Transmission mechanism and robot

Abstract

The application provides a transmission mechanism and a robot. The transmission mechanism comprises: 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; and a wire winding groove formed on the outer periphery of at least one of the first transmission wheel and the second transmission wheel, the wire winding groove being helical and extending along the rotation axis in the axial direction; and at least one of the first flexible transmission member and the second flexible transmission member is wound in the wire winding groove. The application enables the flexible transmission member to be wound on the outer periphery of the transmission wheel along the helical wire winding groove in the axial direction for multiple turns, thereby increasing the rotation angle.

Description

Technical Field

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

[0002] In current rope-driven transmissions, the transmission rope cannot be wrapped around the transmission wheel multiple times, and motion interference easily occurs between the transmission ropes, making it impossible to achieve large-angle transmission at the output end, thus limiting the design of the entire transmission system. Summary of the Invention

[0003] This application addresses the shortcomings of existing methods by proposing a transmission mechanism and robot to solve the technical problem that rope-driven transmission cannot achieve large-angle transmission.

[0004] In a first aspect, embodiments of this application provide a transmission mechanism, including:

[0005] The first and second transmission wheels have parallel axes of rotation.

[0006] 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.

[0007] At least one of the first and second transmission wheels has a winding groove on its outer peripheral surface, and the winding groove is a spiral shape that rotates around the axis of rotation and extends axially.

[0008] At least one of the first flexible transmission component and the second flexible transmission component is wound in the winding groove.

[0009] Optionally, it includes at least one of the following:

[0010] The helix angle of the spiral line corresponding to the rope path of the first flexible transmission component 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 component wound on the second transmission wheel.

[0011] The helix angle of the spiral line corresponding to the rope path of the second flexible transmission component 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 component wound on the second transmission wheel.

[0012] Optionally, the arcsine function value of the helix angle is directly proportional to the lead of the helix and inversely proportional to the radius of the helix.

[0013] Optionally, the transmission mechanism includes at least one of the following:

[0014] At the position where the first flexible transmission member enters at least one of the winding grooves of the first transmission wheel and 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.

[0015] At the position where the second flexible transmission member enters the winding groove of the first transmission wheel or at least one of the winding grooves of the second transmission wheel, the extension direction of the second flexible transmission member is tangent to the thread of the winding groove at that position.

[0016] Optionally, the transmission mechanism includes at least one of the following:

[0017] During the transmission process, the total amount of winding on the first transmission wheel remains constant for both the first and second flexible transmission components.

[0018] 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.

[0019] Optionally, 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.

[0020] The spiral winding groove on the first drive wheel is configured such that any segment of the winding groove accommodates either the first flexible drive element or the second flexible drive element at any given time.

[0021] Optionally, 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.

[0022] The spiral winding groove on the second drive wheel is constructed such that any segment of the winding groove accommodates either the first flexible drive element or the second flexible drive element at any given time.

[0023] Optionally, the transmission mechanism includes at least one of the following:

[0024] 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.

[0025] The second end of the first flexible transmission component and the second flexible transmission component 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 component and the second flexible transmission component each wind along the spiral winding groove from the end to the middle or unwind from the middle to the end.

[0026] Optionally, one of the first and second transmission wheels can be used as the driving wheel, and the other as the driven wheel;

[0027] The radial dimension of the driving wheel is smaller than that of the driven wheel.

[0028] Secondly, embodiments of this application provide a robot, including: the transmission mechanism as described above.

[0029] The beneficial technical effects of the technical solutions provided in this application include:

[0030] In this embodiment, the rotation axis of the first transmission wheel is parallel to the rotation axis of the second transmission wheel. One of the first and second transmission wheels can drive the other to rotate via a first flexible transmission component and a second flexible transmission component, thus achieving transmission. This parallel shaft flexible transmission method significantly reduces the space occupied by the equipment, effectively reduces the inertia of the end load and the overall weight, and facilitates maintenance.

[0031] At least one of the first and second transmission wheels has a winding groove on its outer peripheral surface. The winding groove is configured to allow the first and second flexible transmission components to wind around. The winding groove rotates around the rotation axis and extends axially, making the winding groove spiral, so that the first and second flexible transmission components can be regularly wound around the transmission wheel along the spiral winding groove.

[0032] In this embodiment, at least one of the first and second transmission wheels has a helical winding groove on its outer circumferential surface. This helps the flexible transmission component maintain a stable spatial position during transmission and avoids friction between adjacent flexible transmission components. Based on the rope drive principle, this embodiment utilizes the helical winding groove to allow the flexible transmission component to wrap around the outer circumferential surface of the transmission wheel multiple times along its axial direction. This increases the rotation angle, enables large-angle transmission, and reduces design complexity.

[0033] 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

[0034] 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:

[0035] Figure 1 A three-dimensional structural schematic diagram (e.g., viewed from below) of a transmission mechanism provided for an embodiment of this application;

[0036] Figure 2 A structural schematic diagram of a transmission mechanism provided in an embodiment of this application from one perspective (e.g., looking down);

[0037] Figure 3A structural schematic diagram of a transmission mechanism from another perspective (e.g., top view) provided for an embodiment of this application;

[0038] Figure 4 A structural schematic diagram of a transmission mechanism provided in this application from another perspective (e.g., front view);

[0039] Figure 5 This is a structural schematic diagram of a transmission mechanism provided in an embodiment of this application from another perspective (e.g., a rear view).

[0040] Figure label:

[0041] 100 - Transmission mechanism;

[0042] 10-First transmission wheel; 20-Second transmission wheel; 30-First flexible transmission component; 40-Second flexible transmission component; 50-Winding groove; 61-First fixing groove; 62-Second fixing groove. Detailed Implementation

[0043] 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.

[0044] 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, and / or components, but does not exclude other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by this 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."

[0045] 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.

[0046] The transmission mechanism and robot provided in this application aim to solve the technical problem that rope-driven transmission cannot achieve large-angle transmission in related technologies.

[0047] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with specific embodiments. It should be noted that the following embodiments can be referenced, learned from or combined with each other, and the same terms, similar features and similar implementation steps in different embodiments will not be described again.

[0048] This application provides a transmission mechanism 100, the structural schematic diagram of which is shown below. Figures 1 to 5 As shown, it includes:

[0049] The first transmission wheel 10 and the second transmission wheel 20 have their respective rotation axes parallel.

[0050] The first flexible transmission member 30 and the second flexible transmission member 40 have their first ends fixedly connected to the first transmission wheel 10 and their second ends fixedly connected to the second transmission wheel 20, respectively.

[0051] At least one of the first transmission wheel 10 and the second transmission wheel 20 has a winding groove 50 on its outer peripheral surface. The winding groove 50 is spiral in shape, rotating about the rotation axis and extending axially. At least one of the first flexible transmission member 30 and the second flexible transmission member 40 is wound in the winding groove 50.

[0052] In this embodiment, the rotation axis of the first transmission wheel 10 and the rotation axis of the second transmission wheel 20 are parallel. This parallel arrangement allows one of the first transmission wheel 10 and the second transmission wheel 20 to drive the other, thus achieving power transmission. Using a parallel shaft system flexible (e.g., rope-driven) transmission method can significantly reduce the space occupied by the equipment.

[0053] The first end of the first flexible transmission component 30 is fixedly connected to the first transmission wheel 10, and the second end is fixedly connected to the second transmission wheel 20; the first end of the second flexible transmission component 40 is fixedly connected to the first transmission wheel 10, and the second end is fixedly connected to 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 component 30 and the second flexible transmission component 40, thereby realizing transmission. Using a flexible (e.g., rope-driven) transmission method can effectively reduce the inertia of the end load and the overall weight of the machine, and facilitate maintenance.

[0054] In this embodiment, at least one of the first transmission wheel 10 and the second transmission wheel 20 has a winding groove 50 on its outer peripheral surface. The winding groove 50 is configured for the first flexible transmission member 30 and the second flexible transmission member 40 to wind around, so that the first flexible transmission member 30 and the second flexible transmission member 40 can each be regularly wound around the transmission wheel (first transmission wheel 10 or second transmission wheel 20) where the winding groove 50 is located along the winding groove 50. The winding groove 50 rotates about the rotation axis (i.e., the rotation axis of the transmission wheel where the winding groove 50 is located) and extends axially (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, and the first flexible transmission member 30 and the second flexible transmission member 40 can each be regularly wound around the transmission wheel along the helical winding groove 50.

[0055] In this embodiment, at least one of the first transmission wheel 10 and the second transmission wheel 20 has a spiral winding groove 50 on its outer peripheral surface. This helps the flexible transmission component maintain a stable spatial position during transmission and avoids friction between adjacent flexible transmission components. Based on the rope drive principle, this embodiment utilizes the spiral winding groove 50 to allow the flexible transmission component to wrap around the outer peripheral surface of the transmission wheel multiple times along its axial direction. This increases the rotation angle, enables large-angle transmission, and reduces design complexity.

[0056] It should be noted that, in the embodiments of this application, at least one of the first transmission wheel 10 and the second transmission wheel 20 has a winding groove 50 on its outer peripheral surface, including: the outer peripheral surface of the first transmission wheel 10 has a winding groove 50, or the outer peripheral surface of the second transmission wheel 20 has a winding groove 50, or both the outer peripheral surfaces of the first transmission wheel 10 and the second transmission wheel 20 have a winding groove 50.

[0057] Optionally, such as Figures 1 to 3 As shown in the embodiment of this application, only the outer circumferential surface of the first transmission wheel 10 (i.e., the small rope wheel end), which has a smaller radial dimension, is provided with a winding groove 50. Due to the reduction ratio, the flexible transmission component will be wound multiple times at the small rope wheel end. Therefore, providing a winding groove 50 on the outer circumferential surface of the small rope wheel end can prevent the flexible transmission components from rubbing against each other and interfering during movement. On the second transmission wheel 20 (i.e., the large rope wheel end), which has a larger radial dimension, the flexible transmission component is basically only wrapped around it once. The flexible transmission components will not rub against each other and interfere with each other at the large rope wheel end. Therefore, the large rope wheel end can be selected to have or not have a winding groove 50 on its outer circumferential surface, depending on actual needs.

[0058] It should be noted that, in the embodiments of this 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 detached from the winding groove 50 except for the fixed end (i.e., the 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 detached from the winding groove 50 except for the fixed end (i.e., the end fixed on the transmission wheel where the winding groove 50 is located); or both the first flexible transmission member 30 and the second flexible transmission member 40 are wound in the winding groove 50.

[0059] Optionally, in this embodiment, the helix angle of the spiral line corresponding to the rope path of the first flexible transmission member 30 wound on the first transmission wheel 10 is the same as the helix angle of the spiral line corresponding to the rope path of the first flexible transmission member 30 wound on the second transmission wheel 20.

[0060] The helix angle of the spiral line corresponding to the rope path of the second flexible transmission member 40 wound on the first transmission wheel 10 is the same as the helix angle of the spiral line corresponding to the rope path of the second flexible transmission member 40 wound on the second transmission wheel 20.

[0061] It should be noted that, in the embodiments of this application, the helix angle, also known as the lead angle, refers to the angle between the tangent of the helix on the mean diameter cylinder (or mean diameter cone) and the plane perpendicular to the helix axis (the helix axis is parallel to or coincides with the rotation axis of the transmission wheel).

[0062] In this embodiment, the helix angles of the spiral lines corresponding to the rope paths formed by the first flexible transmission member 30 wound on the first transmission wheel 10 and the second transmission wheel 20 are the same. Similarly, the helix angles of the spiral lines corresponding to the rope paths formed by the second flexible transmission member 40 wound on the first transmission wheel 10 and the second transmission wheel 20 are the same. This ensures that the helix angles of the spiral lines of the rope paths wound by the first flexible transmission member 30 on the first transmission wheel 10 and the second transmission wheel 20 are consistent, and the helix angles of the spiral lines of the rope paths wound by the second flexible transmission member 40 on the first transmission wheel 10 and the second transmission wheel 20 are also consistent. This allows the first and second flexible transmission members 30 and 40 to be smooth along their respective spatial rope paths, thereby reducing wear on the transmission wheels, minimizing losses, extending service life, improving transmission efficiency, reducing impacts caused by differences in helix angles, and ensuring a stable transmission ratio.

[0063] Meanwhile, the spiral helix angles of the spiral lines corresponding to the rope paths formed by the first flexible transmission component 30 wound on the first transmission wheel 10 and the second transmission wheel 20 are designed to be the same, and the spiral helix angles of the spiral lines corresponding to the rope paths formed by the second flexible transmission component 40 wound on the first transmission wheel 10 and the second transmission wheel 20 are designed to be the same. This simplifies the processing technology of the first transmission wheel 10 and the second transmission wheel 20, reduces manufacturing costs, facilitates design, and improves production efficiency.

[0064] Optionally, in this embodiment, the arcsine function value of the helix angle of the helix (including at least one of the helix corresponding to the rope path of the first flexible transmission member 30 wound on the first transmission wheel 10, the helix corresponding to the rope path of the first flexible transmission member 30 wound on the second transmission wheel 20, the helix corresponding to the rope path of the second flexible transmission member 40 wound on the first transmission wheel 10, and the helix corresponding to the rope path of the second flexible transmission member 40 wound on the second transmission wheel 20) is directly proportional to the lead of the helix and inversely proportional to the radius of the helix.

[0065] Optionally, in the embodiments of this application, the helix angle of the helix can be determined according to the following expression 1.

[0066] (Expression 1)

[0067] In Expression 1, θ is the helix angle of the helix; L is the lead of the helix; and r is the radius of the helix.

[0068] In this embodiment, the relationship between the helix angle θ, the lead L, and the radius r of the helix satisfies the above expression 1, and the helix angle θ, the lead L, and the radius r of the transmission wheel can be designed according to the above expression 1.

[0069] Optionally, such as Figures 1 to 3 As shown in the embodiments of this application, the winding groove 50 includes, but is not limited to, an external thread groove.

[0070] Optionally, in this embodiment of the application, the winding groove 50 includes a single-threaded groove.

[0071] 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).

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] In this embodiment, 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. This allows the second flexible transmission member 40 to smoothly enter the winding groove 50 on the first transmission wheel 10 or the second transmission wheel 20. As a result, the second flexible transmission member 40 is smooth throughout the entire spatial rope path, which can reduce the wear of the second flexible transmission member 40 on the first transmission wheel 10 or the second transmission wheel 20, reduce losses, extend service life, improve transmission efficiency, reduce impact, and ensure a stable transmission ratio.

[0077] It should be noted that, in the embodiments 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 line of the winding groove 50 at that position. This includes: 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 positions where the second flexible transmission member 40 enters 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 line of the winding groove 50 at that position.

[0078] Optionally, in this embodiment of the application, the total amount of winding of the first flexible transmission member 30 and the second flexible transmission member 40 on the first transmission wheel 10 is constant during the transmission process.

[0079] In this embodiment, the winding amount of the first flexible transmission member 30 on the first transmission wheel 10 (i.e., the length of the winding 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 of the winding in the winding groove 50 on the first transmission wheel 10) are mutually exclusive; one winding amount increases while the other winding amount decreases.

[0080] When the winding amount of one of the first flexible transmission members 30 and the second flexible transmission member 40 on the first transmission wheel 10 increases (i.e., one flexible transmission member winds 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 unwinds or comes off the winding groove 50). In this way, the unwound flexible transmission member clears the corresponding groove segment of the winding groove 50, making it easier for a flexible transmission member to wind into the corresponding groove segment of the winding groove 50. This avoids motion interference between the first flexible transmission member 30 and the second flexible transmission member 40. It also allows different flexible transmission members to be accommodated in the same groove segment of the winding groove 50 at different times. This groove segment is 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 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.

[0081] It should be noted that, in the embodiments of this 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 and the winding amount of the second flexible transmission member 40 on the first transmission wheel 10. A constant total winding amount means that the sum of the winding amount of the first flexible transmission member 30 and the winding amount of the second flexible transmission member 40 on the first transmission wheel 10 remains unchanged.

[0082] Optionally, in this embodiment of the application, the total amount of winding of the first flexible transmission member 30 and the second flexible transmission member 40 on the second transmission wheel 20 is constant during the transmission process.

[0083] In this embodiment, the amount of winding of the first flexible transmission member 30 on the second transmission wheel 20 (i.e., the length of winding in the winding groove 50 on the second transmission wheel 20) and the amount of winding of the second flexible transmission member 40 on the second transmission wheel 20 (i.e., the length of winding in the winding groove 50 on the second transmission wheel 20) are mutually exclusive; if one winding amount increases, the other winding amount decreases.

[0084] 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 winds 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 unwinds or comes off the winding groove 50). In this way, the unwound flexible transmission member clears the corresponding segment of the winding groove 50, allowing a flexible transmission member to wind into that corresponding segment of the winding groove 50. This avoids motion interference between the first flexible transmission member 30 and the second flexible transmission member 40. Furthermore, the same segment of the winding groove 50 can accommodate different flexible transmission members at different times. This segment is 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 required.

[0085] It should be noted that, in the embodiments of this 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 and the winding amount of the second flexible transmission member 40 on the second transmission wheel 20. A constant total winding amount means that the sum of the winding amount of the first flexible transmission member 30 and the winding amount of the second flexible transmission member 40 on the second transmission wheel 20 remains unchanged.

[0086] Optionally, such as Figures 1 to 3 As shown in the embodiment of this application, at least a portion of the spiral winding groove 50 on the first transmission wheel 10 is configured to allow the first flexible transmission member 30 and the second flexible transmission member 40 to wind in a time-sharing manner.

[0087] It should be noted that, in the embodiments of this application, the first flexible transmission member 30 and the second flexible transmission member 40 are wound in a time-sharing manner, which means that the first flexible transmission member 30 and the second flexible transmission member 40 are wound on at least a portion of the spiral winding groove 50 at different time periods.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] It should be noted that, in the embodiments of this application, the fact 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 includes: the first segment of the winding groove 50 accommodating the first flexible transmission member 30 at a first time, and the second segment of the winding groove 50 accommodating the second flexible transmission member 40 at a first time; or both the first and second segments of the winding groove 50 accommodating the first flexible transmission member 30 at a second time, but not accommodating the second flexible transmission member 40 (for example, at this time, the second flexible transmission member 40 is completely dislodged from the winding groove 50 except for the end fixedly connected to the transmission wheel corresponding to the winding groove 50); or both the first and second segments of the winding groove 50 accommodating the second flexible transmission member 40 at a third time, but not accommodating the first flexible transmission member 30 (for example, at this time, the first flexible transmission member 30 is completely dislodged from the winding groove 50 except for the end fixedly connected to the transmission wheel corresponding to the winding groove 50).

[0092] The above description is only an example of the winding groove 50 including two groove segments (i.e., the first groove segment and the second groove segment). Of course, in other optional embodiments of this application, the winding groove 50 may include a whole groove segment, three groove segments, or more than three groove segments, depending on actual needs, without limitation.

[0093] It should be noted that in the embodiments of this application, when the first flexible transmission member 30 and the second flexible transmission member 40 are respectively accommodated in different slots of the winding groove 50, or the first flexible transmission member 30 is accommodated in different slots at the same time, or the second flexible transmission member 40 is accommodated in different slots at the same time, some slots of the winding groove 50 are allowed to be left empty (i.e., some slots are allowed to be empty).

[0094] Optionally, such as Figures 1 to 3 As shown in the embodiment of this application, at least a portion of the spiral winding groove 50 on the second transmission wheel 20 is configured to allow the first flexible transmission member 30 and the second flexible transmission member 40 to wind in a time-sharing manner.

[0095] In this embodiment, the first flexible transmission member 30 and the second flexible transmission member 40 are wound around the at least part of the spiral winding groove 50 on the second transmission wheel 20 in a time-sharing manner. This ensures that at any given time, only one of the first flexible transmission member 30 and the second flexible transmission member 40 is wound around the at least part of the spiral winding groove 50. This avoids motion interference between the first flexible transmission member 30 and the second flexible transmission member 40, and also allows the at least part 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 the axial length of the winding groove 50 can be shortened as needed, thereby further reducing the design space occupied.

[0096] Optionally, such as Figures 1 to 3As shown in the embodiment of this application, the spiral winding groove 50 on the second transmission wheel 20 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.

[0097] 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.

[0098] Optionally, such as Figure 1 and Figure 2 As shown in the embodiment of this 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 to the two ends of the spiral winding groove 50 on the first transmission wheel 10 along the axial direction; the first flexible transmission member 30 and the second flexible transmission member 40 respectively wind along the spiral winding groove 50 from the end to the middle or unwind from the middle to the end.

[0099] In this embodiment, the winding groove 50 on the first transmission wheel 10 extends spirally along the extension direction (i.e., axial direction) of the rotation axis of the first transmission wheel 10. The first end of the first flexible transmission member 30 is fixed to the first axial end of the spiral winding groove 50 on the first transmission wheel 10, and the first end of the second flexible transmission member 40 is fixed to the second axial end of the spiral winding groove 50 on the first transmission wheel 10. When the first flexible transmission member 30 winds along the winding groove 50, the first flexible transmission member 30 gradually moves from the first axial end of the winding groove 50 towards the middle of the winding groove 50. The first flexible transmission member 30 is wound around the second end of the winding groove 50 (even towards the second end along the axial direction). At this time, the second flexible transmission member 40 gradually comes off from the middle of the winding groove 50 (even from the first end along the axial direction) towards the second end to unwind. When the first flexible transmission member 30 gradually comes off from the middle of the winding groove 50 (even from the second end along the axial direction) towards the first end to unwind, the second flexible transmission member 40 winds around the winding groove 50 from the second end along the axial direction towards the middle of the winding groove 50 (even towards the first end along the axial direction).

[0100] That is, when the first flexible transmission member 30 gradually winds from the first end of the winding groove 50 towards the middle or even towards the second end, the second flexible transmission member 40 unwinds from the middle of the winding groove 50 or from the first end along the axial direction towards the second end; when the first flexible transmission member 30 unwinds from the middle of the winding groove 50 or from the second end along the axial direction towards the first end, the second flexible transmission member 40 gradually winds from the second end along the axial direction towards the middle or even towards the first end. The fact that one of the first flexible transmission member 30 and the second flexible transmission member 40 winds while the other unwinds, with the actions being opposite, avoids interference between the first flexible transmission member 30 and the second flexible transmission member 40. It also allows 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 at the same time, 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 required.

[0101] Optionally, such as Figure 3 and Figure 5 As shown in the embodiment of this 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 to the two ends of the spiral winding groove 50 on the second transmission wheel 20 along the axial direction; the first flexible transmission member 30 and the second flexible transmission member 40 respectively wind along the spiral winding groove 50 from the end to the middle or unwind from the middle to the end.

[0102] In this embodiment, the winding groove 50 on the second transmission wheel 20 extends spirally along the extension direction (i.e., axial direction) of the rotation axis of the second transmission wheel 20. The second end of the first flexible transmission member 30 is fixed to the first end of the spiral winding groove 50 on the second transmission wheel 20 along the axial direction. The second end of the second flexible transmission member 40 is fixed to the second end of the spiral winding groove 50 on the second transmission wheel 20 along the axial direction. When the first flexible transmission member 30 gradually winds from the first end of the winding groove 50 toward the middle or even toward the second end, the second flexible transmission member 40 unwinds from the middle of the winding groove 50 or from the first end along the axial direction toward the second end. When the first flexible transmission member 30 unwinds from the middle of the winding groove 50 or from the second end along the axial direction toward the first end, the second flexible transmission member 40 gradually winds from the second end of the winding groove 50 along the axial direction toward the middle or even toward the first end. One of the first flexible transmission member 30 and the second flexible transmission member 40 is wound around, while the other is unwound, with the actions being opposite. This can avoid motion interference between the first flexible transmission member 30 and the second flexible transmission member 40. It can also allow 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 at the same time, thereby 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] This application proposes a rope drive transmission scheme. The spiral rope groove can achieve multiple turns of wrapping, realizing the translation of rotational motion. It can also be used as a speed reducer. By adjusting the diameter ratio of the two rope wheels, the reduction ratio can be adjusted to achieve rope drive deceleration.

[0110] Optionally, such as Figure 4 and Figure 5 As shown in the embodiment of this application, the first flexible transmission member 30 and the second flexible transmission member 40 adopt an O-shaped wrapping method (that is, the rope wrapping method of the first flexible transmission member 30 and the second flexible transmission member 40 is O-shaped).

[0111] Of course, in other optional embodiments of this application, the first flexible transmission member 30 and the second flexible transmission member 40 can also be arranged in an X-shaped wrapping manner according to actual needs, resulting in a more compact design. The wrapping manner 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.

[0112] Optionally, such as Figures 1 to 5 As shown in the embodiments of this application, the first flexible transmission member 30 and the second flexible transmission member 40 are each including but not limited to ropes, chains, synchronous belts, steel belts or tracks, etc.

[0113] Optionally, such as Figure 1 and Figure 2 As shown in this embodiment, the first transmission wheel 10 is provided with two first fixing grooves 61, which are correspondingly arranged at both 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 fixing grooves 61, which is located at the end of the rope path wound around the first transmission wheel 10 by the first flexible transmission member 30. The first end of the second flexible transmission member 40 is fixed in the other first fixing groove 61, which is located at the end of the rope path wound around the first transmission wheel 10 by the second flexible transmission member 40. Optionally, the outlet directions of the two first fixing grooves 61 are opposite.

[0114] Optionally, such as Figures 1 to 3 ,as well as Figure 5 As shown in this embodiment, the second transmission wheel 20 is provided with two second fixing grooves 62. The second end of the first flexible transmission member 30 is fixed in one of the second fixing grooves 62, which is located at the end of the rope path on which the first flexible transmission member 30 is wound around the second transmission wheel 20. The second end of the second flexible transmission member 40 is fixed in the other second fixing groove 62, which is also located at the end of the rope path on which the second flexible transmission member 40 is wound around the second transmission wheel 20. Optionally, the outlet directions of the two second fixing grooves 62 are opposite.

[0115] Optionally, the transmission mechanism provided in this application adopts flexible transmission technology, which can be applied to multiple technical fields such as machinery, medical and aerospace, including but not limited to dexterous hands, robotic arms and robots.

[0116] Based on the same inventive concept, this application provides a robot, which includes the transmission mechanism as described above.

[0117] Optionally, in the embodiments of this application, the transmission mechanism can be applied to mechanisms of robots that require multiple freedoms, high precision, and high loads, such as the lower limbs and robotic arms. For example, it can be applied to a single leg, arm, or finger of a bipedal robot, and can also serve as a speed reducer to share some of the robot's deceleration requirements.

[0118] It should be noted that since the robot provided in this application embodiment includes the transmission mechanism provided in this application embodiment, the robot provided in this application embodiment also has the above-mentioned beneficial effects of the transmission mechanism provided in this application embodiment, which will not be repeated here.

[0119] Of course, in other implementations, depending on actual needs and circumstances, and provided the size allows, the robot can also use a parallel-axis gear system that satisfies the transmission equation. If the required motion space is small, it can be replaced with a linkage drive or linear drive, or the input rope reel and ankle joint reel can be directly connected via a coupling. High-precision transmission can be achieved through gears or couplings.

[0120] By applying the embodiments of this application, at least the following beneficial effects can be achieved:

[0121] In this embodiment, the rotation axes of the first and second transmission wheels are parallel. This parallel arrangement allows one of the first and second transmission wheels to drive the other, thus transmitting power. Employing a parallel shaft system flexible (e.g., rope-driven) transmission method can significantly reduce the space occupied by the equipment.

[0122] In this embodiment, at least one of the first and second transmission wheels has a winding groove on its outer peripheral surface. The winding groove is configured for the first and second flexible transmission members to wind around, so that the first and second flexible transmission members can each be regularly wound around the transmission wheel (first or second transmission wheel) along the winding groove. The winding groove rotates about the rotation axis (i.e., the rotation axis of the transmission wheel where the winding groove is located) and extends axially (i.e., the extension direction of the rotation axis of the transmission wheel where the winding groove is located), making the winding groove spiral. The first and second flexible transmission members can each be regularly wound around the transmission wheel along the spiral winding groove. Using a flexible (e.g., rope-driven) transmission method can effectively reduce the inertia of the end load and the overall weight of the machine, and facilitate maintenance.

[0123] In this embodiment, at least one of the first and second transmission wheels has a helical winding groove on its outer circumferential surface. This helps the flexible transmission component maintain a stable spatial position during transmission and avoids friction between adjacent flexible transmission components. Based on the rope drive principle, this embodiment utilizes the helical winding groove to allow the flexible transmission component to wrap around the outer circumferential surface of the transmission wheel multiple times along its axial direction. This increases the rotation angle, enables large-angle transmission, and reduces design complexity.

[0124] 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.

[0125] The above description is only a partial embodiment 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 transmission mechanism, characterized by, The transmission device comprises: a first transmission wheel and a second transmission wheel, each having a rotation axis parallel to the other; 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; at least one of the first transmission wheel and the second transmission wheel is provided with a wire winding groove, the wire winding groove being helical around the rotation axis and extending in the axial direction; at least one of the first flexible transmission member and the second flexible transmission member is wound in the wire winding groove; at least part of the helical wire 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 at different times means that the first flexible transmission member and the second flexible transmission member are wound on at least part of the helical wire winding groove at different time periods, respectively; the helical wire winding groove on the first transmission wheel is configured such that any groove segment of the wire winding groove accommodates one of the first flexible transmission member and the second flexible transmission member at any time.

2. The transmission mechanism of claim 1, wherein The transmission device comprises at least one of the following: the helix angle of the helical wire 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 helical wire corresponding to the rope path of the first flexible transmission member wound on the second transmission wheel; the helix angle of the helical wire 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 helical wire corresponding to the rope path of the second flexible transmission member wound on the second transmission wheel.

3. The transmission mechanism of claim 2, wherein The helix angle of the helical wire is inversely proportional to the radius of the helical wire and proportional to the pitch of the helical wire.

4. The transmission mechanism of claim 1, wherein The transmission device comprises at least one of the following: at the position where the first flexible transmission member enters at least one of the wire winding groove of the first transmission wheel and the wire winding groove of the second transmission wheel, the extension direction of the first flexible transmission member is tangent to the thread line of the wire winding groove at the position; at the position where the second flexible transmission member enters at least one of the wire winding groove of the first transmission wheel and the wire winding groove of the second transmission wheel, the extension direction of the second flexible transmission member is tangent to the thread line of the wire winding groove at the position.

5. The transmission mechanism of claim 1, wherein The transmission device 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.

6. The transmission of claim 1, wherein at least part of the helical wire 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 helical wire winding groove on the second transmission wheel is configured such that any groove segment of the wire winding groove accommodates one of the first flexible transmission member and the second flexible transmission member at any time.

7. The transmission mechanism according to any one of claims 5 to 6, characterized in that, The transmission device 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 fixed at the axial ends of the helical winding groove on the first transmission wheel, respectively; the first flexible transmission member and the second flexible transmission member are wound from the end to the middle along the helical winding groove or unwound from the middle to the end, respectively; The second end of the first flexible transmission member and the second end of the second flexible transmission member are fixed at the axial ends of the helical winding groove on the second transmission wheel, respectively; the first flexible transmission member and the second flexible transmission member are wound from the end to the middle along the helical winding groove or unwound from the middle to the end, respectively.

8. The transmission of claim 1, wherein, 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 that of the driven wheel.

9. A robot, characterized in that The transmission mechanism comprises: The transmission mechanism according to any one of claims 1 to 8.

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