the winding groove 50.

[0032] Optionally, as shown in the embodiment of the present application, only the outer circumferential surface of the first transmission wheel 10 with a smaller radial dimension (i.e. the small rope wheel end) is provided with the winding groove 50. Because of the speed reduction ratio, the flexible transmission member will be wound for many turns at the small rope wheel end, and therefore, the winding groove 50 is arranged on the outer circumferential surface of the small rope wheel end to avoid the situation that the flexible transmission members interfere with each other during movement. At the second transmission wheel 20 with a larger radial dimension (i.e. the large rope wheel end), the flexible transmission member is basically wound for one turn thereon, and therefore, the large rope wheel end will not have the situation that the flexible transmission members interfere with each other, and thus, the large rope wheel end can be selected to have no winding groove 50 or to have the winding groove 50 on the outer circumferential surface according to actual needs. Figures 1 to 3

[0033] It should be noted that in the embodiment of the present application, at least one of the first flexible transmission member 30 and the second flexible transmission member 40 is wound in the winding groove 50, including: the first flexible transmission member 30 is wound in the winding groove 50, and the second flexible transmission member 40 is completely unwound from the winding groove 50 except for the fixed end (i.e. one end fixed on the transmission wheel where the winding groove 50 is located); or the second flexible transmission member 40 is wound in the winding groove 50, and the first flexible transmission member 30 is completely unwound from the winding groove 50 except for the fixed end (i.e. one end fixed on the transmission wheel where the winding groove 50 is located); or the first flexible transmission member 30 and the second flexible transmission member 40 are each wound in the winding groove 50.

[0034] Optionally, in the embodiment of the present application, the helix angle of the helical line corresponding to the rope path on which the first flexible transmission member 30 is wound on the first transmission wheel 10 is the same as the helix angle of the helical line corresponding to the rope path on which the first flexible transmission member 30 is wound on the second transmission wheel 20.

[0035] The helix angle of the helical line corresponding to the rope path on which the second flexible transmission member 40 is wound on the first transmission wheel 10 is the same as the helix angle of the helical line corresponding to the rope path on which the second flexible transmission member 40 is wound on the second transmission wheel 20.

[0036] It should be noted that in the embodiment of the present application, the helix angle is also referred to as the lead angle, which refers to the included angle between the tangent of the helical line and the plane perpendicular to the helical axis (the helical axis is parallel to or coincides with the rotation axis of the transmission wheel) on the median diameter cylinder (or the median diameter cone).

[0037] ​In the embodiment of the present application, the helix angles of the helical lines corresponding to the rope paths formed by the first flexible transmission member 30 wound on the first transmission wheel 10 and wound on the second transmission wheel 20 are the same, and the helix angles of the helical lines corresponding to the rope paths formed by the second flexible transmission member 40 wound on the first transmission wheel 10 and wound on the second transmission wheel 20 are the same, so that the helix angles of the helical lines of the rope paths wound on the first transmission wheel 10 and wound on the second transmission wheel 20 by the first flexible transmission member 30 are consistent, and the helix angles of the helical lines of the rope paths wound on the first transmission wheel 10 and wound on the second transmission wheel 20 by the second flexible transmission member 40 are consistent, so that the first flexible transmission member 30 and the second flexible transmission member 40 can be smooth on the entire space rope path respectively, thereby reducing the wear of the flexible transmission member on the transmission wheel, reducing the loss, prolonging the service life, improving the transmission efficiency, reducing the impact caused by the difference in the helix angle, and ensuring the stability of the transmission ratio.

[0038] Meanwhile, the helix angles of the helical lines corresponding to the rope paths formed by the first flexible transmission member 30 wound on the first transmission wheel 10 and wound on the second transmission wheel 20 are designed to be the same, and the helix angles of the helical lines corresponding to the rope paths formed by the second flexible transmission member 40 wound on the first transmission wheel 10 and wound on the second transmission wheel 20 are designed to be the same, which can simplify the machining process of the first transmission wheel 10 and the second transmission wheel 20, reduce the manufacturing cost, facilitate the design, and improve the production efficiency.

[0039] Optionally, in the embodiment of the present application, the helix angle of the helical line (including at least one of the helical line corresponding to the rope path on which the first flexible transmission member 30 is wound on the first transmission wheel 10, the helical line corresponding to the rope path on which the first flexible transmission member 30 is wound on the second transmission wheel 20, the helical line corresponding to the rope path on which the second flexible transmission member 40 is wound on the first transmission wheel 10, and the helical line corresponding to the rope path on which the second flexible transmission member 40 is wound on the second transmission wheel 20) is inversely proportional to the pitch of the helical line and inversely proportional to the radius of the helical line.

[0040] Optionally, in the embodiment of the present application, the helix angle of the helical line can be determined according to the following expression 1.

[0041] (Expression 1) In expression 1, θ is the helix angle of the helical line, L is the pitch of the helical line, and r is the radius of the helical line.

[0042] In the embodiment of the present application, the relationship among the helix angle θ, the pitch L and the radius r of the helical line satisfies the above expression 1, and the helix angle θ, the pitch L and the radius r of the transmission wheel can be designed according to the above expression 1.

[0043] Optionally, as Figures 1 to 3As shown in the embodiments of this application, the winding groove 50 includes, but is not limited to, an external thread groove.

[0044] Optionally, in this embodiment of the application, the winding groove 50 includes a single-threaded groove.

[0045] Optionally, in this embodiment, the lead L of the winding groove 50 is equal to the pitch p of the winding groove 50, that is: (Expression 2).

[0046] Optionally, such as Figure 4 and Figure 5 As shown in the embodiment of this application, at the position where the first flexible transmission member 30 enters at least one of the winding groove 50 of the first transmission wheel 10 and the winding groove 50 of the second transmission wheel 20, the extending direction of the first flexible transmission member 30 is tangent to the thread of the winding groove 50 at that position.

[0047] In this embodiment, the extension direction of the first flexible transmission member 30 is tangent to the thread line of the winding groove 50 at the position where the first flexible transmission member 30 enters the winding groove 50, so that the first flexible transmission member 30 can smoothly enter the winding groove 50 on the first transmission wheel 10 or smoothly enter the winding groove 50 on the second transmission wheel 20. This makes the first flexible transmission member 30 smooth throughout the entire spatial rope path, which can reduce the wear of the first flexible transmission member 30 on the first transmission wheel 10 or the second transmission wheel 20, reduce losses, extend service life, improve transmission efficiency, reduce impact, and ensure stable transmission ratio.

[0048] It should be noted that, in the embodiments of this application, at the position where the first flexible transmission member 30 enters at least one of the winding groove 50 of the first transmission wheel 10 and the winding groove 50 of the second transmission wheel 20, the extending direction of the first flexible transmission member 30 is tangent to the thread line of the winding groove 50 at that position, including: at the position where the first flexible transmission member 30 enters the winding groove 50 of the first transmission wheel 10, or at the position where the first flexible transmission member 30 enters the winding groove 50 of the second transmission wheel 20, or at the positions where the first flexible transmission member 30 enters both the winding groove 50 of the first transmission wheel 10 and the winding groove 50 of the second transmission wheel 20, the extending direction of the first flexible transmission member 30 is tangent to the thread line of the winding groove 50 at that position.

[0049] Optionally, such as Figure 4 and Figure 5 As shown in the embodiment of this application, at the position where the second flexible transmission member 40 enters at least one of the winding groove 50 of the first transmission wheel 10 and the winding groove 50 of the second transmission wheel 20, the extending direction of the second flexible transmission member 40 is tangent to the thread of the winding groove 50 at that position.

[0050] In the embodiment of the present application, the extension direction of the second flexible transmission member 40 is tangent to the thread line of the winding groove 50 at the position where the second flexible transmission member 40 enters the winding groove 50, so that the second flexible transmission member 40 can smoothly enter the winding groove 50 on the first transmission wheel 10 or the winding groove 50 on the second transmission wheel 20, thereby making the second flexible transmission member 40 smooth in the entire space rope path, reducing the abrasion of the second flexible transmission member 40 on the first transmission wheel 10 or the second transmission wheel 20, reducing the loss, prolonging the service life, improving the transmission efficiency, reducing the impact, and ensuring the stable transmission ratio.

[0051] It should be noted that, in the embodiment of the present application, the extension direction of the second flexible transmission member 40 is tangent to the thread line of the winding groove 50 at the position where the second flexible transmission member 40 enters at least one of the winding groove 50 of the first transmission wheel 10 and the winding groove 50 of the second transmission wheel 20, including: the extension direction of the second flexible transmission member 40 is tangent to the thread line of the winding groove 50 at the position where the second flexible transmission member 40 enters the winding groove 50 of the first transmission wheel 10, or at the position where the second flexible transmission member 40 enters the winding groove 50 of the second transmission wheel 20, or at the position where the second flexible transmission member 40 enters the winding groove 50 of the first transmission wheel 10 and enters the winding groove 50 of the second transmission wheel 20.

[0052] Optionally, in the embodiment of the present application, the total winding amount of the first flexible transmission member 30 and the second flexible transmission member 40 on the first transmission wheel 10 is constant during transmission.

[0053] In the embodiment of the present application, the winding amount of the first flexible transmission member 30 on the first transmission wheel 10 (i.e., the length wound in the winding groove 50 on the first transmission wheel 10) and the winding amount of the second flexible transmission member 40 on the first transmission wheel 10 (i.e., the length wound in the winding groove 50 on the first transmission wheel 10) are complementary, and one winding amount increases and the other winding amount decreases.

[0054] When the winding amount of one of the first flexible transmission member 30 and the second flexible transmission member 40 on the first transmission wheel 10 increases (i.e. one flexible transmission member is wound along the winding groove 50), the winding amount of the other of the first flexible transmission member 30 and the second flexible transmission member 40 on the first transmission wheel 10 decreases (i.e. the other flexible transmission member is unwound or unwound from the winding groove 50). In this way, the unwound flexible transmission member empties the corresponding groove segment of the winding groove 50, facilitating the winding of the wound flexible transmission member into the corresponding groove segment of the winding groove 50, avoiding the movement interference of the first flexible transmission member 30 and the second flexible transmission member 40, and also allowing the same groove segment of the winding groove 50 to accommodate different flexible transmission members at different times, which is shared by the first flexible transmission member 30 and the second flexible transmission member 40. The groove segment is wound at different times, improving the utilization rate of the winding groove 50, and the length of the winding groove 50 in the axial direction (i.e. the extension direction of the rotation axis of the transmission wheel) can be shortened as needed, thereby further reducing the design space occupation.

[0055] It should be noted that in the embodiments of the present application, the total winding amount of the first flexible transmission member 30 and the second flexible transmission member 40 on the first transmission wheel 10 refers to the sum of the winding amount of the first flexible transmission member 30 on the first transmission wheel 10 and the winding amount of the second flexible transmission member 40 on the first transmission wheel 10. The constant total winding amount means that the sum of the winding amount of the first flexible transmission member 30 on the first transmission wheel 10 and the winding amount of the second flexible transmission member 40 on the first transmission wheel 10 is constant.

[0056] Optionally, in the embodiments of the present application, the total winding amount of the first flexible transmission member 30 and the second flexible transmission member 40 on the second transmission wheel 20 is constant during transmission.

[0057] In the embodiments of the present application, the winding amount of the first flexible transmission member 30 on the second transmission wheel 20 (i.e. the length of the winding groove 50 wound on the second transmission wheel 20) and the winding amount of the second flexible transmission member 40 on the second transmission wheel 20 (i.e. the length of the winding groove 50 wound on the second transmission wheel 20) are complementary, and one winding amount increases and the other winding amount decreases.

[0058] When the winding amount of one of the first flexible transmission member 30 and the second flexible transmission member 40 on the second transmission wheel 20 increases (i.e. one flexible transmission member is wound along the winding groove 50), the winding amount of the other on the second transmission wheel 20 decreases (i.e. the other flexible transmission member is unwound or unwound from the winding groove 50). In this way, the unwound flexible transmission member empties the corresponding groove segment of the winding groove 50, facilitating the winding of the wound flexible transmission member into the corresponding groove segment of the winding groove 50, avoiding the movement interference of the first flexible transmission member 30 and the second flexible transmission member 40, and also allowing the same groove segment of the winding groove 50 to accommodate different flexible transmission members at different times, which is shared by the first flexible transmission member 30 and the second flexible transmission member 40. The groove segment is wound at different times, improving the utilization rate of the winding groove 50, and the length of the winding groove 50 in the axial direction can be shortened as needed, thereby further reducing the design space occupation.

[0059] It should be noted that in the embodiments of the present application, the total winding amount of the first flexible transmission member 30 and the second flexible transmission member 40 on the second transmission wheel 20 refers to the sum of the winding amount of the first flexible transmission member 30 on the second transmission wheel 20 and the winding amount of the second flexible transmission member 40 on the second transmission wheel 20. The constant total winding amount means that the sum of the winding amount of the first flexible transmission member 30 on the second transmission wheel 20 and the winding amount of the second flexible transmission member 40 on the second transmission wheel 20 is unchanged.

[0060] Optionally, as shown in Figures 1 to 3 In the embodiments of the present application, at least part of the groove segments of the helical winding groove 50 on the first transmission wheel 10 are configured to be wound by the first flexible transmission member 30 and the second flexible transmission member 40 at different times.

[0061] It should be noted that in the embodiments of the present application, the first flexible transmission member 30 and the second flexible transmission member 40 are wound at different times, which means that the first flexible transmission member 30 and the second flexible transmission member 40 are wound on at least part of the groove segments of the helical winding groove 50 at different time periods.

[0062] In this embodiment, the first flexible transmission member 30 and the second flexible transmission member 40 are wound around at least a portion of the spiral winding groove 50 on the first transmission wheel 10 in a time-sharing manner. These groove segments, which may be wound by both the first flexible transmission member 30 and the second flexible transmission member 40, can be referred to as shared groove segments. This ensures that at any given time, at least a portion of the spiral winding groove 50 (i.e., the shared groove segment) is wound only by either the first flexible transmission member 30 or the second flexible transmission member 40. In other words, at least a portion of the groove segment (i.e., the shared groove segment) is wound by the first flexible transmission member 30 during certain time periods A and by the second flexible transmission member 40 during certain time periods B. This avoids motion interference between the first flexible transmission member 30 and the second flexible transmission member 40, and also allows at least a portion of the winding groove 50 (i.e., the shared groove segment) to be wound and shared by the first flexible transmission member 30 and the second flexible transmission member 40 in a time-sharing manner, improving the utilization rate of the winding groove 50. The axial length of the winding groove 50 can be shortened as needed, thereby further reducing the design space occupied.

[0063] Optionally, such as Figures 1 to 3 As shown in the embodiment of this application, the spiral winding groove 50 on the first transmission wheel 10 is configured such that any segment of the winding groove 50 accommodates one of the first flexible transmission member 30 and the second flexible transmission member 40 at any given time.

[0064] In this embodiment, the winding groove 50 is used for winding the first flexible transmission member 30 and the second flexible transmission member 40. Any segment of the winding groove 50 can only accommodate one of the first flexible transmission member 30 and the second flexible transmission member 40 at any given time, thus avoiding motion interference between the first flexible transmission member 30 and the second flexible transmission member 40. Any segment of the winding groove 50 can accommodate either the first flexible transmission member 30 or the second flexible transmission member 40 at different times, allowing at least a portion of the winding groove 50 to be wound and shared by the first flexible transmission member 30 and the second flexible transmission member 40 in a time-sharing manner. This improves the utilization rate of the winding groove 50 and allows for shortening the axial length of the winding groove 50 as needed, thereby further reducing the design space required.

[0065] It should be noted that, in the embodiments of the present application, any slot section of the winding groove 50 accommodates one of the first flexible transmission member 30 and the second flexible transmission member 40 at any time, including: the first slot section of the winding groove 50 accommodates the first flexible transmission member 30 at the first time, and the second slot section of the winding groove 50 accommodates the second flexible transmission member 40 at the first time; or the first slot section and the second slot section of the winding groove 50 both accommodate the first flexible transmission member 30 at the second time, and neither of them accommodates the second flexible transmission member 40 (for example, at this time, the second flexible transmission member 40 is completely separated from the winding groove 50 except for one end fixedly connected to the transmission wheel corresponding to the winding groove 50); or the first slot section and the second slot section of the winding groove 50 both accommodate the second flexible transmission member 40 at the third time, and neither of them accommodates the first flexible transmission member 30 (for example, at this time, the first flexible transmission member 30 is completely separated from the winding groove 50 except for one end fixedly connected to the transmission wheel corresponding to the winding groove 50).

[0066] The above description is only an example of the winding groove 50 including two slot sections (i.e., the first slot section and the second slot section), and of course, in other optional embodiments of the present application, the winding groove 50 can include one entire slot section, or three slot sections, or more than three slot sections, according to actual needs, without limitation.

[0067] It should be noted that, in the embodiments of the present application, when different slot sections of the winding groove 50 accommodate the first flexible transmission member 30 and the second flexible transmission member 40 respectively, or different slot sections simultaneously accommodate the first flexible transmission member 30, or different slot sections simultaneously accommodate the second flexible transmission member 40, part of the slot sections of the winding groove 50 can be left empty (i.e., part of the slot sections can be empty).

[0068] Optionally, as shown in FIG. 1, Figures 1 to 3 In the embodiments of the present application, at least part of the slot sections of the helical winding groove 50 on the second transmission wheel 20 are configured to be wound by the first flexible transmission member 30 and the second flexible transmission member 40 at different times.

[0069] In the embodiments of the present application, the first flexible transmission member 30 and the second flexible transmission member 40 are wound on the at least part of the slot sections of the helical winding groove 50 on the second transmission wheel 20 at different times, so that at any time, only one of the first flexible transmission member 30 and the second flexible transmission member 40 is wound on the at least part of the slot sections of the helical winding groove 50, which can avoid the movement interference between the first flexible transmission member 30 and the second flexible transmission member 40, and can make the at least part of the slot sections of the winding groove 50 be wound by the first flexible transmission member 30 and the second flexible transmission member 40 at different times, shared, improve the utilization rate of the winding groove 50, and can shorten the length of the winding groove 50 in the axial direction as needed, so as to further reduce the design space occupation.

[0070] Optionally, as shown in FIG. 1, Figures 1 to 3As shown, in the embodiment of the present application, the helical winding groove 50 on the second transmission wheel 20 is configured such that any groove section of the winding groove 50 accommodates one of the first flexible transmission member 30 and the second flexible transmission member 40 at any time.

[0071] In the embodiment of the present application, the winding groove 50 is used for winding the first flexible transmission member 30 and the second flexible transmission member 40, and any groove section of the winding groove 50 only accommodates one of the first flexible transmission member 30 and the second flexible transmission member 40 at any time, which can avoid the motion interference of the first flexible transmission member 30 and the second flexible transmission member 40, and any groove section of the winding groove 50 can accommodate the first flexible transmission member 30 or the second flexible transmission member 40 at different time periods, so that at least part of the groove sections of the winding groove 50 are wound by the first flexible transmission member 30 and the second flexible transmission member 40 in time-sharing mode, which improves the utilization rate of the winding groove 50, and the length of the winding groove 50 in the axial direction can be shortened as needed, so that the design space can be further reduced.

[0072] Optionally, as shown in Figure 1 and Figure 2 As shown, in the embodiment of the present application, the first end of the first flexible transmission member 30 and the first end of the second flexible transmission member 40 are respectively fixed at the two ends of the helical winding groove 50 on the first transmission wheel 10 in the axial direction; the first flexible transmission member 30 and the second flexible transmission member 40 are wound from the end to the middle or unwound from the middle to the end along the helical winding groove 50.

[0073] In the embodiment of the present application, the winding groove 50 on the first transmission wheel 10 extends helically in the extension direction of the rotation axis of the first transmission wheel 10 (i.e. the axial direction), the first end of the first flexible transmission member 30 is fixed at the first end of the helical winding groove 50 on the first transmission wheel 10 in the axial direction, and the first end of the second flexible transmission member 40 is fixed at the second end of the helical winding groove 50 on the first transmission wheel 10 in the axial direction; when the first flexible transmission member 30 is wound along the winding groove 50, the first flexible transmission member 30 is gradually wound from the first end of the winding groove 50 to the middle of the winding groove 50 (even to the second end of the winding groove 50) in the axial direction, and at this time, the second flexible transmission member 40 is gradually unwound from the middle of the winding groove 50 (even from the first end of the winding groove 50) to the second end; when the first flexible transmission member 30 is gradually unwound from the middle of the winding groove 50 (even from the second end of the winding groove 50) to the first end, the second flexible transmission member 40 is gradually wound along the winding groove 50 from the second end of the winding groove 50 to the middle of the winding groove 50 (even to the first end of the winding groove 50) in the axial direction.

[0074] That is, when the first flexible transmission member 30 is gradually wound from the first end of the winding groove 50 to the middle or even to the second end, the second flexible transmission member 40 is gradually unwound from the middle or the first end in the axial direction to the second end of the winding groove 50; when the first flexible transmission member 30 is gradually unwound from the middle or the second end in the axial direction to the first end of the winding groove 50, the second flexible transmission member 40 is gradually wound from the second end in the axial direction to the middle or even to the first end of the winding groove 50. One of the first flexible transmission member 30 and the second flexible transmission member 40 is wound, and the other is unwound, and the actions are opposite, which can avoid the movement interference of the first flexible transmission member 30 and the second flexible transmission member 40, and also can make at least part of the groove section of the winding groove 50 be wound by the first flexible transmission member 30 and the second flexible transmission member 40 at different times, shared, improve the utilization rate of the winding groove 50, and shorten the length of the winding groove 50 in the axial direction as needed, so that the design space occupation can be further reduced.

[0075] Optionally, as shown in Figure 3 and Figure 5 in the embodiment of the present application, the second end of the first flexible transmission member 30 and the second end of the second flexible transmission member 40 are respectively fixed on the two ends of the spiral winding groove 50 in the axial direction of the second transmission wheel 20; the first flexible transmission member 30 and the second flexible transmission member 40 are wound from the end to the middle or unwound from the middle to the end along the spiral winding groove 50.

[0076] In the embodiment of the present application, the winding groove 50 on the second transmission wheel 20 spirally extends in the extension direction of the rotation axis of the second transmission wheel 20 (i.e. the axial direction), the second end of the first flexible transmission member 30 is fixed on the first end of the spiral winding groove 50 in the axial direction of the second transmission wheel 20, the second end of the second flexible transmission member 40 is fixed on the second end of the spiral winding groove 50 in the axial direction of the second transmission wheel 20, when the first flexible transmission member 30 is gradually wound from the first end of the winding groove 50 to the middle or even to the second end, the second flexible transmission member 40 is gradually unwound from the middle or the first end in the axial direction to the second end of the winding groove 50; when the first flexible transmission member 30 is gradually unwound from the middle or the second end in the axial direction to the first end of the winding groove 50, the second flexible transmission member 40 is gradually wound from the second end in the axial direction to the middle or even to the first end of the winding groove 50. One of the first flexible transmission member 30 and the second flexible transmission member 40 is wound, and the other is unwound, and the actions are opposite, which can avoid the movement interference of the first flexible transmission member 30 and the second flexible transmission member 40, and also can make at least part of the groove section of the winding groove 50 be wound by the first flexible transmission member 30 and the second flexible transmission member 40 at different times, shared, improve the utilization rate of the winding groove 50, and shorten the length of the winding groove 50 in the axial direction as needed, so that the design space occupation can be further reduced.

[0077] Optionally, in this embodiment, one of the first transmission wheel 10 and the second transmission wheel 20 serves as the driving wheel, and the other serves as the driven wheel. The radial dimension of the driving wheel is smaller than that of the driven wheel.

[0078] In this embodiment, the radial dimension of the driving wheel is smaller and the radial dimension of the driven wheel is larger. The driving wheel drives the driven wheel to rotate through the first flexible transmission member 30 and the second flexible transmission member 40 to achieve deceleration transmission. This allows the transmission mechanism 100 to share some of the deceleration requirements of the instrument and can change the deceleration ratio according to the deceleration requirements to achieve better inertia matching.

[0079] Optionally, such as Figures 1 to 5 As shown in the embodiment of this application, the first transmission wheel 10 has a smaller radial dimension and serves as the driving wheel; the second transmission wheel 20 has a larger radial dimension and serves as the driven wheel.

[0080] Optionally, such as Figures 1 to 3 As shown in this embodiment, due to the reduction ratio, the flexible transmission component will wrap multiple times around the first transmission wheel 10, which has a smaller radial dimension. Therefore, to avoid mutual friction and interference between the flexible transmission components during the movement of the first transmission wheel 10, a winding groove 50 is provided on the outer circumferential surface of the first transmission wheel 10. On the second transmission wheel 20, which has a larger radial dimension, the flexible transmission component is only wrapped around once. Therefore, the flexible transmission components on the second transmission wheel 20 will not experience mutual friction and interference. Thus, the second transmission wheel 20 can be left without a winding groove 50 on its outer circumferential surface, depending on actual needs. Alternatively, a winding groove 50 can be provided on the outer circumferential surface of the second transmission wheel 20, depending on actual needs.

[0081] Of course, in other optional embodiments of this application, the radial dimension of the driving wheel can be designed to be larger than that of the driven wheel to achieve speed-increasing transmission, or the radial dimension of the driving wheel can be designed to be equal to that of the driven wheel to achieve constant speed transmission.

[0082] Optionally, such as Figures 1 to 5 As shown in the embodiment of this application, the transmission mechanism 100 adopts a rope drive transmission model, including a small rope wheel end (e.g., the first transmission wheel 10), a large rope wheel end (e.g., the second transmission wheel 20), and two transmission ropes (e.g., the first flexible transmission member 30 and the second flexible transmission member 40). The two transmission ropes are installed on the two rope wheels by means of tension and fixing the rope ends, and the rope wheels have rope grooves (e.g., winding grooves 50), which helps the transmission ropes maintain a stable spatial position during transmission and avoid friction between adjacent transmission ropes.

[0083] The embodiment of the present application proposes a rope drive scheme, which can realize multi-turn winding by adopting a spiral rope groove, realizes translation of rotary motion, and can also be used as a reducer. By adjusting the diameter ratio of two rope wheels, the speed reduction ratio can be adjusted to realize rope drive speed reduction.

[0084] Optionally, as shown in Figure 4 and Figure 5 , in the embodiment of the present application, the first flexible transmission member 30 and the second flexible transmission member 40 adopt an O-shaped winding mode (i.e., the rope path winding mode of the first flexible transmission member 30 and the second flexible transmission member 40 is O-shaped).

[0085] Of course, in other optional embodiments of the present application, the first flexible transmission member 30 and the second flexible transmission member 40 can also adopt an X-shaped winding mode according to actual needs, which is more compact in design. The winding mode of the first flexible transmission member 30 and the second flexible transmission member 40 can be flexibly selected according to the design space, and is not limited.

[0086] Optionally, as shown in Figures 1 to 5 , in the embodiment of the present application, the first flexible transmission member 30 and the second flexible transmission member 40 each include but are not limited to a rope, a chain, a synchronous belt, a steel belt, or a track, etc.

[0087] Optionally, as shown in Figure 1 and Figure 2 , in the embodiment of the present application, the first transmission wheel 10 is provided with two first fixed grooves 61, and the two first fixed grooves 61 are one-to-one correspondingly arranged at two ends of the winding groove 50 on the first transmission wheel 10. The first end of the first flexible transmission member 30 is fixed in one of the first fixed grooves 61, and this first fixed groove 61 is located at the end of the rope path of the first flexible transmission member 30 wound on the first transmission wheel 10. The first end of the second flexible transmission member 40 is fixed in the other first fixed groove 61, and this first fixed groove 61 is located at the end of the rope path of the second flexible transmission member 40 wound on the first transmission wheel 10. Optionally, the outlet directions of the two first fixed grooves 61 are opposite.

[0088] Optionally, as shown in Figures 1 to 3 , and Figure 5 , in the embodiment of the present application, the second transmission wheel 20 is provided with two second fixed grooves 62. The second end of the first flexible transmission member 30 is fixed in one of the second fixed grooves 62, and this second fixed groove 62 is located at the end of the rope path of the first flexible transmission member 30 wound on the second transmission wheel 20. The second end of the second flexible transmission member 40 is fixed in the other second fixed groove 62, and this second fixed groove 62 is located at the end of the rope path of the second flexible transmission member 40 wound on the second transmission wheel 20. Optionally, the outlet directions of the two second fixed grooves 62 are opposite.

[0089] Optionally, the transmission mechanism provided in the embodiments of the present application adopts flexible transmission technology, and can be applied to multiple technical fields such as machinery, medical treatment and aerospace, including but not limited to dexterous hands, mechanical arms, robots and the like.

[0090] Based on the same inventive concept, the embodiments of the present application provide a robot, which comprises the transmission mechanism as described above.

[0091] Optionally, in the embodiments of the present application, the transmission mechanism can be applied to mechanisms such as lower limbs of robots, mechanical arms and the like, which require multiple freedoms, high precision and high load. For example, the transmission mechanism can be applied to single legs of biped robots, arms or fingers and the like, and can also be used as a reducer to share part of the deceleration requirements of the robot.

[0092] It should be noted that, since the robot provided in the embodiments of the present application comprises the transmission mechanism provided in the embodiments of the present application, the robot provided in the embodiments of the present application also has the above beneficial effects of the transmission mechanism provided in the embodiments of the present application, which will not be described herein again.

[0093] Of course, in other embodiments, according to actual needs and actual conditions, the robot can also adopt a parallel axis gear train satisfying the transmission equation for transmission in the case where the volume is allowed, and can also be replaced by a connecting rod transmission or a linear drive in the case where the required motion space is small, or the input rope disc and the ankle joint wire disc can also be connected through a shaft coupling. High-precision transmission is achieved through gears or shaft couplings.

[0094] By applying the embodiments of the present application, at least the following beneficial effects can be achieved: In the embodiments of the present application, the rotation axis of the first transmission wheel and the rotation axis of the second transmission wheel are parallel, and one of the first transmission wheel and the second transmission wheel drives the other in a parallel arrangement to achieve power transmission. The parallel axis flexible (for example, rope-driven) transmission method can significantly reduce the occupied space of the device.

[0095] In the embodiments of the present application, the outer circumferential surface of at least one of the first transmission wheel and the second transmission wheel is provided with a winding groove, and the winding groove is configured to wind the first flexible transmission member and the second flexible transmission member, so that the first flexible transmission member and the second flexible transmission member can be regularly wound on the transmission wheel (the first transmission wheel or the second transmission wheel) where the winding groove is located. The winding groove rotates around the rotation axis (i.e., the rotation axis of the transmission wheel where the winding groove is located) and extends in the axial direction (i.e., the extension direction of the rotation axis of the transmission wheel where the winding groove is located), so that the winding groove is in a spiral shape, and the first flexible transmission member and the second flexible transmission member can be regularly wound on the transmission wheel along the spiral winding groove. The flexible (for example, rope-driven) transmission method can effectively reduce the inertia of the end load and the weight of the whole machine, and is convenient to maintain.

[0096] In the embodiments of the present application, the outer circumferential surface of at least one of the first transmission wheel and the second transmission wheel is provided with a spiral winding groove, which is beneficial to keep the stable spatial position of the flexible transmission member during transmission, and can avoid friction between adjacent flexible transmission members. Based on the principle of rope drive, the spiral winding groove is used to realize the multi-turn winding of the flexible transmission member on the outer circumferential surface of the transmission wheel along the axial direction of the transmission wheel, which can increase the rotation angle, realize large-angle transmission, and reduce the design difficulty.

[0097] The terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0098] The above only describes some embodiments of the present application, and it should be pointed out that, for those skilled in the art, without departing from the technical concept of the present application, other similar implementation means based on the technical idea of the present application also belong to the protection scope of the present application.

Claims

1. A transmission mechanism, characterized in that, include: The first and second transmission wheels have parallel axes of rotation. The first flexible transmission member and the second flexible transmission member each have their first ends fixedly connected to the first transmission wheel and their second ends fixedly connected to the second transmission wheel. At least one of the first transmission wheel and the second transmission wheel has a winding groove on its outer peripheral surface, and the winding groove is in the shape of a spiral that rotates around the rotation axis and extends axially. At least one of the first flexible transmission member and the second flexible transmission member is wound in the winding groove.

2. The transmission mechanism according to claim 1, characterized in that, Includes at least one of the following: The helix angle of the spiral line corresponding to the rope path of the first flexible transmission member wound on the first transmission wheel is the same as the helix angle of the spiral line corresponding to the rope path of the first flexible transmission member wound on the second transmission wheel. The helix angle of the spiral line corresponding to the rope path of the second flexible transmission member wound on the first transmission wheel is the same as the helix angle of the spiral line corresponding to the rope path of the second flexible transmission member wound on the second transmission wheel.

3. The transmission mechanism according to claim 2, characterized in that, The arcsine function value of the helix angle of the spiral is directly proportional to the lead of the spiral and inversely proportional to the radius of the spiral.

4. The transmission mechanism according to claim 1, characterized in that, Includes at least one of the following: At the position where the first flexible transmission member enters at least one of the winding groove of the first transmission wheel and the winding groove of the second transmission wheel, the extending direction of the first flexible transmission member is tangent to the thread of the winding groove at that position. At the position where the second flexible transmission member enters at least one of the winding groove of the first transmission wheel and the winding groove of the second transmission wheel, the extending direction of the second flexible transmission member is tangent to the thread of the winding groove at that position.

5. The transmission mechanism according to claim 1, characterized in that, Includes at least one of the following: During the transmission process, the total amount of winding of the first flexible transmission component and the second flexible transmission component on the first transmission wheel remains constant. During the transmission process, the total amount of winding of the first flexible transmission component and the second flexible transmission component on the second transmission wheel remains constant.

6. The transmission mechanism according to claim 1, characterized in that, At least a portion of the spiral winding groove on the first drive wheel is configured to allow the first flexible drive member and the second flexible drive member to wind in a time-sharing manner. The spiral winding groove on the first transmission wheel is configured such that any segment of the winding groove can accommodate one of the first flexible transmission member and the second flexible transmission member at any given time.

7. The transmission mechanism according to claim 1, characterized in that, At least a portion of the spiral winding groove on the second drive wheel is configured to allow the first flexible drive member and the second flexible drive member to wind in a time-sharing manner. The spiral winding groove on the second transmission wheel is configured such that any segment of the winding groove accommodates either the first flexible transmission member or the second flexible transmission member at any given time.

8. The transmission mechanism according to any one of claims 5 to 7, characterized in that, Includes at least one of the following: The first end of the first flexible transmission member and the first end of the second flexible transmission member are respectively fixed to the two ends of the spiral winding groove on the first transmission wheel along the axial direction; the first flexible transmission member and the second flexible transmission member are respectively wound from the end to the middle or unwound from the middle to the end along the spiral winding groove. The second ends of the first flexible transmission member and the second flexible transmission member are respectively fixed to the two ends of the spiral winding groove on the second transmission wheel along the axial direction; the first flexible transmission member and the second flexible transmission member each wind along the spiral winding groove from the end to the middle or unwind from the middle to the end.

9. The transmission mechanism according to claim 1, characterized in that, One of the first transmission wheel and the second transmission wheel is the driving wheel, and the other is the driven wheel; The radial dimension of the driving wheel is smaller than that of the driven wheel.

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

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