Transmission mechanism, mechanical arm and medical auxiliary system

Abstract

The invention discloses a transmission mechanism, a mechanical arm and a medical auxiliary system. The transmission mechanism comprises a transmission wheel, a transmission belt bundle and a connector assembly. The transmission belt bundle is wound around the outer peripheral surface of the transmission wheel, and the transmission belt bundle includes a first transmission belt and a second transmission belt stacked in the thickness direction. The connector assembly is connected with the transmission belt bundle and comprises a first connector and a second connector, the first connector is arranged at the end of the first transmission belt and connected with the transmission wheel, and the second connector is arranged at the end of the second transmission belt and connected with the first connector. According to the present application, the strength of the transmission belt bundle is increased by the stacked transmission belts. Each transmission belt is provided with an own joint, so that the welding difficulty of multiple layers of transmission belts can be avoided. The first connector is connected with the transmission wheel, the second connector is connected with the first connector, and therefore all the transmission belts act on the transmission wheel.

Description

Technical Field

[0001] This application relates to the field of belt drive technology, and more specifically to a transmission mechanism, as well as a robotic arm and medical assistance system including the transmission mechanism. Background Technology

[0002] When the working surface of the robotic arm approaches a vertical plane, the transmission components undergo unintended deformation under the weight of the end effector. This causes the pre-adjusted pose to shift, resulting in the remote motion center point deviating from its theoretical position and reducing the robotic arm's operational accuracy. Therefore, it is necessary to improve the rigidity of the transmission components. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] To at least partially solve the above problems, the first aspect of this application provides a transmission mechanism, which includes:

[0005] Drive wheel;

[0006] A transmission belt bundle, the transmission belt bundle being wound around the outer peripheral surface of the transmission wheel, the transmission belt bundle comprising a first transmission belt and a second transmission belt stacked along the thickness direction; and

[0007] A connector assembly is provided to connect the transmission belt bundle. The connector assembly includes a first connector and a second connector. The first connector is disposed at the end of the first transmission belt and connected to the transmission wheel. The second connector is disposed at the end of the second transmission belt and connected to the first connector.

[0008] Optionally, the first connector includes a first connecting surface for fixing the first transmission belt, and the second connector includes a second connecting surface for fixing the second transmission belt. The first connecting surface and the second connecting surface are parallel to each other and parallel to the axial direction of the transmission wheel. The first connecting surface and the second connecting surface are spaced apart by a first vertical distance. The first vertical distance is equivalent to the thickness of the first transmission belt, the thickness of the second transmission belt, or the sum of the thickness of the first transmission belt and the thickness of the second transmission belt.

[0009] Optionally, the transmission belt bundle further includes a third transmission belt, which is stacked with the second transmission belt along the thickness direction; the connector assembly further includes a third connector, which is disposed at the end of the third transmission belt and connects the first connector and / or the second connector. The third connector includes a third connecting surface for fixing the third transmission belt. The third connecting surface is parallel to the second connecting surface and is spaced apart from the second connecting surface by a second vertical distance. The second vertical distance is equivalent to the thickness of the second transmission belt, the thickness of the third transmission belt, or the sum of the thicknesses of the second and third transmission belts.

[0010] Optionally, the first connector and the second connector are detachably connected.

[0011] Optionally, the first connector includes a first limiting surface for restricting the movement of the second connector in at least a second direction, the second direction being the direction of the tension force applied by the second transmission belt to the second connector.

[0012] Optionally, the first connector has a limiting groove, and the second connector is embedded in the limiting groove, wherein the first limiting surface is the inner surface of the limiting groove.

[0013] Optionally, the limiting groove further includes a bottom surface opposite to the opening of the limiting groove, and the first limiting surface includes a plane that forms a right angle or an acute angle with the bottom surface.

[0014] Optionally, the transmission wheel has a receiving groove, the joint assembly is accommodated in the receiving groove, the receiving groove opens on the side surface of the transmission wheel, the receiving groove includes an inner surface opposite to the opening of the receiving groove, and the first limiting surface includes a plane that forms a right angle or an acute angle with the inner surface.

[0015] Optionally, the first limiting surface includes two misaligned planes connected by a stepped surface facing the inner surface of the receiving groove.

[0016] Optionally, the first limiting surface includes a curved surface that is concave toward the second direction.

[0017] Optionally, the transmission belt bundle further includes a third transmission belt, which is stacked with the second transmission belt along the thickness direction; the connector assembly further includes a third connector, which is disposed at the end of the third transmission belt and detachably connected to the first connector and / or the second connector.

[0018] Optionally, the first connector has a limiting groove, and the second connector and the third connector are embedded in the limiting groove.

[0019] Optionally, the second connector includes a second limiting surface for restricting the movement of the third connector in at least a third direction, the third direction being the direction of the tension force applied by the third transmission belt to the third connector.

[0020] Optionally, the transmission wheel is further provided with a receiving groove and a first limiting hole, the first limiting hole communicating with the receiving groove, and the connector assembly placed in the receiving groove; the transmission mechanism further includes an adjusting member, the adjusting member being connected to the first connector, one end of the adjusting member extending into the first limiting hole, and the other end of the adjusting member extending into the receiving groove and acting on the inner wall of the receiving groove, the adjusting member being used to adjust the position of the connector assembly in the receiving groove.

[0021] Optionally, the first connector includes a first connecting portion and a second connecting portion, the adjusting member is connected to the first connecting portion, and the transmission belt bundle is connected to the second connecting portion; the transmission wheel receiving groove includes a first receiving groove and a second receiving groove that communicate with each other, the second receiving groove is recessed from the outer peripheral surface of the transmission wheel, the second connecting portion is placed in the second receiving groove, the first receiving groove is further recessed from the bottom surface of the second receiving groove, and the first connecting portion is placed in the first receiving groove. Optionally, the transmission wheel receiving groove opens on the outer peripheral surface of the transmission wheel, the first transmission belt is connected to the side of the second connecting portion facing the bottom surface of the second receiving groove, the second transmission belt is disposed between the first transmission belt and the bottom surface of the second receiving groove, and the transmission belt bundle extends in contact with the bottom surface of the second receiving groove.

[0022] Optionally, the second connecting portion has a limiting groove, the limiting groove opening towards the bottom of the first receiving groove, and the second connector is placed in the limiting groove.

[0023] Optionally, the transmission belt bundle further includes a third transmission belt, which is stacked with the second transmission belt along the thickness direction and disposed between the bottom surface of the second transmission belt and the second receiving groove; the connector assembly further includes a third connector, which is disposed at the end of the third transmission belt and placed in the limiting groove.

[0024] A second aspect of this application provides a robotic arm that includes a transmission mechanism according to any one of the first aspects.

[0025] A third aspect of this application provides a medical assistive system comprising the robotic arm described in the second aspect. Attached Figure Description

[0026] The following drawings, which are incorporated herein by reference as part of this application, are provided for understanding the application. The drawings illustrate representative embodiments of the application and are used to explain the principles of the application, not to limit it.

[0027] In the attached image:

[0028] Figure 1 This is a schematic diagram of the structure of the robotic arm system of the medical assistive system according to a specific embodiment of this application;

[0029] Figure 2A for Figure 1 A partial schematic diagram of the robotic arm in the image;

[0030] Figure 2B for Figure 2A A partial side view of the robotic arm, showing the internal transmission mechanism of the robotic arm;

[0031] Figure 3 This is a schematic diagram of a transmission mechanism according to a specific embodiment of this application;

[0032] Figure 4 This is a partial front view of a transmission mechanism according to one embodiment of the present application, showing the connection relationships of the various components;

[0033] Figure 5 for Figure 4 A schematic diagram of the transmission wheel of the transmission mechanism shown;

[0034] Figure 6 for Figure 4 A schematic diagram of the transmission belt and connector assembly of the transmission mechanism shown;

[0035] Figure 7 for Figure 6 The diagram shown is an exploded view of the structure.

[0036] Figure 8 for Figure 6 A side view of the structure shown;

[0037] Figures 9 to 11 This is a schematic diagram of the connector assembly of the transmission mechanism according to a specific embodiment of this application;

[0038] Figures 12 to 24 This is a side view of the transmission belt and connector assembly of the transmission mechanism according to a specific embodiment of this application;

[0039] Figure 25 This is a side cross-sectional schematic diagram of the transmission belt of the transmission mechanism according to a specific embodiment of this application;

[0040] Figure 26 for Figure 4A schematic diagram of the second joint and the second transmission belt of the transmission mechanism shown;

[0041] Figure 27 This is a partial front view of a transmission mechanism according to another embodiment of this application, showing the connection relationships of the various components;

[0042] Figure 28 for Figure 27 The diagram shows a partial structure of the transmission mechanism, omitting the adjusting components.

[0043] Figure 29 for Figure 27 A schematic diagram of the transmission wheel of the transmission mechanism shown;

[0044] Figure 30 for Figure 27 A schematic diagram of the pad block of the transmission mechanism shown;

[0045] Figure 31 for Figure 2B A partially exploded diagram of the connecting arm.

[0046] Explanation of reference numerals in the attached figures:

[0047] 70: Transmission wheel

[0048] 70C: First pulley; 70D: Second pulley

[0049] 70E: Third pulley; 70F: Fourth pulley

[0050] 77: First limiting hole; 78: Receiving groove

[0051] 78A: First slot; 78B: Second slot

[0052] 78C: Second inner surface; 78D: First inner surface

[0053] 78E: First receiving tank; 78F: Second receiving tank

[0054] 78G: Bottom surface of the first receiving tank; 78H: Bottom surface of the second receiving tank.

[0055] 78I: Clearance groove; 78J: Receiving groove limiting part

[0056] 78K: Second limiting hole; 78L: Fourth inner surface

[0057] 79A: Outer peripheral surface; 79B: Side surface

[0058] 80: Connector 80A: First Connector

[0059] 80B: Second connector; 80C: Third connector

[0060] 81: Connector through hole; 82: Connector positioning part

[0061] 83: First connecting part; 84: Second connecting part

[0062] 85: Connecting surface

[0063] 85A: First connecting surface; 85B: Second connecting surface

[0064] 86: Limiting groove

[0065] 86A: Opening of the limiting groove; 86B: Bottom surface of the limiting groove

[0066] 86C: First limiting groove; 86D: Second limiting groove

[0067] 86F: Sixth inner surface

[0068] 87A: First limiting surface; 87B: First mating surface

[0069] 88B: Second limiting surface; 88C: Second mating surface

[0070] 90: Transmission mechanism; 91: Transmission belt harness

[0071] 91C: First transmission assembly; 91E: Second transmission assembly

[0072] 92: Transmission belt positioning part; 93: Transmission belt

[0073] 93A: First transmission belt; 93B: Second transmission belt

[0074] 93C: Third transmission belt; 93L: Layer

[0075] 931: First end of the transmission belt; 932: Second end of the transmission belt

[0076] 94: Spacer Block

[0077] 95: Second working surface; 96: First working surface

[0078] 97: Pad limiting part; 98: Pad second limiting hole

[0079] 99: Adjusting component 99A: Rod-shaped part

[0080] 100: Robotic arm system 110: Base

[0081] 120: Vertical adjustment joint; 130: First rotation adjustment joint

[0082] 140: Horizontal adjustment joint; 150: Second rotation adjustment joint.

[0083] 160: Deflection arm; 161: Drive unit

[0084] 170: Pitch arm; 171: First connecting arm

[0085] 172: Second connecting arm; 180: Weapon-holding arm

[0086] 181: Sleeve 200: Robotic Arm

[0087] 310: Outer shell; 316: Inner cavity

[0088] 317: End opening; 320: End cap

[0089] 800: Connection assembly; 801: Connector assembly

[0090] D1: First direction; D2: Second direction

[0091] D3: Third direction; DA: Axial direction

[0092] DC: Circumferential direction; DS: Additional direction

[0093] L1: First vertical distance; L2: Second vertical distance

[0094] PP: Pitch axis; PY: Yaw axis Detailed Implementation

[0095] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0096] To fully understand this application, a detailed description will be provided in the following description. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other embodiments.

[0097] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not imply the existence of a “first component.” The use of words such as “first,” “second,” and “third” does not indicate any order and can be interpreted as names.

[0098] It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0099] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0100] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0101] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0102] This application provides a medical assistance system. The medical assistance system according to embodiments of this application is a robot capable of performing surgical procedures. The surgical robot may include a control system (also referred to as a doctor's console or master operating device), a robotic arm system (also referred to as a patient-side robotic arm system or slave operating device), and an imaging system (also referred to as an endoscope system).

[0103] The control system includes a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's console has other control switches that are easily accessible by hand or foot for various functions and human-computer interaction.

[0104] The imaging system includes a display screen, endoscope controller, system electronics, and image processor. It can communicate with the robotic arm system and control system. The imaging system can be set up independently or integrated into the robotic arm system and / or control system.

[0105] Figure 1 An example of a robotic arm system 100 is shown.

[0106] exist Figure 1 In the example shown, the robotic arm system 100 may include a base 110, an adjustment mechanism, and an operating mechanism connected in sequence. The operating mechanism is used to mount surgical instruments and to manipulate the surgical instruments to perform surgical operations. The adjustment mechanism is used to adjust the position and / or orientation of the operating mechanism before surgery.

[0107] The base 110 can be placed on the ground, for example, the bottom of the base 110 can be provided with wheels for easy movement. In some examples not shown, the base 110 can also be suspended from a wall or ceiling, for example, the base 110 can be mounted on a wall or ceiling via guide rails for easy movement. In other examples not shown, the base 110 can also be mounted on an operating table, or integrated into an operating table.

[0108] exist Figure 1 In the illustrated example, the adjustment mechanism includes a vertical adjustment joint 120, a first rotary adjustment joint 130, a horizontal adjustment joint 140, and a second rotary adjustment joint 150 connected in sequence. The vertical adjustment joint 120 and the horizontal adjustment joint 140 can be configured as linear joints, and their directions of movement can be perpendicular to each other. The rotation axes of the first rotary adjustment joint 130 and the second rotary adjustment joint 150 can be parallel to the direction of movement of the vertical adjustment joint 120. The movement of these adjustment joints can achieve adjustment of the position and / or orientation of the operating mechanism. In some examples not shown, the horizontal adjustment joint 140 can be replaced by at least one rotary adjustment joint. In other examples not shown, the adjustment mechanism may include more linear joints and / or rotary joints, or omit some joints.

[0109] like Figure 1 As shown, the operating mechanism is constructed as a robotic arm 200, including a deflection arm 160, a pitch arm 170, and a holding arm 180 connected in sequence. The holding arm 180 is used to mount one or more surgical instruments. Surgical instruments can be instruments used to perform surgical operations, such as electrocautery devices, clamps, and vascular occluders; they can also be cameras used to acquire images of the surgical area, such as endoscopes; or other surgical instruments. The deflection arm 160 is used to drive the holding arm 180 to rotate around the deflection axis PY. The pitch arm 170 is used to drive the holding arm 180 to rotate around the pitch axis PP. The holding arm 180 is provided with a cannula 181, which is used to be inserted into a small opening in the human body. Surgical instruments pass through the cannula 181 to enter the abdominal or thoracic cavity for surgical operations.

[0110] The aforementioned deflection axis PY and pitch axis PP intersect at a predetermined position on the cannula 181 to ensure that the operating mechanism never deviates from this predetermined position when moving the surgical instrument, i.e., pitch and / or yaw are centered on this point. This predetermined position can also be called the remote center of motion (RCM). When the cannula 181 is inserted into the human body, the RCM is aligned with the small hole opened on the human body, thereby preventing non-surgical trauma to the human body. The surgical arm 180 may be equipped with a drive device (not shown) for driving the surgical instrument to perform insertion, rotation, and other actions, as well as for driving the end effector of the surgical instrument to perform pitch, yaw, and clamping actions.

[0111] exist Figure 1 In the example shown, the deflection axis PY can be set as the rotation axis of the second rotation adjustment joint 150, which passes through a predetermined position of the sleeve 181. The deflection arm 160 is connected to the second rotation adjustment joint 150, so the deflection arm 160 can rotate about the rotation axis of the second rotation adjustment joint 150, thereby driving the holding arm 180 to deflect about the rotation axis of the second rotation adjustment joint 150. In this example, the adjustment mechanism and the operating mechanism share the rotation joint 150, that is, the rotation joint 150 can be used to adjust the overall positioning of the operating mechanism before surgery, and can also be used to adjust the posture of the holding arm 180 during surgery.

[0112] exist Figure 1 In the illustrated example, the pitch arm 170 may include a first connecting arm 171 and a second connecting arm 172. The first connecting arm 171 is rotatably connected to the yaw arm 160, the second connecting arm 172 is rotatably connected to the first connecting arm 171, and the holding arm 180 is rotatably connected to the second connecting arm 172. The first connecting arm 171, the second connecting arm 172, and the holding arm 180 are linked together by software control or mechanical constraints, causing the holding arm 180 to rotate about the pitch axis PP.

[0113] For example, the pitch arm 170 can be configured as a mechanically constrained parallelogram motion mechanism, in which case the first connecting arm 171, the second connecting arm 172, and the holding arm 180 are linked together through a transmission mechanism. See details... Figure 2A When the first connecting arm 171 rotates relative to the deflection arm 160, the relative angle between the second connecting arm 172 and the deflection arm 160 remains unchanged, while the holding arm 180 ( Figure 2A (Not shown in the image to reduce obstruction) and the relative angle of the first connecting arm 171 remain constant, thereby achieving parallelogram motion, such that the holding arm 180 about the pitch axis (in the image) Figure 2A The pitch is measured by passing through the RCM point and perpendicular to the paper.

[0114] Furthermore, in Figure 2BIn the example shown, the transmission mechanism can employ a pulley drive. The transmission mechanism includes a first pulley 70C, a second pulley 70D, and a first transmission assembly 91C connecting the two, all located at the first connecting arm 171; and a third pulley 70E, a fourth pulley 70F, and a second transmission assembly 91E connecting the two, all located at the second connecting arm 172. The first pulley 70C is fixed relative to the deflection arm 160, the second pulley 70D is fixed relative to the housing of the second connecting arm 172, the third pulley 70E is fixed relative to the housing of the first connecting arm 171, and the fourth pulley 70F is fixed relative to the holding arm 180. A drive device 161 is housed within the deflection arm 160, and the output end of the drive device 161 is connected to the housing of the first connecting arm 171.

[0115] When the drive unit 161 drives the housing of the first connecting arm 171 to swing, since the axial distance between the first pulley 70C and the second pulley 70D remains unchanged, the relative rotation between the first pulley 70C and the second pulley 70D can be limited by the first transmission assembly 91C. Since the first pulley 70C is relatively fixed to the deflection arm 160, and the second pulley 70D is relatively fixed to the housing of the second connecting arm 172, the relative angle between the second connecting arm 172 and the deflection arm 160 remains constant. Simultaneously, since the axial distance between the third pulley 70E and the fourth pulley 70F remains unchanged, the relative rotation between the third pulley 70E and the fourth pulley 70F can be limited by the second transmission assembly 91E. Since the third pulley 70E is relatively fixed to the first connecting arm 171, and the fourth pulley 70F is relatively fixed to the holding arm 180, the relative angle between the first connecting arm 171 and the holding arm 180 remains constant. Thus, the parallelogram motion of the first connecting arm 171, the second connecting arm 172, and the holding arm 180 can be realized.

[0116] Since the working surface of the pitch arm 170 is usually close to the vertical plane, under the weight of the robotic arm 180, part of the transmission belt is stretched, and the pre-adjusted posture is thus offset. Due to the difference in force on the transmission belt on both sides of the transmission wheel, the length deformation of the transmission belt in the transmission components 91C and 91E deviates. Furthermore, since the center distance of the transmission wheels remains unchanged, the two transmission wheels in the same connecting arm rotate relative to each other, causing both the first connecting arm 171 and the second connecting arm 172 to produce a yaw angle. This results in the actual RCM point deviating from the theoretical RCM point, reducing the operating accuracy of the robotic arm 200.

[0117] In some scenarios, to improve the rigidity of the transmission component, multiple layers of transmission belts can be used to reduce deformation. However, the inventors have found that when the number of transmission belt layers or the overall thickness of the transmission component increases, it becomes difficult to connect the ends of the transmission belts to the joints. It is difficult to achieve ideal strength and dimensions at the connection point, and it is also difficult to ensure the connection between the joints and the drive pulleys.

[0118] Based on this, this application proposes a transmission mechanism to at least improve or avoid some of the above-mentioned problems.

[0119] In some application scenarios, see Figure 3 The transmission mechanism 90 includes two drive pulleys 70 and two drive belt bundles 91. At least one of the drive belt bundles 91 is formed by stacking multiple drive belts, for example, it can be the drive belt bundle 91 in the transmission mechanism 90 that is subjected to greater tension. It is understood that both drive belt bundles 91 can also be formed by stacking multiple drive belts, and the number of drive belt layers or the overall thickness of the two drive belt bundles 91 can be the same, or they can be set differently according to the stress conditions. The two ends of each drive belt bundle 91 are respectively wound around the two drive pulleys 70. One drive pulley 70 can be used as the input end of the transmission mechanism 90, and the other drive pulley 70 can be used as the output end of the transmission mechanism 90. At least one end of at least one drive belt bundle 91 is connected to the drive pulley 70 through a connecting assembly 800.

[0120] In some application scenarios not shown, only one drive belt 91 can be set up, in which case the two drive wheels 70 serve as the input and output ends of each other.

[0121] In other application scenarios not shown, one of the drive wheels 70 may be replaced with other movable parts, that is, one of the input and output ends of the transmission mechanism 90 may not be a drive wheel.

[0122] See Figures 4 to 5 In one embodiment, the transmission mechanism 90 includes at least one transmission belt bundle 91, at least one drive pulley 70, and at least one connecting assembly 800. Each transmission belt bundle 91 includes a plurality of transmission belts 93. The connecting assembly 800 is used to connect the transmission belts 93 and the drive pulleys 70.

[0123] For a transmission belt bundle 91, the transmission belt 93 includes two ends in opposite directions along its length: a first end 931 and a second end 932. Multiple first ends 931 converge to form one end of the transmission belt bundle 91. Multiple second ends 932 converge to form the other end of the transmission belt bundle 91. Multiple transmission belts 93 are stacked along their thickness direction and wound around the outer peripheral surface 79A of the transmission wheel 70. The multiple transmission belts 93 can be sequentially arranged according to their stacking order, for example, as a first transmission belt 93A, a second transmission belt 93B, a third transmission belt 93C, etc.

[0124] The connecting assembly 800 includes a connector assembly 801, which includes a plurality of connectors 80. Each connector 80 is correspondingly disposed with a transmission belt 93 and connected to one end of the corresponding transmission belt 93, such as the first end 931 of the transmission belt. The connectors 80 can be ordered according to the sequence number of the connected transmission belts 93, with the connector 80 connected to the Nth transmission belt being the Nth connector. For example, the connector 80 connected to the first transmission belt 93A is the first connector 80A, the connector 80 connected to the second transmission belt 93B is the second connector 80B, the connector 80 connected to the third transmission belt 93C is the third connector 80C, and so on.

[0125] Each connector 80 has a connecting surface 85, to which the first end 931 of the drive belt is fixedly connected. For example, the first connector 80A includes a first connecting surface 85A for fixing the first drive belt 93A. The second connector 80B includes a second connecting surface 85B for fixing the second drive belt 93B. The third connector 80C includes a third connecting surface 85C for fixing the third drive belt 93C.

[0126] by Figures 6 to 16 In the example shown, the transmission mechanism 90 includes two transmission belts 93 and two connectors 80. A first connector 80A is connected to a drive wheel 70, positioning the first transmission belt 93A relative to the drive wheel 70. A second connector 80B is connected to the first connector 80A, positioning the second transmission belt 93B relative to the drive wheel 70. The first connecting surface 85A and the second connecting surface 85B are parallel to each other and parallel to the axial direction DA of the drive wheel 70, and are spaced apart by a first vertical distance L1 (see [reference needed]). Figures 12 to 15 The first connecting surface 85A and the second connecting surface 85B are misaligned along the first direction D1, where the first direction D1 is the direction of the tension applied by the first transmission belt 93A to the first joint 80A.

[0127] In the illustrated embodiment, the drive belt bundle 91 is formed by stacking two drive belts 93, wherein the first drive belt 93A is located at the outermost periphery of the drive wheel 70, and the second drive belt 93B directly adheres to the outer peripheral surface 79A of the drive wheel 70. The first connecting surface 85A and the second connecting surface 85B face the same direction and are also offset along an additional direction DS perpendicular to the first direction D1. The first vertical distance between the first connecting surface 85A and the second connecting surface 85B is equivalent to the thickness of the first drive belt 93A (the first vertical distance L1 extends along the additional direction DS), thereby stacking the first drive belt 93A and the second drive belt 93B along the thickness direction.

[0128] The various connectors 80 are detachably connected, for example, by snap-fit. This allows for flexible and convenient combination of drive belt bundles as needed.

[0129] When the drive belt 91 is tensioned, the second drive belt 93B applies a tension force to the second connector 80B, the direction of which is denoted as the second direction D2. To prevent relative movement between the second connector 80B and the first connector 80A, the first connector 80A is provided with a first limiting surface 87A, the orientation of which is opposite to or at a certain angle to the second direction D2. Thus, the first limiting surface 87A can restrict the movement of the second connector 80B in at least the second direction D2. When the first connecting surface 85A and the second connecting surface 85B are parallel, the first direction D1 and the second direction D2 are substantially parallel. For example, a first mating surface 87B is provided on the side of the second connector 80B facing the second end 932 of the drive belt 93B to which it is connected. The first limiting surface 87A contacts the first mating surface 87B. Furthermore, the shape of the first mating surface 87B can conform to (adapt to) the shape of the first limiting surface 87A.

[0130] For example, a limiting groove 86 is provided on the side of the first connector 80A facing the rotation axis of the transmission wheel 70, and the first limiting surface 87A of the first connector 80A is the inner surface of the limiting groove 86. The second connector 80B is embedded into the limiting groove 86, so that the two connectors 80 are connected to each other, and the two transmission belts 93 are positioned relative to each other.

[0131] Furthermore, the drive wheel 70 has a receiving groove 78, in which the connector assembly 801 is received. The drive wheel 70 has two side surfaces 79B arranged opposite to each other in the axial direction DA. The receiving groove 78 opens into the side surface 79B of the drive wheel 70, and the receiving groove 78 includes a fourth inner surface 78L opposite to the opening 78B of the receiving groove 78.

[0132] exist Figures 6 to 9 In the example shown, the first limiting surface 87A includes a plane that forms a right angle with the fourth inner surface 78L. The limiting groove 86 also includes a limiting groove opening 86A and a limiting groove bottom surface 86B opposite to the limiting groove opening 86A. The first limiting surface 87A includes a plane that forms a right angle with the limiting groove bottom surface 86B.

[0133] exist Figure 10 In the example, the first limiting surface 87A includes a plane that forms an acute angle with the fourth inner surface 78L.

[0134] exist Figure 11In the example, the first limiting surface 87A includes a bent surface, the crease of which is generally perpendicular to the rotation axis of the drive wheel 70. Specifically, the first limiting surface 87A includes two misaligned planes 87M and 87N, connected by a stepped surface 87L facing the fourth inner surface 78L of the receiving groove 78. Planes 87M and 87N form a bent structure, as do planes 87N and 87L. This, to a certain extent, prevents the second connector 80B from dislodging from the limiting groove 86.

[0135] exist Figure 12 and Figure 13 In the example, the first limiting surface 87A includes a plane that forms a right angle with the fourth inner surface 78L. This plane can also form an acute angle with the bottom surface 86B of the limiting groove (see angle α in the figure). This, to some extent, prevents the second connector 80B from dislodging from the limiting groove 86.

[0136] exist Figure 14 In the example, the first limiting surface 87A includes a curved surface recessed towards the second direction D2, such as a C-shaped surface. The generatrix of this C-shaped surface is not perpendicular to the rotation axis of the drive wheel 70. The generatrix of this C-shaped surface is, for example, parallel to the rotation axis of the drive wheel 70. For this reason, the second connector 80B can be prevented from dislodging from the limiting groove 86 to a certain extent.

[0137] exist Figure 15 In the example shown, the transmission belts 93 are arranged in reverse order. The first transmission belt 93A is the transmission belt 93 that directly contacts the outer peripheral surface 79A of the transmission wheel 70, and the second transmission belt 93B is located at the outermost periphery of the transmission wheel 70. The first connecting surface 85A of the first connector 80A and the second connecting surface 85B of the second connector 80B face the same direction. The first connecting surface 85A and the second connecting surface 85B are offset along the first direction D1 and also offset along an additional direction DS perpendicular to the first direction D1. The first vertical distance L1 between the first connecting surface 85A and the second connecting surface 85B is approximately equal to the thickness of the second transmission belt 93B (the first vertical distance L1 extends along the additional direction DS).

[0138] exist Figure 16In the example shown, the first transmission belt 93A is a transmission belt 93 that directly contacts the outer peripheral surface 79A of the transmission wheel 70, and the second transmission belt 93B is located at the outermost periphery of the transmission wheel 70. The first connecting surface 85A of the first connector 80A and the second connecting surface 85B of the second connector 80B face opposite directions, and they can be opposite each other along an additional direction DS perpendicular to the first direction D1 (not offset along the first direction D1). The first vertical distance L1 between the first connecting surface 85A and the second connecting surface 85B is equivalent to the sum of the thicknesses of the first transmission belt 93A and the second transmission belt 93B (the first vertical distance L1 extends along the additional direction DS).

[0139] like Figures 17 to 24 As shown, the transmission belt bundle 91 includes three transmission belts 93: a first transmission belt 93A, a second transmission belt 93B, and a third transmission belt 93C. The third transmission belt 93C, the second transmission belt 93B, and the first transmission belt 93A are stacked along the thickness direction. Therefore, the connector assembly 801 also includes a third connector 80C, which is disposed at the first end 931 of the third transmission belt 93C and connects to the first connector 80A and / or the second connector 80B. For example, the third connector 80C is detachably connected to the first connector 80A and / or the second connector 80B. For example, both the second connector 80B and the third connector 80C are partially or completely embedded in the limiting groove 86 of the first connector 80A.

[0140] Similarly, the third connector 80C has a third connecting surface 85C, and the first end 931 of the third drive belt 93C is fixed to the third connecting surface 85C. The third connecting surface 85C is parallel to the second connecting surface 85B, and there is a second vertical distance L2 between the third connecting surface 85C and the second connecting surface 85B. The third connector 80C and the second connector 80B are arranged along a third direction D3, which is the direction of the tension force applied by the third drive belt 93C to the third connector 80C. When the first connecting surface 85A, the second connecting surface 85B, and the third connecting surface 85C are parallel, the first direction D1, the second direction D2, and the third direction D3 are substantially parallel to each other, and the second vertical distance L2 extends along an additional direction DS.

[0141] exist Figures 17 to 21 In the example shown, for ease of explanation, the serial number of the transmission belt 93 decreases as it is further away from the outer peripheral surface 79A of the transmission wheel 70. For example... Figure 17 and Figures 19 to 21As shown, when the transmission belt bundle 91 has more transmission belts 93, all joints 80 except the first joint 80A are placed in the limiting groove 86 and arranged sequentially according to their serial numbers. The transmission belt 93 with the largest serial number extends into contact with the bottom surface 78H of the second receiving groove 78F, and the preceding transmission belt 93 extends into contact with the following transmission belt 93. The outermost first transmission belt 93A, whose joint 80A can be prevented from detaching from the receiving groove 78 by the action of the adjusting member 99 (see...). Figure 4 (As detailed later), thus the first connector 80A also confines all the remaining connectors 80 within the receiving groove 78, and the first connector 80A applies a force to the first drive belt 93A toward the bottom surface 78H of the second receiving groove 78F, thereby pressing the preceding drive belt 93 against the bottom surface 78H of the second receiving groove 78F. Therefore, the third drive belt 93C is disposed between the second drive belt 93B and the bottom surface 78H of the second receiving groove 78F.

[0142] In this application, "previous" and "next" refer to two components with adjacent serial numbers, with the "previous" component having a smaller serial number and the "next" component having a larger serial number. For example, in the first component and the second component, the first component is the preceding component, and the second component is the following component. Similarly, in the second component and the third component, the second component is the preceding component, and the third component is the following component. In this application, for sequentially ordered components, their serial numbers can be represented by the English letters A, Z, where A corresponds to the first serial number.

[0143] For example, when all connectors 80 except the first connector 80A are placed in the limiting groove 86, the other connectors 80 are aligned with the surface of the bottom surface 86B of the limiting groove 86. Therefore, the thickness of these connectors 80 increases sequentially with the increase of the connector number. For example, as... Figure 17 , Figures 19 to 22 As shown, the thickness of the transmission belt 93 is increased sequentially. In this way, the bottom surface 86B of the limiting groove 86 can be constructed as a plane, which facilitates processing.

[0144] For example, such as Figure 18 As shown, other connectors 80 besides the first connector 80A can also be constructed with the same structure. In this way, the bottom surface 86B of the limiting groove 86 can be constructed with a stepped surface.

[0145] When the drive belt 91 is tensioned, the third drive belt 93C applies a tensile force to the third joint 80C, the direction of which is denoted as third direction D3. To prevent relative movement between the third joint 80C and the second joint 80B and the first joint 80A, in Figures 17 to 21In the example shown, the second connector 80B is provided with a second limiting surface 88B, which is opposite to or at an angle to the third direction D3. This allows the second limiting surface 88B to restrict the movement of the third connector 80C in at least the third direction D3. For example, the first mating surface 87B and the second limiting surface 88B are located on opposite sides of the second connecting surface 85B of the second connector 80B, and neither is parallel to the second connecting surface 85B. For example, the third connector 80C has a second mating surface 88C on the side facing the second end 932 of the third transmission belt 93C to which it is connected. The second limiting surface 88B contacts the second mating surface 88C. Furthermore, the shape of the second mating surface 88C can conform to (fit) the shape of the second limiting surface 88B. Furthermore, the second limiting surface 88B can be parallel to the first limiting surface 87A.

[0146] and Figure 12 and Figure 13 The example shown is similar, in Figure 19 and Figure 20 In the example shown, the first limiting surface 87A includes a plane that forms a right angle with the fourth inner surface 78L. This plane can also form an acute angle with the bottom surface 86B of the limiting groove (see angle α in the figure). This helps to prevent the second connector 80B from dislodging from the limiting groove 86. Similarly, the second limiting surface 88B includes a plane that forms a right angle with the fourth inner surface 78L. This plane can also form an acute angle with the bottom surface 86B of the limiting groove (see angle β in the figure). This helps to prevent the third connector 80C from dislodging from the limiting groove 86. Angles α and β can be equal or unequal.

[0147] and Figure 14 The example shown is similar, in Figure 21 In the example shown, the first limiting surface 87A includes a concave surface, such as a C-shaped surface, facing the second direction D2. The generatrix of this C-shaped surface is not perpendicular to the rotation axis of the drive wheel 70. The generatrix of this C-shaped surface is, for example, parallel to the rotation axis of the drive wheel 70. This, to some extent, prevents the second connector 80B from dislodging from the limiting groove 86. The second limiting surface 88B includes a concave surface, such as a C-shaped surface, facing the third direction D3. The generatrix of this C-shaped surface is not perpendicular to the rotation axis of the drive wheel 70. The generatrix of this C-shaped surface is, for example, parallel to the rotation axis of the drive wheel 70. This, to some extent, prevents the third connector 80C from dislodging from the limiting groove 86.

[0148] exist Figures 17 to 21In the example, the second connecting surface 85B and the third connecting surface 85C face the same direction and are offset along the first direction D1. The second vertical distance L2 between the second connecting surface 85B and the third connecting surface 85C is equivalent to the thickness of the second drive belt 93B.

[0149] exist Figure 22 In the example shown, the first transmission belt 93A is in direct contact with the outer peripheral surface 79A of the transmission wheel 70, the second transmission belt 93B is located at the outermost periphery of the transmission wheel 70, and other transmission belts 93 are arranged between the first transmission belt 93A and the second transmission belt 93B, with the transmission belt 93 closer to the first transmission belt 93A having a larger serial number. The structure of each limiting surface and mating surface is similar to... Figure 17 Similarly, I will not go into details here.

[0150] exist Figure 23 In the example shown, the transmission belt 93 with a greater distance from the outer peripheral surface 79A of the transmission wheel 70 has a larger serial number. The third connecting surface 85C of the third connector 80C and the second connector 80B face opposite directions, and they can be opposite each other along an additional direction DS perpendicular to the first direction D1 (not offset along the first direction D1). The second vertical distance L2 between the third connecting surface 85C and the second connecting surface 85B is equivalent to the sum of the thicknesses of the third transmission belt 93C and the second transmission belt 93B. For example, the limiting groove 86 of the first connector 80A includes two opposing parts: a first limiting groove 86C and a second limiting groove 86D. The first connecting surface 85A is located on the side of the first connector 80A where the first limiting groove 86C is located. The second connector 80B is accommodated in the first limiting groove 86C, and the third connector 80C is accommodated in the second limiting groove 86D. The second connecting surface 85B and the third connecting surface 85C face each other, that is, the second connecting surface 85B and the third connecting surface 85C face opposite directions.

[0151] exist Figure 24 In the example shown, the closer the transmission belt 93 is to the outer peripheral surface 79A of the transmission wheel 70, the larger its serial number. The third connecting surface 85C of the third connector 80C and the second connector 80B face opposite directions, and they can be opposite each other along an additional direction DS perpendicular to the first direction D1 (not offset along the first direction D1). The second vertical distance L2 between the third connecting surface 85C and the second connecting surface 85B is equivalent to the sum of the thicknesses of the third transmission belt 93C and the second transmission belt 93B. For example, the limiting groove 86 of the first connector 80A includes two opposing parts: a first limiting groove 86C and a second limiting groove 86D. The first connecting surface 85A is located on the side of the first connector 80A where the second limiting groove 86D is located. The second connector 80B is accommodated in the second limiting groove 86D, and the third connector 80C is accommodated in the first limiting groove 86C. The second connecting surface 85B and the third connecting surface 85C face each other, that is, the second connecting surface 85B and the third connecting surface 85C face opposite directions.

[0152] Figure 23 and Figure 24 The example shown can be understood as both the second connector 80B and the third connector 80C being embedded in the limiting groove 86 of the first connector 80A. Figures 17 to 22 Unlike other embodiments, the second connector 80B and the third connector 80C do not have a limiting effect on each other in the second direction D2 and / or the third direction D3. The second connector 80B is limited in the second direction D2 by the first limiting surface 87A in the limiting groove 86 of the first connector 80A. The third connector 80C is limited in the third direction D3 by the sixth inner surface 86F of the limiting groove 86 of the first connector 80A.

[0153] Understandably, each drive belt 93 can be a single-layer structure or a multi-layer structure. For example, as... Figure 25 As shown, the transmission belt 93 has a multi-layered structure stacked along its thickness direction. Except at the connection points with the connector 80, the individual layers 93L of the multi-layered structure are not connected to each other to reduce the interaction forces between each layer 93L. Each layer 93L can be made of the same material or different materials. Optionally, each layer 93L is a steel belt. Optionally, each layer 93L of each transmission belt 93 is connected to the corresponding connector 80 at its end by welding.

[0154] Optionally, such as Figure 26 As shown, the connecting surface 85 of the connector 80 is provided with a connector positioning part 82, and the first end 931 of the transmission belt 93 is provided with a transmission belt positioning part 92. The transmission belt positioning part 92 is used to connect to the connector positioning part 82 so that the transmission belt 93 is positioned relative to the connector 80. For example, the connector positioning part 82 is constructed as a positioning protrusion, and the transmission belt positioning part 92 is constructed as a positioning hole, with the positioning protrusion passing through the positioning hole. When connecting the transmission belt 93 to the connector 80, the positioning protrusion is first passed through the positioning hole to connect the transmission belt 93 to the connector 80, and then the transmission belt 93 is welded to the connector 80. This arrangement is particularly advantageous when using a multi-layer transmission belt 93, eliminating the step of connecting each layer 93L together in advance, and allowing multiple layers of 93L to be welded to the connector 80 at once.

[0155] The connection structure between the connecting assembly 800 and the drive wheel 70 can be configured to adjust the length of the drive belt 91. For Figure 3 The example shown, such as "adjusting the length of the drive belt 91", refers to adjusting the total length of the drive belt 91 around the two drive pulleys 70.

[0156] It is understood that both ends of each transmission belt bundle 91 can be connected to the corresponding transmission wheel 70 via the connecting assembly 800, thereby allowing for length adjustment at both ends of the transmission belt bundle 91. Alternatively, a length adjustment mechanism can be provided only at one end of the transmission belt bundle 91, meaning that only one end of each transmission belt bundle 91 is connected to the corresponding transmission wheel 70 via the connecting assembly 800.

[0157] The following description uses a connection assembly 800 including a first connector 80A and a second connector 80B as an example. It will be understood that when the connection assembly 800 also includes a third connector 80C or even more connectors, the following description can be consulted.

[0158] like Figure 4 and Figure 5 As shown, the transmission wheel 70 also has a first limiting hole 77. The first limiting hole 77 communicates with the receiving groove 78. The connecting assembly 800 also includes a connector adjusting member 99. The connector adjusting member 99 is used to connect the first connector 80A to adjust the position of the first connector 80A in the receiving groove 78. One end of the adjusting member 99 extends into the first limiting hole 77, and the other end of the adjusting member 99 extends into the receiving groove 78 and acts on the inner wall of the receiving groove 78.

[0159] When the first drive belt 93A is tensioned, a tensile force is applied to the first connector 80A. This force is transmitted to the adjusting member 99, causing the adjusting member 99 to act against the inner wall of the receiving groove 78. The portion of the adjusting member 99 between the first connector 80A and the inner wall of the receiving groove 78 is subjected to pressure. This pressure holds the adjusting member 99 within the receiving groove 78, thus holding the first connector 80 within the receiving groove 78. Simultaneously, the first limiting hole 77 can limit the adjusting member 99 in a direction perpendicular to this pressure, thereby achieving a stable connection between the first drive belt 93A and the drive wheel 70. Furthermore, since the adjusting member 99 is fixed relative to the drive wheel 70 under this pressure, the position of the first connector 80A within the receiving groove 78 can be adjusted by adjusting the connection position between the first connector 80A and the adjusting member 99, thereby adjusting the length of the first drive belt 93A.

[0160] Since the joints 80 are positioned relative to each other in the length direction by the first limiting surface 87A and the first mating surface 87B, when the position of the first joint 80A changes, it affects the position of the second joint 80B, thereby allowing adjustment of the length of each transmission belt 93, that is, adjustment of the length of the transmission belt bundle 91. Specifically, as... Figure 5As shown, the drive wheel 70 includes a first inner surface 78D and a second inner surface 78C that define a receiving groove 78 and are disposed opposite to each other. The first inner surface 78D and the second inner surface 78C are not perpendicular to the axis of rotation of the drive wheel 70. The first inner surface 78D and the second inner surface 78C define the range of motion of the first connector 80A within the receiving groove 78, thus determining the length adjustment range of the drive belt 91. The first inner surface 78D and the second inner surface 78C are, for example, the surfaces of two opposing sidewalls of the receiving groove 78 in the circumferential direction DC of the drive wheel 70, and may optionally be parallel to the axis of rotation of the drive wheel 70. An adjusting member 99 acts on the first inner surface 78D, for example, the adjusting member 99 abuts against the first inner surface. A first limiting hole 77 opens into the second inner surface 78C. For example, the first limiting hole 77 can be constructed as a through hole, with one end opening on the outer peripheral surface 79A of the drive wheel 70 and the other end opening on the second inner surface 78C of the receiving groove 78, so that the adjusting member 99 can be introduced into the receiving groove 78 through the opening of the first limiting hole 77 on the outer peripheral surface 79A of the drive wheel 70.

[0161] Furthermore, the first inner surface 78D can be recessed to form a second limiting hole 78K. The second limiting hole 78K is a blind hole and communicates with the receiving groove 78. In the assembled state of the transmission mechanism 90, the adjusting member 99 extends into the second limiting hole 78K and abuts against the bottom of the second limiting hole 78K. Under the action of the first limiting hole 77 and the second limiting hole 78K, both ends of the adjusting member 99 can be limited, which is especially beneficial when the adjusting member 99 is subjected to bending moment.

[0162] Furthermore, the receiving groove 78 may open onto the outer peripheral surface 79A and / or side surface 79B of the drive wheel 70 to facilitate the insertion of the first connector 80A into the receiving groove 78. In some cases, the adjusting member 99 may also be inserted into the receiving groove 78 through the openings in the outer peripheral surface 79A and / or side surface 79B. In the illustrated example, the receiving groove 78 has a first slot 78A formed on the outer peripheral surface 79A of the drive wheel 70 and a second slot 78B formed on the side surface 79B of the drive wheel 70.

[0163] Furthermore, the drive wheel 70 may also include a third inner surface 78G defining a receiving groove 78, the third inner surface 78G connecting the first inner surface 78D and the second inner surface 78C. Optionally, the third inner surface 78G is perpendicular to the first inner surface 78D and the second inner surface 78C.

[0164] The adjusting member 99 includes a rod-shaped portion 99A, meaning that the adjusting member 99 can be partially or entirely constructed as a rod. The first connector 80A is provided with a connector through hole 81. The rod-shaped portion 99A passes through the connector through hole 81. The first connector 80A is movable relative to the adjusting member 99 along the length direction of the adjusting member 99 to change the position of the first connector 80A within the receiving groove 78.

[0165] In the illustrated example, the rod-shaped portion 99A is provided with external threads, and the connector through-hole 81 is provided with internal threads. The adjusting member 99 is constructed, for example, as a bolt. The adjusting member 99 enters the connector through-hole 81 through the first limiting hole 77, and after engaging with the connector through-hole 81, it exits the connector through-hole 81 to act on the first inner surface 78D of the receiving groove 78. The position of the first connector 80A within the receiving groove 78 can be adjusted by the relative rotation between the external and internal threads. For example, the relative rotation between the external and internal threads can be achieved by inserting an auxiliary adjusting tool into the first limiting hole 77 to rotate the adjusting member 99. After adjustment, the position of the first connector 80A within the receiving groove 78 can be maintained by the engagement of the external and internal threads.

[0166] In other examples not shown, the connector through hole 81 may not have an internal thread; instead, a stop, such as a nut or a retaining ring, may be fitted onto the rod-shaped portion 99A. The stop is positioned between the first connector 80A and the first inner surface 78D, and its engagement with the external thread of the rod-shaped portion 99A restricts movement of the first connector 80A toward the first inner surface 78D. The position of the first connector 80A within the receiving groove 78 can be adjusted by the engagement position of the stop on the rod-shaped portion 99A.

[0167] like Figure 5 As shown, the receiving groove 78 includes a first receiving groove 78E and a second receiving groove 78F that are interconnected. The second receiving groove 78F is formed by recessing from the outer peripheral surface 79A of the drive wheel 70. The first receiving groove 78E is formed by further recessing from the bottom surface 78H of the second receiving groove 78F. The aforementioned first inner surface 78D, second inner surface 78C, and third inner surface 78G are all inner surfaces of the first receiving groove 78E, wherein the third inner surface 78G is the bottom surface of the first receiving groove 78E. Therefore, the bottom surface 78G of the first receiving groove 78E is closer to the center of the drive wheel 70 than the bottom surface 78H of the second receiving groove 78F.

[0168] like Figure 6As shown, the first connector 80A includes a first connecting portion 83 and a second connecting portion 84. For example, the first connecting portion 83 and the second connecting portion 84 are connected in an L-shape. A first receiving groove 78E is used to receive the first connecting portion 83, and a second receiving groove 78F is used to receive the second connecting portion 84. An adjusting member 99 is connected to the first connecting portion 83, and a first transmission belt 93A is connected to the second connecting portion 84. Therefore, when the transmission mechanism 90 is in the assembled state, the first end 931 of the first transmission belt 93A and the second connecting portion 84 are placed in the second receiving groove 78F, and at least a portion of the adjusting member 99 and the first connecting portion 83 are placed in the first receiving groove 78E.

[0169] The first connecting surface 85A of the first connector 80A is disposed on the second connecting portion 84, and the first connecting surface 85A faces the bottom surface 78H of the second receiving groove 78F. The first connecting surface 85A can also be understood as the side of the second connecting portion 84 facing the bottom surface 78H of the second receiving groove 78F. The first end 931 of the first transmission belt 93A is connected to the connecting surface 85A. Thus, the first end 931 of the first transmission belt 93A is located between the first connecting surface 85A of the second connecting portion 84 and the bottom surface 78H of the second receiving groove 78F. The limiting groove 86 of the first connector 80A is adjacent to the first connecting surface 85A of the first connector 80A. The limiting groove 86 is recessed away from the rotation axis of the transmission wheel 70 from the position of the first connecting surface 85A, that is, it opens towards the bottom of the first receiving groove 78E. When the second connector 80B is located in the limiting groove 86, the second connector 80B is connected to the second connecting part 84. The first connector 80A and the second connector 80B are both located on the same side of the second transmission belt 93B, so that the first transmission belt 93A and the second transmission belt 93B are stacked, and the second transmission belt 93B is located between the first transmission belt 93A and the bottom surface 78H of the second receiving groove 78F. The second transmission belt 93B extends in contact with the bottom surface 78H of the second receiving groove 78F, and the first transmission belt 93A extends in contact with the second transmission belt 93B, so that the transmission belt bundle 91 extends in contact with the bottom surface 78H of the second receiving groove 78F.

[0170] To ensure that the transmission belt 91, after extending out of the second receiving groove 78F, can fit snugly against the outer peripheral surface 79A of the transmission wheel 70, the bottom surface 78H of the second receiving groove 78F is smoothly connected to the outer peripheral surface 79A of the transmission wheel 70. (See also...) Figure 6 Along the circumferential direction DC away from the first receiving groove 78E, the depth of the second receiving groove 78F (i.e., the distance between the first groove opening 78A and the groove bottom surface 78H) gradually decreases until the first groove opening 78A and the groove bottom surface 78H coincide at the junction of the groove bottom surface 78H and the outer peripheral surface 79A. Thus, the transmission belt 91 can smoothly transition from the groove bottom surface 78H of the second receiving groove 78F to the outer peripheral surface 79A of the transmission wheel 70.

[0171] 931 In this embodiment, when the transmission belt 91 is tensioned, the transmission belt 91 applies tension to multiple joints 80. The first joint 80A applies pressure and torque to the adjusting member 99. The pressure is transmitted through the adjusting member 99 to the bottom of the second limiting hole 78K, and the torque is transmitted through the adjusting member 99 to the walls of the first limiting hole 77 and the second limiting hole 78K. Under the action of pressure and torque, the adjusting member 99 can be stably held in the receiving groove 78 of the transmission wheel 70. At the same time, under the combined action of the first transmission belt 93A, the limiting adjusting member 99, and the second joint 80B, the first joint 80A is subjected to a torque perpendicular to the paper surface based on the viewpoint in the figure, causing the first joint 80A to have a tendency to rotate in the direction of this torque, thereby pressing the second joint 80B, the first transmission belt 93A, and the second transmission belt 93B against the bottom of the receiving groove 78. Thus, the second joint 80B is stably held in the receiving groove 78.

[0172] Figures 27 to 30 Another embodiment of the transmission mechanism 90 is shown. This embodiment is largely the same as the above embodiment, so the same or similar parts will not be described again here. The difference between this embodiment and the above embodiment is that, based on the above embodiment, the connecting assembly 800 of this embodiment further includes a pad 94, which is accommodated in the receiving groove 78. The adjusting member 99 acts on the inner wall of the receiving groove 78 through the pad 94. In the assembled state of the transmission mechanism 90, the pad 94 is located in the receiving groove 78 and is positioned between the adjusting member 99 and the first inner surface 78D, with the adjusting member 99 pressing the pad 94 against the first inner surface 78D of the receiving groove 78. For example, in the illustrated embodiment, the pad 94 is located on the side of the first connector 80A facing the first inner surface 78D, so as to abut against both the first inner surface 78D and the adjusting member 99. Specifically, in the assembled state of the transmission mechanism 90, the pad 94 and the first connecting part 83 of the first connector 80A are both located in the first receiving groove 78E, and the pad 94 is located on the side of the first connecting part 83 facing the first inner surface 78D.

[0173] The pad 94 has a first working surface 96 for abutting against the first inner surface 78D of the receiving groove 78 and a second working surface 95 for abutting against the adjusting member 99. When the drive belt 91 is tensioned, the tail of the adjusting member 99 abuts against the second working surface 95 of the pad, and the first working surface 96 of the pad abuts against the first inner surface 78D of the receiving groove. The pad 94 increases the force-bearing area of ​​the first inner surface 78D, reduces the risk of deformation and failure of the first inner surface 78D, and protects the drive wheel 70. Therefore, the pad 94 can be used as a consumable or sacrificial component.

[0174] Furthermore, by incorporating the spacer 94, the material strength requirements for the transmission wheel 70 can be reduced, contributing to its lightweight design. In other words, the material stiffness of the spacer 94 can be greater than that of the transmission wheel 70, thereby increasing the service life of the transmission wheel 70 while simultaneously achieving its lightweight design.

[0175] like Figures 27 to 28 As shown, the second working surface 95 of the pad 94 is recessed and formed with a second limiting hole 98. The second limiting hole 98 is a blind hole. In the assembled state of the transmission mechanism 90, the second limiting hole 98 of the pad is aligned with the connector through hole 81 to accommodate the tail of the adjusting member 99, which extends into the second limiting hole 98 and abuts against the bottom of the second limiting hole 98. Under the action of the first limiting hole 77 and the second limiting hole 98, both ends of the adjusting member 99 can be limited, which is especially beneficial when the adjusting member 99 is subjected to bending moment. Therefore, it can also be understood that the second limiting hole 78K provided on the first inner surface 78D in the aforementioned embodiment is transferred to the second working surface 95 of the pad 94.

[0176] like Figure 29 As shown, the first inner surface 78D of the receiving groove 78 is provided with a receiving groove limiting part 78J. For example... Figure 30 As shown, the first working surface 96 of the pad 94 is provided with a pad limiting portion 97, which is used to contact the receiving groove limiting portion 78J to hold the pad 94 within the receiving groove 78, so that when the drive belt 91 is tensioned, the first working surface 96 of the pad 94 always remains in contact with the first inner surface 78D of the receiving groove 78. For example, one of the receiving groove limiting portion 78J and the pad limiting portion 97 may be a protrusion, and the other may be a groove that mates with the protrusion to accommodate the protrusion. In the illustrated embodiment, the pad limiting portion 97 is a protrusion, and the receiving groove limiting portion 78J is a groove.

[0177] Optionally, the receiving groove limiting part 78J can be provided at the bottom of the first inner surface 78D. Correspondingly, the pad limiting part 97 is located at the bottom of the pad 94. This arrangement is particularly beneficial when the adjusting member 99 is subjected to bending moment, as the bending moment of the adjusting member 99 is transmitted to the pad 94, thereby increasing the force-bearing area of ​​the first inner surface 78 against the bending moment.

[0178] In one example, the limiting method for the pad 94 can also be that the first functional surface 96 is partially constructed as a convex arc surface, which forms the outer surface of the pad limiting part 97, and the first inner surface 78D is partially constructed as a concave arc surface, which forms the wall surface of the receiving groove limiting part 78J, with the convex arc surface and the concave arc surface in contact. When the receiving groove limiting part 78J is located at the bottom of the first inner surface 78D, the concave arc surface is adjacent to the third inner surface 78G.

[0179] In this embodiment, when the drive belt 91 is tensioned, it applies tension to multiple joints 80, causing the first joint 80A to exert pressure and torque on the adjusting member 99. The pressure is transmitted through the adjusting member 99 to the bottom of the second limiting hole 98, and the torque is transmitted through the adjusting member 99 to the walls of the first limiting hole 77 and the second limiting hole 98. Finally, the pad 94 transmits the pressure and part of the torque to the first inner surface 78D. Under the action of pressure and torque, the adjusting member 99 and the pad 94 can be stably held within the receiving groove 78 of the drive wheel 70.

[0180] The transmission mechanism 90 of this application can be applied to Figure 1 In the first connecting arm 171 and the second connecting arm 172 shown. See further. Figure 31 An end opening 317 can be provided at the end of the housing 310 of the connecting arm (e.g., the first connecting arm 171 and / or the second connecting arm 172), through which the transmission mechanism 90 can be inserted into the inner cavity 316 defined by the housing 310 of the connecting arm. After the installation of the transmission mechanism 90 is completed, the end opening 317 can be covered by the end cap 320 to close the inner cavity 316. During the installation or maintenance of the transmission belt 91, the connecting assembly 800 can be adjusted through the end opening 317. For example, an auxiliary adjustment tool can be inserted into the first limiting hole 77 and the adjusting member 99 can be screwed in, thereby moving the position of the connector 80 in the receiving groove 78 of the transmission wheel 70 under the action of the thread, thus realizing the length adjustment of the transmission belt 91. Whether it is necessary to install the transmission mechanism 90 into the connecting arm or to maintain the transmission mechanism 90 in the connecting arm, it is only necessary to remove the end cap 320 to expose the end opening 317 of the housing 310 of the connecting arm for operation. Therefore, the transmission mechanism 90 of this application facilitates the installation and maintenance of the connecting arm.

[0181] In understanding the scope of this application, the term "comprising" and its derivatives, as used herein, are intended to be open-ended terms that specify the presence of a described feature, element, component, group, whole, and / or step, but do not exclude the presence of other undescribed features, elements, components, groups, wholes, and / or steps. This concept also applies to words with similar meanings, such as the terms "comprising," "having," and their derivatives.

[0182] The term "attached" or "joined" as used herein includes: a construction in which one element is directly fixed to another element by fixing it directly to another element; a construction in which one element is indirectly fixed to another element by fixing it to an intermediate member, which in turn is fixed to another element; and a construction in which one element is integral with another element, that is, one element is substantially part of another element. This definition also applies to words with similar meanings, such as "connect," "joint," "couple," "install," "adhere," "fix," and their derivatives. Finally, degree terms such as "substantially," "approximately," and "approximately" as used herein indicate the amount of deviation from which modifications to the terminology do not significantly alter the final result.

[0183] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0184] This application has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application.

Claims

1. A transmission mechanism, characterized in that, include: Drive wheel; A transmission belt bundle, the transmission belt bundle being wound around the outer peripheral surface of the transmission wheel, the transmission belt bundle comprising a first transmission belt and a second transmission belt stacked along the thickness direction; and A connector assembly is provided to connect the transmission belt bundle. The connector assembly includes a first connector and a second connector. The first connector is disposed at the end of the first transmission belt and connected to the transmission wheel. The second connector is disposed at the end of the second transmission belt and connected to the first connector.

2. The transmission mechanism according to claim 1, characterized in that, The first connector includes a first connecting surface for fixing the first transmission belt, and the second connector includes a second connecting surface for fixing the second transmission belt. The first connecting surface and the second connecting surface are parallel to each other and parallel to the axial direction of the transmission wheel. The first connecting surface and the second connecting surface are spaced apart by a first vertical distance. The first vertical distance is equivalent to the thickness of the first transmission belt, the thickness of the second transmission belt, or the sum of the thickness of the first transmission belt and the thickness of the second transmission belt.

3. The transmission mechanism according to claim 2, characterized in that, The transmission belt bundle also includes a third transmission belt, which is stacked with the second transmission belt along the thickness direction; The connector assembly further includes a third connector, which is disposed at the end of the third transmission belt and connects to the first connector and / or the second connector. The third connector includes a third connecting surface for fixing the third transmission belt. The third connecting surface is parallel to the second connecting surface and is spaced apart from the second connecting surface by a second vertical distance. The second vertical distance is equivalent to the thickness of the second transmission belt, the thickness of the third transmission belt, or the sum of the thicknesses of the second and third transmission belts.

4. The transmission mechanism according to claim 1, characterized in that, The first connector and the second connector are detachably connected.

5. The transmission mechanism according to claim 4, characterized in that, The first connector includes a first limiting surface, which is used to restrict the movement of the second connector in at least a second direction, the second direction being the direction of the tension force applied by the second transmission belt to the second connector.

6. The transmission mechanism according to claim 5, characterized in that, The first connector has a limiting groove, and the second connector is embedded in the limiting groove. The first limiting surface is the inner surface of the limiting groove.

7. The transmission mechanism according to claim 6, characterized in that, The limiting groove also includes a bottom surface opposite to the opening of the limiting groove, and the first limiting surface includes a plane that forms a right angle or an acute angle with the bottom surface.

8. The transmission mechanism according to claim 5, characterized in that, The transmission wheel has a receiving groove, the joint assembly is accommodated in the receiving groove, the receiving groove opens on the side surface of the transmission wheel, the receiving groove includes an inner surface opposite to the opening of the receiving groove, and the first limiting surface includes a plane that forms a right angle or an acute angle with the inner surface.

9. The transmission mechanism according to claim 8, characterized in that, The first limiting surface includes two misaligned planes connected by a stepped surface facing the inner surface of the receiving groove.

10. The transmission mechanism according to claim 5, characterized in that, The first limiting surface includes a curved surface that is concave towards the second direction.

11. The transmission mechanism according to any one of claims 4 to 10, characterized in that, The transmission belt bundle also includes a third transmission belt, which is stacked with the second transmission belt along the thickness direction; The connector assembly further includes a third connector disposed at the end of the third drive belt and detachably connected to the first connector and / or the second connector.

12. The transmission mechanism according to claim 11, characterized in that, The first connector has a limiting groove, and the second and third connectors are embedded in the limiting groove.

13. The transmission mechanism according to claim 11, characterized in that, The second connector includes a second limiting surface for restricting the movement of the third connector in at least a third direction, the third direction being the direction of the tension force applied by the third transmission belt to the third connector.

14. The transmission mechanism according to claim 1, characterized in that, The transmission wheel is also provided with a receiving groove and a first limiting hole, the first limiting hole is connected to the receiving groove, and the connector assembly is placed in the receiving groove; The transmission mechanism further includes an adjusting member connected to the first connector. One end of the adjusting member extends into the first limiting hole, and the other end extends into the receiving groove and acts on the inner wall of the receiving groove. The adjusting member is used to adjust the position of the connector assembly in the receiving groove.

15. The transmission mechanism according to claim 14, characterized in that, The first connector includes a first connecting part and a second connecting part, the adjusting member is connected to the first connecting part, and the transmission belt is connected to the second connecting part; The transmission wheel receiving groove includes a first receiving groove and a second receiving groove that are interconnected. The second receiving groove is formed by recessing from the outer peripheral surface of the transmission wheel, and the second connecting part is placed in the second receiving groove. The first receiving groove is formed by further recessing from the bottom surface of the second receiving groove, and the first connecting part is placed in the first receiving groove.

16. The transmission mechanism according to claim 15, characterized in that, The drive wheel receiving groove opens on the outer peripheral surface of the drive wheel. The first drive belt is connected to the side of the second connecting part facing the bottom surface of the second receiving groove. The second drive belt is disposed between the first drive belt and the bottom surface of the second receiving groove. The drive belt bundle extends in close contact with the bottom surface of the second receiving groove.

17. The transmission mechanism according to claim 15, characterized in that, The second connecting part has a limiting groove, which opens towards the bottom of the first receiving groove, and the second connector is placed in the limiting groove.

18. The transmission mechanism according to claim 17, characterized in that, The transmission belt bundle also includes a third transmission belt, which is stacked with the second transmission belt along the thickness direction, and the third transmission belt is disposed between the bottom surface of the second transmission belt and the second receiving groove. The connector assembly further includes a third connector, which is disposed at the end of the third transmission belt and placed in the limiting groove.

19. A robotic arm, characterized in that, The robotic arm includes a transmission mechanism according to any one of claims 1 to 18.

20. A medical auxiliary system, characterized in that, Including the robotic arm according to claim 19.

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